From 9622f89d72ffdf6eb44da1898a1791bfa03321bc Mon Sep 17 00:00:00 2001 From: Bourumir Wyngs Date: Thu, 4 Apr 2024 22:49:48 +0200 Subject: [PATCH] Singularity support. Test cases regenerated with no singularities. --- src/kinematic_traits.rs | 17 + src/kinematics_impl.rs | 29 +- src/parameters_robots.rs | 36 +- src/tests/cases.yaml | 9102 +++++++++++++++++++------------------- src/tests/testcases.rs | 61 +- 5 files changed, 4670 insertions(+), 4575 deletions(-) diff --git a/src/kinematic_traits.rs b/src/kinematic_traits.rs index 9d69187..d073210 100644 --- a/src/kinematic_traits.rs +++ b/src/kinematic_traits.rs @@ -18,6 +18,19 @@ pub mod kinematics_traits { /// ``` pub(crate) type Pose = Isometry3; + /// Defines kinematic singularity. A is a singularity when J5 = 0 (this is possible with + /// any robot and B is a more rare singularity when J2 = 0 (this is possible for robots + /// with b = 0. Joints are counted from 1 to 6 in this comment. + #[derive(PartialEq, Debug)] + pub(crate) enum Singularity { + /// Represents singularity when J5 = 0, possible with any robot. + A, + /// Represents singularity when J2 = 0, possible for any robot with parameter b == 0. + B, + /// Represents case when both A and B apply + AB + } + /// This library may return up to 8 solutions, each defining the rotations of the 6 joints. /// Use isValid in utils.rs to check if the solution is valid. pub(crate) type Solutions = na::Matrix>; @@ -25,5 +38,9 @@ pub mod kinematics_traits { pub trait Kinematics { fn inverse(&self, pose: &Pose) -> Solutions; fn forward(&self, qs: &[f64; 6]) -> Pose; + + /// Detect the singularity. Returns either A, B type singlularity or None if + /// no singularity detected. + fn kinematic_singularity(&self, qs: &[f64; 6]) -> Option; } } diff --git a/src/kinematics_impl.rs b/src/kinematics_impl.rs index 01e9200..dc5b4ee 100644 --- a/src/kinematics_impl.rs +++ b/src/kinematics_impl.rs @@ -1,5 +1,5 @@ use std::f64::{consts::PI}; -use crate::kinematic_traits::kinematics_traits::{Kinematics, Solutions, Pose}; +use crate::kinematic_traits::kinematics_traits::{Kinematics, Solutions, Pose, Singularity}; use crate::parameters::opw_kinematics::Parameters; use nalgebra::{Isometry3, Matrix3, OVector, Rotation3, Translation3, U3, Unit, UnitQuaternion, Vector3, SMatrix}; @@ -375,4 +375,31 @@ impl Kinematics for OPWKinematics { Pose::from_parts(Translation3::from(translation), UnitQuaternion::from_rotation_matrix(&rotation)) } + + fn kinematic_singularity(&self, joints: &[f64; 6]) -> Option { + let b = self.parameters.b == 0.0 && is_close_to_multiple_of_pi(joints[1]); + let a = is_close_to_multiple_of_pi(joints[4]); + + if a && b { + return Some(Singularity::AB); + } else if a { + return Some(Singularity::A); + } else if b { + return Some(Singularity::B); + } + None + } } + +// Adjusted helper function to check for n*pi where n is any integer +fn is_close_to_multiple_of_pi(joint_value: f64) -> bool { + const SINGULARITY_THRESHOLD: f64 = 0.01 * PI / 180.0; + + // Normalize angle within [0, 2*PI) + let normalized_angle = joint_value.rem_euclid(2.0 * PI); + // Check if the normalized angle is close to 0 or PI + normalized_angle < SINGULARITY_THRESHOLD || + (PI - normalized_angle).abs() < SINGULARITY_THRESHOLD +} + + diff --git a/src/parameters_robots.rs b/src/parameters_robots.rs index bb80017..c8962cc 100644 --- a/src/parameters_robots.rs +++ b/src/parameters_robots.rs @@ -35,46 +35,42 @@ pub mod opw_kinematics { // See https://www.staubli.com/content/dam/robotics/products/robots/tx2/TX2-140-160-datasheet-EN.pdf. - // These three Staubli robots have spherical wrist and mostly identical plan. - pub fn staubli_tx2_140() -> Self { + // These three Staubli robots have spherical wrist and mostly identical plan, with only + // two parameters being different. + pub fn staubli_tx2() -> Self { Parameters { a1: 0.150, a2: 0.000, - b: 0.000, + b: 0.000, // axis aligned c1: 0.550, - c2: 0.625, - c3: 0.625, + // c2: model specific + // c3: model specific c4: 0.110, - offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], + offsets: [0.0; 6], ..Self::new() } } + pub fn staubli_tx2_140() -> Self { + Parameters { + c2: 0.625, + c3: 0.625, + ..Self::staubli_tx2() + } + } pub fn staubli_tx2_160() -> Self { Parameters { - a1: 0.150, - a2: 0.000, - b: 0.000, - c1: 0.550, c2: 0.825, c3: 0.625, - c4: 0.110, - offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], - ..Self::new() + ..Self::staubli_tx2() } } pub fn staubli_tx2_160l() -> Self { Parameters { - a1: 0.150, - a2: 0.000, - b: 0.000, - c1: 0.550, c2: 0.825, c3: 0.925, - c4: 0.110, - offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], - ..Self::new() + ..Self::staubli_tx2() } } diff --git a/src/tests/cases.yaml b/src/tests/cases.yaml index b3e0461..c9fce23 100644 --- a/src/tests/cases.yaml +++ b/src/tests/cases.yaml @@ -1,24 +1,24 @@ cases: - id: 0 parameters: Irb2400_10 - joints: [22.000000, -160.000000, 1.000000, -21.000000, -176.000000, -173.000000] - pose: {translation: [-0.7584719088001908, -0.304150795323862, 0.06149625856016668], quaternion: [0.84129521737246, -0.03699672829778175, 0.4843341438615104, -0.2372214923050252]} - solutions: [[-158.000000, 70.286261, 20.041611, -1.581281, 64.945401, 28.623073], [-158.000000, 175.925277, -179.766003, -4.010737, 159.058772, 24.206691], [22.000000, -160.000000, 1.000000, 159.000000, 176.000000, 7.000000], [22.000000, -75.028949, -160.724392, 178.547584, 99.508559, 27.713308], [-158.000000, 70.286261, 20.041611, 178.418719, -64.945401, -151.376927], [-158.000000, 175.925277, -179.766003, 175.989263, -159.058772, -155.793309], [22.000000, -160.000000, 1.000000, -21.000000, -176.000000, -173.000000], [22.000000, -75.028949, -160.724392, -1.452416, -99.508559, -152.286692]] + joints: [22.000000, -159.000000, 1.000000, -21.000000, -175.000000, -173.000000] + pose: {translation: [-0.7680771241235751, -0.3074599265667268, 0.07635098719009828], quaternion: [0.8503112661373976, -0.03580974295950796, 0.4702444987958009, -0.2335776623336996]} + solutions: [[-158.000000, 69.002893, 20.232876, -1.989643, 64.108385, 28.796120], [-158.000000, 174.852615, -179.957268, -4.859560, 158.364609, 23.408350], [22.000000, -159.000000, 1.000000, 159.000000, 175.000000, 7.000000], [22.000000, -74.028949, -160.724392, 178.189911, 98.573020, 27.657103], [-158.000000, 69.002893, 20.232876, 178.010357, -64.108385, -151.203880], [-158.000000, 174.852615, -179.957268, 175.140440, -158.364609, -156.591650], [22.000000, -159.000000, 1.000000, -21.000000, -175.000000, -173.000000], [22.000000, -74.028949, -160.724392, -1.810089, -98.573020, -152.342897]] - id: 1 parameters: Irb2400_10 - joints: [-129.000000, 17.000000, 74.000000, -14.000000, 74.000000, -45.000000] - pose: {translation: [-0.2345211795210265, -0.2581998270859768, 0.5099117914692322], quaternion: [0.4540975138622626, 0.6507335359436721, 0.5996018777545107, -0.1040139476013804]} - solutions: [[-129.000000, 17.000000, 74.000000, -14.000000, 74.000000, -45.000000], [-129.000000, -168.577515, 126.275608, -152.093788, 150.206532, 155.752500], [51.000000, -173.990998, 57.822949, 17.739644, 130.250201, 142.747041], [51.000000, -23.888527, 142.452659, 166.206963, 102.735192, -52.029140], [-129.000000, 17.000000, 74.000000, 166.000000, -74.000000, 135.000000], [-129.000000, -168.577515, 126.275608, 27.906212, -150.206532, -24.247500], [51.000000, -173.990998, 57.822949, -162.260356, -130.250201, -37.252959], [51.000000, -23.888527, 142.452659, -13.793037, -102.735192, 127.970860]] + joints: [-129.000000, 17.000000, 74.000000, -14.000000, 73.000000, -45.000000] + pose: {translation: [-0.23468358361515, -0.2585623499533561, 0.5084824534857637], quaternion: [0.4571382943491647, 0.6550504844881572, 0.5927615846430589, -0.1027966263202088]} + solutions: [[-129.000000, 17.000000, 74.000000, -14.000000, 73.000000, -45.000000], [-129.000000, -168.577515, 126.275608, -151.359706, 151.139675, 156.392524], [51.000000, -173.990998, 57.822949, 17.918903, 131.240937, 142.864049], [51.000000, -23.888527, 142.452659, 166.331947, 101.742679, -52.002644], [-129.000000, 17.000000, 74.000000, 166.000000, -73.000000, 135.000000], [-129.000000, -168.577515, 126.275608, 28.640294, -151.139675, -23.607476], [51.000000, -173.990998, 57.822949, -162.081097, -131.240937, -37.135951], [51.000000, -23.888527, 142.452659, -13.668053, -101.742679, 127.997356]] - id: 2 parameters: Irb2400_10 - joints: [39.000000, 74.000000, 24.000000, -121.000000, -178.000000, -169.000000] - pose: {translation: [0.6330245948589481, 0.5158851175869689, 0.1272177193877455], quaternion: [-0.05266246623619414, 0.03381514838328892, -0.07726493356662133, 0.9950443861610815]} - solutions: [[39.000000, 74.000000, 24.000000, 59.000000, 178.000000, 11.000000], [39.000000, -175.983739, 176.275608, 178.274056, 83.325254, 132.216087], [-141.000000, -167.855349, 6.775701, -1.905354, 64.122476, 132.847254], [-141.000000, -76.670305, -166.500094, -3.079545, 146.162496, 129.456720], [39.000000, 74.000000, 24.000000, -121.000000, -178.000000, -169.000000], [39.000000, -175.983739, 176.275608, -1.725944, -83.325254, -47.783913], [-141.000000, -167.855349, 6.775701, 178.094646, -64.122476, -47.152746], [-141.000000, -76.670305, -166.500094, 176.920455, -146.162496, -50.543280]] + joints: [39.000000, 73.000000, 24.000000, -121.000000, -177.000000, -169.000000] + pose: {translation: [0.6381611741478687, 0.5216793456490398, 0.1398273717177368], quaternion: [-0.04899107844798374, 0.01909001624271862, -0.07698490879467484, 0.9956449012224348]} + solutions: [[39.000000, 73.000000, 24.000000, 59.000000, 177.000000, 11.000000], [39.000000, -176.983739, 176.275608, 177.413889, 83.844248, 132.312199], [-141.000000, -166.900568, 6.565994, -2.839338, 64.907767, 133.239606], [-141.000000, -75.941857, -166.290386, -4.685670, 146.690424, 128.116180], [39.000000, 73.000000, 24.000000, -121.000000, -177.000000, -169.000000], [39.000000, -176.983739, 176.275608, -2.586111, -83.844248, -47.687801], [-141.000000, -166.900568, 6.565994, 177.160662, -64.907767, -46.760394], [-141.000000, -75.941857, -166.290386, 175.314330, -146.690424, -51.883820]] - id: 3 parameters: Irb2400_10 - joints: [-137.000000, 139.000000, 86.000000, 62.000000, 32.000000, -61.000000] - pose: {translation: [0.1023226425535518, 0.04103779683807219, 0.5872599116871599], quaternion: [0.3123911679346613, -0.1209286976312974, 0.9042264998026041, -0.2648819460445498]} - solutions: [[43.000000, 74.023268, 94.082350, -34.864736, 125.064593, 155.099293], [43.000000, -34.992397, 106.193257, -144.297140, 126.701757, 20.156629], [-137.000000, 139.000000, 86.000000, 62.000000, 32.000000, -61.000000], [-137.000000, -17.630474, 114.275608, 42.498080, 136.164397, 30.375119], [43.000000, 74.023268, 94.082350, 145.135264, -125.064593, -24.900707], [43.000000, -34.992397, 106.193257, 35.702860, -126.701757, -159.843371], [-137.000000, 139.000000, 86.000000, -118.000000, -32.000000, 119.000000], [-137.000000, -17.630474, 114.275608, -137.501920, -136.164397, -149.624881]] + joints: [-137.000000, 139.000000, 86.000000, 62.000000, 31.000000, -61.000000] + pose: {translation: [0.102268913476016, 0.04251478154415966, 0.5873881082329692], quaternion: [0.3141831067048779, -0.1129020365067207, 0.9037934098844627, -0.2677677685296017]} + solutions: [[43.000000, 74.023268, 94.082350, -34.137671, 125.870428, 155.521180], [43.000000, -34.992397, 106.193257, -145.527049, 126.541692, 19.422933], [-137.000000, 139.000000, 86.000000, 62.000000, 31.000000, -61.000000], [-137.000000, -17.630474, 114.275608, 41.054172, 136.179308, 29.333428], [43.000000, 74.023268, 94.082350, 145.862329, -125.870428, -24.478820], [43.000000, -34.992397, 106.193257, 34.472951, -126.541692, -160.577067], [-137.000000, 139.000000, 86.000000, -118.000000, -31.000000, 119.000000], [-137.000000, -17.630474, 114.275608, -138.945828, -136.179308, -150.666572]] - id: 4 parameters: Irb2400_10 joints: [119.000000, -8.000000, 48.000000, 138.000000, -22.000000, -35.000000] @@ -26,44 +26,44 @@ cases: solutions: [[119.000000, -8.000000, 48.000000, -42.000000, 22.000000, 145.000000], [119.000000, 129.699839, 152.275608, -20.027220, 132.951755, 91.195232], [-61.000000, -126.900696, 31.671389, 157.423298, 139.239501, 87.662595], [-61.000000, -8.285724, 168.604219, 156.735388, 39.391749, 123.523374], [119.000000, -8.000000, 48.000000, 138.000000, -22.000000, -35.000000], [119.000000, 129.699839, 152.275608, 159.972780, -132.951755, -88.804768], [-61.000000, -126.900696, 31.671389, -22.576702, -139.239501, -92.337405], [-61.000000, -8.285724, 168.604219, -23.264612, -39.391749, -56.476626]] - id: 5 parameters: Irb2400_10 - joints: [-127.000000, 95.000000, -170.000000, -161.000000, 34.000000, -89.000000] - pose: {translation: [-0.5191794018839557, -0.6632609388939601, 1.397468618068691], quaternion: [-0.1761985968989396, -0.01171788174511778, -0.1577628937032555, 0.9715593728993756]} - solutions: [[-127.000000, 0.028796, 10.275608, -168.174778, 117.328151, -67.577700], [-127.000000, 95.000000, -170.000000, -161.000000, 34.000000, -89.000000], [53.000000, -91.452164, -8.428423, 21.910311, 29.201451, -92.413709], [53.000000, -16.550430, -151.295969, 10.534788, 95.284439, -72.086804], [-127.000000, 0.028796, 10.275608, 11.825222, -117.328151, 112.422300], [-127.000000, 95.000000, -170.000000, 19.000000, -34.000000, 91.000000], [53.000000, -91.452164, -8.428423, -158.089689, -29.201451, 87.586291], [53.000000, -16.550430, -151.295969, -169.465212, -95.284439, 107.913196]] + joints: [-127.000000, 94.000000, -170.000000, -161.000000, 34.000000, -89.000000] + pose: {translation: [-0.5108930144708731, -0.6522645313874884, 1.410301812354301], quaternion: [-0.1837915299419455, -0.007714539021922272, -0.1567498681228773, 0.9703559337958102]} + solutions: [[-127.000000, -0.971204, 10.275608, -168.174778, 117.328151, -67.577700], [-127.000000, 94.000000, -170.000000, -161.000000, 34.000000, -89.000000], [53.000000, -90.733994, -8.151837, 21.906811, 29.206316, -92.409699], [53.000000, -15.537993, -151.572556, 10.539366, 95.544135, -72.038282], [-127.000000, -0.971204, 10.275608, 11.825222, -117.328151, 112.422300], [-127.000000, 94.000000, -170.000000, 19.000000, -34.000000, 91.000000], [53.000000, -90.733994, -8.151837, -158.093189, -29.206316, 87.590301], [53.000000, -15.537993, -151.572556, -169.460634, -95.544135, 107.961718]] - id: 6 parameters: Irb2400_10 - joints: [36.000000, -46.000000, -75.000000, 157.000000, -126.000000, -29.000000] - pose: {translation: [-0.6570783620484518, -0.5106075201818921, 1.672141578545847], quaternion: [0.7143001525536616, 0.2234165747115324, 0.6632192511385371, -0.0007423780844038941]} - solutions: [[-144.000000, 11.777623, -31.099591, 122.045101, 158.103480, 109.014189], [-144.000000, 62.726624, -128.624801, 158.679268, 119.609597, 154.094198], [36.000000, -46.000000, -75.000000, -23.000000, 126.000000, 151.000000], [36.000000, -40.932968, -84.724392, -24.472509, 130.264117, 148.617140], [-144.000000, 11.777623, -31.099591, -57.954899, -158.103480, -70.985811], [-144.000000, 62.726624, -128.624801, -21.320732, -119.609597, -25.905802], [36.000000, -46.000000, -75.000000, 157.000000, -126.000000, -29.000000], [36.000000, -40.932968, -84.724392, 155.527491, -130.264117, -31.382860]] + joints: [36.000000, -46.000000, -75.000000, 157.000000, -125.000000, -29.000000] + pose: {translation: [-0.6568338347921695, -0.5108459295638738, 1.673585244843045], quaternion: [0.7092141404171473, 0.220596514335531, 0.6695910325808813, 0.0005744411633885316]} + solutions: [[-144.000000, 11.777623, -31.099591, 123.782404, 157.350775, 110.621923], [-144.000000, 62.726624, -128.624801, 158.617786, 118.611040, 154.064286], [36.000000, -46.000000, -75.000000, -23.000000, 125.000000, 151.000000], [36.000000, -40.932968, -84.724392, -24.418811, 129.264969, 148.651489], [-144.000000, 11.777623, -31.099591, -56.217596, -157.350775, -69.378077], [-144.000000, 62.726624, -128.624801, -21.382214, -118.611040, -25.935714], [36.000000, -46.000000, -75.000000, 157.000000, -125.000000, -29.000000], [36.000000, -40.932968, -84.724392, 155.581189, -129.264969, -31.348511]] - id: 7 parameters: Irb2400_10 - joints: [145.000000, 57.000000, 172.000000, 24.000000, 21.000000, 25.000000] - pose: {translation: [-0.05870740792558823, 0.0259823178701807, 1.558354414885882], quaternion: [0.09355626930479916, -0.1776628849109027, 0.9751542112904419, -0.09358091686567092]} - solutions: [[145.000000, -57.787712, 28.275608, 171.540752, 82.247503, -131.280142], [145.000000, 57.000000, 172.000000, 24.000000, 21.000000, 25.000000], [-35.000000, -68.868479, 26.190152, -161.200827, 26.892698, 30.682365], [-35.000000, 43.585816, 174.085456, -8.713872, 74.179464, -130.036740], [145.000000, -57.787712, 28.275608, -8.459248, -82.247503, 48.719858], [145.000000, 57.000000, 172.000000, -156.000000, -21.000000, -155.000000], [-35.000000, -68.868479, 26.190152, 18.799173, -26.892698, -149.317635], [-35.000000, 43.585816, 174.085456, 171.286128, -74.179464, 49.963260]] + joints: [145.000000, 57.000000, 172.000000, 24.000000, 20.000000, 25.000000] + pose: {translation: [-0.05731923603436011, 0.0257002746487387, 1.557913693418525], quaternion: [0.1016102563046921, -0.1805123575673945, 0.9737219311719814, -0.09463744150104232]} + solutions: [[145.000000, -57.787712, 28.275608, 171.945881, 83.163211, -131.331584], [145.000000, 57.000000, 172.000000, 24.000000, 20.000000, 25.000000], [-35.000000, -68.868479, 26.190152, -161.427513, 25.897788, 30.885426], [-35.000000, 43.585816, 174.085456, -8.277142, 75.086473, -130.152478], [145.000000, -57.787712, 28.275608, -8.054119, -83.163211, 48.668416], [145.000000, 57.000000, 172.000000, -156.000000, -20.000000, -155.000000], [-35.000000, -68.868479, 26.190152, 18.572487, -25.897788, -149.114574], [-35.000000, 43.585816, 174.085456, 171.722858, -75.086473, 49.847522]] - id: 8 parameters: Irb2400_10 - joints: [25.000000, -12.000000, -108.000000, 55.000000, 72.000000, 179.000000] - pose: {translation: [-0.4937996504675176, -0.1571967728338574, 1.936874549911482], quaternion: [0.2290063039367153, 0.4211554668362769, 0.7495834640337382, -0.4564086063587584]} - solutions: [[-155.000000, -5.494305, -32.839963, -128.561199, 85.078487, -163.329491], [-155.000000, 43.626625, -126.884429, -115.951289, 60.045775, 157.079190], [25.000000, -41.346844, -51.724392, 66.027832, 58.495917, 153.207449], [25.000000, -12.000000, -108.000000, 55.000000, 72.000000, 179.000000], [-155.000000, -5.494305, -32.839963, 51.438801, -85.078487, 16.670509], [-155.000000, 43.626625, -126.884429, 64.048711, -60.045775, -22.920810], [25.000000, -41.346844, -51.724392, -113.972168, -58.495917, -26.792551], [25.000000, -12.000000, -108.000000, -125.000000, -72.000000, -1.000000]] + joints: [25.000000, -12.000000, -108.000000, 55.000000, 71.000000, 179.000000] + pose: {translation: [-0.4944861263186346, -0.1579423391339306, 1.937957918172128], quaternion: [0.2225268242316563, 0.4170430103860073, 0.7516171910372204, -0.4600310186529478]} + solutions: [[-155.000000, -5.494305, -32.839963, -128.866330, 84.125743, -163.300786], [-155.000000, 43.626625, -126.884429, -115.516315, 59.118789, 156.858954], [25.000000, -41.346844, -51.724392, 66.543170, 57.596573, 152.934705], [25.000000, -12.000000, -108.000000, 55.000000, 71.000000, 179.000000], [-155.000000, -5.494305, -32.839963, 51.133670, -84.125743, 16.699214], [-155.000000, 43.626625, -126.884429, 64.483685, -59.118789, -23.141046], [25.000000, -41.346844, -51.724392, -113.456830, -57.596573, -27.065295], [25.000000, -12.000000, -108.000000, -125.000000, -71.000000, -1.000000]] - id: 9 parameters: Irb2400_10 - joints: [109.000000, 11.000000, 102.000000, 101.000000, 73.000000, 8.000000] - pose: {translation: [-0.09769890731641563, 0.03865144136948109, 0.5303810121680178], quaternion: [-0.1164097839233993, -0.8103469664834395, 0.2326533419094924, 0.5250323595897113]} - solutions: [[109.000000, 55.076301, 98.275608, 109.279502, 83.992165, -31.724339], [109.000000, 11.000000, 102.000000, 101.000000, 73.000000, 8.000000], [-71.000000, 146.668676, 87.527778, -104.497331, 104.162023, 175.034992], [-71.000000, -4.221791, 112.747829, -93.488277, 70.131850, 51.786076], [109.000000, 55.076301, 98.275608, -70.720498, -83.992165, 148.275661], [109.000000, 11.000000, 102.000000, -79.000000, -73.000000, -172.000000], [-71.000000, 146.668676, 87.527778, 75.502669, -104.162023, -4.965008], [-71.000000, -4.221791, 112.747829, 86.511723, -70.131850, -128.213924]] + joints: [109.000000, 11.000000, 102.000000, 101.000000, 72.000000, 8.000000] + pose: {translation: [-0.09707936888827608, 0.03819721745782545, 0.529111895245002], quaternion: [-0.1150325033552075, -0.8151357928091726, 0.2326662854872374, 0.5178682863921745]} + solutions: [[109.000000, 55.076301, 98.275608, 109.923074, 83.223428, -31.795993], [109.000000, 11.000000, 102.000000, 101.000000, 72.000000, 8.000000], [-71.000000, 146.668676, 87.527778, -104.729740, 105.136417, 174.976213], [-71.000000, -4.221791, 112.747829, -94.227439, 69.411456, 52.041659], [109.000000, 55.076301, 98.275608, -70.076926, -83.223428, 148.204007], [109.000000, 11.000000, 102.000000, -79.000000, -72.000000, -172.000000], [-71.000000, 146.668676, 87.527778, 75.270260, -105.136417, -5.023787], [-71.000000, -4.221791, 112.747829, 85.772561, -69.411456, -127.958341]] - id: 10 parameters: Irb2400_10 - joints: [-47.000000, -47.000000, 38.000000, -151.000000, -143.000000, 11.000000] - pose: {translation: [0.1879091185511045, -0.1651440097586588, 1.292445682367738], quaternion: [0.8476218718042189, -0.3224029829146988, -0.278603465590672, -0.3161860022323633]} - solutions: [[-47.000000, -47.000000, 38.000000, 29.000000, 143.000000, -169.000000], [-47.000000, 78.856938, 162.275608, 162.581666, 102.921653, -16.891625], [133.000000, -88.006104, 30.812440, -17.189635, 99.160907, -15.698157], [133.000000, 29.637314, 169.463168, -142.346964, 151.470136, -158.745774], [-47.000000, -47.000000, 38.000000, -151.000000, -143.000000, 11.000000], [-47.000000, 78.856938, 162.275608, -17.418334, -102.921653, 163.108375], [133.000000, -88.006104, 30.812440, 162.810365, -99.160907, 164.301843], [133.000000, 29.637314, 169.463168, 37.653036, -151.470136, 21.254226]] + joints: [-47.000000, -46.000000, 38.000000, -151.000000, -142.000000, 11.000000] + pose: {translation: [0.1970818881600251, -0.1741439479451927, 1.288849598853449], quaternion: [0.8457964504987779, -0.3256961301232044, -0.2779180993063143, -0.3182953427626655]} + solutions: [[-47.000000, -46.000000, 38.000000, 29.000000, 142.000000, -169.000000], [-47.000000, 79.856938, 162.275608, 162.099969, 103.805038, -17.002961], [133.000000, -88.725565, 30.523960, -17.646341, 100.061566, -15.776756], [133.000000, 28.592098, 169.751648, -142.446132, 150.678811, -158.760775], [-47.000000, -46.000000, 38.000000, -151.000000, -142.000000, 11.000000], [-47.000000, 79.856938, 162.275608, -17.900031, -103.805038, 162.997039], [133.000000, -88.725565, 30.523960, 162.353659, -100.061566, 164.223244], [133.000000, 28.592098, 169.751648, 37.553868, -150.678811, 21.239225]] - id: 11 parameters: Irb2400_10 - joints: [58.000000, -3.000000, 47.000000, -38.000000, -47.000000, -168.000000] - pose: {translation: [0.3786080446798055, 0.6781230484396814, 0.886646487810382], quaternion: [0.4719076911432551, 0.553983806397117, 0.5601899001490662, -0.3957175116931054]} - solutions: [[58.000000, -3.000000, 47.000000, 142.000000, 47.000000, 12.000000], [58.000000, 133.487178, 153.275608, 27.359867, 78.446757, 158.032908], [-122.000000, -129.327222, 30.074585, -153.134655, 85.133684, 161.489077], [-122.000000, -12.516467, 170.201023, -57.801241, 32.147515, 37.310378], [58.000000, -3.000000, 47.000000, -38.000000, -47.000000, -168.000000], [58.000000, 133.487178, 153.275608, -152.640133, -78.446757, -21.967092], [-122.000000, -129.327222, 30.074585, 26.865345, -85.133684, -18.510923], [-122.000000, -12.516467, 170.201023, 122.198759, -32.147515, -142.689622]] + joints: [58.000000, -3.000000, 47.000000, -38.000000, -46.000000, -168.000000] + pose: {translation: [0.37925519424874, 0.6779722929918142, 0.8853201110839153], quaternion: [0.4773893831403497, 0.5563241138161389, 0.5571455612277676, -0.3901175218517622]} + solutions: [[58.000000, -3.000000, 47.000000, 142.000000, 46.000000, 12.000000], [58.000000, 133.487178, 153.275608, 26.791240, 79.276658, 158.142758], [-122.000000, -129.327222, 30.074585, -153.643581, 85.995396, 161.528437], [-122.000000, -12.516467, 170.201023, -58.625421, 31.246122, 38.011648], [58.000000, -3.000000, 47.000000, -38.000000, -46.000000, -168.000000], [58.000000, 133.487178, 153.275608, -153.208760, -79.276658, -21.857242], [-122.000000, -129.327222, 30.074585, 26.356419, -85.995396, -18.471563], [-122.000000, -12.516467, 170.201023, 121.374579, -31.246122, -141.988352]] - id: 12 parameters: Irb2400_10 - joints: [54.000000, -77.000000, 92.000000, 178.000000, 156.000000, 131.000000] - pose: {translation: [0.06439782267465474, 0.09068873298200732, 0.7620539909715945], quaternion: [0.3286088430146447, -0.2783445669034047, 0.05068786430580911, 0.9010944849348755]} - solutions: [[54.000000, -77.000000, 92.000000, 178.000000, 156.000000, 131.000000], [54.000000, 156.102391, 108.275608, 178.857614, 45.396663, 133.629445], [-126.000000, -162.125657, 77.709389, -1.141634, 45.434925, 133.628374], [-126.000000, 19.424311, 122.566219, -39.763899, 178.728358, 93.070254], [54.000000, -77.000000, 92.000000, -2.000000, -156.000000, -49.000000], [54.000000, 156.102391, 108.275608, -1.142386, -45.396663, -46.370555], [-126.000000, -162.125657, 77.709389, 178.858366, -45.434925, -46.371626], [-126.000000, 19.424311, 122.566219, 140.236101, -178.728358, -86.929746]] + joints: [54.000000, -76.000000, 92.000000, 178.000000, 155.000000, 131.000000] + pose: {translation: [0.06643339906864028, 0.09357061549237203, 0.7629630438357393], quaternion: [0.3162315467406743, -0.2684992208958497, 0.05100955131736479, 0.9084623288275215]} + solutions: [[54.000000, -76.000000, 92.000000, 178.000000, 155.000000, 131.000000], [54.000000, 157.102391, 108.275608, 178.792045, 44.397735, 133.675894], [-126.000000, -162.386042, 77.619493, -1.221334, 43.786422, 133.694521], [-126.000000, 18.978637, 122.656115, -17.875622, 177.245852, 114.956461], [54.000000, -76.000000, 92.000000, -2.000000, -155.000000, -49.000000], [54.000000, 157.102391, 108.275608, -1.207955, -44.397735, -46.324106], [-126.000000, -162.386042, 77.619493, 178.778666, -43.786422, -46.305479], [-126.000000, 18.978637, 122.656115, 162.124378, -177.245852, -65.043539]] - id: 13 parameters: Irb2400_10 joints: [128.000000, -76.000000, -70.000000, -47.000000, 93.000000, 180.000000] @@ -71,14 +71,14 @@ cases: solutions: [[-52.000000, 36.871925, -20.509566, 118.355538, 123.908619, 137.263600], [-52.000000, 98.973317, -139.214827, 133.069280, 88.738290, -175.438349], [128.000000, -76.000000, -70.000000, -47.000000, 93.000000, 180.000000], [128.000000, -65.721549, -89.724392, -47.757078, 99.404325, 173.011927], [-52.000000, 36.871925, -20.509566, -61.644462, -123.908619, -42.736400], [-52.000000, 98.973317, -139.214827, -46.930720, -88.738290, 4.561651], [128.000000, -76.000000, -70.000000, 133.000000, -93.000000, 0.000000], [128.000000, -65.721549, -89.724392, 132.242922, -99.404325, -6.988073]] - id: 14 parameters: Irb2400_10 - joints: [-10.000000, 130.000000, 129.000000, -18.000000, 59.000000, 173.000000] - pose: {translation: [0.4128095066860103, -0.09565151738635429, 0.9333997239999164], quaternion: [0.3992425952900839, -0.1002124160515875, 0.8734463986264674, 0.2601042300724767]} - solutions: [[-10.000000, -39.721671, 71.275608, -164.113769, 75.391762, -20.605723], [-10.000000, 130.000000, 129.000000, -18.000000, 59.000000, 173.000000], [170.000000, -135.659143, 57.983423, 162.238277, 60.260322, 172.528736], [170.000000, 14.655244, 142.292184, 16.694375, 67.230324, -23.121023], [-10.000000, -39.721671, 71.275608, 15.886231, -75.391762, 159.394277], [-10.000000, 130.000000, 129.000000, 162.000000, -59.000000, -7.000000], [170.000000, -135.659143, 57.983423, -17.761723, -60.260322, -7.471264], [170.000000, 14.655244, 142.292184, -163.305625, -67.230324, 156.878977]] + joints: [-10.000000, 129.000000, 129.000000, -18.000000, 59.000000, 173.000000] + pose: {translation: [0.407288616954298, -0.09467803556913709, 0.9389909354305045], quaternion: [0.3913268819431565, -0.101120351202849, 0.8769960718673374, 0.259838095687525]} + solutions: [[-10.000000, -40.721671, 71.275608, -164.113769, 75.391762, -20.605723], [-10.000000, 129.000000, 129.000000, -18.000000, 59.000000, 173.000000], [170.000000, -135.082018, 58.129397, 162.189696, 59.996655, 172.626277], [170.000000, 15.425457, 142.146211, 16.649524, 67.590288, -23.004263], [-10.000000, -40.721671, 71.275608, 15.886231, -75.391762, 159.394277], [-10.000000, 129.000000, 129.000000, 162.000000, -59.000000, -7.000000], [170.000000, -135.082018, 58.129397, -17.810304, -59.996655, -7.373723], [170.000000, 15.425457, 142.146211, -163.350476, -67.590288, 156.995737]] - id: 15 parameters: Irb2400_10 - joints: [5.000000, -176.000000, 133.000000, -17.000000, 80.000000, 176.000000] - pose: {translation: [0.5762534521150683, 0.02584811417453447, 0.4768796298656505], quaternion: [0.8856695230743639, 0.02759375136818539, 0.4425166592649817, 0.1378661925767871]} - solutions: [[5.000000, 20.612041, 67.275608, -158.940034, 53.250932, -20.012889], [5.000000, -176.000000, 133.000000, -17.000000, 80.000000, 176.000000], [-175.000000, -168.888125, 50.754687, 163.093969, 98.060514, 170.520696], [-175.000000, -27.806812, 149.520920, 39.076056, 27.179316, -42.880519], [5.000000, 20.612041, 67.275608, 21.059966, -53.250932, 159.987111], [5.000000, -176.000000, 133.000000, 163.000000, -80.000000, -4.000000], [-175.000000, -168.888125, 50.754687, -16.906031, -98.060514, -9.479304], [-175.000000, -27.806812, 149.520920, -140.923944, -27.179316, 137.119481]] + joints: [5.000000, -175.000000, 133.000000, -17.000000, 79.000000, 176.000000] + pose: {translation: [0.5746804763436463, 0.02578984078137178, 0.4697560201369547], quaternion: [0.8854749606910581, 0.0300659008444252, 0.4425228644377355, 0.1385772349464508]} + solutions: [[5.000000, 21.612041, 67.275608, -159.280078, 54.212618, -19.811723], [5.000000, -175.000000, 133.000000, -17.000000, 79.000000, 176.000000], [-175.000000, -169.595965, 50.800128, 163.177797, 97.388238, 170.434910], [-175.000000, -28.458329, 149.475480, 38.089916, 27.725197, -42.092527], [5.000000, 21.612041, 67.275608, 20.719922, -54.212618, 160.188277], [5.000000, -175.000000, 133.000000, 163.000000, -79.000000, -4.000000], [-175.000000, -169.595965, 50.800128, -16.822203, -97.388238, -9.565090], [-175.000000, -28.458329, 149.475480, -141.910084, -27.725197, 137.907473]] - id: 16 parameters: Irb2400_10 joints: [27.000000, -51.000000, 10.000000, 50.000000, -109.000000, -101.000000] @@ -91,34 +91,34 @@ cases: solutions: [[35.000000, -32.000000, 70.000000, -63.000000, 13.000000, 38.000000], [35.000000, 135.637849, 130.275608, -17.022604, 136.791298, -36.973164], [-145.000000, -138.339784, 55.798670, 161.828783, 140.006085, -38.508544], [-145.000000, 9.119632, 144.476938, 145.888320, 20.940624, 7.924196], [35.000000, -32.000000, 70.000000, 117.000000, -13.000000, -142.000000], [35.000000, 135.637849, 130.275608, 162.977396, -136.791298, 143.026836], [-145.000000, -138.339784, 55.798670, -18.171217, -140.006085, 141.491456], [-145.000000, 9.119632, 144.476938, -34.111680, -20.940624, -172.075804]] - id: 18 parameters: Irb2400_10 - joints: [25.000000, -110.000000, 164.000000, -20.000000, 139.000000, -68.000000] - pose: {translation: [-0.07313456266386011, -0.05514766807339304, -0.1364834365961458], quaternion: [0.4499099018109339, -0.4165064613641106, -0.1210577644207518, 0.7806718040046485]} - solutions: [[-155.000000, 124.619183, 36.499806, 107.349305, 166.403632, -124.821877], [-155.000000, -111.255109, 163.775802, 165.983534, 67.887107, -47.271838], [25.000000, 126.132186, 36.275608, -23.283987, 34.586464, -33.131766], [25.000000, -110.000000, 164.000000, -20.000000, 139.000000, -68.000000], [-155.000000, 124.619183, 36.499806, -72.650695, -166.403632, 55.178123], [-155.000000, -111.255109, 163.775802, -14.016466, -67.887107, 132.728162], [25.000000, 126.132186, 36.275608, 156.716013, -34.586464, 146.868234], [25.000000, -110.000000, 164.000000, 160.000000, -139.000000, 112.000000]] + joints: [25.000000, -109.000000, 164.000000, -20.000000, 138.000000, -68.000000] + pose: {translation: [-0.08509832051333595, -0.06114575808101941, -0.1344642887377015], quaternion: [0.4519932348212475, -0.4143110864435005, -0.1212053419214603, 0.7806136716811543]} + solutions: [[-155.000000, 123.463363, 36.818765, 110.163953, 165.889158, -122.126020], [-155.000000, -112.043666, 163.456842, 165.587504, 66.848155, -47.095065], [25.000000, 127.132186, 36.275608, -24.312464, 33.770234, -32.280886], [25.000000, -109.000000, 164.000000, -20.000000, 138.000000, -68.000000], [-155.000000, 123.463363, 36.818765, -69.836047, -165.889158, 57.873980], [-155.000000, -112.043666, 163.456842, -14.412496, -66.848155, 132.904935], [25.000000, 127.132186, 36.275608, 155.687536, -33.770234, 147.719114], [25.000000, -109.000000, 164.000000, 160.000000, -138.000000, 112.000000]] - id: 19 parameters: Irb2400_10 - joints: [169.000000, -106.000000, 155.000000, 92.000000, -114.000000, -15.000000] - pose: {translation: [0.01991797220980824, 0.07518489072429656, -0.03624773222334322], quaternion: [-0.1704405019184035, 0.5726467868327101, 0.5645581807164822, 0.5694732244996873]} - solutions: [[169.000000, 119.587161, 45.275608, -68.911047, 78.105252, -81.784207], [169.000000, -106.000000, 155.000000, -88.000000, 114.000000, 165.000000], [-11.000000, 123.128013, 44.771280, 76.528269, 110.145572, 125.271740], [-11.000000, -103.062045, 155.504328, 113.920800, 92.833863, -116.267011], [169.000000, 119.587161, 45.275608, 111.088953, -78.105252, 98.215793], [169.000000, -106.000000, 155.000000, 92.000000, -114.000000, -15.000000], [-11.000000, 123.128013, 44.771280, -103.471731, -110.145572, -54.728260], [-11.000000, -103.062045, 155.504328, -66.079200, -92.833863, 63.732989]] + joints: [169.000000, -105.000000, 155.000000, 92.000000, -113.000000, -15.000000] + pose: {translation: [0.03032916354648468, 0.07376341351302189, -0.03536789466253569], quaternion: [-0.1822464921706871, 0.5722345125684886, 0.5619007919522226, 0.5688597179625651]} + solutions: [[169.000000, 120.587161, 45.275608, -69.848893, 78.500980, -81.594069], [169.000000, -105.000000, 155.000000, -88.000000, 113.000000, 165.000000], [-11.000000, 121.994978, 45.075196, 77.147235, 109.337275, 125.324200], [-11.000000, -103.831963, 155.200412, 112.942149, 92.609297, -116.245810], [169.000000, 120.587161, 45.275608, 110.151107, -78.500980, 98.405931], [169.000000, -105.000000, 155.000000, 92.000000, -113.000000, -15.000000], [-11.000000, 121.994978, 45.075196, -102.852765, -109.337275, -54.675800], [-11.000000, -103.831963, 155.200412, -67.057851, -92.609297, 63.754190]] - id: 20 parameters: Irb2400_10 - joints: [-94.000000, -44.000000, 119.000000, 112.000000, 88.000000, 65.000000] - pose: {translation: [0.08083227262472044, 0.02684698405025827, 0.4331719357882353], quaternion: [0.5360335198639313, -0.4255291988329207, 0.7114269547728664, -0.1595764849390502]} - solutions: [[86.000000, 89.127019, 86.054672, -84.201610, 68.651660, 134.476679], [86.000000, -67.312030, 114.220936, -76.205152, 107.419111, 9.420992], [-94.000000, 126.415788, 81.275608, 76.165259, 107.387815, -69.428200], [-94.000000, -44.000000, 119.000000, 112.000000, 88.000000, 65.000000], [86.000000, 89.127019, 86.054672, 95.798390, -68.651660, -45.523321], [86.000000, -67.312030, 114.220936, 103.794848, -107.419111, -170.579008], [-94.000000, 126.415788, 81.275608, -103.834741, -107.387815, 110.571800], [-94.000000, -44.000000, 119.000000, -68.000000, -88.000000, -115.000000]] + joints: [-94.000000, -43.000000, 119.000000, 112.000000, 88.000000, 65.000000] + pose: {translation: [0.08105222657852343, 0.02999247213543887, 0.435510679543773], quaternion: [0.5341908830729115, -0.4316090261037799, 0.7080218167415514, -0.1644957630017348]} + solutions: [[86.000000, 87.812920, 86.339870, -84.190372, 68.654583, 134.445808], [86.000000, -67.611959, 113.935738, -76.079159, 107.319743, 9.843035], [-94.000000, 127.415788, 81.275608, 76.165259, 107.387815, -69.428200], [-94.000000, -43.000000, 119.000000, 112.000000, 88.000000, 65.000000], [86.000000, 87.812920, 86.339870, 95.809628, -68.654583, -45.554192], [86.000000, -67.611959, 113.935738, 103.920841, -107.319743, -170.156965], [-94.000000, 127.415788, 81.275608, -103.834741, -107.387815, 110.571800], [-94.000000, -43.000000, 119.000000, -68.000000, -88.000000, -115.000000]] - id: 21 parameters: Irb2400_10 - joints: [-16.000000, 94.000000, 156.000000, 71.000000, 125.000000, -6.000000] - pose: {translation: [0.4566503283156964, -0.06245478622914639, 1.191056253723777], quaternion: [-0.4954265146629624, 0.6916926310220037, 0.0768471277965263, 0.5198157286079289]} - solutions: [[-16.000000, -39.218978, 44.275608, 62.299060, 61.019685, -107.724246], [-16.000000, 94.000000, 156.000000, 71.000000, 125.000000, -6.000000], [164.000000, -100.859132, 34.123097, -106.783562, 126.003189, -2.184410], [164.000000, 20.543011, 166.152511, -122.677716, 66.950463, -96.422277], [-16.000000, -39.218978, 44.275608, -117.700940, -61.019685, 72.275754], [-16.000000, 94.000000, 156.000000, -109.000000, -125.000000, 174.000000], [164.000000, -100.859132, 34.123097, 73.216438, -126.003189, 177.815590], [164.000000, 20.543011, 166.152511, 57.322284, -66.950463, 83.577723]] + joints: [-16.000000, 93.000000, 156.000000, 71.000000, 124.000000, -6.000000] + pose: {translation: [0.4469773977149902, -0.0588546096800947, 1.198424067059704], quaternion: [-0.4961889374634827, 0.6829780985352396, 0.07471069676419571, 0.5308067134551494]} + solutions: [[-16.000000, -40.218978, 44.275608, 63.416125, 61.227501, -108.263714], [-16.000000, 93.000000, 156.000000, 71.000000, 124.000000, -6.000000], [164.000000, -100.161215, 34.373069, -106.899713, 124.990245, -2.292466], [164.000000, 21.526335, 165.902539, -121.494096, 66.822053, -97.094719], [-16.000000, -40.218978, 44.275608, -116.583875, -61.227501, 71.736286], [-16.000000, 93.000000, 156.000000, -109.000000, -124.000000, 174.000000], [164.000000, -100.161215, 34.373069, 73.100287, -124.990245, 177.707534], [164.000000, 21.526335, 165.902539, 58.505904, -66.822053, 82.905281]] - id: 22 parameters: Irb2400_10 - joints: [131.000000, 175.000000, 146.000000, 98.000000, 97.000000, 123.000000] - pose: {translation: [-0.4880424068466239, 0.4340842710127775, 0.495340162362773], quaternion: [0.338161722899791, -0.6085378130258619, 0.2736684664940878, 0.6636519793761793]} - solutions: [[131.000000, 29.495349, 54.275608, 79.777760, 92.876569, -0.518394], [131.000000, 175.000000, 146.000000, 98.000000, 97.000000, 123.000000], [-49.000000, -161.423378, 36.950212, -80.351637, 94.447168, 139.412257], [-49.000000, -36.778927, 163.325395, -97.400939, 97.630960, 29.562112], [131.000000, 29.495349, 54.275608, -100.222240, -92.876569, 179.481606], [131.000000, 175.000000, 146.000000, -82.000000, -97.000000, -57.000000], [-49.000000, -161.423378, 36.950212, 99.648363, -94.447168, -40.587743], [-49.000000, -36.778927, 163.325395, 82.599061, -97.630960, -150.437888]] + joints: [131.000000, 174.000000, 146.000000, 98.000000, 96.000000, 123.000000] + pose: {translation: [-0.4902141840385353, 0.4363291257196802, 0.5058840361063406], quaternion: [0.3379348716923027, -0.6052936896176387, 0.2649004702930589, 0.6702591384247504]} + solutions: [[131.000000, 28.495349, 54.275608, 80.612950, 93.428449, -0.472463], [131.000000, 174.000000, 146.000000, 98.000000, 96.000000, 123.000000], [-49.000000, -160.651015, 36.901591, -80.651416, 93.532780, 139.119576], [-49.000000, -36.062604, 163.374017, -96.425165, 97.663518, 29.460684], [131.000000, 28.495349, 54.275608, -99.387050, -93.428449, 179.527537], [131.000000, 174.000000, 146.000000, -82.000000, -96.000000, -57.000000], [-49.000000, -160.651015, 36.901591, 99.348584, -93.532780, -40.880424], [-49.000000, -36.062604, 163.374017, 83.574835, -97.663518, -150.539316]] - id: 23 parameters: Irb2400_10 - joints: [158.000000, 110.000000, -6.000000, -32.000000, -135.000000, 22.000000] - pose: {translation: [-0.7303317146911446, 0.2607215026120587, -0.3453692384647399], quaternion: [-0.4664743875876775, 0.1090220687052234, 0.8366395923487638, -0.2656125501071613]} - solutions: [[158.000000, 110.000000, -6.000000, 148.000000, 135.000000, -158.000000], [158.000000, -172.512467, -153.724392, 156.655810, 71.019653, -126.171414], [-22.000000, -171.086835, -22.604865, -28.028882, 52.882132, -116.351974], [-22.000000, -111.196351, -137.119527, -22.614541, 102.976559, -139.505634], [158.000000, 110.000000, -6.000000, -32.000000, -135.000000, 22.000000], [158.000000, -172.512467, -153.724392, -23.344190, -71.019653, 53.828586], [-22.000000, -171.086835, -22.604865, 151.971118, -52.882132, 63.648026], [-22.000000, -111.196351, -137.119527, 157.385459, -102.976559, 40.494366]] + joints: [158.000000, 109.000000, -6.000000, -32.000000, -135.000000, 22.000000] + pose: {translation: [-0.7457767210512791, 0.2669616902397439, -0.3334457407104212], quaternion: [-0.4605555808440841, 0.1041338293601048, 0.8407384229858914, -0.2649596321166023]} + solutions: [[158.000000, 109.000000, -6.000000, 148.000000, 135.000000, -158.000000], [158.000000, -173.512467, -153.724392, 156.655810, 71.019653, -126.171414], [-22.000000, -169.952105, -23.046144, -27.920593, 53.152862, -116.531985], [-22.000000, -110.526951, -136.678249, -22.604776, 102.874388, -139.461978], [158.000000, 109.000000, -6.000000, -32.000000, -135.000000, 22.000000], [158.000000, -173.512467, -153.724392, -23.344190, -71.019653, 53.828586], [-22.000000, -169.952105, -23.046144, 152.079407, -53.152862, 63.468015], [-22.000000, -110.526951, -136.678249, 157.395224, -102.874388, 40.538022]] - id: 24 parameters: Irb2400_10 joints: [-115.000000, 58.000000, 47.000000, -25.000000, 18.000000, -74.000000] @@ -126,29 +126,29 @@ cases: solutions: [[-115.000000, 58.000000, 47.000000, -25.000000, 18.000000, -74.000000], [-115.000000, -165.512822, 153.275608, -10.316867, 133.179484, -105.016981], [65.000000, -177.322196, 31.595162, 162.262215, 154.617422, -114.035294], [65.000000, -58.793543, 168.680446, 170.419065, 51.687523, -91.942619], [-115.000000, 58.000000, 47.000000, 155.000000, -18.000000, 106.000000], [-115.000000, -165.512822, 153.275608, 169.683133, -133.179484, 74.983019], [65.000000, -177.322196, 31.595162, -17.737785, -154.617422, 65.964706], [65.000000, -58.793543, 168.680446, -9.580935, -51.687523, 88.057381]] - id: 25 parameters: Irb2400_10 - joints: [60.000000, -73.000000, 27.000000, -36.000000, -162.000000, 136.000000] - pose: {translation: [-0.122510927829052, -0.181317094042094, 1.414612683083314], quaternion: [0.7391637926788063, 0.4570240623387049, -0.4753888853006612, 0.1370084003581716]} - solutions: [[-120.000000, -55.342121, 30.281964, -12.513062, 56.964787, -2.457603], [-120.000000, 61.702484, 169.993644, -27.892384, 157.153351, -35.358259], [60.000000, -73.000000, 27.000000, 144.000000, 162.000000, -44.000000], [60.000000, 40.358996, 173.275608, 168.472183, 65.352212, -4.494400], [-120.000000, -55.342121, 30.281964, 167.486938, -56.964787, 177.542397], [-120.000000, 61.702484, 169.993644, 152.107616, -157.153351, 144.641741], [60.000000, -73.000000, 27.000000, -36.000000, -162.000000, 136.000000], [60.000000, 40.358996, 173.275608, -11.527817, -65.352212, 175.505600]] + joints: [60.000000, -72.000000, 27.000000, -36.000000, -161.000000, 136.000000] + pose: {translation: [-0.1164612206433747, -0.1691848440987953, 1.421183318471995], quaternion: [0.7338242352558463, 0.4501897404955725, -0.4894040027931511, 0.1389780966690183]} + solutions: [[-120.000000, -56.165655, 29.949359, -13.286971, 56.370808, -2.061457], [-120.000000, 60.503956, 170.326249, -28.121204, 156.046085, -35.543262], [60.000000, -72.000000, 27.000000, 144.000000, 161.000000, -44.000000], [60.000000, 41.358996, 173.275608, 167.767870, 64.582296, -4.196370], [-120.000000, -56.165655, 29.949359, 166.713029, -56.370808, 177.938543], [-120.000000, 60.503956, 170.326249, 151.878796, -156.046085, 144.456738], [60.000000, -72.000000, 27.000000, -36.000000, -161.000000, 136.000000], [60.000000, 41.358996, 173.275608, -12.232130, -64.582296, 175.803630]] - id: 26 parameters: Irb2400_10 - joints: [94.000000, 24.000000, -6.000000, -49.000000, 97.000000, 39.000000] - pose: {translation: [-0.01457940854641554, 1.121272868962687, 1.104695057632103], quaternion: [-0.4454692209930483, 0.7696600028118803, -0.3452137760875781, 0.3000135030608101]} - solutions: [[94.000000, 24.000000, -6.000000, -49.000000, 97.000000, 39.000000], [94.000000, 101.487533, -153.724392, -81.983991, 130.845537, -30.867902], [-86.000000, -90.325460, -34.451515, 95.435375, 131.195431, -34.798928], [-86.000000, -42.896265, -125.272877, 123.947452, 115.444692, 14.433357], [94.000000, 24.000000, -6.000000, 131.000000, -97.000000, -141.000000], [94.000000, 101.487533, -153.724392, 98.016009, -130.845537, 149.132098], [-86.000000, -90.325460, -34.451515, -84.564625, -131.195431, 145.201072], [-86.000000, -42.896265, -125.272877, -56.052548, -115.444692, -165.566643]] + joints: [94.000000, 24.000000, -6.000000, -49.000000, 96.000000, 39.000000] + pose: {translation: [-0.01454838468337605, 1.122646165023789, 1.104134789447544], quaternion: [-0.4494410370285881, 0.7694919078317154, -0.3379527432938939, 0.302775331419694]} + solutions: [[94.000000, 24.000000, -6.000000, -49.000000, 96.000000, 39.000000], [94.000000, 101.487533, -153.724392, -80.749318, 130.494750, -30.063240], [-86.000000, -90.325460, -34.451515, 96.706065, 130.909422, -33.964382], [-86.000000, -42.896265, -125.272877, 124.404448, 114.534509, 14.626424], [94.000000, 24.000000, -6.000000, 131.000000, -96.000000, -141.000000], [94.000000, 101.487533, -153.724392, 99.250682, -130.494750, 149.936760], [-86.000000, -90.325460, -34.451515, -83.293935, -130.909422, 146.035618], [-86.000000, -42.896265, -125.272877, -55.595552, -114.534509, -165.373576]] - id: 27 parameters: Irb2400_10 - joints: [87.000000, 8.000000, 6.000000, 106.000000, -132.000000, -126.000000] - pose: {translation: [0.1079462384848501, 0.8995342704826079, 1.258343373423506], quaternion: [-0.06067765338101472, 0.7174653289981057, -0.5483535448714908, 0.4252882715202517]} - solutions: [[87.000000, 8.000000, 6.000000, -74.000000, 132.000000, 54.000000], [87.000000, 98.348128, -165.724392, -131.447849, 107.629185, -40.267682], [-93.000000, -92.541903, -15.233242, 47.517242, 104.385825, -44.017829], [-93.000000, -24.861946, -144.491150, 82.592998, 133.915143, 20.187300], [87.000000, 8.000000, 6.000000, 106.000000, -132.000000, -126.000000], [87.000000, 98.348128, -165.724392, 48.552151, -107.629185, 139.732318], [-93.000000, -92.541903, -15.233242, -132.482758, -104.385825, 135.982171], [-93.000000, -24.861946, -144.491150, -97.407002, -133.915143, -159.812700]] + joints: [87.000000, 8.000000, 6.000000, 106.000000, -131.000000, -126.000000] + pose: {translation: [0.1089428595035283, 0.9004959600790522, 1.257811673644151], quaternion: [-0.06649052789899587, 0.7191278964098191, -0.5429561849981279, 0.4285238143641262]} + solutions: [[87.000000, 8.000000, 6.000000, -74.000000, 131.000000, 54.000000], [87.000000, 98.348128, -165.724392, -130.401059, 107.700839, -39.950024], [-93.000000, -92.541903, -15.233242, 48.540155, 104.523104, -43.762493], [-93.000000, -24.861946, -144.491150, 83.354886, 133.081728, 20.711752], [87.000000, 8.000000, 6.000000, 106.000000, -131.000000, -126.000000], [87.000000, 98.348128, -165.724392, 49.598941, -107.700839, 140.049976], [-93.000000, -92.541903, -15.233242, -131.459845, -104.523104, 136.237507], [-93.000000, -24.861946, -144.491150, -96.645114, -133.081728, -159.288248]] - id: 28 parameters: Irb2400_10 - joints: [154.000000, -14.000000, 157.000000, 63.000000, 112.000000, 141.000000] - pose: {translation: [0.4980518537918996, -0.3210438997635848, 0.7846096806400734], quaternion: [0.4392377437657594, 0.1620567221882723, -0.671200612642876, 0.5747151997580942]} - solutions: [[-26.000000, -0.484272, 60.109474, -106.481926, 120.511457, 164.444757], [-26.000000, 152.674306, 140.166134, -107.486042, 60.014461, 46.901189], [154.000000, -146.031345, 43.275608, 78.457149, 57.477449, 35.476811], [154.000000, -14.000000, 157.000000, 63.000000, 112.000000, 141.000000], [-26.000000, -0.484272, 60.109474, 73.518074, -120.511457, -15.555243], [-26.000000, 152.674306, 140.166134, 72.513958, -60.014461, -133.098811], [154.000000, -146.031345, 43.275608, -101.542851, -57.477449, -144.523189], [154.000000, -14.000000, 157.000000, -117.000000, -112.000000, -39.000000]] + joints: [154.000000, -14.000000, 157.000000, 63.000000, 111.000000, 141.000000] + pose: {translation: [0.4989637832676204, -0.3220276751858972, 0.7839761385815545], quaternion: [0.4406167484539158, 0.1696342410247069, -0.6673062554856816, 0.5760064814249479]} + solutions: [[-26.000000, -0.484272, 60.109474, -106.939458, 119.593214, 164.215620], [-26.000000, 152.674306, 140.166134, -106.335329, 60.090940, 46.326735], [154.000000, -146.031345, 43.275608, 79.596446, 57.750215, 34.866562], [154.000000, -14.000000, 157.000000, 63.000000, 111.000000, 141.000000], [-26.000000, -0.484272, 60.109474, 73.060542, -119.593214, -15.784380], [-26.000000, 152.674306, 140.166134, 73.664671, -60.090940, -133.673265], [154.000000, -146.031345, 43.275608, -100.403554, -57.750215, -145.133438], [154.000000, -14.000000, 157.000000, -117.000000, -111.000000, -39.000000]] - id: 29 parameters: Irb2400_10 - joints: [-149.000000, 125.000000, 83.000000, 53.000000, 138.000000, 51.000000] - pose: {translation: [0.006816231288025533, -0.04889670393194408, 0.446448779539743], quaternion: [0.6189103566449866, 0.3370672185933992, -0.5830671022192083, 0.4041885882814858]} - solutions: [[31.000000, 91.580959, 87.303919, -87.522800, 32.336541, -86.532667], [31.000000, -60.205393, 112.971689, -38.621806, 121.112569, 163.966896], [-149.000000, 125.000000, 83.000000, 53.000000, 138.000000, 51.000000], [-149.000000, -40.915069, 117.275608, 147.001823, 78.882177, -166.464396], [31.000000, 91.580959, 87.303919, 92.477200, -32.336541, 93.467333], [31.000000, -60.205393, 112.971689, 141.378194, -121.112569, -16.033104], [-149.000000, 125.000000, 83.000000, -127.000000, -138.000000, -129.000000], [-149.000000, -40.915069, 117.275608, -32.998177, -78.882177, 13.535604]] + joints: [-149.000000, 124.000000, 83.000000, 53.000000, 137.000000, 51.000000] + pose: {translation: [0.005243435417044015, -0.05086080660458534, 0.4461082639451559], quaternion: [0.6067069480565211, 0.339219008784155, -0.5902432277893345, 0.4104266990685002]} + solutions: [[31.000000, 92.817187, 87.023124, -86.217505, 33.083259, -87.655049], [31.000000, -60.064545, 113.252484, -39.930562, 121.942509, 162.970423], [-149.000000, 124.000000, 83.000000, 53.000000, 137.000000, 51.000000], [-149.000000, -41.915069, 117.275608, 146.383565, 79.676526, -166.349384], [31.000000, 92.817187, 87.023124, 93.782495, -33.083259, 92.344951], [31.000000, -60.064545, 113.252484, 140.069438, -121.942509, -17.029577], [-149.000000, 124.000000, 83.000000, -127.000000, -137.000000, -129.000000], [-149.000000, -41.915069, 117.275608, -33.616435, -79.676526, 13.650616]] - id: 30 parameters: Irb2400_10 joints: [-133.000000, 49.000000, 154.000000, 90.000000, 118.000000, -116.000000] @@ -156,9 +156,9 @@ cases: solutions: [[47.000000, -68.272317, 49.373311, -87.822373, 117.922025, -111.357575], [47.000000, 71.105445, 150.902297, -115.730475, 78.559526, 131.628915], [-133.000000, -86.613276, 46.275608, 64.584291, 77.838574, 130.089929], [-133.000000, 49.000000, 154.000000, 90.000000, 118.000000, -116.000000], [47.000000, -68.272317, 49.373311, 92.177627, -117.922025, 68.642425], [47.000000, 71.105445, 150.902297, 64.269525, -78.559526, -48.371085], [-133.000000, -86.613276, 46.275608, -115.415709, -77.838574, -49.910071], [-133.000000, 49.000000, 154.000000, -90.000000, -118.000000, 64.000000]] - id: 31 parameters: Irb2400_10 - joints: [-110.000000, 148.000000, 131.000000, -114.000000, -170.000000, -68.000000] - pose: {translation: [-0.1416479096235038, -0.4285990638799753, 0.7003322257746911], quaternion: [0.975440995375734, 0.2009498523433182, 0.09000540662262146, 0.005748753107629304]} - solutions: [[-110.000000, -18.482838, 69.275608, 12.999313, 44.848671, 37.032394], [-110.000000, 148.000000, 131.000000, 66.000000, 170.000000, 112.000000], [70.000000, -145.537755, 53.678099, -71.743384, 170.384004, 154.826777], [70.000000, -0.792731, 146.597509, -169.561154, 61.108922, 41.240949], [-110.000000, -18.482838, 69.275608, -167.000687, -44.848671, -142.967606], [-110.000000, 148.000000, 131.000000, -114.000000, -170.000000, -68.000000], [70.000000, -145.537755, 53.678099, 108.256616, -170.384004, -25.173223], [70.000000, -0.792731, 146.597509, 10.438846, -61.108922, -138.759051]] + joints: [-110.000000, 147.000000, 131.000000, -114.000000, -169.000000, -68.000000] + pose: {translation: [-0.1400818756116737, -0.4281925682195729, 0.7066336230753429], quaternion: [0.9752025052987692, 0.2010414001065779, 0.09026082516718718, 0.02038167172558457]} + solutions: [[-110.000000, -19.482838, 69.275608, 14.374890, 44.597538, 36.055000], [-110.000000, 147.000000, 131.000000, 66.000000, 169.000000, 112.000000], [70.000000, -144.921328, 53.765962, -77.097187, 169.698495, 149.504200], [70.000000, -0.064847, 146.509646, -168.438817, 60.431001, 40.632937], [-110.000000, -19.482838, 69.275608, -165.625110, -44.597538, -143.945000], [-110.000000, 147.000000, 131.000000, -114.000000, -169.000000, -68.000000], [70.000000, -144.921328, 53.765962, 102.902813, -169.698495, -30.495800], [70.000000, -0.064847, 146.509646, 11.561183, -60.431001, -139.367063]] - id: 32 parameters: Irb2400_10 joints: [176.000000, 55.000000, 109.000000, 119.000000, -56.000000, 138.000000] @@ -166,9 +166,9 @@ cases: solutions: [[-4.000000, -173.472030, 92.951647, 50.335868, 70.377259, 70.699801], [-4.000000, 67.025587, 107.323961, 77.010567, 131.915244, 163.698679], [176.000000, -173.170237, 91.275608, -132.933232, 82.039377, 84.281689], [176.000000, 55.000000, 109.000000, -61.000000, 56.000000, -42.000000], [-4.000000, -173.472030, 92.951647, -129.664132, -70.377259, -109.300199], [-4.000000, 67.025587, 107.323961, -102.989433, -131.915244, -16.301321], [176.000000, -173.170237, 91.275608, 47.066768, -82.039377, -95.718311], [176.000000, 55.000000, 109.000000, 119.000000, -56.000000, 138.000000]] - id: 33 parameters: Irb2400_10 - joints: [-178.000000, 101.000000, -22.000000, 167.000000, 107.000000, 68.000000] - pose: {translation: [-1.140299494047634, -0.05811663137983158, -0.1953820904207195], quaternion: [-0.215179286386632, -0.4704258287090819, 0.5574028605646264, 0.6493839122028549]} - solutions: [[-178.000000, 101.000000, -22.000000, 167.000000, 107.000000, 68.000000], [-178.000000, 161.528483, -137.724392, 164.427531, 53.256986, 81.326760], [2.000000, -137.492659, -57.867806, -17.659773, 45.163414, 84.513410], [2.000000, -114.560718, -101.856586, -13.678352, 65.466289, 77.632040], [-178.000000, 101.000000, -22.000000, -13.000000, -107.000000, -112.000000], [-178.000000, 161.528483, -137.724392, -15.572469, -53.256986, -98.673240], [2.000000, -137.492659, -57.867806, 162.340227, -45.163414, -95.486590], [2.000000, -114.560718, -101.856586, 166.321648, -65.466289, -102.367960]] + joints: [-178.000000, 100.000000, -22.000000, 167.000000, 107.000000, 68.000000] + pose: {translation: [-1.154275446931029, -0.05860468240890017, -0.1770796611603961], quaternion: [-0.210507631278194, -0.4645747386912284, 0.5594015311506628, 0.6533963393606631]} + solutions: [[-178.000000, 100.000000, -22.000000, 167.000000, 107.000000, 68.000000], [-178.000000, 160.528483, -137.724392, 164.427531, 53.256986, 81.326760], [2.000000, -136.163433, -58.714295, -17.505735, 45.656512, 84.293995], [2.000000, -114.114912, -101.010097, -13.710144, 65.182303, 77.708191], [-178.000000, 100.000000, -22.000000, -13.000000, -107.000000, -112.000000], [-178.000000, 160.528483, -137.724392, -15.572469, -53.256986, -98.673240], [2.000000, -136.163433, -58.714295, 162.494265, -45.656512, -95.706005], [2.000000, -114.114912, -101.010097, 166.289856, -65.182303, -102.291809]] - id: 34 parameters: Irb2400_10 joints: [-125.000000, 98.000000, -1.000000, 59.000000, -86.000000, 84.000000] @@ -176,64 +176,64 @@ cases: solutions: [[-125.000000, 98.000000, -1.000000, -121.000000, 86.000000, -96.000000], [-125.000000, -179.171988, -158.724392, -94.448801, 59.055232, -170.774070], [55.000000, -163.837642, -20.121404, 96.466286, 59.378829, 168.077332], [55.000000, -101.326409, -139.602988, 66.363953, 68.967962, -128.731737], [-125.000000, 98.000000, -1.000000, 59.000000, -86.000000, 84.000000], [-125.000000, -179.171988, -158.724392, 85.551199, -59.055232, 9.225930], [55.000000, -163.837642, -20.121404, -83.533714, -59.378829, -11.922668], [55.000000, -101.326409, -139.602988, -113.636047, -68.967962, 51.268263]] - id: 35 parameters: Irb2400_10 - joints: [177.000000, -119.000000, -178.000000, -168.000000, -59.000000, -28.000000] - pose: {translation: [0.0962567225371104, -0.02021367349402437, -0.409573258325007], quaternion: [-0.1322801899093861, 0.9498811055159102, -0.1419528768794881, 0.2451065431338909]} - solutions: [[-3.000000, 130.309800, 19.423908, -169.732086, 91.153195, 158.456449], [-3.000000, -124.731151, -179.148300, -76.765796, 10.549049, 54.794039], [177.000000, 137.302937, 18.275608, 162.114334, 35.470321, -7.026755], [177.000000, -119.000000, -178.000000, 12.000000, 59.000000, 152.000000], [-3.000000, 130.309800, 19.423908, 10.267914, -91.153195, -21.543551], [-3.000000, -124.731151, -179.148300, 103.234204, -10.549049, -125.205961], [177.000000, 137.302937, 18.275608, -17.885666, -35.470321, 172.973245], [177.000000, -119.000000, -178.000000, -168.000000, -59.000000, -28.000000]] + joints: [177.000000, -118.000000, -178.000000, -168.000000, -59.000000, -28.000000] + pose: {translation: [0.1140834950847079, -0.02114793505502784, -0.4059758980931356], quaternion: [-0.1311500369356485, 0.9476441058123132, -0.1435340592288843, 0.2533146074987359]} + solutions: [[-3.000000, 129.121802, 19.780827, -169.731436, 91.319411, 158.486568], [-3.000000, -125.526349, -179.505219, -75.973325, 10.584898, 53.987898], [177.000000, 138.302937, 18.275608, 162.114334, 35.470321, -7.026755], [177.000000, -118.000000, -178.000000, 12.000000, 59.000000, 152.000000], [-3.000000, 129.121802, 19.780827, 10.268564, -91.319411, -21.513432], [-3.000000, -125.526349, -179.505219, 104.026675, -10.584898, -126.012102], [177.000000, 138.302937, 18.275608, -17.885666, -35.470321, 172.973245], [177.000000, -118.000000, -178.000000, -168.000000, -59.000000, -28.000000]] - id: 36 parameters: Irb2400_10 - joints: [-174.000000, 157.000000, -156.000000, 174.000000, -65.000000, 2.000000] - pose: {translation: [-1.161733704932557, -0.1140063057551935, 0.01061753428318128], quaternion: [-0.04585593231362391, 0.9758011661887107, 0.03638705853031246, -0.2106781894452112]} - solutions: [[-174.000000, 77.084782, -3.724392, -143.837009, 9.238519, -36.350672], [-174.000000, 157.000000, -156.000000, -6.000000, 65.000000, -178.000000], [6.000000, -138.653069, -31.051737, 174.402756, 76.237838, -179.207797], [6.000000, -87.653786, -128.672655, 169.079534, 30.004145, -171.057758], [-174.000000, 77.084782, -3.724392, 36.162991, -9.238519, 143.649328], [-174.000000, 157.000000, -156.000000, 174.000000, -65.000000, 2.000000], [6.000000, -138.653069, -31.051737, -5.597244, -76.237838, 0.792203], [6.000000, -87.653786, -128.672655, -10.920466, -30.004145, 8.942242]] + joints: [-174.000000, 156.000000, -156.000000, 174.000000, -64.000000, 2.000000] + pose: {translation: [-1.173386870148502, -0.1152982294814468, 0.02997147189191744], quaternion: [-0.04572427888430004, 0.9720311052410279, 0.03520008155898329, -0.2276527509665925]} + solutions: [[-174.000000, 76.084782, -3.724392, -147.397570, 10.041768, -32.840273], [-174.000000, 156.000000, -156.000000, -6.000000, 64.000000, -178.000000], [6.000000, -137.656550, -31.306894, 174.417867, 74.980648, -179.187150], [6.000000, -86.925361, -128.417499, 168.824588, 28.995598, -170.834307], [-174.000000, 76.084782, -3.724392, 32.602430, -10.041768, 147.159727], [-174.000000, 156.000000, -156.000000, 174.000000, -64.000000, 2.000000], [6.000000, -137.656550, -31.306894, -5.582133, -74.980648, 0.812850], [6.000000, -86.925361, -128.417499, -11.175412, -28.995598, 9.165693]] - id: 37 parameters: Irb2400_10 - joints: [-119.000000, 88.000000, -156.000000, 57.000000, 147.000000, 145.000000] - pose: {translation: [-0.4309271302737395, -0.8574975105011645, 1.314658476124617], quaternion: [0.9332878768802294, -0.2708038683291599, 0.2336282459106936, 0.03250917530558591]} - solutions: [[-119.000000, 8.084782, -3.724392, 27.191045, 88.364376, 91.911586], [-119.000000, 88.000000, -156.000000, 57.000000, 147.000000, 145.000000], [61.000000, -81.819016, -26.410187, -117.800503, 148.910644, 151.131627], [61.000000, -25.938080, -133.314205, -150.797729, 110.575068, 103.864709], [-119.000000, 8.084782, -3.724392, -152.808955, -88.364376, -88.088414], [-119.000000, 88.000000, -156.000000, -123.000000, -147.000000, -35.000000], [61.000000, -81.819016, -26.410187, 62.199497, -148.910644, -28.868373], [61.000000, -25.938080, -133.314205, 29.202271, -110.575068, -76.135291]] + joints: [-119.000000, 88.000000, -156.000000, 57.000000, 146.000000, 145.000000] + pose: {translation: [-0.4304712773069547, -0.8588151485605541, 1.315165263069267], quaternion: [0.9314195621541965, -0.2717305573462698, 0.2389353631078268, 0.03911515943085977]} + solutions: [[-119.000000, 8.084782, -3.724392, 27.991203, 87.763973, 91.884556], [-119.000000, 88.000000, -156.000000, 57.000000, 146.000000, 145.000000], [61.000000, -81.819016, -26.410187, -118.001587, 147.916204, 150.960327], [61.000000, -25.938080, -133.314205, -150.098483, 109.820516, 104.106140], [-119.000000, 8.084782, -3.724392, -152.008797, -87.763973, -88.115444], [-119.000000, 88.000000, -156.000000, -123.000000, -146.000000, -35.000000], [61.000000, -81.819016, -26.410187, 61.998413, -147.916204, -29.039673], [61.000000, -25.938080, -133.314205, 29.901517, -109.820516, -75.893860]] - id: 38 parameters: Irb2400_10 - joints: [-80.000000, 114.000000, 75.000000, 127.000000, -62.000000, 144.000000] - pose: {translation: [-0.06859926911854351, 0.04387642635820468, 0.3638737626285046], quaternion: [-0.3369965902335074, 0.2954623477271596, 0.8235651853190704, -0.3476718061288691]} - solutions: [[100.000000, 105.118153, 76.161313, 49.295722, 111.537687, 135.186762], [100.000000, -76.428146, 124.114295, 134.134617, 100.731564, -78.787388], [-80.000000, 114.000000, 75.000000, -53.000000, 62.000000, -36.000000], [-80.000000, -69.750250, 125.275608, -92.023615, 135.122501, -160.777859], [100.000000, 105.118153, 76.161313, -130.704278, -111.537687, -44.813238], [100.000000, -76.428146, 124.114295, -45.865383, -100.731564, 101.212612], [-80.000000, 114.000000, 75.000000, 127.000000, -62.000000, 144.000000], [-80.000000, -69.750250, 125.275608, 87.976385, -135.122501, 19.222141]] + joints: [-80.000000, 113.000000, 75.000000, 127.000000, -62.000000, 144.000000] + pose: {translation: [-0.06783410874204991, 0.03953698622590462, 0.3612047584774704], quaternion: [-0.3352438679269047, 0.3030556269583322, 0.8204839681694106, -0.3501069750280306]} + solutions: [[100.000000, 106.220123, 75.886960, 49.347467, 111.650049, 135.327362], [100.000000, -75.855376, 124.388648, 134.155302, 100.625089, -78.675753], [-80.000000, 113.000000, 75.000000, -53.000000, 62.000000, -36.000000], [-80.000000, -70.750250, 125.275608, -92.023615, 135.122501, -160.777859], [100.000000, 106.220123, 75.886960, -130.652533, -111.650049, -44.672638], [100.000000, -75.855376, 124.388648, -45.844698, -100.625089, 101.324247], [-80.000000, 113.000000, 75.000000, 127.000000, -62.000000, 144.000000], [-80.000000, -70.750250, 125.275608, 87.976385, -135.122501, 19.222141]] - id: 39 parameters: Irb2400_10 - joints: [-164.000000, 74.000000, 74.000000, 90.000000, 121.000000, -76.000000] - pose: {translation: [-0.2164629534979424, -0.1378651591488091, 0.317947729179013], quaternion: [0.4379819165903541, -0.4143760874925446, 0.4276179792944145, 0.6735036470861705]} - solutions: [[-164.000000, 74.000000, 74.000000, 90.000000, 121.000000, -76.000000], [-164.000000, -111.577515, 126.275608, 113.618618, 69.314687, 52.931536], [16.000000, 143.770555, 65.267670, -88.221750, 59.045975, 100.545805], [16.000000, -55.828112, 135.007938, -66.215684, 110.491669, -24.460342], [-164.000000, 74.000000, 74.000000, -90.000000, -121.000000, 104.000000], [-164.000000, -111.577515, 126.275608, -66.381382, -69.314687, -127.068464], [16.000000, 143.770555, 65.267670, 91.778250, -59.045975, -79.454195], [16.000000, -55.828112, 135.007938, 113.784316, -110.491669, 155.539658]] + joints: [-164.000000, 74.000000, 74.000000, 90.000000, 120.000000, -76.000000] + pose: {translation: [-0.2152134020815676, -0.1382901378152398, 0.3172703671037083], quaternion: [0.4445707719739165, -0.4121613915060636, 0.4301857107386635, 0.668894663108155]} + solutions: [[-164.000000, 74.000000, 74.000000, 90.000000, 120.000000, -76.000000], [-164.000000, -111.577515, 126.275608, 112.790520, 69.945045, 53.219792], [16.000000, 143.770555, 65.267670, -88.291287, 60.044177, 100.581052], [16.000000, -55.828112, 135.007938, -67.048266, 109.867724, -24.747562], [-164.000000, 74.000000, 74.000000, -90.000000, -120.000000, 104.000000], [-164.000000, -111.577515, 126.275608, -67.209480, -69.945045, -126.780208], [16.000000, 143.770555, 65.267670, 91.708713, -60.044177, -79.418948], [16.000000, -55.828112, 135.007938, 112.951734, -109.867724, 155.252438]] - id: 40 parameters: Irb2400_10 - joints: [41.000000, -137.000000, -23.000000, -147.000000, 34.000000, -56.000000] - pose: {translation: [-0.9009710325160405, -0.8175033827479491, 0.2174047470426513], quaternion: [-0.566381901508901, -0.5077259554937857, 0.6205152385654851, -0.1907530719781549]} - solutions: [[-139.000000, 66.845398, 2.881649, 159.778193, 61.775812, 162.179384], [-139.000000, 153.836599, -162.606041, 45.572013, 25.244003, -70.401768], [41.000000, -137.000000, -23.000000, -147.000000, 34.000000, -56.000000], [41.000000, -77.526192, -136.724392, -37.366170, 30.120525, -174.257483], [-139.000000, 66.845398, 2.881649, -20.221807, -61.775812, -17.820616], [-139.000000, 153.836599, -162.606041, -134.427987, -25.244003, 109.598232], [41.000000, -137.000000, -23.000000, 33.000000, -34.000000, 124.000000], [41.000000, -77.526192, -136.724392, 142.633830, -30.120525, 5.742517]] + joints: [41.000000, -137.000000, -23.000000, -147.000000, 33.000000, -56.000000] + pose: {translation: [-0.9017259459172736, -0.8172668763277756, 0.2186597273054452], quaternion: [-0.5647123618809982, -0.5022865872564556, 0.6269286584211012, -0.1891258571728516]} + solutions: [[-139.000000, 66.845398, 2.881649, 160.474636, 62.563653, 161.854236], [-139.000000, 153.836599, -162.606041, 46.176942, 24.276618, -70.951105], [41.000000, -137.000000, -23.000000, -147.000000, 33.000000, -56.000000], [41.000000, -77.526192, -136.724392, -35.635905, 30.605446, -175.750468], [-139.000000, 66.845398, 2.881649, -19.525364, -62.563653, -18.145764], [-139.000000, 153.836599, -162.606041, -133.823058, -24.276618, 109.048895], [41.000000, -137.000000, -23.000000, 33.000000, -33.000000, 124.000000], [41.000000, -77.526192, -136.724392, 144.364095, -30.605446, 4.249532]] - id: 41 parameters: Irb2400_10 - joints: [43.000000, 56.000000, -21.000000, 135.000000, -109.000000, -116.000000] - pose: {translation: [1.007873985563962, 0.8621531322013585, 0.6560870442733103], quaternion: [0.09764572120424533, 0.8191041463615121, -0.5625772749392353, 0.05514091281277043]} - solutions: [[43.000000, 56.000000, -21.000000, -45.000000, 109.000000, 64.000000], [43.000000, 117.583686, -138.724392, -81.313205, 137.441619, 3.751908], [43.000000, 56.000000, -21.000000, 135.000000, -109.000000, -116.000000], [43.000000, 117.583686, -138.724392, 98.686795, -137.441619, -176.248092]] + joints: [43.000000, 55.000000, -21.000000, 135.000000, -108.000000, -116.000000] + pose: {translation: [1.008156972145861, 0.8619619026695997, 0.6763990717960769], quaternion: [0.09895685702336877, 0.8261784021914576, -0.5509772984942417, 0.06372444385331308]} + solutions: [[43.000000, 55.000000, -21.000000, -45.000000, 108.000000, 64.000000], [43.000000, 116.583686, -138.724392, -80.041635, 136.938297, 4.684772], [43.000000, 55.000000, -21.000000, 135.000000, -108.000000, -116.000000], [43.000000, 116.583686, -138.724392, 99.958365, -136.938297, -175.315228]] - id: 42 parameters: Irb2400_10 - joints: [-168.000000, -149.000000, -140.000000, 161.000000, 143.000000, 144.000000] - pose: {translation: [-0.127588091488205, -0.04414595439600975, -0.5792853115670616], quaternion: [-0.1094340175086549, -0.133541228142123, 0.9831540671608728, 0.05999180296709566]} - solutions: [[-168.000000, 148.069494, -19.724392, 28.202998, 155.506785, 5.388427], [-168.000000, -149.000000, -140.000000, 161.000000, 143.000000, 144.000000], [12.000000, 159.351903, -22.459474, -12.600201, 116.082037, 153.763020], [12.000000, -140.604274, -137.264918, -53.186439, 165.833862, 107.041802], [-168.000000, 148.069494, -19.724392, -151.797002, -155.506785, -174.611573], [-168.000000, -149.000000, -140.000000, -19.000000, -143.000000, -36.000000], [12.000000, 159.351903, -22.459474, 167.399799, -116.082037, -26.236980], [12.000000, -140.604274, -137.264918, 126.813561, -165.833862, -72.958198]] + joints: [-168.000000, -149.000000, -140.000000, 161.000000, 142.000000, 144.000000] + pose: {translation: [-0.1288252266112156, -0.04480065291442331, -0.5797769125511405], quaternion: [-0.1166785529409859, -0.138155526780401, 0.9816590598711159, 0.06037098538689299]} + solutions: [[-168.000000, 148.069494, -19.724392, 29.844663, 156.248392, 6.886781], [-168.000000, -149.000000, -140.000000, 161.000000, 142.000000, 144.000000], [12.000000, 159.351903, -22.459474, -12.787443, 115.096399, 153.682144], [12.000000, -140.604274, -137.264918, -50.859454, 165.022962, 109.294013], [-168.000000, 148.069494, -19.724392, -150.155337, -156.248392, -173.113219], [-168.000000, -149.000000, -140.000000, -19.000000, -142.000000, -36.000000], [12.000000, 159.351903, -22.459474, 167.212557, -115.096399, -26.317856], [12.000000, -140.604274, -137.264918, 129.140546, -165.022962, -70.705987]] - id: 43 parameters: Irb2400_10 - joints: [144.000000, -156.000000, 126.000000, 33.000000, 55.000000, 23.000000] - pose: {translation: [-0.4033528158803257, 0.2461786993606224, 0.4391694219074674], quaternion: [0.6977217261790105, -0.408985881709591, -0.5439827073397322, 0.2236017788286702]} - solutions: [[144.000000, 29.079969, 74.275608, 153.342397, 83.929753, -133.531558], [144.000000, -156.000000, 126.000000, 33.000000, 55.000000, 23.000000], [-36.000000, 177.556817, 58.905387, -152.867248, 78.032882, 37.364333], [-36.000000, -30.903988, 141.370221, -33.290149, 54.372780, -115.638862], [144.000000, 29.079969, 74.275608, -26.657603, -83.929753, 46.468442], [144.000000, -156.000000, 126.000000, -147.000000, -55.000000, -157.000000], [-36.000000, 177.556817, 58.905387, 27.132752, -78.032882, -142.635667], [-36.000000, -30.903988, 141.370221, 146.709851, -54.372780, 64.361138]] + joints: [144.000000, -155.000000, 126.000000, 33.000000, 55.000000, 23.000000] + pose: {translation: [-0.4008244963740213, 0.2443417677149068, 0.4327210187910566], quaternion: [0.7003887039724561, -0.4133391846544096, -0.5369383146113689, 0.224284703177265]} + solutions: [[144.000000, 30.079969, 74.275608, 153.342397, 83.929753, -133.531558], [144.000000, -155.000000, 126.000000, 33.000000, 55.000000, 23.000000], [-36.000000, 176.866802, 58.990895, -152.904875, 78.384911, 37.548469], [-36.000000, -31.479760, 141.284713, -33.424321, 54.089861, -115.409318], [144.000000, 30.079969, 74.275608, -26.657603, -83.929753, 46.468442], [144.000000, -155.000000, 126.000000, -147.000000, -55.000000, -157.000000], [-36.000000, 176.866802, 58.990895, 27.095125, -78.384911, -142.451531], [-36.000000, -31.479760, 141.284713, 146.575679, -54.089861, 64.590682]] - id: 44 parameters: Irb2400_10 - joints: [-145.000000, -91.000000, -106.000000, -54.000000, -96.000000, -71.000000] - pose: {translation: [1.074969519204595, 0.6692133103855672, 0.207935054099712], quaternion: [0.4907052390384478, 0.7234908953692126, -0.3085888101286011, 0.3748896357082832]} - solutions: [[35.000000, 72.888314, -14.794212, -57.668706, 72.214309, 142.949087], [35.000000, 141.033226, -144.930180, -57.690185, 107.828000, 91.354730], [-145.000000, -118.257739, -53.724392, 121.108200, 109.994770, 87.649068], [-145.000000, -91.000000, -106.000000, 126.000000, 96.000000, 109.000000], [35.000000, 72.888314, -14.794212, 122.331294, -72.214309, -37.050913], [35.000000, 141.033226, -144.930180, 122.309815, -107.828000, -88.645270], [-145.000000, -118.257739, -53.724392, -58.891800, -109.994770, -92.350932], [-145.000000, -91.000000, -106.000000, -54.000000, -96.000000, -71.000000]] + joints: [-145.000000, -90.000000, -106.000000, -54.000000, -95.000000, -71.000000] + pose: {translation: [1.081828643003119, 0.6738756915830443, 0.2313218960782213], quaternion: [0.4924909641637394, 0.7258606326495683, -0.2940708485933294, 0.3796068073602445]} + solutions: [[35.000000, 71.658122, -14.651525, -58.232941, 71.431717, 143.054638], [35.000000, 139.954174, -145.072868, -57.430317, 106.994257, 91.253921], [-145.000000, -117.257739, -53.724392, 121.493387, 109.062990, 87.777833], [-145.000000, -90.000000, -106.000000, 126.000000, 95.000000, 109.000000], [35.000000, 71.658122, -14.651525, 121.767059, -71.431717, -36.945362], [35.000000, 139.954174, -145.072868, 122.569683, -106.994257, -88.746079], [-145.000000, -117.257739, -53.724392, -58.506613, -109.062990, -92.222167], [-145.000000, -90.000000, -106.000000, -54.000000, -95.000000, -71.000000]] - id: 45 parameters: Irb2400_10 - joints: [144.000000, -98.000000, -150.000000, -23.000000, -115.000000, 2.000000] - pose: {translation: [0.5296816052830595, -0.4220423858125713, -0.2269700890602427], quaternion: [-0.6615747978277854, 0.1505196165401169, 0.7339867655150176, 0.03043123337204219]} - solutions: [[-36.000000, 96.762653, 6.686200, -20.954295, 81.976911, -164.770346], [-36.000000, -172.148908, -166.410592, -53.007278, 153.681081, 142.216504], [144.000000, -171.523729, -9.724392, 80.539439, 158.960867, 92.047391], [144.000000, -98.000000, -150.000000, 157.000000, 115.000000, -178.000000], [-36.000000, 96.762653, 6.686200, 159.045705, -81.976911, 15.229654], [-36.000000, -172.148908, -166.410592, 126.992722, -153.681081, -37.783496], [144.000000, -171.523729, -9.724392, -99.460561, -158.960867, -87.952609], [144.000000, -98.000000, -150.000000, -23.000000, -115.000000, 2.000000]] + joints: [144.000000, -97.000000, -150.000000, -23.000000, -114.000000, 2.000000] + pose: {translation: [0.5413376505458196, -0.4308081226600156, -0.2147523525126627], quaternion: [-0.6732071814817551, 0.154524967440558, 0.7226253576508478, 0.02695770240339979]} + solutions: [[-36.000000, 95.478844, 6.997858, -21.187585, 80.977551, -164.725869], [-36.000000, -173.096280, -166.722251, -52.001552, 153.065778, 143.023486], [144.000000, -170.523729, -9.724392, 83.322897, 158.937365, 94.645153], [144.000000, -97.000000, -150.000000, 157.000000, 114.000000, -178.000000], [-36.000000, 95.478844, 6.997858, 158.812415, -80.977551, 15.274131], [-36.000000, -173.096280, -166.722251, 127.998448, -153.065778, -36.976514], [144.000000, -170.523729, -9.724392, -96.677103, -158.937365, -85.354847], [144.000000, -97.000000, -150.000000, -23.000000, -114.000000, 2.000000]] - id: 46 parameters: Irb2400_10 - joints: [-31.000000, -129.000000, -40.000000, -80.000000, -58.000000, -126.000000] - pose: {translation: [-1.044651339309615, 0.7105079523603565, 0.1791775888265151], quaternion: [-0.6046257236832743, 0.39515724384312, 0.401125297605082, 0.5633622125418251]} - solutions: [[149.000000, 73.733109, -8.420408, -119.888866, 74.426700, 137.367449], [149.000000, 148.643370, -151.303985, -85.287439, 56.929237, 63.813728], [-31.000000, -129.000000, -40.000000, 100.000000, 58.000000, 54.000000], [-31.000000, -87.388478, -119.724392, 75.807829, 59.480569, 98.877262], [149.000000, 73.733109, -8.420408, 60.111134, -74.426700, -42.632551], [149.000000, 148.643370, -151.303985, 94.712561, -56.929237, -116.186272], [-31.000000, -129.000000, -40.000000, -80.000000, -58.000000, -126.000000], [-31.000000, -87.388478, -119.724392, -104.192171, -59.480569, -81.122738]] + joints: [-31.000000, -128.000000, -40.000000, -80.000000, -57.000000, -126.000000] + pose: {translation: [-1.05242201552907, 0.7142612614364816, 0.2033988406806898], quaternion: [-0.6009331248911369, 0.3917736004567454, 0.4132727271561903, 0.5608907900675647]} + solutions: [[149.000000, 72.489197, -8.256368, -120.901331, 74.272574, 137.574242], [149.000000, 147.573977, -151.468024, -85.335935, 55.962700, 63.646643], [-31.000000, -128.000000, -40.000000, 100.000000, 57.000000, 54.000000], [-31.000000, -86.388478, -119.724392, 74.982720, 58.774547, 99.300662], [149.000000, 72.489197, -8.256368, 59.098669, -74.272574, -42.425758], [149.000000, 147.573977, -151.468024, 94.664065, -55.962700, -116.353357], [-31.000000, -128.000000, -40.000000, -80.000000, -57.000000, -126.000000], [-31.000000, -86.388478, -119.724392, -105.017280, -58.774547, -80.699338]] - id: 47 parameters: Irb2400_10 joints: [95.000000, -9.000000, 12.000000, -64.000000, 80.000000, -80.000000] @@ -241,9 +241,9 @@ cases: solutions: [[95.000000, -9.000000, 12.000000, -64.000000, 80.000000, -80.000000], [95.000000, 87.843120, -171.724392, -77.460046, 114.937195, -161.783621], [-85.000000, -86.842680, -4.055199, 100.101789, 115.962979, -167.453403], [-85.000000, -7.280666, -155.669193, 117.718872, 89.133944, -97.949576], [95.000000, -9.000000, 12.000000, 116.000000, -80.000000, 100.000000], [95.000000, 87.843120, -171.724392, 102.539954, -114.937195, 18.216379], [-85.000000, -86.842680, -4.055199, -79.898211, -115.962979, 12.546597], [-85.000000, -7.280666, -155.669193, -62.281128, -89.133944, 82.050424]] - id: 48 parameters: Irb2400_10 - joints: [-90.000000, 142.000000, -13.000000, 56.000000, 125.000000, -66.000000] - pose: {translation: [0.05772416489982189, -0.1642425135563699, -0.5498591961782044], quaternion: [0.3613954687648856, 0.04881084560530596, 0.9218169803642121, 0.1313935737382517]} - solutions: [[-90.000000, 142.000000, -13.000000, 56.000000, 125.000000, -66.000000], [-90.000000, -147.953594, -146.724392, 114.605109, 131.674877, 18.180068], [90.000000, 159.138741, -16.833052, -49.312594, 116.415356, 46.264336], [90.000000, -134.874535, -142.891340, -97.901319, 136.715861, -27.170399], [-90.000000, 142.000000, -13.000000, -124.000000, -125.000000, 114.000000], [-90.000000, -147.953594, -146.724392, -65.394891, -131.674877, -161.819932], [90.000000, 159.138741, -16.833052, 130.687406, -116.415356, -133.735664], [90.000000, -134.874535, -142.891340, 82.098681, -136.715861, 152.829601]] + joints: [-90.000000, 141.000000, -13.000000, 56.000000, 125.000000, -66.000000] + pose: {translation: [0.0577241648998219, -0.1845623252442988, -0.5485605960233659], quaternion: [0.3602350972473276, 0.05685325564002213, 0.9213559308213247, 0.1345423010607044]} + solutions: [[-90.000000, 141.000000, -13.000000, 56.000000, 125.000000, -66.000000], [-90.000000, -148.953594, -146.724392, 114.605109, 131.674877, 18.180068], [90.000000, 160.373840, -17.343289, -49.416717, 116.594537, 46.031020], [90.000000, -134.179131, -142.381103, -97.684889, 136.743745, -26.873157], [-90.000000, 141.000000, -13.000000, -124.000000, -125.000000, 114.000000], [-90.000000, -148.953594, -146.724392, -65.394891, -131.674877, -161.819932], [90.000000, 160.373840, -17.343289, 130.583283, -116.594537, -133.968980], [90.000000, -134.179131, -142.381103, 82.315111, -136.743745, 153.126843]] - id: 49 parameters: Irb2400_10 joints: [135.000000, 128.000000, 60.000000, -20.000000, 32.000000, 99.000000] @@ -251,9 +251,9 @@ cases: solutions: [[-45.000000, 99.511144, 63.797663, 26.463652, 156.001546, -73.699491], [-45.000000, -102.208714, 136.477945, 169.074118, 72.985551, 85.079355], [135.000000, 128.000000, 60.000000, -20.000000, 32.000000, 99.000000], [135.000000, -78.989625, 140.275608, -25.374927, 154.980183, 58.588800], [-45.000000, 99.511144, 63.797663, -153.536348, -156.001546, 106.300509], [-45.000000, -102.208714, 136.477945, -10.925882, -72.985551, -94.920645], [135.000000, 128.000000, 60.000000, 160.000000, -32.000000, -81.000000], [135.000000, -78.989625, 140.275608, 154.625073, -154.980183, -121.411200]] - id: 50 parameters: Irb2400_10 - joints: [31.000000, -80.000000, 133.000000, 178.000000, 120.000000, 51.000000] - pose: {translation: [-0.0004034033324268015, 0.002754723883927144, 0.2939131089251033], quaternion: [-0.1985789532821677, 0.02174210514917736, -0.731859051250219, 0.6515182340350654]} - solutions: [[-149.000000, 106.976597, 68.551528, -1.826418, 71.495760, 52.580140], [-149.000000, -87.676269, 131.724079, -175.568916, 156.971006, -123.920494], [31.000000, 116.612041, 67.275608, 1.832766, 109.088168, -127.400156], [31.000000, -80.000000, 133.000000, 178.000000, 120.000000, 51.000000], [-149.000000, 106.976597, 68.551528, 178.173582, -71.495760, -127.419860], [-149.000000, -87.676269, 131.724079, 4.431084, -156.971006, 56.079506], [31.000000, 116.612041, 67.275608, -178.167234, -109.088168, 52.599844], [31.000000, -80.000000, 133.000000, -2.000000, -120.000000, -129.000000]] + joints: [31.000000, -80.000000, 133.000000, 178.000000, 119.000000, 51.000000] + pose: {translation: [0.0007493106399199014, 0.003477087205495642, 0.2933212924672756], quaternion: [-0.2070090668619174, 0.02312659381009344, -0.7305931806082787, 0.6502661081006609]} + solutions: [[-149.000000, 106.976597, 68.551528, -1.855670, 70.496142, 52.589666], [-149.000000, -87.676269, 131.724079, -175.332915, 157.966910, -123.702498], [31.000000, 116.612041, 67.275608, 1.862492, 110.087776, -127.390190], [31.000000, -80.000000, 133.000000, 178.000000, 119.000000, 51.000000], [-149.000000, 106.976597, 68.551528, 178.144330, -70.496142, -127.410334], [-149.000000, -87.676269, 131.724079, 4.667085, -157.966910, 56.297502], [31.000000, 116.612041, 67.275608, -178.137508, -110.087776, 52.609810], [31.000000, -80.000000, 133.000000, -2.000000, -119.000000, -129.000000]] - id: 51 parameters: Irb2400_10 joints: [-152.000000, -41.000000, 59.000000, -68.000000, 8.000000, -66.000000] @@ -261,54 +261,54 @@ cases: solutions: [[-152.000000, -41.000000, 59.000000, -68.000000, 8.000000, -66.000000], [-152.000000, 110.665610, 141.275608, -9.515124, 128.684636, -139.785433], [28.000000, -117.853608, 47.452862, 170.273052, 130.203446, -140.118815], [28.000000, 19.181817, 152.822746, 149.986242, 14.949692, -104.638028], [-152.000000, -41.000000, 59.000000, 112.000000, -8.000000, 114.000000], [-152.000000, 110.665610, 141.275608, 170.484876, -128.684636, 40.214567], [28.000000, -117.853608, 47.452862, -9.726948, -130.203446, 39.881185], [28.000000, 19.181817, 152.822746, -30.013758, -14.949692, 75.361972]] - id: 52 parameters: Irb2400_10 - joints: [-162.000000, -124.000000, -99.000000, 112.000000, -50.000000, -2.000000] - pose: {translation: [0.9335112644857989, 0.3667955400657196, -0.4122956002688664], quaternion: [-0.645900150926313, 0.443921700249359, 0.1009098167569992, 0.6128325447976416]} - solutions: [[18.000000, 112.092003, -26.400113, 132.321076, 73.866447, 137.121511], [18.000000, 167.983545, -133.324280, 105.028055, 47.342381, -171.462118], [-162.000000, -143.951125, -60.724392, -84.345639, 45.539772, -157.894339], [-162.000000, -124.000000, -99.000000, -68.000000, 50.000000, 178.000000], [18.000000, 112.092003, -26.400113, -47.678924, -73.866447, -42.878489], [18.000000, 167.983545, -133.324280, -74.971945, -47.342381, 8.537882], [-162.000000, -143.951125, -60.724392, 95.654361, -45.539772, 22.105661], [-162.000000, -124.000000, -99.000000, 112.000000, -50.000000, -2.000000]] + joints: [-162.000000, -123.000000, -99.000000, 112.000000, -49.000000, -2.000000] + pose: {translation: [0.9512466974604673, 0.3716188523023018, -0.3939441484352429], quaternion: [-0.6460678923342787, 0.4438921229133526, 0.09124663536716125, 0.61419061637605]} + solutions: [[18.000000, 110.751782, -25.941706, 133.031180, 73.192080, 136.836844], [18.000000, 167.125965, -133.782686, 104.483378, 46.279714, -170.866527], [-162.000000, -142.951125, -60.724392, -84.926995, 44.628438, -157.483847], [-162.000000, -123.000000, -99.000000, -68.000000, 49.000000, 178.000000], [18.000000, 110.751782, -25.941706, -46.968820, -73.192080, -43.163156], [18.000000, 167.125965, -133.782686, -75.516622, -46.279714, 9.133473], [-162.000000, -142.951125, -60.724392, 95.073005, -44.628438, 22.516153], [-162.000000, -123.000000, -99.000000, 112.000000, -49.000000, -2.000000]] - id: 53 parameters: Irb2400_10 - joints: [11.000000, 1.000000, -33.000000, 87.000000, -174.000000, -179.000000] - pose: {translation: [0.5996075563954426, 0.1075130908465629, 1.790066119124822], quaternion: [0.5588892150751361, 0.6699487563106864, -0.413826089079446, -0.2599220598326995]} - solutions: [[11.000000, 1.000000, -33.000000, -93.000000, 174.000000, 1.000000], [11.000000, 49.952887, -126.724392, -171.569571, 134.602105, -80.042128], [-169.000000, -43.411043, -59.196963, 8.342132, 133.988251, -80.168563], [-169.000000, -21.866202, -100.527429, 13.501315, 153.441729, -73.862365], [11.000000, 1.000000, -33.000000, 87.000000, -174.000000, -179.000000], [11.000000, 49.952887, -126.724392, 8.430429, -134.602105, 99.957872], [-169.000000, -43.411043, -59.196963, -171.657868, -133.988251, 99.831437], [-169.000000, -21.866202, -100.527429, -166.498685, -153.441729, 106.137635]] + joints: [11.000000, 1.000000, -33.000000, 87.000000, -173.000000, -179.000000] + pose: {translation: [0.5999880937354571, 0.1060875549033052, 1.790220532846627], quaternion: [0.5552968021247767, 0.6722541456539478, -0.4185847230536059, -0.2539816033243614]} + solutions: [[11.000000, 1.000000, -33.000000, -93.000000, 173.000000, 1.000000], [11.000000, 49.952887, -126.724392, -170.186045, 134.438031, -79.072032], [-169.000000, -43.411043, -59.196963, 9.711876, 133.826528, -79.218627], [-169.000000, -21.866202, -100.527429, 15.640019, 153.164486, -71.951606], [11.000000, 1.000000, -33.000000, 87.000000, -173.000000, -179.000000], [11.000000, 49.952887, -126.724392, 9.813955, -134.438031, 100.927968], [-169.000000, -43.411043, -59.196963, -170.288124, -133.826528, 100.781373], [-169.000000, -21.866202, -100.527429, -164.359981, -153.164486, 108.048394]] - id: 54 parameters: Irb2400_10 - joints: [23.000000, -107.000000, -171.000000, 13.000000, -43.000000, 71.000000] - pose: {translation: [-0.2442205756248129, -0.1178320374636885, -0.3736850866904472], quaternion: [0.4633845044688364, 0.7753394996945838, 0.2896161324992736, 0.3166164193905404]} - solutions: [[-157.000000, 113.942604, 18.412941, 48.470490, 11.825613, -147.275889], [-157.000000, -142.209541, -178.137334, 8.975853, 100.478644, -97.770748], [23.000000, 156.943794, 11.275608, -168.782632, 127.941032, -92.464040], [23.000000, -107.000000, -171.000000, -167.000000, 43.000000, -109.000000], [-157.000000, 113.942604, 18.412941, -131.529510, -11.825613, 32.724111], [-157.000000, -142.209541, -178.137334, -171.024147, -100.478644, 82.229252], [23.000000, 156.943794, 11.275608, 11.217368, -127.941032, 87.535960], [23.000000, -107.000000, -171.000000, 13.000000, -43.000000, 71.000000]] + joints: [23.000000, -106.000000, -171.000000, 13.000000, -43.000000, 71.000000] + pose: {translation: [-0.2600518343438761, -0.1245520080988296, -0.3670623348591585], quaternion: [0.4646137177630968, 0.7788408118477816, 0.2832391236603157, 0.3119562179133125]} + solutions: [[-157.000000, 112.698778, 18.761130, 48.845837, 11.756677, -147.659327], [-157.000000, -143.070891, -178.485522, 8.981963, 100.685614, -97.737480], [23.000000, 157.943794, 11.275608, -168.782632, 127.941032, -92.464040], [23.000000, -106.000000, -171.000000, -167.000000, 43.000000, -109.000000], [-157.000000, 112.698778, 18.761130, -131.154163, -11.756677, 32.340673], [-157.000000, -143.070891, -178.485522, -171.018037, -100.685614, 82.262520], [23.000000, 157.943794, 11.275608, 11.217368, -127.941032, 87.535960], [23.000000, -106.000000, -171.000000, 13.000000, -43.000000, 71.000000]] - id: 55 parameters: Irb2400_10 - joints: [95.000000, 155.000000, -13.000000, -6.000000, -154.000000, -39.000000] - pose: {translation: [-0.001189480049162439, -0.03109305816069456, -0.5773195109012675], quaternion: [-0.573898485408969, 0.2563952058415411, 0.4093734673039675, 0.6612982618563976]} - solutions: [[-85.000000, 142.939356, -10.399622, -3.044748, 59.619389, 147.937485], [-85.000000, -144.254373, -149.324770, -3.233029, 125.659702, 144.510469], [95.000000, 155.000000, -13.000000, 174.000000, 154.000000, 141.000000], [95.000000, -134.953594, -146.724392, 177.373579, 90.445343, 146.376120], [-85.000000, 142.939356, -10.399622, 176.955252, -59.619389, -32.062515], [-85.000000, -144.254373, -149.324770, 176.766971, -125.659702, -35.489531], [95.000000, 155.000000, -13.000000, -6.000000, -154.000000, -39.000000], [95.000000, -134.953594, -146.724392, -2.626421, -90.445343, -33.623880]] + joints: [95.000000, 154.000000, -13.000000, -6.000000, -153.000000, -39.000000] + pose: {translation: [-0.003170662155170112, -0.01004032703345246, -0.5808646236974521], quaternion: [-0.5742469282481588, 0.2555743259544822, 0.409548026887271, 0.6612054468795679]} + solutions: [[-85.000000, 144.194428, -10.879082, -3.178649, 58.850829, 147.995513], [-85.000000, -143.508539, -148.845310, -3.298530, 124.436635, 144.483360], [95.000000, 154.000000, -13.000000, 174.000000, 153.000000, 141.000000], [95.000000, -135.953594, -146.724392, 177.279886, 89.449742, 146.376206], [-85.000000, 144.194428, -10.879082, 176.821351, -58.850829, -32.004487], [-85.000000, -143.508539, -148.845310, 176.701470, -124.436635, -35.516640], [95.000000, 154.000000, -13.000000, -6.000000, -153.000000, -39.000000], [95.000000, -135.953594, -146.724392, -2.720114, -89.449742, -33.623794]] - id: 56 parameters: Irb2400_10 - joints: [7.000000, -115.000000, 76.000000, -102.000000, 153.000000, 122.000000] - pose: {translation: [-0.09571334294086561, -0.04978151213833507, 0.855678950858803], quaternion: [0.8436702191977112, -0.1786266244553468, -0.3286487246607847, 0.3851014230737329]} - solutions: [[-173.000000, -103.639402, 78.004424, 30.144998, 62.161365, 30.244429], [-173.000000, 78.523809, 122.271184, 113.022384, 151.151205, 161.297653], [7.000000, -115.000000, 76.000000, -102.000000, 153.000000, 122.000000], [7.000000, 63.141880, 124.275608, -142.577999, 46.950265, 17.838262], [-173.000000, -103.639402, 78.004424, -149.855002, -62.161365, -149.755571], [-173.000000, 78.523809, 122.271184, -66.977616, -151.151205, -18.702347], [7.000000, -115.000000, 76.000000, 78.000000, -153.000000, -58.000000], [7.000000, 63.141880, 124.275608, 37.422001, -46.950265, -162.161738]] + joints: [7.000000, -114.000000, 76.000000, -102.000000, 153.000000, 122.000000] + pose: {translation: [-0.09151383023702309, -0.04926587681498759, 0.8591513929377446], quaternion: [0.8403819531666679, -0.1756337880564161, -0.3357536823320542, 0.3875311730495967]} + solutions: [[-173.000000, -104.197431, 77.727951, 30.189051, 62.018281, 30.150315], [-173.000000, 77.390887, 122.547657, 112.782058, 151.207069, 161.023349], [7.000000, -114.000000, 76.000000, -102.000000, 153.000000, 122.000000], [7.000000, 64.141880, 124.275608, -142.577999, 46.950265, 17.838262], [-173.000000, -104.197431, 77.727951, -149.810949, -62.018281, -149.849685], [-173.000000, 77.390887, 122.547657, -67.217942, -151.207069, -18.976651], [7.000000, -114.000000, 76.000000, 78.000000, -153.000000, -58.000000], [7.000000, 64.141880, 124.275608, 37.422001, -46.950265, -162.161738]] - id: 57 parameters: Irb2400_10 - joints: [115.000000, -175.000000, 47.000000, 11.000000, 102.000000, -144.000000] - pose: {translation: [0.1789516624787213, -0.4213013185030625, 0.4608376435923406], quaternion: [-0.3497275103975875, -0.40501508829685, -0.1796197206793606, 0.8254636289177547]} - solutions: [[-65.000000, 35.206172, 62.973730, -11.271880, 107.283056, 30.296994], [-65.000000, -167.681190, 137.301878, -167.116873, 123.166271, -139.182146], [115.000000, -175.000000, 47.000000, 11.000000, 102.000000, -144.000000], [115.000000, -38.512822, 153.275608, 163.355742, 139.336989, 20.908659], [-65.000000, 35.206172, 62.973730, 168.728120, -107.283056, -149.703006], [-65.000000, -167.681190, 137.301878, 12.883127, -123.166271, 40.817854], [115.000000, -175.000000, 47.000000, -169.000000, -102.000000, 36.000000], [115.000000, -38.512822, 153.275608, -16.644258, -139.336989, -159.091341]] + joints: [115.000000, -174.000000, 47.000000, 11.000000, 102.000000, -144.000000] + pose: {translation: [0.1800528369234488, -0.4236627947204689, 0.4705900877638565], quaternion: [-0.3555802891708121, -0.4094645701381749, -0.1776994392151033, 0.8211725354987217]} + solutions: [[-65.000000, 33.736456, 63.087122, -11.293805, 107.632495, 30.223912], [-65.000000, -168.991092, 137.188486, -167.177927, 122.753582, -139.294366], [115.000000, -174.000000, 47.000000, 11.000000, 102.000000, -144.000000], [115.000000, -37.512822, 153.275608, 163.355742, 139.336989, 20.908659], [-65.000000, 33.736456, 63.087122, 168.706195, -107.632495, -149.776088], [-65.000000, -168.991092, 137.188486, 12.822073, -122.753582, 40.705634], [115.000000, -174.000000, 47.000000, -169.000000, -102.000000, 36.000000], [115.000000, -37.512822, 153.275608, -16.644258, -139.336989, -159.091341]] - id: 58 parameters: Irb2400_10 - joints: [-33.000000, 162.000000, 153.000000, -25.000000, -126.000000, -57.000000] - pose: {translation: [0.5834954324813961, -0.344273955791437, 0.5825713163999867], quaternion: [-0.07923011531853129, -0.6650595504892405, -0.5369507015054502, 0.5129350127281884]} - solutions: [[-33.000000, 25.179343, 47.275608, 21.689329, 112.311364, -33.085783], [-33.000000, 162.000000, 153.000000, 155.000000, 126.000000, 123.000000], [147.000000, -150.577615, 29.043295, -21.913553, 113.633669, 129.166718], [147.000000, -34.927798, 171.232313, -149.084885, 138.280347, -17.588391], [-33.000000, 25.179343, 47.275608, -158.310671, -112.311364, 146.914217], [-33.000000, 162.000000, 153.000000, -25.000000, -126.000000, -57.000000], [147.000000, -150.577615, 29.043295, 158.086447, -113.633669, -50.833282], [147.000000, -34.927798, 171.232313, 30.915115, -138.280347, 162.411609]] + joints: [-33.000000, 161.000000, 153.000000, -25.000000, -125.000000, -57.000000] + pose: {translation: [0.5843272855363625, -0.3443800555980348, 0.5940550936392868], quaternion: [-0.0789080759189347, -0.6649910989017398, -0.5396116583679357, 0.5102740558657028]} + solutions: [[-33.000000, 24.179343, 47.275608, 22.130425, 113.224917, -32.915071], [-33.000000, 161.000000, 153.000000, 155.000000, 125.000000, 123.000000], [147.000000, -149.802909, 29.029439, -22.067584, 112.861072, 129.023637], [147.000000, -34.168667, 171.246169, -148.253650, 138.856024, -17.043273], [-33.000000, 24.179343, 47.275608, -157.869575, -113.224917, 147.084929], [-33.000000, 161.000000, 153.000000, -25.000000, -125.000000, -57.000000], [147.000000, -149.802909, 29.029439, 157.932416, -112.861072, -50.976363], [147.000000, -34.168667, 171.246169, 31.746350, -138.856024, 162.956727]] - id: 59 parameters: Irb2400_10 - joints: [-160.000000, -3.000000, 158.000000, -116.000000, 146.000000, 34.000000] - pose: {translation: [0.4471855297794613, 0.2082248930254792, 0.8885024434949024], quaternion: [0.06197042253839733, -0.65731263484275, -0.2049479694148219, 0.7225621749297673]} - solutions: [[20.000000, -14.618533, 57.921070, 45.547793, 135.244462, 10.366851], [20.000000, 135.613469, 142.354537, 149.826697, 89.516017, 154.750179], [-160.000000, -133.849620, 42.275608, -30.356256, 83.992026, 157.976662], [-160.000000, -3.000000, 158.000000, -116.000000, 146.000000, 34.000000], [20.000000, -14.618533, 57.921070, -134.452207, -135.244462, -169.633149], [20.000000, 135.613469, 142.354537, -30.173303, -89.516017, -25.249821], [-160.000000, -133.849620, 42.275608, 149.643744, -83.992026, -22.023338], [-160.000000, -3.000000, 158.000000, 64.000000, -146.000000, -146.000000]] + joints: [-160.000000, -3.000000, 158.000000, -116.000000, 145.000000, 34.000000] + pose: {translation: [0.4473124684330889, 0.2094404835464994, 0.887661591989839], quaternion: [0.05695937004177665, -0.6615149648207914, -0.2085960636297376, 0.7180816553295104]} + solutions: [[20.000000, -14.618533, 57.921070, 46.108158, 134.326946, 10.761618], [20.000000, 135.613469, 142.354537, 148.967303, 90.027348, 154.753604], [-160.000000, -133.849620, 42.275608, -31.189272, 84.551492, 158.059808], [-160.000000, -3.000000, 158.000000, -116.000000, 145.000000, 34.000000], [20.000000, -14.618533, 57.921070, -133.891842, -134.326946, -169.238382], [20.000000, 135.613469, 142.354537, -31.032697, -90.027348, -25.246396], [-160.000000, -133.849620, 42.275608, 148.810728, -84.551492, -21.940192], [-160.000000, -3.000000, 158.000000, 64.000000, -145.000000, -146.000000]] - id: 60 parameters: Irb2400_10 - joints: [59.000000, -156.000000, -55.000000, 73.000000, -134.000000, 79.000000] - pose: {translation: [-0.3127553133842286, -0.6340420831009568, -0.5185333195512886], quaternion: [0.04442995916961687, 0.6397465313570345, 0.245059000226568, 0.727115149582777]} - solutions: [[-121.000000, 123.120939, -28.514529, 43.864055, 96.915662, -160.643661], [-121.000000, 176.787524, -131.209863, 61.186996, 128.269485, -118.852969], [59.000000, -156.000000, -55.000000, -107.000000, 134.000000, -101.000000], [59.000000, -130.074321, -104.724392, -124.497568, 123.416665, -128.536899], [-121.000000, 123.120939, -28.514529, -136.135945, -96.915662, 19.356339], [-121.000000, 176.787524, -131.209863, -118.813004, -128.269485, 61.147031], [59.000000, -156.000000, -55.000000, 73.000000, -134.000000, 79.000000], [59.000000, -130.074321, -104.724392, 55.502432, -123.416665, 51.463101]] + joints: [59.000000, -155.000000, -55.000000, 73.000000, -133.000000, 79.000000] + pose: {translation: [-0.3224471576796762, -0.6520681151460926, -0.5051157657193494], quaternion: [0.04589612749485019, 0.6480615851244289, 0.234598536635884, 0.7230997538205161]} + solutions: [[-121.000000, 121.760984, -27.976127, 44.718405, 96.282733, -160.669264], [-121.000000, 175.993930, -131.748265, 61.795892, 127.474482, -118.248851], [59.000000, -155.000000, -55.000000, -107.000000, 133.000000, -101.000000], [59.000000, -129.074321, -104.724392, -123.949245, 122.528743, -128.238470], [-121.000000, 121.760984, -27.976127, -135.281595, -96.282733, 19.330736], [-121.000000, 175.993930, -131.748265, -118.204108, -127.474482, 61.751149], [59.000000, -155.000000, -55.000000, 73.000000, -133.000000, 79.000000], [59.000000, -129.074321, -104.724392, 56.050755, -122.528743, 51.761530]] - id: 61 parameters: Irb2400_10 - joints: [118.000000, 136.000000, 78.000000, -133.000000, -92.000000, -114.000000] - pose: {translation: [-0.01878820239469259, -0.09699884059244775, 0.4645071049170379], quaternion: [-0.4687384898971607, 0.08667805356314819, 0.867808845015562, -0.1402816867313395]} - solutions: [[-62.000000, 75.756552, 85.510378, -48.425905, 77.693586, -102.632194], [-62.000000, -82.547493, 114.765230, -108.384452, 129.626450, 126.332156], [118.000000, 136.000000, 78.000000, 47.000000, 92.000000, 66.000000], [118.000000, -41.846042, 122.275608, 124.110842, 118.019453, -150.887186], [-62.000000, 75.756552, 85.510378, 131.574095, -77.693586, 77.367806], [-62.000000, -82.547493, 114.765230, 71.615548, -129.626450, -53.667844], [118.000000, 136.000000, 78.000000, -133.000000, -92.000000, -114.000000], [118.000000, -41.846042, 122.275608, -55.889158, -118.019453, 29.112814]] + joints: [118.000000, 135.000000, 78.000000, -133.000000, -92.000000, -114.000000] + pose: {translation: [-0.02003389560017534, -0.09465603241319422, 0.4614440150092007], quaternion: [-0.4662462309116567, 0.079413507715694, 0.8703640183791795, -0.1370197885847544]} + solutions: [[-62.000000, 77.283216, 85.222121, -48.465082, 77.535443, -102.449537], [-62.000000, -81.973480, 115.053486, -108.492562, 129.582888, 126.162569], [118.000000, 135.000000, 78.000000, 47.000000, 92.000000, 66.000000], [118.000000, -42.846042, 122.275608, 124.110842, 118.019453, -150.887186], [-62.000000, 77.283216, 85.222121, 131.534918, -77.535443, 77.550463], [-62.000000, -81.973480, 115.053486, 71.507438, -129.582888, -53.837431], [118.000000, 135.000000, 78.000000, -133.000000, -92.000000, -114.000000], [118.000000, -42.846042, 122.275608, -55.889158, -118.019453, 29.112814]] - id: 62 parameters: Irb2400_10 joints: [-25.000000, 68.000000, 128.000000, -103.000000, -28.000000, 13.000000] @@ -321,59 +321,59 @@ cases: solutions: [[134.000000, -43.143210, 18.567968, 28.464161, 8.164925, -153.856552], [134.000000, 60.874907, -178.292360, 3.941351, 100.007900, -124.950305], [-46.000000, -69.230829, 13.275608, -175.949236, 106.619153, -124.475969], [-46.000000, 29.000000, -173.000000, -168.000000, 19.000000, -137.000000], [134.000000, -43.143210, 18.567968, -151.535839, -8.164925, 26.143448], [134.000000, 60.874907, -178.292360, -176.058649, -100.007900, 55.049695], [-46.000000, -69.230829, 13.275608, 4.050764, -106.619153, 55.524031], [-46.000000, 29.000000, -173.000000, 12.000000, -19.000000, 43.000000]] - id: 64 parameters: Irb2400_10 - joints: [-78.000000, 54.000000, -82.000000, 100.000000, -41.000000, -157.000000] - pose: {translation: [0.2238009688754544, -1.317040909128307, 1.524604288704256], quaternion: [-0.3880892832399743, -0.4717240563087748, 0.7808080503945175, -0.1311560573248201]} - solutions: [[-78.000000, 51.772178, -77.724392, -82.341144, 40.685580, 26.094344], [-78.000000, 54.000000, -82.000000, -80.000000, 41.000000, 23.000000], [-78.000000, 51.772178, -77.724392, 97.658856, -40.685580, -153.905656], [-78.000000, 54.000000, -82.000000, 100.000000, -41.000000, -157.000000]] + joints: [-78.000000, 53.000000, -82.000000, 100.000000, -41.000000, -157.000000] + pose: {translation: [0.2204613148988689, -1.301329072474823, 1.546015830206454], quaternion: [-0.3883716370108763, -0.4648032792715937, 0.7841007512661818, -0.1353196031906474]} + solutions: [[-78.000000, 50.772178, -77.724392, -82.341144, 40.685580, 26.094344], [-78.000000, 53.000000, -82.000000, -80.000000, 41.000000, 23.000000], [-78.000000, 50.772178, -77.724392, 97.658856, -40.685580, -153.905656], [-78.000000, 53.000000, -82.000000, 100.000000, -41.000000, -157.000000]] - id: 65 parameters: Irb2400_10 - joints: [-77.000000, 80.000000, 57.000000, 144.000000, -148.000000, 91.000000] - pose: {translation: [0.05564723800726122, -0.3587300137511964, 0.1995926978856573], quaternion: [-0.1825062771915663, -0.1440037539812796, 0.9068325636089631, -0.3515808288336696]} - solutions: [[-77.000000, 80.000000, 57.000000, -36.000000, 148.000000, -89.000000], [-77.000000, -130.978617, 143.275608, -161.689913, 82.509520, 120.168893], [103.000000, 152.959788, 47.446015, 23.346548, 51.811759, 107.697522], [103.000000, -70.013087, 152.829592, 55.542062, 157.805012, 176.096328], [-77.000000, 80.000000, 57.000000, 144.000000, -148.000000, 91.000000], [-77.000000, -130.978617, 143.275608, 18.310087, -82.509520, -59.831107], [103.000000, 152.959788, 47.446015, -156.653452, -51.811759, -72.302478], [103.000000, -70.013087, 152.829592, -124.457938, -157.805012, -3.903672]] + joints: [-77.000000, 79.000000, 57.000000, 144.000000, -147.000000, 91.000000] + pose: {translation: [0.05626538943353484, -0.3646767905053445, 0.204403863459574], quaternion: [-0.1842283973734238, -0.1276188749371162, 0.9088403770720801, -0.3518273573281134]} + solutions: [[-77.000000, 79.000000, 57.000000, -36.000000, 147.000000, -89.000000], [-77.000000, -131.978617, 143.275608, -161.199278, 83.382969, 120.108640], [103.000000, 153.894146, 47.218887, 23.618534, 53.038304, 107.624123], [103.000000, -69.353872, 153.056720, 58.425778, 157.928901, 178.803526], [-77.000000, 79.000000, 57.000000, 144.000000, -147.000000, 91.000000], [-77.000000, -131.978617, 143.275608, 18.800722, -83.382969, -59.891360], [103.000000, 153.894146, 47.218887, -156.381466, -53.038304, -72.375877], [103.000000, -69.353872, 153.056720, -121.574222, -157.928901, -1.196474]] - id: 66 parameters: Irb2400_10 - joints: [23.000000, 45.000000, -141.000000, 25.000000, 87.000000, -2.000000] - pose: {translation: [0.4106810914003121, 0.213295136026973, 1.862728591809068], quaternion: [-0.2905125305323291, 0.5850429708802721, 0.2817806419830036, 0.7027993039488117]} - solutions: [[23.000000, -18.986974, -18.724392, 44.383759, 37.112196, -38.573442], [23.000000, 45.000000, -141.000000, 25.000000, 87.000000, -2.000000], [-157.000000, -48.258397, -28.561304, -154.986507, 93.508725, 1.033690], [-157.000000, 5.358990, -131.163088, -146.588451, 50.035216, -23.565124], [23.000000, -18.986974, -18.724392, -135.616241, -37.112196, 141.426558], [23.000000, 45.000000, -141.000000, -155.000000, -87.000000, 178.000000], [-157.000000, -48.258397, -28.561304, 25.013493, -93.508725, -178.966310], [-157.000000, 5.358990, -131.163088, 33.411549, -50.035216, 156.434876]] + joints: [23.000000, 44.000000, -141.000000, 25.000000, 87.000000, -2.000000] + pose: {translation: [0.3905856367771411, 0.2047651216191541, 1.8688454198514], quaternion: [-0.2903686061850521, 0.5784144394962434, 0.2814311162946909, 0.7084626563944785]} + solutions: [[23.000000, -19.986974, -18.724392, 44.383759, 37.112196, -38.573442], [23.000000, 44.000000, -141.000000, 25.000000, 87.000000, -2.000000], [-157.000000, -47.619680, -27.977093, -154.980560, 93.710739, 1.128149], [-157.000000, 6.612248, -131.747299, -146.434664, 49.759202, -23.803863], [23.000000, -19.986974, -18.724392, -135.616241, -37.112196, 141.426558], [23.000000, 44.000000, -141.000000, -155.000000, -87.000000, 178.000000], [-157.000000, -47.619680, -27.977093, 25.019440, -93.710739, -178.871851], [-157.000000, 6.612248, -131.747299, 33.565336, -49.759202, 156.196137]] - id: 67 parameters: Irb2400_10 - joints: [112.000000, 127.000000, -143.000000, -180.000000, -97.000000, -135.000000] - pose: {translation: [-0.5112917366640505, 1.265491455677578, 0.4446434323207267], quaternion: [-0.5502355477859977, 0.8313152303730589, 0.07688400620592588, 0.01564222785150153]} - solutions: [[112.000000, 60.898321, -16.724392, 0.000000, 36.826071, 45.000000], [112.000000, 127.000000, -143.000000, 0.000000, 97.000000, 45.000000], [-68.000000, -102.719504, -61.994468, -180.000000, 96.286028, 45.000000], [-68.000000, -84.093345, -97.729924, -180.000000, 79.176731, 45.000000], [112.000000, 60.898321, -16.724392, -180.000000, -36.826071, -135.000000], [112.000000, 127.000000, -143.000000, 180.000000, -97.000000, -135.000000], [-68.000000, -102.719504, -61.994468, 0.000000, -96.286028, -135.000000], [-68.000000, -84.093345, -97.729924, 0.000000, -79.176731, -135.000000]] + joints: [112.000000, 126.000000, -143.000000, -180.000000, -97.000000, -135.000000] + pose: {translation: [-0.5123333247680946, 1.268069476700572, 0.4667445172484451], quaternion: [-0.549836698448614, 0.8307126347571896, 0.08540606546800814, 0.0173760604041972]} + solutions: [[112.000000, 59.898321, -16.724392, 0.000000, 36.826071, 45.000000], [112.000000, 126.000000, -143.000000, 0.000000, 97.000000, 45.000000], [-68.000000, -101.809271, -62.085683, -180.000000, 96.105046, 45.000000], [-68.000000, -83.278262, -97.638710, -180.000000, 79.083029, 45.000000], [112.000000, 59.898321, -16.724392, -180.000000, -36.826071, -135.000000], [112.000000, 126.000000, -143.000000, 180.000000, -97.000000, -135.000000], [-68.000000, -101.809271, -62.085683, 0.000000, -96.105046, -135.000000], [-68.000000, -83.278262, -97.638710, 0.000000, -79.083029, -135.000000]] - id: 68 parameters: Irb2400_10 - joints: [110.000000, -94.000000, -32.000000, -156.000000, -104.000000, 145.000000] - pose: {translation: [0.338965841178352, -1.029381943655679, 1.124928953451838], quaternion: [-0.5804074281819489, -0.02185260720232254, 0.5500728404199661, 0.6000579564525308]} - solutions: [[-70.000000, 25.616666, -3.939625, -87.806572, 156.737506, 51.239646], [-70.000000, 105.302067, -155.784768, -155.597173, 107.208353, -33.503113], [110.000000, -94.000000, -32.000000, 24.000000, 104.000000, -35.000000], [110.000000, -43.996928, -127.724392, 41.527749, 143.467997, -5.712291], [-70.000000, 25.616666, -3.939625, 92.193428, -156.737506, -128.760354], [-70.000000, 105.302067, -155.784768, 24.402827, -107.208353, 146.496887], [110.000000, -94.000000, -32.000000, -156.000000, -104.000000, 145.000000], [110.000000, -43.996928, -127.724392, -138.472251, -143.467997, 174.287709]] + joints: [110.000000, -94.000000, -32.000000, -156.000000, -103.000000, 145.000000] + pose: {translation: [0.3390359302020507, -1.029986360318504, 1.126281940154139], quaternion: [-0.573449718518695, -0.02338790613760475, 0.5543102358453369, 0.6027840314859173]} + solutions: [[-70.000000, 25.616666, -3.939625, -90.325046, 156.651776, 48.926597], [-70.000000, 105.302067, -155.784768, -155.624376, 106.208693, -33.510934], [110.000000, -94.000000, -32.000000, 24.000000, 103.000000, -35.000000], [110.000000, -43.996928, -127.724392, 40.722466, 142.593071, -6.355700], [-70.000000, 25.616666, -3.939625, 89.674954, -156.651776, -131.073403], [-70.000000, 105.302067, -155.784768, 24.375624, -106.208693, 146.489066], [110.000000, -94.000000, -32.000000, -156.000000, -103.000000, 145.000000], [110.000000, -43.996928, -127.724392, -139.277534, -142.593071, 173.644300]] - id: 69 parameters: Irb2400_10 - joints: [-169.000000, -35.000000, -94.000000, 42.000000, -47.000000, -72.000000] - pose: {translation: [0.9312906837321564, 0.2233996682850368, 1.710267061671559], quaternion: [0.4602958500051706, 0.4406131545927416, 0.7697434232335807, 0.03850767269647631]} - solutions: [[11.000000, 9.876655, -29.846774, 76.868276, 30.166310, 64.653751], [11.000000, 62.142350, -129.877618, 34.319636, 60.223944, 120.825593], [-169.000000, -49.736081, -65.724392, -144.578450, 57.601670, 118.692255], [-169.000000, -35.000000, -94.000000, -138.000000, 47.000000, 108.000000], [11.000000, 9.876655, -29.846774, -103.131724, -30.166310, -115.346249], [11.000000, 62.142350, -129.877618, -145.680364, -60.223944, -59.174407], [-169.000000, -49.736081, -65.724392, 35.421550, -57.601670, -61.307745], [-169.000000, -35.000000, -94.000000, 42.000000, -47.000000, -72.000000]] + joints: [-169.000000, -35.000000, -94.000000, 42.000000, -46.000000, -72.000000] + pose: {translation: [0.9315069047782366, 0.2227456043396073, 1.711580931453792], quaternion: [0.4578830047887761, 0.4343117885573723, 0.7746122068914248, 0.04113822043422052]} + solutions: [[11.000000, 9.876655, -29.846774, 78.264589, 29.446340, 63.442117], [11.000000, 62.142350, -129.877618, 34.061347, 59.249145, 120.955770], [-169.000000, -49.736081, -65.724392, -144.800627, 56.619226, 118.812906], [-169.000000, -35.000000, -94.000000, -138.000000, 46.000000, 108.000000], [11.000000, 9.876655, -29.846774, -101.735411, -29.446340, -116.557883], [11.000000, 62.142350, -129.877618, -145.938653, -59.249145, -59.044230], [-169.000000, -49.736081, -65.724392, 35.199373, -56.619226, -61.187094], [-169.000000, -35.000000, -94.000000, 42.000000, -46.000000, -72.000000]] - id: 70 parameters: Irb2400_10 - joints: [-147.000000, -1.000000, -161.000000, 2.000000, 131.000000, -35.000000] - pose: {translation: [0.5037690041281311, 0.3244819372432031, 1.468548896512342], quaternion: [-0.3986121146039183, -0.2894960589147756, 0.8700298725735756, 0.01866640815511728]} - solutions: [[33.000000, -15.123991, 15.561832, -177.032177, 149.421460, -33.756735], [33.000000, 85.600709, -175.286224, -178.245434, 59.343559, -37.207263], [-147.000000, -86.266702, 1.275608, 1.865156, 54.022818, -37.408385], [-147.000000, -1.000000, -161.000000, 2.000000, 131.000000, -35.000000], [33.000000, -15.123991, 15.561832, 2.967823, -149.421460, 146.243265], [33.000000, 85.600709, -175.286224, 1.754566, -59.343559, 142.792737], [-147.000000, -86.266702, 1.275608, -178.134844, -54.022818, 142.591615], [-147.000000, -1.000000, -161.000000, -178.000000, -131.000000, 145.000000]] + joints: [-147.000000, -1.000000, -161.000000, 2.000000, 130.000000, -35.000000] + pose: {translation: [0.5044375501070653, 0.3248760035948656, 1.469813239414677], quaternion: [-0.3922842188356186, -0.2852636788981679, 0.8742951919500696, 0.01859146274510235]} + solutions: [[33.000000, -15.123991, 15.561832, -177.073609, 148.421689, -33.792221], [33.000000, 85.600709, -175.286224, -178.200189, 58.344309, -37.230672], [-147.000000, -86.266702, 1.275608, 1.917754, 53.023713, -37.439656], [-147.000000, -1.000000, -161.000000, 2.000000, 130.000000, -35.000000], [33.000000, -15.123991, 15.561832, 2.926391, -148.421689, 146.207779], [33.000000, 85.600709, -175.286224, 1.799811, -58.344309, 142.769328], [-147.000000, -86.266702, 1.275608, -178.082246, -53.023713, 142.560344], [-147.000000, -1.000000, -161.000000, -178.000000, -130.000000, 145.000000]] - id: 71 parameters: Irb2400_10 - joints: [79.000000, -129.000000, -9.000000, 126.000000, 153.000000, -12.000000] - pose: {translation: [-0.2325578429630981, -1.032790867505183, 0.508665074604354], quaternion: [0.8709520650446863, 0.3724192066668955, -0.0171392985423886, -0.320082300893804]} - solutions: [[-101.000000, 42.356203, 14.655386, -23.662002, 66.226803, 48.822831], [-101.000000, 142.091061, -174.379778, -41.624841, 146.431528, 2.288652], [79.000000, -129.000000, -9.000000, 126.000000, 153.000000, -12.000000], [79.000000, -54.706187, -150.724392, 158.347613, 95.483450, 36.633097], [-101.000000, 42.356203, 14.655386, 156.337998, -66.226803, -131.177169], [-101.000000, 142.091061, -174.379778, 138.375159, -146.431528, -177.711348], [79.000000, -129.000000, -9.000000, -54.000000, -153.000000, 168.000000], [79.000000, -54.706187, -150.724392, -21.652387, -95.483450, -143.366903]] + joints: [79.000000, -128.000000, -9.000000, 126.000000, 152.000000, -12.000000] + pose: {translation: [-0.2341195502511347, -1.035245870543613, 0.5287959692309384], quaternion: [0.8728447780651044, 0.3743452454292475, -0.02990988343196853, -0.3116296351473672]} + solutions: [[-101.000000, 41.150549, 14.665899, -24.583214, 65.919678, 49.123555], [-101.000000, 140.896880, -174.390291, -42.260330, 145.613420, 1.685185], [79.000000, -128.000000, -9.000000, 126.000000, 152.000000, -12.000000], [79.000000, -53.706187, -150.724392, 157.594471, 94.822119, 36.565454], [-101.000000, 41.150549, 14.665899, 155.416786, -65.919678, -130.876445], [-101.000000, 140.896880, -174.390291, 137.739670, -145.613420, -178.314815], [79.000000, -128.000000, -9.000000, -54.000000, -152.000000, 168.000000], [79.000000, -53.706187, -150.724392, -22.405529, -94.822119, -143.434546]] - id: 72 parameters: Irb2400_10 - joints: [-54.000000, 163.000000, 90.000000, -120.000000, -161.000000, -18.000000] - pose: {translation: [0.01528008155882725, 0.01974178350712383, 0.5505331691950238], quaternion: [0.937812301298211, 0.2209373526630245, 0.2216354845065343, 0.1502414248453518]} - solutions: [[-54.000000, 163.000000, 90.000000, 60.000000, 161.000000, 162.000000], [-54.000000, 23.646274, 110.275608, 162.703927, 71.502870, -70.949041], [-54.000000, 163.000000, 90.000000, -120.000000, -161.000000, -18.000000], [-54.000000, 23.646274, 110.275608, -17.296073, -71.502870, 109.050959]] + joints: [-54.000000, 163.000000, 90.000000, -120.000000, -160.000000, -18.000000] + pose: {translation: [0.01656777977673408, 0.02002980822903398, 0.5512111662815329], quaternion: [0.9355319962302382, 0.2215781851661446, 0.2300061416205444, 0.1509309998137347]} + solutions: [[-54.000000, 163.000000, 90.000000, 60.000000, 160.000000, 162.000000], [-54.000000, 23.646274, 110.275608, 161.865276, 72.107228, -70.687164], [-54.000000, 163.000000, 90.000000, -120.000000, -160.000000, -18.000000], [-54.000000, 23.646274, 110.275608, -18.134724, -72.107228, 109.312836]] - id: 73 parameters: Irb2400_10 - joints: [-77.000000, 83.000000, -135.000000, -176.000000, -176.000000, -133.000000] - pose: {translation: [0.2502438197386706, -1.082086414230797, 1.308521003868124], quaternion: [0.8285565351381933, 0.4774521407990345, 0.0877059685967294, -0.2790003304634607]} - solutions: [[-77.000000, 25.343669, -24.724392, 0.333916, 123.389989, 43.193479], [-77.000000, 83.000000, -135.000000, 4.000000, 176.000000, 47.000000], [103.000000, -58.834717, -79.668116, -178.886105, 165.504255, 44.088156], [103.000000, -58.632466, -80.056276, -178.899905, 165.318381, 44.073896], [-77.000000, 25.343669, -24.724392, -179.666084, -123.389989, -136.806521], [-77.000000, 83.000000, -135.000000, -176.000000, -176.000000, -133.000000], [103.000000, -58.834717, -79.668116, 1.113895, -165.504255, -135.911844], [103.000000, -58.632466, -80.056276, 1.100095, -165.318381, -135.926104]] + joints: [-77.000000, 82.000000, -135.000000, -176.000000, -175.000000, -133.000000] + pose: {translation: [0.2478678024755203, -1.071336139723081, 1.325258646626318], quaternion: [0.8329305871788318, 0.47977786552362, 0.08337743882317974, -0.2628460374264989]} + solutions: [[-77.000000, 24.343669, -24.724392, 0.412532, 122.392170, 43.236173], [-77.000000, 82.000000, -135.000000, 4.000000, 175.000000, 47.000000], [103.000000, -60.835124, -74.131916, -178.446543, 167.040475, 44.529080], [103.000000, -54.863382, -85.592476, -178.899075, 161.553086, 44.059542], [-77.000000, 24.343669, -24.724392, -179.587468, -122.392170, -136.763827], [-77.000000, 82.000000, -135.000000, -176.000000, -175.000000, -133.000000], [103.000000, -60.835124, -74.131916, 1.553457, -167.040475, -135.470920], [103.000000, -54.863382, -85.592476, 1.100925, -161.553086, -135.940458]] - id: 74 parameters: Irb2400_10 - joints: [-149.000000, 79.000000, 122.000000, 155.000000, -93.000000, 125.000000] - pose: {translation: [-0.07893797419090078, -0.005579704944515367, 0.9642814558472173], quaternion: [-0.294246746723949, 0.0179107378292036, 0.9270537929303567, 0.2316664035336695]} - solutions: [[-149.000000, -103.734011, 78.275608, -144.217365, 46.202454, 99.885770], [-149.000000, 79.000000, 122.000000, -25.000000, 93.000000, -55.000000], [31.000000, -115.676463, 76.163187, 154.246644, 76.246049, -47.059015], [31.000000, 62.780871, 124.112421, 28.557843, 61.987176, 112.058899], [-149.000000, -103.734011, 78.275608, 35.782635, -46.202454, -80.114230], [-149.000000, 79.000000, 122.000000, 155.000000, -93.000000, 125.000000], [31.000000, -115.676463, 76.163187, -25.753356, -76.246049, 132.940985], [31.000000, 62.780871, 124.112421, -151.442157, -61.987176, -67.941101]] + joints: [-149.000000, 78.000000, 122.000000, 155.000000, -93.000000, 125.000000] + pose: {translation: [-0.07371669854718876, -0.002442446029121045, 0.9637140550360365], quaternion: [-0.2883423110168316, 0.02380958537032214, 0.929138989134846, 0.2302011168336126]} + solutions: [[-149.000000, -104.734011, 78.275608, -144.217365, 46.202454, 99.885770], [-149.000000, 78.000000, 122.000000, -25.000000, 93.000000, -55.000000], [31.000000, -115.208342, 76.417983, 154.216881, 75.996520, -46.934936], [31.000000, 63.745499, 123.857625, 28.484529, 62.242130, 112.215651], [-149.000000, -104.734011, 78.275608, 35.782635, -46.202454, -80.114230], [-149.000000, 78.000000, 122.000000, 155.000000, -93.000000, 125.000000], [31.000000, -115.208342, 76.417983, -25.783119, -75.996520, 133.065064], [31.000000, 63.745499, 123.857625, -151.515471, -62.242130, -67.784349]] - id: 75 parameters: Irb2400_10 joints: [-89.000000, 27.000000, 124.000000, 66.000000, 42.000000, -133.000000] @@ -386,19 +386,19 @@ cases: solutions: [[177.000000, 49.000000, -25.000000, -9.000000, 30.000000, -157.000000], [177.000000, 106.365982, -134.724392, -4.529431, 82.076527, -164.184572], [177.000000, 49.000000, -25.000000, 171.000000, -30.000000, 23.000000], [177.000000, 106.365982, -134.724392, 175.470569, -82.076527, 15.815428]] - id: 77 parameters: Irb2400_10 - joints: [-71.000000, -165.000000, -37.000000, -159.000000, -18.000000, 138.000000] - pose: {translation: [-0.2567825258493122, 0.7746632970460678, -0.4815223767528309], quaternion: [0.3399507357947784, 0.6548487268201192, 0.5166776697864275, -0.4343395305043337]} - solutions: [[109.000000, 117.178223, -17.395889, -173.621036, 94.628207, -21.427216], [109.000000, -177.430376, -142.328504, -169.037064, 35.613771, -30.893377], [-71.000000, -165.000000, -37.000000, 21.000000, 18.000000, -42.000000], [-71.000000, -120.244195, -122.724392, 7.498063, 58.064455, -25.926639], [109.000000, 117.178223, -17.395889, 6.378964, -94.628207, 158.572784], [109.000000, -177.430376, -142.328504, 10.962936, -35.613771, 149.106623], [-71.000000, -165.000000, -37.000000, -159.000000, -18.000000, 138.000000], [-71.000000, -120.244195, -122.724392, -172.501937, -58.064455, 154.073361]] + joints: [-71.000000, -164.000000, -37.000000, -159.000000, -18.000000, 138.000000] + pose: {translation: [-0.2629674853767571, 0.7926257237836583, -0.465367941454288], quaternion: [0.337821935654867, 0.6493266380884721, 0.5210953916042608, -0.4389884391506495]} + solutions: [[109.000000, 115.858986, -16.945621, -173.619841, 94.758427, -21.412608], [109.000000, -178.273371, -142.778771, -168.958512, 35.325898, -30.989829], [-71.000000, -164.000000, -37.000000, 21.000000, 18.000000, -42.000000], [-71.000000, -119.244195, -122.724392, 7.498063, 58.064455, -25.926639], [109.000000, 115.858986, -16.945621, 6.380159, -94.758427, 158.587392], [109.000000, -178.273371, -142.778771, 11.041488, -35.325898, 149.010171], [-71.000000, -164.000000, -37.000000, -159.000000, -18.000000, 138.000000], [-71.000000, -119.244195, -122.724392, -172.501937, -58.064455, 154.073361]] - id: 78 parameters: Irb2400_10 - joints: [-123.000000, 147.000000, 133.000000, 20.000000, 3.000000, -44.000000] - pose: {translation: [-0.2715785816548238, -0.4209879285803263, 0.8735776490813867], quaternion: [-0.07909213154478049, -0.07928028944460851, 0.952566607040313, -0.2829769064517246]} - solutions: [[-123.000000, -16.387959, 67.275608, 178.697308, 128.061080, 155.171562], [-123.000000, 147.000000, 133.000000, 20.000000, 3.000000, -44.000000], [57.000000, -144.247412, 51.563617, -174.191102, 10.186807, -29.743181], [57.000000, -2.160625, 148.711990, -1.095900, 110.625800, 155.588673], [-123.000000, -16.387959, 67.275608, -1.302692, -128.061080, -24.828438], [-123.000000, 147.000000, 133.000000, -160.000000, -3.000000, 136.000000], [57.000000, -144.247412, 51.563617, 5.808898, -10.186807, 150.256819], [57.000000, -2.160625, 148.711990, 178.904100, -110.625800, -24.411327]] + joints: [-123.000000, 146.000000, 133.000000, 20.000000, 3.000000, -44.000000] + pose: {translation: [-0.2690874714412689, -0.4171519552414725, 0.8805363756996544], quaternion: [-0.07249073025303833, -0.07365066843897186, 0.9534864739858567, -0.2831681779294632]} + solutions: [[-123.000000, -17.387959, 67.275608, 178.697308, 128.061080, 155.171562], [-123.000000, 146.000000, 133.000000, 20.000000, 3.000000, -44.000000], [57.000000, -143.617090, 51.651995, -174.028160, 9.906991, -29.908660], [57.000000, -1.420084, 148.623613, -1.098430, 110.973573, 155.581548], [-123.000000, -17.387959, 67.275608, -1.302692, -128.061080, -24.828438], [-123.000000, 146.000000, 133.000000, -160.000000, -3.000000, 136.000000], [57.000000, -143.617090, 51.651995, 5.971840, -9.906991, 150.091340], [57.000000, -1.420084, 148.623613, 178.901570, -110.973573, -24.418452]] - id: 79 parameters: Irb2400_10 - joints: [-171.000000, -131.000000, 177.000000, -121.000000, -155.000000, 25.000000] - pose: {translation: [-0.1163576920314207, -0.04960470670479274, -0.2542813168086946], quaternion: [-0.01187353844074602, 0.499488358052533, -0.2547355555390768, 0.8279373140516609]} - solutions: [[-171.000000, 119.787481, 23.275608, 22.543956, 70.885666, 140.802640], [-171.000000, -131.000000, 177.000000, 59.000000, 155.000000, -155.000000], [9.000000, 145.267910, 19.182154, -53.132938, 153.076439, -81.389812], [9.000000, -110.038951, -178.906546, -158.209494, 102.613707, 153.532850], [-171.000000, 119.787481, 23.275608, -157.456044, -70.885666, -39.197360], [-171.000000, -131.000000, 177.000000, -121.000000, -155.000000, 25.000000], [9.000000, 145.267910, 19.182154, 126.867062, -153.076439, 98.610188], [9.000000, -110.038951, -178.906546, 21.790506, -102.613707, -26.467150]] + joints: [-171.000000, -130.000000, 177.000000, -121.000000, -154.000000, 25.000000] + pose: {translation: [-0.1011225143998852, -0.0483537413085154, -0.2554822503809904], quaternion: [-0.003467654654014456, 0.4983069881287346, -0.2560212549236093, 0.828330391800645]} + solutions: [[-171.000000, 120.787481, 23.275608, 23.499311, 70.452869, 140.486389], [-171.000000, -130.000000, 177.000000, 59.000000, 154.000000, -155.000000], [9.000000, 144.141565, 19.524112, -54.887902, 152.655134, -82.872094], [9.000000, -110.789136, -179.248504, -157.417301, 101.904495, 153.667060], [-171.000000, 120.787481, 23.275608, -156.500689, -70.452869, -39.513611], [-171.000000, -130.000000, 177.000000, -121.000000, -154.000000, 25.000000], [9.000000, 144.141565, 19.524112, 125.112098, -152.655134, 97.127906], [9.000000, -110.789136, -179.248504, 22.582699, -101.904495, -26.332940]] - id: 80 parameters: Irb2400_10 joints: [-46.000000, 112.000000, -30.000000, 31.000000, 136.000000, -73.000000] @@ -406,74 +406,74 @@ cases: solutions: [[-46.000000, 112.000000, -30.000000, 31.000000, 136.000000, -73.000000], [-46.000000, 164.104622, -129.724392, 109.970893, 157.625032, 15.078808], [-46.000000, 112.000000, -30.000000, -149.000000, -136.000000, 107.000000], [-46.000000, 164.104622, -129.724392, -70.029107, -157.625032, -164.921192]] - id: 81 parameters: Irb2400_10 - joints: [-180.000000, 169.000000, -72.000000, -27.000000, 71.000000, -158.000000] - pose: {translation: [-0.2020545836240267, 0.03648679830519543, -0.8616119034274545], quaternion: [-0.0501463026463236, 0.7795645181925457, 0.2381965177049301, 0.5770848544706162]} - solutions: [[-180.000000, 169.000000, -72.000000, -27.000000, 71.000000, -158.000000], [-180.000000, 177.193738, -87.724392, -26.057611, 77.739913, -161.490731], [-180.000000, 169.000000, -72.000000, 153.000000, -71.000000, 22.000000], [-180.000000, 177.193738, -87.724392, 153.942389, -77.739913, 18.509269]] + joints: [-180.000000, 168.000000, -72.000000, -27.000000, 70.000000, -158.000000] + pose: {translation: [-0.2281021115146691, 0.03626197941353348, -0.8610427898725627], quaternion: [-0.04813048249135241, 0.7899350138662771, 0.2356622844464978, 0.5640473545835425]} + solutions: [[-180.000000, 168.000000, -72.000000, -27.000000, 70.000000, -158.000000], [-180.000000, 176.193738, -87.724392, -25.995060, 76.741776, -161.504546], [-180.000000, 168.000000, -72.000000, 153.000000, -70.000000, 22.000000], [-180.000000, 176.193738, -87.724392, 154.004940, -76.741776, 18.495454]] - id: 82 parameters: Irb2400_10 - joints: [99.000000, -173.000000, -117.000000, 144.000000, 139.000000, -124.000000] - pose: {translation: [-0.09801721231555532, 0.4093254188324786, -0.6723284828893844], quaternion: [-0.2094454421135812, 0.1037752036032101, 0.9705934390510013, -0.05754728461108373]} - solutions: [[99.000000, 148.241545, -42.724392, 89.043831, 157.314316, 173.700889], [99.000000, -173.000000, -117.000000, 144.000000, 139.000000, -124.000000], [-81.000000, -169.853309, -60.741192, -27.168206, 122.377030, -110.629873], [-81.000000, -149.919711, -98.983200, -35.276074, 138.108353, -123.034266], [99.000000, 148.241545, -42.724392, -90.956169, -157.314316, -6.299111], [99.000000, -173.000000, -117.000000, -36.000000, -139.000000, 56.000000], [-81.000000, -169.853309, -60.741192, 152.831794, -122.377030, 69.370127], [-81.000000, -149.919711, -98.983200, 144.723926, -138.108353, 56.965734]] + joints: [99.000000, -172.000000, -117.000000, 144.000000, 138.000000, -124.000000] + pose: {translation: [-0.09532304573858087, 0.3881403446293072, -0.6783473410150215], quaternion: [-0.2154171724744336, 0.1189353243172626, 0.9675013033933201, -0.05823279458255955]} + solutions: [[99.000000, 149.241545, -42.724392, 91.294865, 156.833430, 175.774168], [99.000000, -172.000000, -117.000000, 144.000000, 138.000000, -124.000000], [-81.000000, -171.582475, -59.254657, -27.229598, 120.731037, -110.366995], [-81.000000, -150.097837, -100.469735, -35.720382, 137.649538, -123.622699], [99.000000, 149.241545, -42.724392, -88.705135, -156.833430, -4.225832], [99.000000, -172.000000, -117.000000, -36.000000, -138.000000, 56.000000], [-81.000000, -171.582475, -59.254657, 152.770402, -120.731037, 69.633005], [-81.000000, -150.097837, -100.469735, 144.279618, -137.649538, 56.377301]] - id: 83 parameters: Irb2400_10 - joints: [-172.000000, -10.000000, 70.000000, -70.000000, 139.000000, -33.000000] - pose: {translation: [-0.426571270322513, -0.007033722768634038, 0.7689597082444795], quaternion: [0.4263073825574953, 0.2180814799154902, 0.7746496933374784, -0.4130621458170645]} - solutions: [[-172.000000, -10.000000, 70.000000, -70.000000, 139.000000, -33.000000], [-172.000000, 157.637849, 130.275608, -139.051745, 70.164429, -165.152437], [8.000000, -151.754969, 53.786954, 43.874234, 62.810699, -172.463232], [8.000000, -6.871846, 146.488654, 86.101213, 141.835317, -63.700472], [-172.000000, -10.000000, 70.000000, 110.000000, -139.000000, 147.000000], [-172.000000, 157.637849, 130.275608, 40.948255, -70.164429, 14.847563], [8.000000, -151.754969, 53.786954, -136.125766, -62.810699, 7.536768], [8.000000, -6.871846, 146.488654, -93.898787, -141.835317, 116.299528]] + joints: [-172.000000, -10.000000, 70.000000, -70.000000, 138.000000, -33.000000] + pose: {translation: [-0.4268773983990244, -0.006022408009030901, 0.7679183951081333], quaternion: [0.4299973631964705, 0.2247780134699714, 0.770463685873044, -0.413476506050222]} + solutions: [[-172.000000, -10.000000, 70.000000, -70.000000, 138.000000, -33.000000], [-172.000000, 157.637849, 130.275608, -138.266910, 70.837239, -165.414418], [8.000000, -151.754969, 53.786954, 44.599998, 63.572553, -172.790568], [8.000000, -6.871846, 146.488654, 86.911993, 140.972640, -63.066774], [-172.000000, -10.000000, 70.000000, 110.000000, -138.000000, 147.000000], [-172.000000, 157.637849, 130.275608, 41.733090, -70.837239, 14.585582], [8.000000, -151.754969, 53.786954, -135.400002, -63.572553, 7.209432], [8.000000, -6.871846, 146.488654, -93.088007, -140.972640, 116.933226]] - id: 84 parameters: Irb2400_10 - joints: [31.000000, 71.000000, 103.000000, 46.000000, 180.000000, -26.000000] - pose: {translation: [0.09803616861552797, 0.05890607296141643, 0.6402310226282508], quaternion: [-0.5236670705360441, 0.4165435962805946, -0.2602548032269622, 0.6960830906085294]} - solutions: [[31.000000, 135.229239, 97.275608, 0.000000, 121.495154, -72.000000], [31.000000, 71.000000, 103.000000, 12.200469, 179.999999, -62.370753], [-149.000000, 163.497986, 91.147977, 180.000000, 68.645963, -72.000000], [-149.000000, 30.853156, 109.127631, 0.000000, 46.019213, 108.000000], [31.000000, 135.229239, 97.275608, -180.000000, -121.495154, 108.000000], [31.000000, 71.000000, 103.000000, -167.799531, -179.999999, 117.629247], [-149.000000, 163.497986, 91.147977, 0.000000, -68.645963, 108.000000], [-149.000000, 30.853156, 109.127631, 180.000000, -46.019213, -72.000000]] + joints: [31.000000, 70.000000, 103.000000, 46.000000, 179.000000, -26.000000] + pose: {translation: [0.09698858228788619, 0.05952154330407793, 0.6414992457533035], quaternion: [-0.5179256814155968, 0.4059692729531655, -0.2597904568392299, 0.7067183714064127]} + solutions: [[31.000000, 134.229239, 97.275608, 0.837422, 120.797767, -71.566848], [31.000000, 70.000000, 103.000000, 46.000000, 179.000000, -26.000000], [-149.000000, 162.859946, 91.185295, -179.214736, 66.352523, -72.310631], [-149.000000, 30.451868, 109.090313, -0.965592, 48.156558, 108.648539], [31.000000, 134.229239, 97.275608, -179.162578, -120.797767, 108.433152], [31.000000, 70.000000, 103.000000, -134.000000, -179.000000, 154.000000], [-149.000000, 162.859946, 91.185295, 0.785264, -66.352523, 107.689369], [-149.000000, 30.451868, 109.090313, 179.034408, -48.156558, -71.351461]] - id: 85 parameters: Irb2400_10 - joints: [0.000000, 105.000000, -175.000000, -48.000000, -55.000000, 113.000000] - pose: {translation: [0.8852388175050647, 0.05174363125437045, 1.2499217708233], quaternion: [-0.3657381317352814, 0.05485304704186965, 0.5484322515670654, 0.7499658843348058]} - solutions: [[0.000000, 4.588013, 15.275608, 133.360948, 123.144531, -129.567335], [0.000000, 105.000000, -175.000000, 132.000000, 55.000000, -67.000000], [-180.000000, -100.177434, -4.215816, -51.199286, 51.363028, -61.666624], [-180.000000, -20.786875, -155.508576, -39.232357, 105.740791, -111.987941], [0.000000, 4.588013, 15.275608, -46.639052, -123.144531, 50.432665], [0.000000, 105.000000, -175.000000, -48.000000, -55.000000, 113.000000], [-180.000000, -100.177434, -4.215816, 128.800714, -51.363028, 118.333376], [-180.000000, -20.786875, -155.508576, 140.767643, -105.740791, 68.012059]] + joints: [0.000000, 104.000000, -175.000000, -48.000000, -55.000000, 113.000000] + pose: {translation: [0.8740383090294811, 0.05174363125437045, 1.263529376155722], quaternion: [-0.3705101190596624, 0.04830635449370028, 0.5452197421577192, 0.7504160049941593]} + solutions: [[0.000000, 3.588013, 15.275608, 133.360948, 123.144531, -129.567335], [0.000000, 104.000000, -175.000000, 132.000000, 55.000000, -67.000000], [-180.000000, -99.444699, -3.994394, -51.170748, 51.391763, -61.712344], [-180.000000, -19.817771, -155.729999, -39.277652, 105.936170, -112.153901], [0.000000, 3.588013, 15.275608, -46.639052, -123.144531, 50.432665], [0.000000, 104.000000, -175.000000, -48.000000, -55.000000, 113.000000], [-180.000000, -99.444699, -3.994394, 128.829252, -51.391763, 118.287656], [-180.000000, -19.817771, -155.729999, 140.722348, -105.936170, 67.846099]] - id: 86 parameters: Irb2400_10 - joints: [30.000000, -1.000000, -16.000000, -41.000000, 30.000000, 130.000000] - pose: {translation: [0.7500710666057747, 0.4008577843718776, 1.660582891375272], quaternion: [0.4790440953394507, 0.5695166223527252, 0.5176523016956591, 0.4221417607078659]} - solutions: [[30.000000, -1.000000, -16.000000, -41.000000, 30.000000, 130.000000], [30.000000, 65.868221, -143.724392, -19.234303, 84.711204, 94.868724], [-150.000000, -62.235302, -36.366482, 160.839328, 88.056395, 93.701853], [-150.000000, -16.815137, -123.357910, 154.371407, 49.322211, 110.390742], [30.000000, -1.000000, -16.000000, 139.000000, -30.000000, -50.000000], [30.000000, 65.868221, -143.724392, 160.765697, -84.711204, -85.131276], [-150.000000, -62.235302, -36.366482, -19.160672, -88.056395, -86.298147], [-150.000000, -16.815137, -123.357910, -25.628593, -49.322211, -69.609258]] + joints: [30.000000, -1.000000, -16.000000, -41.000000, 29.000000, 130.000000] + pose: {translation: [0.7500057858546226, 0.4017982318611956, 1.661728361555377], quaternion: [0.4733002017711479, 0.5684023993053392, 0.5241268670436424, 0.422133460780285]} + solutions: [[30.000000, -1.000000, -16.000000, -41.000000, 29.000000, 130.000000], [30.000000, 65.868221, -143.724392, -18.655587, 83.893650, 94.811269], [-150.000000, -62.235302, -36.366482, 161.431978, 87.250566, 93.677587], [-150.000000, -16.815137, -123.357910, 154.820310, 48.381070, 110.095348], [30.000000, -1.000000, -16.000000, 139.000000, -29.000000, -50.000000], [30.000000, 65.868221, -143.724392, 161.344413, -83.893650, -85.188731], [-150.000000, -62.235302, -36.366482, -18.568022, -87.250566, -86.322413], [-150.000000, -16.815137, -123.357910, -25.179690, -48.381070, -69.904652]] - id: 87 parameters: Irb2400_10 - joints: [155.000000, -131.000000, -14.000000, 58.000000, -155.000000, 105.000000] - pose: {translation: [0.9878598892216838, -0.4270332691818916, 0.4151635195310046], quaternion: [0.6936251806231108, -0.6087105319668812, -0.3737197869692141, -0.09321543813037936]} - solutions: [[-25.000000, 50.090561, 10.612066, 22.169563, 71.765864, -137.680946], [-25.000000, 145.426657, -170.336458, 43.379233, 148.545386, -91.542473], [155.000000, -131.000000, -14.000000, -122.000000, 155.000000, -75.000000], [155.000000, -62.013656, -145.724392, -158.464893, 102.478051, -125.541566], [-25.000000, 50.090561, 10.612066, -157.830437, -71.765864, 42.319054], [-25.000000, 145.426657, -170.336458, -136.620767, -148.545386, 88.457527], [155.000000, -131.000000, -14.000000, 58.000000, -155.000000, 105.000000], [155.000000, -62.013656, -145.724392, 21.535107, -102.478051, 54.458434]] + joints: [155.000000, -130.000000, -14.000000, 58.000000, -155.000000, 105.000000] + pose: {translation: [0.990858454684691, -0.4284315232207709, 0.4357140966110451], quaternion: [0.6968982699514916, -0.609328396089204, -0.3659748055520042, -0.09546805098643778]} + solutions: [[-25.000000, 48.873302, 10.659906, 22.148608, 71.922771, -137.613696], [-25.000000, 144.261293, -170.384298, 43.619876, 148.700040, -91.260609], [155.000000, -130.000000, -14.000000, -122.000000, 155.000000, -75.000000], [155.000000, -61.013656, -145.724392, -158.464893, 102.478051, -125.541566], [-25.000000, 48.873302, 10.659906, -157.851392, -71.922771, 42.386304], [-25.000000, 144.261293, -170.384298, -136.380124, -148.700040, 88.739391], [155.000000, -130.000000, -14.000000, 58.000000, -155.000000, 105.000000], [155.000000, -61.013656, -145.724392, 21.535107, -102.478051, 54.458434]] - id: 88 parameters: Irb2400_10 - joints: [-144.000000, -113.000000, -149.000000, -129.000000, 91.000000, -166.000000] - pose: {translation: [0.3391311691560985, 0.328032226181526, -0.4328807345613053], quaternion: [0.716925617279332, -0.1454714551733569, -0.680386168523764, -0.04393605239375723]} - solutions: [[36.000000, 115.694301, 0.718602, 55.754756, 70.049388, 166.144253], [36.000000, -159.636425, -160.442995, 59.630420, 115.762046, -130.669622], [-144.000000, 174.538688, -10.724392, -107.290105, 125.530966, -105.409352], [-144.000000, -113.000000, -149.000000, -129.000000, 91.000000, -166.000000], [36.000000, 115.694301, 0.718602, -124.245244, -70.049388, -13.855747], [36.000000, -159.636425, -160.442995, -120.369580, -115.762046, 49.330378], [-144.000000, 174.538688, -10.724392, 72.709895, -125.530966, 74.590648], [-144.000000, -113.000000, -149.000000, 51.000000, -91.000000, 14.000000]] + joints: [-144.000000, -112.000000, -149.000000, -129.000000, 91.000000, -166.000000] + pose: {translation: [0.3538566189295176, 0.3387308916859219, -0.422822561927192], quaternion: [0.7214764253575424, -0.1416658068312502, -0.6760449981457428, -0.04863874289366576]} + solutions: [[36.000000, 114.417800, 1.106984, 55.788391, 69.986455, 166.045825], [36.000000, -160.496394, -160.831376, 59.734173, 115.887413, -130.431449], [-144.000000, 175.538688, -10.724392, -107.290105, 125.530966, -105.409352], [-144.000000, -112.000000, -149.000000, -129.000000, 91.000000, -166.000000], [36.000000, 114.417800, 1.106984, -124.211609, -69.986455, -13.954175], [36.000000, -160.496394, -160.831376, -120.265827, -115.887413, 49.568551], [-144.000000, 175.538688, -10.724392, 72.709895, -125.530966, 74.590648], [-144.000000, -112.000000, -149.000000, 51.000000, -91.000000, 14.000000]] - id: 89 parameters: Irb2400_10 - joints: [104.000000, 144.000000, 4.000000, -98.000000, -117.000000, -90.000000] - pose: {translation: [-0.06618835632186604, -0.04454421973753949, -0.4405446365964298], quaternion: [-0.5627365951424208, -0.1022625584918914, 0.7877421061770659, 0.2287624702042011]} - solutions: [[-76.000000, 137.689583, 5.157246, -62.037803, 87.382060, -157.881510], [-76.000000, -132.870684, -164.881639, -82.154999, 117.042295, 124.060515], [104.000000, 144.000000, 4.000000, 82.000000, 117.000000, 90.000000], [104.000000, -127.806227, -163.724392, 115.660994, 101.796390, 174.149907], [-76.000000, 137.689583, 5.157246, 117.962197, -87.382060, 22.118490], [-76.000000, -132.870684, -164.881639, 97.845001, -117.042295, -55.939485], [104.000000, 144.000000, 4.000000, -98.000000, -117.000000, -90.000000], [104.000000, -127.806227, -163.724392, -64.339006, -101.796390, -5.850093]] + joints: [104.000000, 143.000000, 4.000000, -98.000000, -116.000000, -90.000000] + pose: {translation: [-0.07100419725407461, -0.02793847830967537, -0.4432497946311156], quaternion: [-0.5611335321221561, -0.1153184590748034, 0.7870578754209753, 0.2288464831771438]} + solutions: [[-76.000000, 138.897531, 4.753825, -62.958234, 87.847769, -158.016446], [-76.000000, -132.097269, -164.478217, -82.692924, 116.190115, 123.976233], [104.000000, 143.000000, 4.000000, 82.000000, 116.000000, 90.000000], [104.000000, -128.806227, -163.724392, 114.645120, 101.692666, 173.943122], [-76.000000, 138.897531, 4.753825, 117.041766, -87.847769, 21.983554], [-76.000000, -132.097269, -164.478217, 97.307076, -116.190115, -56.023767], [104.000000, 143.000000, 4.000000, -98.000000, -116.000000, -90.000000], [104.000000, -128.806227, -163.724392, -65.354880, -101.692666, -6.056878]] - id: 90 parameters: Irb2400_10 - joints: [122.000000, 167.000000, 147.000000, -51.000000, 34.000000, 4.000000] - pose: {translation: [-0.3695131035285015, 0.6610511084565729, 0.5948611572760544], quaternion: [-0.5062091706647591, 0.2603873038259109, 0.4302838599612747, 0.7005758541357214]} - solutions: [[122.000000, 22.764494, 53.275608, -153.960415, 98.135098, 142.281974], [122.000000, 167.000000, 147.000000, -51.000000, 34.000000, 4.000000], [-58.000000, -155.194196, 35.607774, 141.544066, 44.328491, -12.071605], [-58.000000, -32.093355, 164.667834, 27.117785, 72.437444, 129.542469], [122.000000, 22.764494, 53.275608, 26.039585, -98.135098, -37.718026], [122.000000, 167.000000, 147.000000, 129.000000, -34.000000, -176.000000], [-58.000000, -155.194196, 35.607774, -38.455934, -44.328491, 167.928395], [-58.000000, -32.093355, 164.667834, -152.882215, -72.437444, -50.457531]] + joints: [122.000000, 166.000000, 147.000000, -51.000000, 34.000000, 4.000000] + pose: {translation: [-0.3696463761286961, 0.6612643892004394, 0.6063202501830335], quaternion: [-0.4990154817219489, 0.2604327784286117, 0.4345353710640054, 0.7030912659221648]} + solutions: [[122.000000, 21.764494, 53.275608, -153.960415, 98.135098, 142.281974], [122.000000, 166.000000, 147.000000, -51.000000, 34.000000, 4.000000], [-58.000000, -154.437145, 35.589366, 141.376767, 44.124063, -11.838140], [-58.000000, -31.357420, 164.686242, 27.082601, 72.656130, 129.659777], [122.000000, 21.764494, 53.275608, 26.039585, -98.135098, -37.718026], [122.000000, 166.000000, 147.000000, 129.000000, -34.000000, -176.000000], [-58.000000, -154.437145, 35.589366, -38.623233, -44.124063, 168.161860], [-58.000000, -31.357420, 164.686242, -152.917399, -72.656130, -50.340223]] - id: 91 parameters: Irb2400_10 - joints: [-88.000000, -166.000000, 51.000000, 87.000000, 25.000000, 48.000000] - pose: {translation: [0.01690675602877344, 0.543757547867751, 0.6287634399760043], quaternion: [-0.1089772589532892, 0.2697281809566295, 0.3381450371851871, 0.8950020107552183]} - solutions: [[92.000000, 15.869048, 67.661536, -137.106218, 141.679421, 170.778593], [92.000000, 179.844209, 132.614072, -124.770426, 30.915760, 83.671158], [-88.000000, -166.000000, 51.000000, 87.000000, 25.000000, 48.000000], [-88.000000, -24.614406, 149.275608, 28.695304, 118.481581, 149.320074], [92.000000, 15.869048, 67.661536, 42.893782, -141.679421, -9.221407], [92.000000, 179.844209, 132.614072, 55.229574, -30.915760, -96.328842], [-88.000000, -166.000000, 51.000000, -93.000000, -25.000000, -132.000000], [-88.000000, -24.614406, 149.275608, -151.304696, -118.481581, -30.679926]] + joints: [-88.000000, -165.000000, 51.000000, 87.000000, 25.000000, 48.000000] + pose: {translation: [0.01691855597528033, 0.5434196416108551, 0.6399803835624251], quaternion: [-0.1010646177738848, 0.2670414478132083, 0.3405177095466458, 0.8958362002448608]} + solutions: [[92.000000, 14.364492, 67.697033, -137.506178, 141.334665, 170.267587], [92.000000, 178.393892, 132.578575, -124.097679, 30.641046, 82.888129], [-88.000000, -165.000000, 51.000000, 87.000000, 25.000000, 48.000000], [-88.000000, -23.614406, 149.275608, 28.695304, 118.481581, 149.320074], [92.000000, 14.364492, 67.697033, 42.493822, -141.334665, -9.732413], [92.000000, 178.393892, 132.578575, 55.902321, -30.641046, -97.111871], [-88.000000, -165.000000, 51.000000, -93.000000, -25.000000, -132.000000], [-88.000000, -23.614406, 149.275608, -151.304696, -118.481581, -30.679926]] - id: 92 parameters: Irb2400_10 - joints: [40.000000, -63.000000, 127.000000, 15.000000, -33.000000, 128.000000] - pose: {translation: [0.004322946393589315, -0.01201381313554525, 0.2711841613505964], quaternion: [0.6931449900309046, 0.5302232864924108, 0.4847034102952724, 0.05895670703471416]} - solutions: [[-140.000000, 94.472100, 77.086117, 160.319546, 24.744233, 158.660417], [-140.000000, -85.248139, 123.189491, 8.624617, 109.947982, -36.372608], [40.000000, 123.864588, 73.275608, -150.801282, 163.204706, -11.187469], [40.000000, -63.000000, 127.000000, -165.000000, 33.000000, -52.000000], [-140.000000, 94.472100, 77.086117, -19.680454, -24.744233, -21.339583], [-140.000000, -85.248139, 123.189491, -171.375383, -109.947982, 143.627392], [40.000000, 123.864588, 73.275608, 29.198718, -163.204706, 168.812531], [40.000000, -63.000000, 127.000000, 15.000000, -33.000000, 128.000000]] + joints: [40.000000, -63.000000, 127.000000, 15.000000, -32.000000, 128.000000] + pose: {translation: [0.003550360515470377, -0.01223936047148105, 0.2699379493099187], quaternion: [0.6961281326386038, 0.5332194602184509, 0.4773148337664281, 0.05703665189999851]} + solutions: [[-140.000000, 94.472100, 77.086117, 161.499377, 25.609195, 157.592632], [-140.000000, -85.248139, 123.189491, 8.339755, 108.984723, -36.467543], [40.000000, 123.864588, 73.275608, -152.967528, 162.436040, -13.257133], [40.000000, -63.000000, 127.000000, -165.000000, 32.000000, -52.000000], [-140.000000, 94.472100, 77.086117, -18.500623, -25.609195, -22.407368], [-140.000000, -85.248139, 123.189491, -171.660245, -108.984723, 143.532457], [40.000000, 123.864588, 73.275608, 27.032472, -162.436040, 166.742867], [40.000000, -63.000000, 127.000000, 15.000000, -32.000000, 128.000000]] - id: 93 parameters: Irb2400_10 - joints: [17.000000, -70.000000, 14.000000, 94.000000, 3.000000, -147.000000] - pose: {translation: [-0.1973435099559969, -0.0556934787457312, 1.628083756030069], quaternion: [-0.1870944585134028, 0.2236609444599635, -0.2883170479961091, 0.9120552205605005]} - solutions: [[-163.000000, -43.282932, 19.382154, -176.962256, 99.876140, -52.473024], [-163.000000, 61.630183, -179.106547, -154.575641, 6.984891, -78.253781], [17.000000, -70.000000, 14.000000, 94.000000, 3.000000, -147.000000], [17.000000, 29.020057, -173.724392, 2.993717, 88.496929, -53.073127], [-163.000000, -43.282932, 19.382154, 3.037744, -99.876140, 127.526976], [-163.000000, 61.630183, -179.106547, 25.424359, -6.984891, 101.746219], [17.000000, -70.000000, 14.000000, -86.000000, -3.000000, 33.000000], [17.000000, 29.020057, -173.724392, -177.006283, -88.496929, 126.926873]] + joints: [17.000000, -69.000000, 14.000000, 94.000000, 3.000000, -147.000000] + pose: {translation: [-0.1803909014063471, -0.05051054618134486, 1.633252507605593], quaternion: [-0.1918204163065911, 0.2305281265266133, -0.2873153707225906, 0.9096766395344206]} + solutions: [[-163.000000, -44.119664, 19.027983, -176.964000, 99.685505, -52.483287], [-163.000000, 60.403963, -178.752376, -155.016677, 7.100661, -77.809392], [17.000000, -69.000000, 14.000000, 94.000000, 3.000000, -147.000000], [17.000000, 30.020057, -173.724392, 2.993717, 88.496929, -53.073127], [-163.000000, -44.119664, 19.027983, 3.036000, -99.685505, 127.516713], [-163.000000, 60.403963, -178.752376, 24.983323, -7.100661, 102.190608], [17.000000, -69.000000, 14.000000, -86.000000, -3.000000, 33.000000], [17.000000, 30.020057, -173.724392, -177.006283, -88.496929, 126.926873]] - id: 94 parameters: Irb2400_10 - joints: [20.000000, -152.000000, -108.000000, 104.000000, 57.000000, 116.000000] - pose: {translation: [-0.2305662227319144, -0.0103106298430832, -0.8230361303717475], quaternion: [0.8650735182395665, -0.1935101040659815, -0.1973546086729262, -0.418632065303827]} - solutions: [[-160.000000, 155.305043, -42.712881, -98.556008, 55.377850, 155.429268], [-160.000000, -165.924451, -117.011511, -74.183553, 57.755589, 112.631338], [20.000000, 178.653156, -51.724392, 117.717540, 66.815240, 87.442795], [20.000000, -152.000000, -108.000000, 104.000000, 57.000000, 116.000000], [-160.000000, 155.305043, -42.712881, 81.443992, -55.377850, -24.570732], [-160.000000, -165.924451, -117.011511, 105.816447, -57.755589, -67.368662], [20.000000, 178.653156, -51.724392, -62.282460, -66.815240, -92.557205], [20.000000, -152.000000, -108.000000, -76.000000, -57.000000, -64.000000]] + joints: [20.000000, -151.000000, -108.000000, 104.000000, 56.000000, 116.000000] + pose: {translation: [-0.2542368448869807, -0.01977150247037138, -0.8184056159722557], quaternion: [0.8686692965324235, -0.1975036204385797, -0.2020970885769789, -0.4068940156407155]} + solutions: [[-160.000000, 153.850196, -41.871778, -99.605450, 54.671464, 156.343397], [-160.000000, -166.498692, -117.852615, -73.852201, 56.871942, 112.116317], [20.000000, 179.653156, -51.724392, 118.241049, 65.937769, 87.233004], [20.000000, -151.000000, -108.000000, 104.000000, 56.000000, 116.000000], [-160.000000, 153.850196, -41.871778, 80.394550, -54.671464, -23.656603], [-160.000000, -166.498692, -117.852615, 106.147799, -56.871942, -67.883683], [20.000000, 179.653156, -51.724392, -61.758951, -65.937769, -92.766996], [20.000000, -151.000000, -108.000000, -76.000000, -56.000000, -64.000000]] - id: 95 parameters: Irb2400_10 joints: [22.000000, -156.000000, 97.000000, -14.000000, -23.000000, -34.000000] @@ -481,9 +481,9 @@ cases: solutions: [[22.000000, -156.000000, 97.000000, 166.000000, 23.000000, 146.000000], [22.000000, 134.771638, 103.275608, 8.306594, 40.866408, -53.226587], [-158.000000, -169.167376, 85.276179, -159.514681, 15.670256, -66.709982], [-158.000000, 31.752815, 114.999429, -5.963347, 114.515277, 130.592205], [22.000000, -156.000000, 97.000000, -14.000000, -23.000000, -34.000000], [22.000000, 134.771638, 103.275608, -171.693406, -40.866408, 126.773413], [-158.000000, -169.167376, 85.276179, 20.485319, -15.670256, 113.290018], [-158.000000, 31.752815, 114.999429, 174.036653, -114.515277, -49.407795]] - id: 96 parameters: Irb2400_10 - joints: [-160.000000, 43.000000, -131.000000, 129.000000, -129.000000, -118.000000] - pose: {translation: [-0.4986048183336838, -0.1268464197046809, 1.834945402373641], quaternion: [-0.6286943767972485, 0.6540230182193516, 0.408509210047918, -0.1005857719997962]} - solutions: [[-160.000000, -10.445858, -28.724392, -37.200020, 92.643829, 97.847175], [-160.000000, 43.000000, -131.000000, -51.000000, 129.000000, 62.000000], [20.000000, -43.306454, -43.195344, 125.230500, 132.321141, 56.220051], [20.000000, -5.040983, -116.529048, 140.625481, 107.818448, 85.755531], [-160.000000, -10.445858, -28.724392, 142.799980, -92.643829, -82.152825], [-160.000000, 43.000000, -131.000000, 129.000000, -129.000000, -118.000000], [20.000000, -43.306454, -43.195344, -54.769500, -132.321141, -123.779949], [20.000000, -5.040983, -116.529048, -39.374519, -107.818448, -94.244469]] + joints: [-160.000000, 42.000000, -131.000000, 129.000000, -129.000000, -118.000000] + pose: {translation: [-0.4785388849433714, -0.1195430172278389, 1.841948581807598], quaternion: [-0.6250203424761337, 0.6543925428326495, 0.411697082851723, -0.1078215347109153]} + solutions: [[-160.000000, -11.445858, -28.724392, -37.200020, 92.643829, 97.847175], [-160.000000, 42.000000, -131.000000, -51.000000, 129.000000, 62.000000], [20.000000, -42.774630, -42.410920, 124.994174, 132.503042, 55.869658], [20.000000, -3.688005, -117.313472, 140.712496, 107.484724, 86.042492], [-160.000000, -11.445858, -28.724392, 142.799980, -92.643829, -82.152825], [-160.000000, 42.000000, -131.000000, 129.000000, -129.000000, -118.000000], [20.000000, -42.774630, -42.410920, -55.005826, -132.503042, -124.130342], [20.000000, -3.688005, -117.313472, -39.287504, -107.484724, -93.957508]] - id: 97 parameters: Irb2400_10 joints: [-72.000000, 114.000000, -159.000000, 167.000000, 30.000000, -22.000000] @@ -491,14 +491,14 @@ cases: solutions: [[-72.000000, 30.876914, -0.724392, 173.330998, 104.418483, -34.974167], [-72.000000, 114.000000, -159.000000, 167.000000, 30.000000, -22.000000], [108.000000, -101.830267, -28.604102, -15.105195, 25.570119, -19.622301], [108.000000, -48.257894, -131.120290, -6.724761, 73.844260, -31.427376], [-72.000000, 30.876914, -0.724392, -6.669002, -104.418483, 145.025833], [-72.000000, 114.000000, -159.000000, -13.000000, -30.000000, 158.000000], [108.000000, -101.830267, -28.604102, 164.894805, -25.570119, 160.377699], [108.000000, -48.257894, -131.120290, 173.275239, -73.844260, 148.572624]] - id: 98 parameters: Irb2400_10 - joints: [-173.000000, -116.000000, -72.000000, 9.000000, -7.000000, -31.000000] - pose: {translation: [1.334415075389764, 0.1654782267474524, 0.04531313618851961], quaternion: [0.7660370335204528, 0.2045822080844504, 0.6050565579850699, 0.07238746472791609]} - solutions: [[7.000000, 84.670450, -21.437741, 178.537479, 48.327322, -21.093488], [7.000000, 145.792164, -138.286651, 8.411209, 7.488797, 149.593523], [-173.000000, -116.000000, -72.000000, -171.000000, 7.000000, 149.000000], [-173.000000, -107.806262, -87.724392, -60.584771, 1.254078, 38.512900], [7.000000, 84.670450, -21.437741, -1.462521, -48.327322, 158.906512], [7.000000, 145.792164, -138.286651, -171.588791, -7.488797, -30.406477], [-173.000000, -116.000000, -72.000000, 9.000000, -7.000000, -31.000000], [-173.000000, -107.806262, -87.724392, 119.415229, -1.254078, -141.487100]] + joints: [-173.000000, -115.000000, -72.000000, 9.000000, -7.000000, -31.000000] + pose: {translation: [1.344064987970844, 0.1666630870264717, 0.07061226415357147], quaternion: [0.7608441581818671, 0.2033039590491519, 0.6118861133934712, 0.07334201682322927]} + solutions: [[7.000000, 83.406326, -21.205368, 178.536757, 48.295582, -21.092403], [7.000000, 144.773264, -138.519024, 8.140612, 7.737454, 149.866526], [-173.000000, -115.000000, -72.000000, -171.000000, 7.000000, 149.000000], [-173.000000, -106.806262, -87.724392, -60.584771, 1.254078, 38.512900], [7.000000, 83.406326, -21.205368, -1.463243, -48.295582, 158.907597], [7.000000, 144.773264, -138.519024, -171.859388, -7.737454, -30.133474], [-173.000000, -115.000000, -72.000000, 9.000000, -7.000000, -31.000000], [-173.000000, -106.806262, -87.724392, 119.415229, -1.254078, -141.487100]] - id: 99 parameters: Irb2400_10 - joints: [-45.000000, -143.000000, -79.000000, 2.000000, -144.000000, -100.000000] - pose: {translation: [-0.5036374742613371, 0.5011715952007831, -0.544648656576076], quaternion: [0.3105412220254977, -0.5925933441201882, 0.7138611614082913, -0.2068804489558365]} - solutions: [[135.000000, 125.703557, -34.758424, 1.180033, 95.070398, 78.486044], [135.000000, 172.810681, -124.965968, 1.762201, 138.158419, 79.694749], [-45.000000, -143.000000, -79.000000, -178.000000, 144.000000, 80.000000], [-45.000000, -142.101502, -80.724392, -178.038700, 143.174599, 79.951913], [135.000000, 125.703557, -34.758424, -178.819967, -95.070398, -101.513956], [135.000000, 172.810681, -124.965968, -178.237799, -138.158419, -100.305251], [-45.000000, -143.000000, -79.000000, 2.000000, -144.000000, -100.000000], [-45.000000, -142.101502, -80.724392, 1.961300, -143.174599, -100.048087]] + joints: [-45.000000, -142.000000, -79.000000, 2.000000, -143.000000, -100.000000] + pose: {translation: [-0.5178085417742722, 0.5152838049624355, -0.5318051231308426], quaternion: [0.3164819845088752, -0.6040054426713369, 0.7026174794444113, -0.2033353296500847]} + solutions: [[135.000000, 124.310738, -34.155529, 1.206212, 93.860717, 78.483722], [135.000000, 172.050575, -125.568864, 1.782245, 137.521260, 79.717143], [-45.000000, -142.000000, -79.000000, -178.000000, 143.000000, 80.000000], [-45.000000, -141.101502, -80.724392, -178.037331, 142.174599, 79.953001], [135.000000, 124.310738, -34.155529, -178.793788, -93.860717, -101.516278], [135.000000, 172.050575, -125.568864, -178.217755, -137.521260, -100.282857], [-45.000000, -142.000000, -79.000000, 2.000000, -143.000000, -100.000000], [-45.000000, -141.101502, -80.724392, 1.962669, -142.174599, -100.046999]] - id: 100 parameters: Irb2400_10 joints: [-96.000000, 16.000000, 119.000000, 7.000000, 141.000000, -14.000000] @@ -506,14 +506,14 @@ cases: solutions: [[84.000000, -118.088049, 98.500573, -175.479204, 76.662144, -20.495715], [84.000000, -157.216632, 101.775035, -173.281653, 40.963235, -24.533976], [-96.000000, -173.584212, 81.275608, 27.443409, 9.579294, -46.566424], [-96.000000, 16.000000, 119.000000, 7.000000, 141.000000, -14.000000], [84.000000, -118.088049, 98.500573, 4.520796, -76.662144, 159.504285], [84.000000, -157.216632, 101.775035, 6.718347, -40.963235, 155.466024], [-96.000000, -173.584212, 81.275608, -152.556591, -9.579294, 133.433576], [-96.000000, 16.000000, 119.000000, -173.000000, -141.000000, 166.000000]] - id: 101 parameters: Irb2400_10 - joints: [-109.000000, 157.000000, -128.000000, 44.000000, -83.000000, -100.000000] - pose: {translation: [-0.4264743011845554, -1.058560326683315, -0.2338565852532039], quaternion: [-0.3890701971535939, -0.2567810423852148, 0.8358199617232086, 0.2899877058487829]} - solutions: [[-109.000000, 106.707421, -31.724392, -130.253627, 115.389039, 113.570229], [-109.000000, 157.000000, -128.000000, -136.000000, 83.000000, 80.000000], [-109.000000, 106.707421, -31.724392, 49.746373, -115.389039, -66.429771], [-109.000000, 157.000000, -128.000000, 44.000000, -83.000000, -100.000000]] + joints: [-109.000000, 156.000000, -128.000000, 44.000000, -83.000000, -100.000000] + pose: {translation: [-0.4312459040669833, -1.072418067678411, -0.2155814241620221], quaternion: [-0.389073467426391, -0.2490509508137936, 0.8390122430382125, 0.2874959423636058]} + solutions: [[-109.000000, 105.707421, -31.724392, -130.253627, 115.389039, 113.570229], [-109.000000, 156.000000, -128.000000, -136.000000, 83.000000, 80.000000], [-109.000000, 105.707421, -31.724392, 49.746373, -115.389039, -66.429771], [-109.000000, 156.000000, -128.000000, 44.000000, -83.000000, -100.000000]] - id: 102 parameters: Irb2400_10 - joints: [172.000000, -6.000000, -111.000000, -82.000000, -75.000000, -155.000000] - pose: {translation: [0.4411480504932686, -0.1441030104782275, 1.941973368855232], quaternion: [0.4224351100800218, 0.4865788969213599, -0.5225538262221702, 0.558325222019427]} - solutions: [[-8.000000, -9.646226, -33.840392, -87.590026, 73.210465, 45.212586], [-8.000000, 38.424386, -125.884000, -76.506276, 79.634343, 0.365701], [172.000000, -38.481987, -48.724392, 104.381411, 80.920029, -4.886652], [172.000000, -6.000000, -111.000000, 98.000000, 75.000000, 25.000000], [-8.000000, -9.646226, -33.840392, 92.409974, -73.210465, -134.787414], [-8.000000, 38.424386, -125.884000, 103.493724, -79.634343, -179.634299], [172.000000, -38.481987, -48.724392, -75.618589, -80.920029, 175.113348], [172.000000, -6.000000, -111.000000, -82.000000, -75.000000, -155.000000]] + joints: [172.000000, -6.000000, -111.000000, -82.000000, -74.000000, -155.000000] + pose: {translation: [0.4417966946754201, -0.1437977203931982, 1.943272162017783], quaternion: [0.4162270852829917, 0.4840717910131079, -0.5240804377597089, 0.5637102175584358]} + solutions: [[-8.000000, -9.646226, -33.840392, -87.952739, 72.272370, 45.320201], [-8.000000, 38.424386, -125.884000, -76.081267, 78.725643, 0.285914], [172.000000, -38.481987, -48.724392, 104.887282, 80.053375, -4.970264], [172.000000, -6.000000, -111.000000, 98.000000, 74.000000, 25.000000], [-8.000000, -9.646226, -33.840392, 92.047261, -72.272370, -134.679799], [-8.000000, 38.424386, -125.884000, 103.918733, -78.725643, -179.714086], [172.000000, -38.481987, -48.724392, -75.112718, -80.053375, 175.029736], [172.000000, -6.000000, -111.000000, -82.000000, -74.000000, -155.000000]] - id: 103 parameters: Irb2400_10 joints: [117.000000, -29.000000, -169.000000, 5.000000, 25.000000, 54.000000] @@ -521,24 +521,24 @@ cases: solutions: [[-63.000000, 14.851017, 29.075895, -177.278574, 50.875000, 56.815555], [-63.000000, 130.537484, 171.199712, -2.702240, 51.377461, -119.778941], [117.000000, -122.887671, 9.275608, 177.549787, 59.494428, -120.222063], [117.000000, -29.000000, -169.000000, 5.000000, 25.000000, 54.000000], [-63.000000, 14.851017, 29.075895, 2.721426, -50.875000, -123.184445], [-63.000000, 130.537484, 171.199712, 177.297760, -51.377461, 60.221059], [117.000000, -122.887671, 9.275608, -2.450213, -59.494428, 59.777937], [117.000000, -29.000000, -169.000000, -175.000000, -25.000000, -126.000000]] - id: 104 parameters: Irb2400_10 - joints: [-122.000000, 14.000000, 51.000000, -168.000000, -41.000000, 153.000000] - pose: {translation: [-0.355630900311366, -0.5910075895544084, 0.5906573313636201], quaternion: [0.7853282070178342, 0.6007170960749731, 0.148590717802838, 0.0178711031624456]} - solutions: [[-122.000000, 14.000000, 51.000000, 12.000000, 41.000000, -27.000000], [-122.000000, 155.385594, 149.275608, 22.629351, 159.236876, 3.408871], [58.000000, -146.140567, 33.147952, -133.915885, 169.084953, 27.674978], [58.000000, -25.849578, 167.127656, -171.470958, 66.883241, -21.255965], [-122.000000, 14.000000, 51.000000, -168.000000, -41.000000, 153.000000], [-122.000000, 155.385594, 149.275608, -157.370649, -159.236876, -176.591129], [58.000000, -146.140567, 33.147952, 46.084115, -169.084953, -152.325022], [58.000000, -25.849578, 167.127656, 8.529042, -66.883241, 158.744035]] + joints: [-122.000000, 14.000000, 51.000000, -168.000000, -40.000000, 153.000000] + pose: {translation: [-0.3565755110494413, -0.592076688758709, 0.5902504622998868], quaternion: [0.786524457499535, 0.6011439490200186, 0.1400989194408862, 0.01942995324687093]} + solutions: [[-122.000000, 14.000000, 51.000000, 12.000000, 40.000000, -27.000000], [-122.000000, 155.385594, 149.275608, 21.256189, 158.368779, 2.128570], [58.000000, -146.140567, 33.147952, -138.003853, 168.478166, 23.664999], [58.000000, -25.849578, 167.127656, -171.580604, 65.888301, -21.212042], [-122.000000, 14.000000, 51.000000, -168.000000, -40.000000, 153.000000], [-122.000000, 155.385594, 149.275608, -158.743811, -158.368779, -177.871430], [58.000000, -146.140567, 33.147952, 41.996147, -168.478166, -156.335001], [58.000000, -25.849578, 167.127656, 8.419396, -65.888301, 158.787958]] - id: 105 parameters: Irb2400_10 - joints: [-145.000000, 146.000000, -22.000000, 72.000000, 162.000000, 1.000000] - pose: {translation: [-0.1678807571876637, -0.1480473869381702, -0.5993278186094583], quaternion: [-0.03233874735806799, -0.2793283502368779, 0.9251859577776568, 0.2548741291388651]} - solutions: [[-145.000000, 146.000000, -22.000000, 72.000000, 162.000000, 1.000000], [-145.000000, -153.471517, -137.724392, 157.972798, 128.407144, 95.753638], [35.000000, 164.681680, -26.732132, -17.567193, 103.164122, 105.738355], [35.000000, -139.776288, -132.992260, -35.536564, 149.625771, 78.220121], [-145.000000, 146.000000, -22.000000, -108.000000, -162.000000, -179.000000], [-145.000000, -153.471517, -137.724392, -22.027202, -128.407144, -84.246362], [35.000000, 164.681680, -26.732132, 162.432807, -103.164122, -74.261645], [35.000000, -139.776288, -132.992260, 144.463436, -149.625771, -101.779879]] + joints: [-145.000000, 145.000000, -22.000000, 72.000000, 161.000000, 1.000000] + pose: {translation: [-0.1839496070571759, -0.1609323040339855, -0.5971640682424215], quaternion: [-0.01895140463338201, -0.275235428822739, 0.9269387623368784, 0.2543046084139273]} + solutions: [[-145.000000, 145.000000, -22.000000, 72.000000, 161.000000, 1.000000], [-145.000000, -154.471517, -137.724392, 156.699673, 128.483133, 94.962033], [35.000000, 165.961625, -27.328631, -18.585755, 103.716671, 105.406066], [35.000000, -139.124141, -132.395761, -37.198267, 149.192785, 76.864688], [-145.000000, 145.000000, -22.000000, -108.000000, -161.000000, -179.000000], [-145.000000, -154.471517, -137.724392, -23.300327, -128.483133, -85.037967], [35.000000, 165.961625, -27.328631, 161.414245, -103.716671, -74.593934], [35.000000, -139.124141, -132.395761, 142.801733, -149.192785, -103.135312]] - id: 106 parameters: Irb2400_10 - joints: [-48.000000, -55.000000, 140.000000, 59.000000, 162.000000, 8.000000] - pose: {translation: [-0.1824923685671338, 0.2363260553871975, 0.3583635378874024], quaternion: [-0.1306821515744149, -0.1270397748259547, -0.7514554935749346, 0.6341117504415952]} - solutions: [[132.000000, 67.877489, 70.610816, -26.168503, 143.085959, 108.835327], [132.000000, -123.495131, 129.664792, -164.484280, 81.969026, -51.937182], [-48.000000, 151.616129, 60.275608, 21.715577, 45.716282, -65.255798], [-48.000000, -55.000000, 140.000000, 59.000000, 162.000000, 8.000000], [132.000000, 67.877489, 70.610816, 153.831497, -143.085959, -71.164673], [132.000000, -123.495131, 129.664792, 15.515720, -81.969026, 128.062818], [-48.000000, 151.616129, 60.275608, -158.284423, -45.716282, 114.744202], [-48.000000, -55.000000, 140.000000, -121.000000, -162.000000, -172.000000]] + joints: [-48.000000, -54.000000, 140.000000, 59.000000, 162.000000, 8.000000] + pose: {translation: [-0.1854488196188638, 0.2396095269247286, 0.3653440702063391], quaternion: [-0.1309528032567224, -0.118458988520206, -0.7514876653445031, 0.6356768992129918]} + solutions: [[132.000000, 66.420570, 70.861467, -26.290268, 143.270988, 108.683217], [132.000000, -124.541642, 129.414141, -164.472858, 81.682701, -52.017519], [-48.000000, 152.616129, 60.275608, 21.715577, 45.716282, -65.255798], [-48.000000, -54.000000, 140.000000, 59.000000, 162.000000, 8.000000], [132.000000, 66.420570, 70.861467, 153.709732, -143.270988, -71.316783], [132.000000, -124.541642, 129.414141, 15.527142, -81.682701, 127.982481], [-48.000000, 152.616129, 60.275608, -158.284423, -45.716282, 114.744202], [-48.000000, -54.000000, 140.000000, -121.000000, -162.000000, -172.000000]] - id: 107 parameters: Irb2400_10 - joints: [25.000000, 129.000000, -168.000000, 53.000000, 172.000000, 95.000000] - pose: {translation: [0.9827413708919888, 0.4686841328329291, 0.692876339106107], quaternion: [0.1594773183436896, 0.9048261863696453, -0.1741924473036449, -0.3542789137050588]} - solutions: [[25.000000, 36.194443, 8.275608, 6.384302, 91.684895, 42.458167], [25.000000, 129.000000, -168.000000, 53.000000, 172.000000, 95.000000], [-155.000000, -116.622194, -17.103343, -69.161029, 173.169738, 153.244681], [-155.000000, -50.921385, -142.621049, -172.435874, 122.396063, 46.339146], [25.000000, 36.194443, 8.275608, -173.615698, -91.684895, -137.541833], [25.000000, 129.000000, -168.000000, -127.000000, -172.000000, -85.000000], [-155.000000, -116.622194, -17.103343, 110.838971, -173.169738, -26.755319], [-155.000000, -50.921385, -142.621049, 7.564126, -122.396063, -133.660854]] + joints: [25.000000, 129.000000, -168.000000, 53.000000, 171.000000, 95.000000] + pose: {translation: [0.9829042250862541, 0.4700529789691709, 0.6923281203934999], quaternion: [0.1626835940227936, 0.9060365924170338, -0.1661985701149241, -0.3535672167055526]} + solutions: [[25.000000, 36.194443, 8.275608, 7.178225, 91.076570, 42.477298], [25.000000, 129.000000, -168.000000, 53.000000, 171.000000, 95.000000], [-155.000000, -116.622194, -17.103343, -75.772617, 172.594699, 146.683850], [-155.000000, -50.921385, -142.621049, -171.553108, 121.732468, 46.807795], [25.000000, 36.194443, 8.275608, -172.821775, -91.076570, -137.522702], [25.000000, 129.000000, -168.000000, -127.000000, -171.000000, -85.000000], [-155.000000, -116.622194, -17.103343, 104.227383, -172.594699, -33.316150], [-155.000000, -50.921385, -142.621049, 8.446892, -121.732468, -133.192205]] - id: 108 parameters: Irb2400_10 joints: [-134.000000, 15.000000, -106.000000, -69.000000, 138.000000, 73.000000] @@ -546,14 +546,14 @@ cases: solutions: [[-134.000000, -12.257739, -53.724392, -49.604122, 124.890541, 101.772527], [-134.000000, 15.000000, -106.000000, -69.000000, 138.000000, 73.000000], [46.000000, -19.011078, -61.199015, 101.175813, 140.449200, 60.053393], [46.000000, 0.444890, -98.525378, 119.544668, 134.105886, 84.840759], [-134.000000, -12.257739, -53.724392, 130.395878, -124.890541, -78.227473], [-134.000000, 15.000000, -106.000000, 111.000000, -138.000000, -107.000000], [46.000000, -19.011078, -61.199015, -78.824187, -140.449200, -119.946607], [46.000000, 0.444890, -98.525378, -60.455332, -134.105886, -95.159241]] - id: 109 parameters: Irb2400_10 - joints: [177.000000, 75.000000, 101.000000, 63.000000, 173.000000, 105.000000] - pose: {translation: [-0.1213839653025028, -0.002881044781242238, 0.6207066301675964], quaternion: [-0.6254060441693623, 0.2159922350671649, 0.6935529242552467, -0.2849543394372447]} - solutions: [[177.000000, 96.126906, 99.275608, 15.871684, 156.606202, 56.799037], [177.000000, 75.000000, 101.000000, 63.000000, 173.000000, 105.000000], [-3.000000, 156.019948, 90.578660, -172.768149, 59.608159, 38.500597], [-3.000000, 19.915384, 109.696947, -7.373278, 57.793134, -133.880834], [177.000000, 96.126906, 99.275608, -164.128316, -156.606202, -123.200963], [177.000000, 75.000000, 101.000000, -117.000000, -173.000000, -75.000000], [-3.000000, 156.019948, 90.578660, 7.231851, -59.608159, -141.499403], [-3.000000, 19.915384, 109.696947, 172.626722, -57.793134, 46.119166]] + joints: [177.000000, 74.000000, 101.000000, 63.000000, 172.000000, 105.000000] + pose: {translation: [-0.121099136675185, -0.004208280164107461, 0.6217217484149784], quaternion: [-0.6186083922594279, 0.2066360698766748, 0.6994465323000442, -0.2922323392534973]} + solutions: [[177.000000, 95.126906, 99.275608, 17.699650, 155.928785, 58.472472], [177.000000, 74.000000, 101.000000, 63.000000, 172.000000, 105.000000], [-3.000000, 155.600509, 90.566602, -171.573091, 57.797461, 37.713192], [-3.000000, 19.425609, 109.709006, -8.251151, 59.776125, -133.597679], [177.000000, 95.126906, 99.275608, -162.300350, -155.928785, -121.527528], [177.000000, 74.000000, 101.000000, -117.000000, -172.000000, -75.000000], [-3.000000, 155.600509, 90.566602, 8.426909, -57.797461, -142.286808], [-3.000000, 19.425609, 109.709006, 171.748849, -59.776125, 46.402321]] - id: 110 parameters: Irb2400_10 - joints: [-51.000000, 92.000000, 91.000000, 41.000000, 132.000000, 14.000000] - pose: {translation: [0.096921014608604, -0.05383631516483622, 0.539725489419461], quaternion: [-0.08582592205884117, 0.4796861109977112, -0.3854472262778872, 0.7835595585361234]} - solutions: [[-51.000000, 92.000000, 91.000000, 41.000000, 132.000000, 14.000000], [-51.000000, -41.571146, 109.275608, 150.004801, 102.777758, 156.539407], [129.000000, 127.812070, 86.354739, -84.995898, 29.301960, -111.918845], [129.000000, -27.559199, 113.920868, -36.336027, 124.630255, 141.130323], [-51.000000, 92.000000, 91.000000, -139.000000, -132.000000, -166.000000], [-51.000000, -41.571146, 109.275608, -29.995199, -102.777758, -23.460593], [129.000000, 127.812070, 86.354739, 95.004102, -29.301960, 68.081155], [129.000000, -27.559199, 113.920868, 143.663973, -124.630255, -38.869677]] + joints: [-51.000000, 92.000000, 91.000000, 41.000000, 131.000000, 14.000000] + pose: {translation: [0.09674836795121386, -0.05259834415042933, 0.5405245049946077], quaternion: [-0.09074056305105907, 0.473846929482534, -0.3836931495326347, 0.7874101883001506]} + solutions: [[-51.000000, 92.000000, 91.000000, 41.000000, 131.000000, 14.000000], [-51.000000, -41.571146, 109.275608, 149.379136, 103.570781, 156.396804], [129.000000, 127.812070, 86.354739, -83.371082, 29.898594, -113.331653], [129.000000, -27.559199, 113.920868, -37.312056, 125.230007, 140.571455], [-51.000000, 92.000000, 91.000000, -139.000000, -131.000000, -166.000000], [-51.000000, -41.571146, 109.275608, -30.620864, -103.570781, -23.603196], [129.000000, 127.812070, 86.354739, 96.628918, -29.898594, 66.668347], [129.000000, -27.559199, 113.920868, 142.687944, -125.230007, -39.428545]] - id: 111 parameters: Irb2400_10 joints: [11.000000, 32.000000, 139.000000, -30.000000, -17.000000, -148.000000] @@ -561,9 +561,9 @@ cases: solutions: [[-169.000000, -60.894022, 70.770568, -31.501231, 16.246627, 33.566668], [-169.000000, 107.994631, 129.505040, -14.924864, 145.417164, -9.281312], [11.000000, -122.750054, 61.275608, 166.398682, 141.564561, -7.635594], [11.000000, 32.000000, 139.000000, 150.000000, 17.000000, 32.000000], [-169.000000, -60.894022, 70.770568, 148.498769, -16.246627, -146.433332], [-169.000000, 107.994631, 129.505040, 165.075136, -145.417164, 170.718688], [11.000000, -122.750054, 61.275608, -13.601318, -141.564561, 172.364406], [11.000000, 32.000000, 139.000000, -30.000000, -17.000000, -148.000000]] - id: 112 parameters: Irb2400_10 - joints: [-143.000000, 77.000000, -1.000000, 130.000000, 177.000000, -96.000000] - pose: {translation: [-0.8627206213287225, -0.6543736359612177, 0.1567305533669152], quaternion: [-0.05475247216213216, 0.09192358936031503, -0.08044475282739465, 0.9909999305014056]} - solutions: [[-143.000000, 77.000000, -1.000000, 130.000000, 177.000000, -96.000000], [-143.000000, 159.828012, -158.724392, 177.640264, 103.163440, -46.576366], [37.000000, -142.031723, -26.749859, -2.297953, 90.851500, -46.072864], [37.000000, -86.508351, -132.974533, -3.692198, 141.495501, -48.929610], [-143.000000, 77.000000, -1.000000, -50.000000, -177.000000, 84.000000], [-143.000000, 159.828012, -158.724392, -2.359736, -103.163440, 133.423634], [37.000000, -142.031723, -26.749859, 177.702047, -90.851500, 133.927136], [37.000000, -86.508351, -132.974533, 176.307802, -141.495501, 131.070390]] + joints: [-143.000000, 77.000000, -1.000000, 130.000000, 176.000000, -96.000000] + pose: {translation: [-0.8627930360024728, -0.6558485214717217, 0.1568729395884315], quaternion: [-0.04607638651228731, 0.09212589259160475, -0.0812894134439287, 0.9913535281533589]} + solutions: [[-143.000000, 77.000000, -1.000000, 130.000000, 176.000000, -96.000000], [-143.000000, 159.828012, -158.724392, 176.862263, 102.511824, -46.749234], [37.000000, -142.031723, -26.749859, -3.063168, 90.207682, -46.079937], [37.000000, -86.508351, -132.974533, -4.850908, 140.808626, -49.832057], [-143.000000, 77.000000, -1.000000, -50.000000, -176.000000, 84.000000], [-143.000000, 159.828012, -158.724392, -3.137737, -102.511824, 133.250766], [37.000000, -142.031723, -26.749859, 176.936832, -90.207682, 133.920063], [37.000000, -86.508351, -132.974533, 175.149092, -140.808626, 130.167943]] - id: 113 parameters: Irb2400_10 joints: [-131.000000, -7.000000, 23.000000, 81.000000, -74.000000, 78.000000] @@ -576,14 +576,14 @@ cases: solutions: [[-139.000000, 113.000000, 93.000000, -115.000000, 98.000000, -2.000000], [-139.000000, -6.094783, 107.275608, -91.755252, 63.884558, -104.635748], [41.000000, 125.224376, 91.294542, 109.430418, 107.882163, 120.343274], [41.000000, -6.483172, 108.981066, 99.587203, 65.533031, -130.804919], [-139.000000, 113.000000, 93.000000, 65.000000, -98.000000, 178.000000], [-139.000000, -6.094783, 107.275608, 88.244748, -63.884558, 75.364252], [41.000000, 125.224376, 91.294542, -70.569582, -107.882163, -59.656726], [41.000000, -6.483172, 108.981066, -80.412797, -65.533031, 49.195081]] - id: 115 parameters: Irb2400_10 - joints: [-100.000000, 144.000000, 75.000000, 128.000000, -71.000000, -102.000000] - pose: {translation: [-0.03672480722611465, 0.1564359841371743, 0.4707338724697853], quaternion: [0.1627415704350729, -0.3806257831419242, -0.3775143871183689, 0.8283248650007831]} - solutions: [[80.000000, 64.630286, 84.604768, 50.110547, 103.817591, -108.674804], [80.000000, -96.591725, 115.670840, 128.095872, 108.780728, 33.052331], [-100.000000, 144.000000, 75.000000, -52.000000, 71.000000, 78.000000], [-100.000000, -39.750250, 125.275608, -102.432524, 130.273244, -53.453302], [80.000000, 64.630286, 84.604768, -129.889453, -103.817591, 71.325196], [80.000000, -96.591725, 115.670840, -51.904128, -108.780728, -146.947669], [-100.000000, 144.000000, 75.000000, 128.000000, -71.000000, -102.000000], [-100.000000, -39.750250, 125.275608, 77.567476, -130.273244, 126.546698]] + joints: [-100.000000, 143.000000, 75.000000, 128.000000, -70.000000, -102.000000] + pose: {translation: [-0.03656031913834708, 0.1551216102254568, 0.4670538994566265], quaternion: [0.1472723444084321, -0.3808957994866085, -0.3780084020960511, 0.8308663517381673]} + solutions: [[80.000000, 66.308185, 84.327662, 49.909940, 104.552890, -109.021686], [80.000000, -95.764937, 115.947945, 128.812512, 108.136655, 33.202065], [-100.000000, 143.000000, 75.000000, -52.000000, 70.000000, 78.000000], [-100.000000, -40.750250, 125.275608, -101.440471, 130.931040, -52.807651], [80.000000, 66.308185, 84.327662, -130.090060, -104.552890, 70.978314], [80.000000, -95.764937, 115.947945, -51.187488, -108.136655, -146.797935], [-100.000000, 143.000000, 75.000000, 128.000000, -70.000000, -102.000000], [-100.000000, -40.750250, 125.275608, 78.559529, -130.931040, 127.192349]] - id: 116 parameters: Irb2400_10 - joints: [12.000000, 155.000000, 136.000000, 94.000000, 95.000000, -109.000000] - pose: {translation: [0.5050726922435305, 0.1937139127137069, 0.7244865046198691], quaternion: [-0.7201205012350278, -0.09827630743343603, 0.1163508099361625, 0.6769274112676043]} - solutions: [[12.000000, -3.964245, 64.275608, 83.600588, 89.916925, 121.518567], [12.000000, 155.000000, 136.000000, 94.000000, 95.000000, -109.000000], [-168.000000, -148.587976, 47.711124, -85.184024, 94.219917, -98.874030], [-168.000000, -11.239213, 152.564484, -95.982364, 92.278058, 143.031504], [12.000000, -3.964245, 64.275608, -96.399412, -89.916925, -58.481433], [12.000000, 155.000000, 136.000000, -86.000000, -95.000000, 71.000000], [-168.000000, -148.587976, 47.711124, 94.815976, -94.219917, 81.125970], [-168.000000, -11.239213, 152.564484, 84.017636, -92.278058, -36.968496]] + joints: [12.000000, 154.000000, 136.000000, 94.000000, 95.000000, -109.000000] + pose: {translation: [0.5031389427070849, 0.193302881561109, 0.7320496018974215], quaternion: [-0.7198580507197498, -0.1042618102314441, 0.1100212389514892, 0.6773693148650917]} + solutions: [[12.000000, -4.964245, 64.275608, 83.600588, 89.916925, 121.518567], [12.000000, 154.000000, 136.000000, 94.000000, 95.000000, -109.000000], [-168.000000, -147.923022, 47.766279, -85.204660, 94.243365, -99.153700], [-168.000000, -10.507278, 152.509329, -95.995057, 92.244335, 142.709798], [12.000000, -4.964245, 64.275608, -96.399412, -89.916925, -58.481433], [12.000000, 154.000000, 136.000000, -86.000000, -95.000000, 71.000000], [-168.000000, -147.923022, 47.766279, 94.795340, -94.243365, 80.846300], [-168.000000, -10.507278, 152.509329, 84.004943, -92.244335, -37.290202]] - id: 117 parameters: Irb2400_10 joints: [-174.000000, 22.000000, -30.000000, -176.000000, -148.000000, 47.000000] @@ -591,19 +591,19 @@ cases: solutions: [[-174.000000, 22.000000, -30.000000, 4.000000, 148.000000, -133.000000], [-174.000000, 74.104622, -129.724392, 172.207672, 164.178589, 36.105709], [-174.000000, 22.000000, -30.000000, -176.000000, -148.000000, 47.000000], [-174.000000, 74.104622, -129.724392, -7.792328, -164.178589, -143.894291]] - id: 118 parameters: Irb2400_10 - joints: [-62.000000, 41.000000, 22.000000, -19.000000, 122.000000, 88.000000] - pose: {translation: [0.4226443809249461, -0.8448671948767923, 0.5448402152687262], quaternion: [-0.6322046784727272, -0.2150617156138671, 0.3185453520228009, 0.6727514858393743]} - solutions: [[-62.000000, 41.000000, 22.000000, -19.000000, 122.000000, 88.000000], [-62.000000, 148.800195, 178.275608, -155.642294, 137.976342, -63.070462], [118.000000, -136.051865, 0.130215, 20.409245, 127.651775, -68.854067], [118.000000, -52.013318, -159.854607, 146.197259, 150.245888, 68.173692], [-62.000000, 41.000000, 22.000000, 161.000000, -122.000000, -92.000000], [-62.000000, 148.800195, 178.275608, 24.357706, -137.976342, 116.929538], [118.000000, -136.051865, 0.130215, -159.590755, -127.651775, 111.145933], [118.000000, -52.013318, -159.854607, -33.802741, -150.245888, -111.826308]] + joints: [-62.000000, 41.000000, 22.000000, -19.000000, 121.000000, 88.000000] + pose: {translation: [0.4223845825887062, -0.8449161224513332, 0.543380449565922], quaternion: [-0.6379508059245576, -0.2180365182741408, 0.3168501613653644, 0.66714677632575]} + solutions: [[-62.000000, 41.000000, 22.000000, -19.000000, 121.000000, 88.000000], [-62.000000, 148.800195, 178.275608, -154.907202, 138.849242, -62.520633], [118.000000, -136.051865, 0.130215, 20.911978, 128.570221, -68.543775], [118.000000, -52.013318, -159.854607, 146.861639, 149.303461, 68.747772], [-62.000000, 41.000000, 22.000000, 161.000000, -121.000000, -92.000000], [-62.000000, 148.800195, 178.275608, 25.092798, -138.849242, 117.479367], [118.000000, -136.051865, 0.130215, -159.088022, -128.570221, 111.456225], [118.000000, -52.013318, -159.854607, -33.138361, -149.303461, -111.252228]] - id: 119 parameters: Irb2400_10 - joints: [74.000000, 43.000000, -159.000000, -180.000000, 138.000000, -146.000000] - pose: {translation: [0.02896183895785621, 0.1010019355018221, 1.668306515626104], quaternion: [-0.3386916268018251, 0.9305475967963662, -0.1125934038365533, -0.08180389626013788]} - solutions: [[74.000000, -40.123086, -0.724392, -0.000000, 146.847478, 34.000000], [74.000000, 43.000000, -159.000000, -180.000000, 138.000000, -146.000000], [-106.000000, -51.453975, -3.511447, 0.000000, 128.965422, -146.000000], [-106.000000, 28.688659, -156.212945, 180.000000, 158.475714, 34.000000], [74.000000, -40.123086, -0.724392, 180.000000, -146.847478, -146.000000], [74.000000, 43.000000, -159.000000, 0.000000, -138.000000, 34.000000], [-106.000000, -51.453975, -3.511447, 180.000000, -128.965422, 34.000000], [-106.000000, 28.688659, -156.212945, 0.000000, -158.475714, -146.000000]] + joints: [74.000000, 42.000000, -159.000000, -180.000000, 138.000000, -146.000000] + pose: {translation: [0.02389465798908649, 0.08333057540177877, 1.668234615024371], quaternion: [-0.3390941135865684, 0.9316534201490775, -0.1055979077170729, -0.07672137082483886]} + solutions: [[74.000000, -41.123086, -0.724392, -0.000000, 146.847478, 34.000000], [74.000000, 42.000000, -159.000000, -180.000000, 138.000000, -146.000000], [-106.000000, -50.717269, -3.079746, 0.000000, 128.797015, -146.000000], [-106.000000, 29.886532, -156.644646, 180.000000, 158.241886, 34.000000], [74.000000, -41.123086, -0.724392, 180.000000, -146.847478, -146.000000], [74.000000, 42.000000, -159.000000, 0.000000, -138.000000, 34.000000], [-106.000000, -50.717269, -3.079746, 180.000000, -128.797015, 34.000000], [-106.000000, 29.886532, -156.644646, 0.000000, -158.241886, -146.000000]] - id: 120 parameters: Irb2400_10 - joints: [154.000000, -152.000000, -28.000000, 5.000000, 8.000000, -71.000000] - pose: {translation: [0.9613926895108728, -0.4700496682513517, -0.1306933550156043], quaternion: [0.6181405444684289, 0.2204098787204693, 0.5210425133247867, 0.5457439435805876]} - solutions: [[-26.000000, 90.990480, -4.509156, -179.302898, 94.450945, -65.994315], [-26.000000, 170.067964, -155.215236, -178.208708, 22.832692, -67.699428], [154.000000, -152.000000, -28.000000, 5.000000, 8.000000, -71.000000], [154.000000, -97.792170, -131.724392, 0.824161, 57.489199, -66.491391], [-26.000000, 90.990480, -4.509156, 0.697102, -94.450945, 114.005685], [-26.000000, 170.067964, -155.215236, 1.791292, -22.832692, 112.300572], [154.000000, -152.000000, -28.000000, -175.000000, -8.000000, 109.000000], [154.000000, -97.792170, -131.724392, -179.175839, -57.489199, 113.508609]] + joints: [154.000000, -151.000000, -28.000000, 5.000000, 8.000000, -71.000000] + pose: {translation: [0.9729295415452079, -0.4756765669579593, -0.1101578447663855], quaternion: [0.6119425621505902, 0.2181142489884453, 0.5250278018227376, 0.549816589718755]} + solutions: [[-26.000000, 89.706354, -4.223392, -179.302896, 94.452583, -65.994295], [-26.000000, 169.088825, -155.501000, -178.188803, 22.567920, -67.721004], [154.000000, -151.000000, -28.000000, 5.000000, 8.000000, -71.000000], [154.000000, -96.792170, -131.724392, 0.824161, 57.489199, -66.491391], [-26.000000, 89.706354, -4.223392, 0.697104, -94.452583, 114.005705], [-26.000000, 169.088825, -155.501000, 1.811197, -22.567920, 112.278996], [154.000000, -151.000000, -28.000000, -175.000000, -8.000000, 109.000000], [154.000000, -96.792170, -131.724392, -179.175839, -57.489199, 113.508609]] - id: 121 parameters: Irb2400_10 joints: [17.000000, 42.000000, 79.000000, -109.000000, 10.000000, 178.000000] @@ -611,9 +611,9 @@ cases: solutions: [[17.000000, 42.000000, 79.000000, -109.000000, 10.000000, 178.000000], [17.000000, -133.705846, 121.275608, -12.283984, 129.492020, 60.844306], [-163.000000, 163.855953, 65.450437, 143.458195, 163.992935, 33.263923], [-163.000000, -35.475325, 134.825171, 164.561824, 38.081839, 80.992311], [17.000000, 42.000000, 79.000000, 71.000000, -10.000000, -2.000000], [17.000000, -133.705846, 121.275608, 167.716016, -129.492020, -119.155694], [-163.000000, 163.855953, 65.450437, -36.541805, -163.992935, -146.736077], [-163.000000, -35.475325, 134.825171, -15.438176, -38.081839, -99.007689]] - id: 122 parameters: Irb2400_10 - joints: [-52.000000, 154.000000, 6.000000, 180.000000, 120.000000, -79.000000] - pose: {translation: [-0.116439915191999, 0.149036295103271, -0.458370461481246], quaternion: [0.8812664307366219, 0.2115733511102111, 0.1752569373669939, 0.3845662505492022]} - solutions: [[128.000000, 123.299238, 11.391757, -0.000000, 5.309006, -79.000000], [128.000000, -140.518437, -171.116149, -0.000000, 91.634586, -79.000000], [-52.000000, 154.000000, 6.000000, 180.000000, 120.000000, -79.000000], [-52.000000, -115.651872, -165.724392, 180.000000, 38.623735, -79.000000], [128.000000, 123.299238, 11.391757, 180.000000, -5.309006, 101.000000], [128.000000, -140.518437, -171.116149, 180.000000, -91.634586, 101.000000], [-52.000000, 154.000000, 6.000000, 0.000000, -120.000000, 101.000000], [-52.000000, -115.651872, -165.724392, 0.000000, -38.623735, 101.000000]] + joints: [-52.000000, 153.000000, 6.000000, 180.000000, 119.000000, -79.000000] + pose: {translation: [-0.1054606367212029, 0.1349834594970578, -0.4643977058599793], quaternion: [0.8812664307366218, 0.2115733511102111, 0.1752569373669939, 0.3845662505492025]} + solutions: [[128.000000, 124.531714, 11.013758, -0.000000, 4.454528, -79.000000], [128.000000, -139.696332, -170.738150, -0.000000, 90.434482, -79.000000], [-52.000000, 153.000000, 6.000000, 180.000000, 119.000000, -79.000000], [-52.000000, -116.651872, -165.724392, 180.000000, 37.623735, -79.000000], [128.000000, 124.531714, 11.013758, 180.000000, -4.454528, 101.000000], [128.000000, -139.696332, -170.738150, 180.000000, -90.434482, 101.000000], [-52.000000, 153.000000, 6.000000, 0.000000, -119.000000, 101.000000], [-52.000000, -116.651872, -165.724392, 0.000000, -37.623735, 101.000000]] - id: 123 parameters: Irb2400_10 joints: [-129.000000, -1.000000, -149.000000, 122.000000, -34.000000, -67.000000] @@ -621,19 +621,19 @@ cases: solutions: [[51.000000, -14.706154, 3.144900, 138.885363, 46.151710, 91.165096], [51.000000, 72.567991, -162.869292, 39.595631, 48.076338, -148.920749], [-129.000000, -73.461312, -10.724392, -143.241428, 52.412730, -144.488945], [-129.000000, -1.000000, -149.000000, -58.000000, 34.000000, 113.000000], [51.000000, -14.706154, 3.144900, -41.114637, -46.151710, -88.834904], [51.000000, 72.567991, -162.869292, -140.404369, -48.076338, 31.079251], [-129.000000, -73.461312, -10.724392, 36.758572, -52.412730, 35.511055], [-129.000000, -1.000000, -149.000000, 122.000000, -34.000000, -67.000000]] - id: 124 parameters: Irb2400_10 - joints: [-11.000000, -83.000000, -167.000000, 39.000000, -73.000000, -105.000000] - pose: {translation: [-0.67751285275679, 0.07958283048059002, -0.09968137993768156], quaternion: [-0.4602637724890994, 0.7433839683611451, -0.4850048759553895, 0.01754438990777315]} - solutions: [[169.000000, 82.315543, 22.875563, 53.899536, 48.145618, 45.861498], [169.000000, -168.915266, 177.400045, 44.546574, 120.916036, 115.146290], [-11.000000, -174.724814, 7.275608, -122.692822, 134.347696, 135.762707], [-11.000000, -83.000000, -167.000000, -141.000000, 73.000000, 75.000000], [169.000000, 82.315543, 22.875563, -126.100464, -48.145618, -134.138502], [169.000000, -168.915266, 177.400045, -135.453426, -120.916036, -64.853710], [-11.000000, -174.724814, 7.275608, 57.307178, -134.347696, -44.237293], [-11.000000, -83.000000, -167.000000, 39.000000, -73.000000, -105.000000]] + joints: [-11.000000, -83.000000, -167.000000, 39.000000, -72.000000, -105.000000] + pose: {translation: [-0.6782540933454323, 0.08001290764183785, -0.1008923303971426], quaternion: [-0.4614895608823698, 0.7474042332471019, -0.4776807379044317, 0.01534307518025228]} + solutions: [[169.000000, 82.315543, 22.875563, 54.562351, 47.274063, 45.415484], [169.000000, -168.915266, 177.400045, 43.800982, 120.149496, 114.767494], [-11.000000, -174.724814, 7.275608, -123.902916, 133.852846, 134.920559], [-11.000000, -83.000000, -167.000000, -141.000000, 72.000000, 75.000000], [169.000000, 82.315543, 22.875563, -125.437649, -47.274063, -134.584516], [169.000000, -168.915266, 177.400045, -136.199018, -120.149496, -65.232506], [-11.000000, -174.724814, 7.275608, 56.097084, -133.852846, -45.079441], [-11.000000, -83.000000, -167.000000, 39.000000, -72.000000, -105.000000]] - id: 125 parameters: Irb2400_10 - joints: [-75.000000, 60.000000, -160.000000, -132.000000, 157.000000, 134.000000] - pose: {translation: [0.08957292823932132, -0.429652458779755, 1.6066740934675], quaternion: [-0.150301926932256, 0.9764065037646305, 0.03312445206542856, -0.1514676230814579]} - solutions: [[-75.000000, -24.194368, 0.275608, -19.269439, 118.372180, -101.064698], [-75.000000, 60.000000, -160.000000, -132.000000, 157.000000, 134.000000], [105.000000, -63.868955, -9.521600, 38.452750, 152.164747, 123.444428], [105.000000, 9.870317, -150.202792, 156.582055, 133.062526, -108.106783], [-75.000000, -24.194368, 0.275608, 160.730561, -118.372180, 78.935302], [-75.000000, 60.000000, -160.000000, 48.000000, -157.000000, -46.000000], [105.000000, -63.868955, -9.521600, -141.547250, -152.164747, -56.555572], [105.000000, 9.870317, -150.202792, -23.417945, -133.062526, 71.893217]] + joints: [-75.000000, 60.000000, -160.000000, -132.000000, 156.000000, 134.000000] + pose: {translation: [0.08833773493756983, -0.4289489564300647, 1.607098577791634], quaternion: [-0.1495461886087995, 0.975243200793243, 0.03834130618303462, -0.1583242906799537]} + solutions: [[-75.000000, -24.194368, 0.275608, -20.206225, 118.941627, -101.513960], [-75.000000, 60.000000, -160.000000, -132.000000, 156.000000, 134.000000], [105.000000, -63.868955, -9.521600, 38.832760, 151.181134, 123.778946], [105.000000, 9.870317, -150.202792, 155.363108, 133.523913, -108.942678], [-75.000000, -24.194368, 0.275608, 159.793775, -118.941627, 78.486040], [-75.000000, 60.000000, -160.000000, 48.000000, -156.000000, -46.000000], [105.000000, -63.868955, -9.521600, -141.167240, -151.181134, -56.221054], [105.000000, 9.870317, -150.202792, -24.636892, -133.523913, 71.057322]] - id: 126 parameters: Irb2400_10 - joints: [67.000000, -20.000000, -85.000000, 36.000000, -110.000000, -13.000000] - pose: {translation: [-0.1606770622582566, -0.498687424409714, 1.927010896981293], quaternion: [0.7167828225813644, -0.499786036131629, 0.3853838986549773, 0.2965055716131093]} - solutions: [[-113.000000, -2.911196, -45.276040, 33.554493, 87.841008, 151.613771], [-113.000000, 33.176946, -114.448352, 37.557897, 115.025353, 171.063443], [67.000000, -25.354266, -74.724392, -142.815377, 113.952407, 170.162992], [67.000000, -20.000000, -85.000000, -144.000000, 110.000000, 167.000000], [-113.000000, -2.911196, -45.276040, -146.445507, -87.841008, -28.386229], [-113.000000, 33.176946, -114.448352, -142.442103, -115.025353, -8.936557], [67.000000, -25.354266, -74.724392, 37.184623, -113.952407, -9.837008], [67.000000, -20.000000, -85.000000, 36.000000, -110.000000, -13.000000]] + joints: [67.000000, -20.000000, -85.000000, 36.000000, -109.000000, -13.000000] + pose: {translation: [-0.1607017514257702, -0.4994905377345313, 1.928257975335951], quaternion: [0.712896605292496, -0.4980023813144999, 0.3904828374698836, 0.3021509755221575]} + solutions: [[-113.000000, -2.911196, -45.276040, 33.820199, 86.876875, 151.601528], [-113.000000, 33.176946, -114.448352, 37.480317, 114.027847, 171.031237], [67.000000, -25.354266, -74.724392, -142.875296, 112.953919, 170.139144], [67.000000, -20.000000, -85.000000, -144.000000, 109.000000, 167.000000], [-113.000000, -2.911196, -45.276040, -146.179801, -86.876875, -28.398472], [-113.000000, 33.176946, -114.448352, -142.519683, -114.027847, -8.968763], [67.000000, -25.354266, -74.724392, 37.124704, -112.953919, -9.860856], [67.000000, -20.000000, -85.000000, 36.000000, -109.000000, -13.000000]] - id: 127 parameters: Irb2400_10 joints: [-137.000000, -26.000000, -46.000000, 68.000000, -18.000000, -126.000000] @@ -641,9 +641,9 @@ cases: solutions: [[43.000000, -19.472083, -42.222075, 154.756614, 42.209194, -39.765901], [43.000000, 19.812256, -117.502317, 101.121267, 16.977670, 19.368774], [-137.000000, -26.000000, -46.000000, -112.000000, 18.000000, 54.000000], [-137.000000, 9.330818, -113.724392, -34.831064, 30.108506, -27.971257], [43.000000, -19.472083, -42.222075, -25.243386, -42.209194, 140.234099], [43.000000, 19.812256, -117.502317, -78.878733, -16.977670, -160.631226], [-137.000000, -26.000000, -46.000000, 68.000000, -18.000000, -126.000000], [-137.000000, 9.330818, -113.724392, 145.168936, -30.108506, 152.028743]] - id: 128 parameters: Irb2400_10 - joints: [-141.000000, -136.000000, -155.000000, -97.000000, 140.000000, -152.000000] - pose: {translation: [-0.02616103730007842, 0.04859578374723332, -0.4854329420717666], quaternion: [-0.1552776721379274, 0.322908998173755, 0.9310972217970058, 0.06838557593342048]} - solutions: [[-141.000000, 145.152182, -4.724392, -42.297874, 108.556608, -69.042548], [-141.000000, -136.000000, -155.000000, -97.000000, 140.000000, -152.000000], [39.000000, 145.903822, -4.875011, 54.732883, 128.610229, 168.531547], [39.000000, -135.409052, -154.849381, 124.973145, 128.867949, -94.789049], [-141.000000, 145.152182, -4.724392, 137.702126, -108.556608, 110.957452], [-141.000000, -136.000000, -155.000000, 83.000000, -140.000000, 28.000000], [39.000000, 145.903822, -4.875011, -125.267117, -128.610229, -11.468453], [39.000000, -135.409052, -154.849381, -55.026855, -128.867949, 85.210951]] + joints: [-141.000000, -135.000000, -155.000000, -97.000000, 139.000000, -152.000000] + pose: {translation: [-0.01230995209580393, 0.06125290740019571, -0.4841995284456806], quaternion: [-0.1680913981786065, 0.321675176689434, 0.9292044214029933, 0.06963839318444294]} + solutions: [[39.000000, 144.680720, -4.430200, 55.396188, 127.709800, 168.798470], [39.000000, -136.157535, -155.294192, 124.028058, 128.213497, -95.253319], [-141.000000, 146.152182, -4.724392, -43.343995, 108.431124, -69.374389], [-141.000000, -135.000000, -155.000000, -97.000000, 139.000000, -152.000000], [39.000000, 144.680720, -4.430200, -124.603812, -127.709800, -11.201530], [39.000000, -136.157535, -155.294192, -55.971942, -128.213497, 84.746681], [-141.000000, 146.152182, -4.724392, 136.656005, -108.431124, 110.625611], [-141.000000, -135.000000, -155.000000, 83.000000, -139.000000, 28.000000]] - id: 129 parameters: Irb2400_10 joints: [-123.000000, -28.000000, 141.000000, 109.000000, -25.000000, 134.000000] @@ -651,59 +651,59 @@ cases: solutions: [[57.000000, 24.472696, 74.943578, 146.424394, 46.264910, -90.547070], [57.000000, -159.382310, 125.332030, 23.571462, 92.216313, 65.769596], [-123.000000, 179.965353, 59.275608, -153.806481, 115.139323, 76.606649], [-123.000000, -28.000000, 141.000000, -71.000000, 25.000000, -46.000000], [57.000000, 24.472696, 74.943578, -33.575606, -46.264910, 89.452930], [57.000000, -159.382310, 125.332030, -156.428538, -92.216313, -114.230404], [-123.000000, 179.965353, 59.275608, 26.193519, -115.139323, -103.393351], [-123.000000, -28.000000, 141.000000, 109.000000, -25.000000, 134.000000]] - id: 130 parameters: Irb2400_10 - joints: [-27.000000, -10.000000, 8.000000, -146.000000, 161.000000, -70.000000] - pose: {translation: [0.5688195696365665, -0.3071957189803879, 1.49067973111855], quaternion: [-0.4409422531378578, -0.4326627841268882, 0.3853493930114759, 0.6854769798723852]} - solutions: [[-27.000000, -10.000000, 8.000000, -146.000000, 161.000000, -70.000000], [-27.000000, 82.507561, -167.724392, -169.378394, 81.005387, -104.207521], [153.000000, -81.879140, -7.701938, 10.819506, 75.893964, -105.194884], [153.000000, -6.204351, -152.022454, 17.601449, 142.983356, -88.313579], [-27.000000, -10.000000, 8.000000, 34.000000, -161.000000, 110.000000], [-27.000000, 82.507561, -167.724392, 10.621606, -81.005387, 75.792479], [153.000000, -81.879140, -7.701938, -169.180494, -75.893964, 74.805116], [153.000000, -6.204351, -152.022454, -162.398551, -142.983356, 91.686421]] + joints: [-27.000000, -9.000000, 8.000000, -146.000000, 160.000000, -70.000000] + pose: {translation: [0.5824305605714315, -0.3150085086721214, 1.482180165450998], quaternion: [-0.42837895350828, -0.4277139687945082, 0.3918499628434003, 0.692824537461562]} + solutions: [[-27.000000, -9.000000, 8.000000, -146.000000, 160.000000, -70.000000], [-27.000000, 83.507561, -167.724392, -168.807860, 80.178832, -104.300785], [153.000000, -82.585597, -8.032540, 11.414010, 75.113838, -105.336784], [153.000000, -7.262655, -151.691852, 18.004516, 141.774006, -88.045137], [-27.000000, -9.000000, 8.000000, 34.000000, -160.000000, 110.000000], [-27.000000, 83.507561, -167.724392, 11.192140, -80.178832, 75.699215], [153.000000, -82.585597, -8.032540, -168.585990, -75.113838, 74.663216], [153.000000, -7.262655, -151.691852, -161.995484, -141.774006, 91.954863]] - id: 131 parameters: Irb2400_10 - joints: [-53.000000, 78.000000, -78.000000, 112.000000, -160.000000, -132.000000] - pose: {translation: [0.8599635343544271, -1.185999369545958, 0.8856872869609982], quaternion: [0.728031937963081, 0.1844749242882246, -0.4368862998226238, -0.4950443016961925]} - solutions: [[-53.000000, 78.000000, -78.000000, -68.000000, 160.000000, 48.000000], [-53.000000, 79.940607, -81.724392, -72.693451, 160.600482, 43.015199], [-53.000000, 78.000000, -78.000000, 112.000000, -160.000000, -132.000000], [-53.000000, 79.940607, -81.724392, 107.306549, -160.600482, -136.984801]] + joints: [-53.000000, 77.000000, -78.000000, 112.000000, -159.000000, -132.000000] + pose: {translation: [0.8562845216751176, -1.183257980189652, 0.9089523181142865], quaternion: [0.7343557674495509, 0.1896878870316273, -0.4374064387354679, -0.4831311619837964]} + solutions: [[-53.000000, 77.000000, -78.000000, -68.000000, 159.000000, 48.000000], [-53.000000, 78.940607, -81.724392, -72.444137, 159.604087, 43.249638], [-53.000000, 77.000000, -78.000000, 112.000000, -159.000000, -132.000000], [-53.000000, 78.940607, -81.724392, 107.555863, -159.604087, -136.750362]] - id: 132 parameters: Irb2400_10 - joints: [32.000000, 95.000000, 78.000000, 13.000000, 135.000000, -149.000000] - pose: {translation: [0.09622607462638791, 0.07607177743242317, 0.3930020494746692], quaternion: [0.3225751450734518, 0.104565319537865, 0.8269338296835289, -0.4485441015727644]} - solutions: [[32.000000, 95.000000, 78.000000, 13.000000, 135.000000, -149.000000], [32.000000, -82.846042, 122.275608, 170.846760, 90.677100, 21.619242], [-148.000000, 122.959761, 74.376378, -16.104427, 34.990088, 35.036114], [-148.000000, -61.937165, 125.899230, -36.223804, 164.385030, -13.474310], [32.000000, 95.000000, 78.000000, -167.000000, -135.000000, 31.000000], [32.000000, -82.846042, 122.275608, -9.153240, -90.677100, -158.380758], [-148.000000, 122.959761, 74.376378, 163.895573, -34.990088, -144.963886], [-148.000000, -61.937165, 125.899230, 143.776196, -164.385030, 166.525690]] + joints: [32.000000, 94.000000, 78.000000, 13.000000, 134.000000, -149.000000] + pose: {translation: [0.09837679120141109, 0.07769151073352051, 0.3942743873098879], quaternion: [0.3061310044033025, 0.1044218136963039, 0.8316253474824986, -0.4514190673775456]} + solutions: [[32.000000, 94.000000, 78.000000, 13.000000, 134.000000, -149.000000], [32.000000, -83.846042, 122.275608, 170.683704, 91.663723, 21.615911], [-148.000000, 123.874559, 74.132608, -15.861093, 36.304019, 34.785577], [-148.000000, -61.464120, 126.142999, -39.624476, 165.301734, -16.802299], [32.000000, 94.000000, 78.000000, -167.000000, -134.000000, 31.000000], [32.000000, -83.846042, 122.275608, -9.316296, -91.663723, -158.384089], [-148.000000, 123.874559, 74.132608, 164.138907, -36.304019, -145.214423], [-148.000000, -61.464120, 126.142999, 140.375524, -165.301734, 163.197701]] - id: 133 parameters: Irb2400_10 - joints: [-104.000000, 161.000000, 51.000000, -99.000000, 96.000000, -148.000000] - pose: {translation: [0.01134327588752906, 0.3906216703773364, 0.2180890035017311], quaternion: [0.6077594345667412, 0.4735957078493947, -0.396246086013281, -0.4993241577581655]} - solutions: [[76.000000, 64.991741, 62.853837, 96.391679, 81.272666, 52.138822], [76.000000, -138.064307, 137.421770, 79.207427, 90.475675, -178.929757], [-104.000000, 161.000000, 51.000000, -99.000000, 96.000000, -148.000000], [-104.000000, -57.614406, 149.275608, -90.678317, 79.218138, 92.197853], [76.000000, 64.991741, 62.853837, -83.608321, -81.272666, -127.861178], [76.000000, -138.064307, 137.421770, -100.792573, -90.475675, 1.070243], [-104.000000, 161.000000, 51.000000, 81.000000, -96.000000, 32.000000], [-104.000000, -57.614406, 149.275608, 89.321683, -79.218138, -87.802147]] + joints: [-104.000000, 160.000000, 51.000000, -99.000000, 96.000000, -148.000000] + pose: {translation: [0.009649719359613063, 0.3838291861453057, 0.2097415361005543], quaternion: [0.6111276994608844, 0.4691683891203666, -0.4015241498911297, -0.4951588781957292]} + solutions: [[76.000000, 66.402986, 62.619279, 96.418602, 81.292377, 51.961186], [76.000000, -136.982225, 137.656329, 79.205006, 90.416376, -179.240805], [-104.000000, 160.000000, 51.000000, -99.000000, 96.000000, -148.000000], [-104.000000, -58.614406, 149.275608, -90.678317, 79.218138, 92.197853], [76.000000, 66.402986, 62.619279, -83.581398, -81.292377, -128.038814], [76.000000, -136.982225, 137.656329, -100.794994, -90.416376, 0.759195], [-104.000000, 160.000000, 51.000000, 81.000000, -96.000000, 32.000000], [-104.000000, -58.614406, 149.275608, 89.321683, -79.218138, -87.802147]] - id: 134 parameters: Irb2400_10 - joints: [56.000000, 5.000000, -23.000000, -129.000000, 97.000000, -90.000000] - pose: {translation: [0.508150127609838, 0.6361141589033912, 1.726311577150972], quaternion: [0.3526880892003212, -0.3121089030507091, 0.8547506134809721, 0.2181754640802011]} - solutions: [[56.000000, 5.000000, -23.000000, -129.000000, 97.000000, -90.000000], [56.000000, 64.473808, -136.724392, -121.019936, 64.167884, -134.486203], [-124.000000, -57.597409, -48.791392, 59.555063, 63.472537, -135.789427], [-124.000000, -25.185462, -110.933000, 51.426665, 80.618200, -110.110548], [56.000000, 5.000000, -23.000000, 51.000000, -97.000000, 90.000000], [56.000000, 64.473808, -136.724392, 58.980064, -64.167884, 45.513797], [-124.000000, -57.597409, -48.791392, -120.444937, -63.472537, 44.210573], [-124.000000, -25.185462, -110.933000, -128.573335, -80.618200, 69.889452]] + joints: [56.000000, 4.000000, -23.000000, -129.000000, 96.000000, -90.000000] + pose: {translation: [0.4981122382531529, 0.620998981510519, 1.739139802098683], quaternion: [0.3519370076623743, -0.3118792743802817, 0.8569353843405579, 0.2110294005933373]} + solutions: [[56.000000, 4.000000, -23.000000, -129.000000, 96.000000, -90.000000], [56.000000, 63.473808, -136.724392, -120.236650, 63.456570, -134.831890], [-124.000000, -57.086543, -48.032568, 60.482114, 62.644387, -136.417728], [-124.000000, -23.881294, -111.691824, 51.712028, 79.960859, -109.807611], [56.000000, 4.000000, -23.000000, 51.000000, -96.000000, 90.000000], [56.000000, 63.473808, -136.724392, 59.763350, -63.456570, 45.168110], [-124.000000, -57.086543, -48.032568, -119.517886, -62.644387, 43.582272], [-124.000000, -23.881294, -111.691824, -128.287972, -79.960859, 70.192389]] - id: 135 parameters: Irb2400_10 - joints: [-23.000000, -44.000000, 19.000000, -125.000000, 103.000000, -31.000000] - pose: {translation: [0.1576561137877234, -0.1406233930840848, 1.59853572173388], quaternion: [-0.2560455148226005, -0.4782449188359804, 0.7691862501239631, 0.3377499142368982]} - solutions: [[-23.000000, -44.000000, 19.000000, -125.000000, 103.000000, -31.000000], [-23.000000, 60.492864, -178.724392, -103.599625, 55.203198, -115.837161], [157.000000, -69.058767, 13.934796, 81.045860, 53.901391, -123.838023], [157.000000, 29.890214, -173.659188, 53.436013, 96.418713, -40.238762], [-23.000000, -44.000000, 19.000000, 55.000000, -103.000000, 149.000000], [-23.000000, 60.492864, -178.724392, 76.400375, -55.203198, 64.162839], [157.000000, -69.058767, 13.934796, -98.954140, -53.901391, 56.161977], [157.000000, 29.890214, -173.659188, -126.563987, -96.418713, 139.761238]] + joints: [-23.000000, -44.000000, 19.000000, -125.000000, 102.000000, -31.000000] + pose: {translation: [0.1586899947966807, -0.141347986198284, 1.599314733844389], quaternion: [-0.2487641583205527, -0.4772960060683598, 0.7732216790007385, 0.3353105295834567]} + solutions: [[-23.000000, -44.000000, 19.000000, -125.000000, 102.000000, -31.000000], [-23.000000, 60.492864, -178.724392, -102.385540, 55.119237, -116.530748], [157.000000, -69.058767, 13.934796, 82.281115, 53.957244, -124.565338], [157.000000, 29.890214, -173.659188, 53.597278, 95.431661, -40.222114], [-23.000000, -44.000000, 19.000000, 55.000000, -102.000000, 149.000000], [-23.000000, 60.492864, -178.724392, 77.614460, -55.119237, 63.469252], [157.000000, -69.058767, 13.934796, -97.718885, -53.957244, 55.434662], [157.000000, 29.890214, -173.659188, -126.402722, -95.431661, 139.777886]] - id: 136 parameters: Irb2400_10 - joints: [106.000000, -150.000000, 52.000000, -122.000000, -19.000000, 127.000000] - pose: {translation: [0.1119312494460242, -0.4754925392271678, 0.8149439655826369], quaternion: [-0.1030496561687668, -0.09600486021414469, 0.8103415997094416, 0.5687796822664332]} - solutions: [[-74.000000, -9.261882, 68.246173, -149.092508, 147.485232, 30.326134], [-74.000000, 155.611645, 132.029435, -139.948443, 25.408645, -33.669843], [106.000000, -150.000000, 52.000000, 58.000000, 19.000000, -53.000000], [106.000000, -7.368258, 148.275608, 20.964750, 129.496179, 17.236247], [-74.000000, -9.261882, 68.246173, 30.907492, -147.485232, -149.673866], [-74.000000, 155.611645, 132.029435, 40.051557, -25.408645, 146.330157], [106.000000, -150.000000, 52.000000, -122.000000, -19.000000, 127.000000], [106.000000, -7.368258, 148.275608, -159.035250, -129.496179, -162.763753]] + joints: [106.000000, -149.000000, 52.000000, -122.000000, -19.000000, 127.000000] + pose: {translation: [0.1109447303374294, -0.4720521382387293, 0.825174222663578], quaternion: [-0.1097660943936396, -0.09057178627061592, 0.8108682082127593, 0.5676626682838548]} + solutions: [[-74.000000, -10.661089, 68.159835, -149.478458, 147.067794, 29.867376], [-74.000000, 154.079082, 132.115773, -139.335442, 25.068610, -34.347533], [106.000000, -149.000000, 52.000000, 58.000000, 19.000000, -53.000000], [106.000000, -6.368258, 148.275608, 20.964750, 129.496179, 17.236247], [-74.000000, -10.661089, 68.159835, 30.521542, -147.067794, -150.132624], [-74.000000, 154.079082, 132.115773, 40.664558, -25.068610, 145.652467], [106.000000, -149.000000, 52.000000, -122.000000, -19.000000, 127.000000], [106.000000, -6.368258, 148.275608, -159.035250, -129.496179, -162.763753]] - id: 137 parameters: Irb2400_10 - joints: [-137.000000, -107.000000, 2.000000, 164.000000, 35.000000, -3.000000] - pose: {translation: [0.7136726665313995, 0.6471358035170518, 1.158337140608622], quaternion: [-0.1412770916428556, 0.3946790840471731, 0.1781657638790569, 0.8902393861057895]} - solutions: [[43.000000, 5.164992, 21.168685, -170.160322, 67.689642, 160.014431], [43.000000, 112.046767, 179.106922, -18.953348, 29.127914, 0.480084], [-137.000000, -107.000000, 2.000000, 164.000000, 35.000000, -3.000000], [-137.000000, -20.955832, -161.724392, 13.039648, 44.484429, 154.399263], [43.000000, 5.164992, 21.168685, 9.839678, -67.689642, -19.985569], [43.000000, 112.046767, 179.106922, 161.046652, -29.127914, -179.519916], [-137.000000, -107.000000, 2.000000, -16.000000, -35.000000, 177.000000], [-137.000000, -20.955832, -161.724392, -166.960352, -44.484429, -25.600737]] + joints: [-137.000000, -106.000000, 2.000000, 164.000000, 35.000000, -3.000000] + pose: {translation: [0.7066191365514723, 0.6405582804002454, 1.176811404147541], quaternion: [-0.1371105544562845, 0.3879220337791826, 0.1796062492926002, 0.8935652112634854]} + solutions: [[43.000000, 4.087469, 20.981487, -170.141620, 67.428822, 159.965440], [43.000000, 110.762643, 179.294120, -18.897039, 29.219600, 0.415593], [-137.000000, -106.000000, 2.000000, 164.000000, 35.000000, -3.000000], [-137.000000, -19.955832, -161.724392, 13.039648, 44.484429, 154.399263], [43.000000, 4.087469, 20.981487, 9.858380, -67.428822, -20.034560], [43.000000, 110.762643, 179.294120, 161.102961, -29.219600, -179.584407], [-137.000000, -106.000000, 2.000000, -16.000000, -35.000000, 177.000000], [-137.000000, -19.955832, -161.724392, -166.960352, -44.484429, -25.600737]] - id: 138 parameters: Irb2400_10 - joints: [105.000000, 145.000000, -177.000000, 96.000000, 21.000000, -93.000000] - pose: {translation: [-0.3239839489085741, 1.092075962903585, 0.5968249825232154], quaternion: [-0.457267089276112, 0.1663186394575967, 0.7548510557683421, 0.4398236042316802]} - solutions: [[105.000000, 42.399829, 17.275608, 159.074484, 93.711890, -177.994626], [105.000000, 145.000000, -177.000000, 96.000000, 21.000000, -93.000000], [-75.000000, -131.982075, -5.685070, -110.124830, 22.307665, -64.968916], [-75.000000, -54.158839, -154.039323, -23.270636, 64.438125, -166.064068], [105.000000, 42.399829, 17.275608, -20.925516, -93.711890, 2.005374], [105.000000, 145.000000, -177.000000, -84.000000, -21.000000, 87.000000], [-75.000000, -131.982075, -5.685070, 69.875170, -22.307665, 115.031084], [-75.000000, -54.158839, -154.039323, 156.729364, -64.438125, 13.935932]] + joints: [105.000000, 144.000000, -177.000000, 96.000000, 21.000000, -93.000000] + pose: {translation: [-0.3240251001199581, 1.092229541315263, 0.6149558722751519], quaternion: [-0.451837421222006, 0.1609429093640146, 0.7572570246167197, 0.4432856002370558]} + solutions: [[105.000000, 41.399829, 17.275608, 159.074484, 93.711890, -177.994626], [105.000000, 144.000000, -177.000000, 96.000000, 21.000000, -93.000000], [-75.000000, -131.140966, -5.705997, -109.712145, 22.246404, -65.414887], [-75.000000, -53.340040, -154.018396, -23.240468, 64.585377, -166.134172], [105.000000, 41.399829, 17.275608, -20.925516, -93.711890, 2.005374], [105.000000, 144.000000, -177.000000, -84.000000, -21.000000, 87.000000], [-75.000000, -131.140966, -5.705997, 70.287855, -22.246404, 114.585113], [-75.000000, -53.340040, -154.018396, 156.759532, -64.585377, 13.865828]] - id: 139 parameters: Irb2400_10 - joints: [97.000000, -150.000000, -165.000000, 63.000000, -62.000000, -124.000000] - pose: {translation: [0.01407369457093615, 0.4340856586667524, -0.4380785605394125], quaternion: [-0.6560247910185003, 0.3064195225165529, -0.2350999315853456, 0.648433938006353]} - solutions: [[97.000000, 120.432740, 5.275608, -123.869102, 108.650194, 124.132701], [97.000000, -150.000000, -165.000000, -117.000000, 62.000000, 56.000000], [-83.000000, 164.001571, -2.814465, 79.027744, 53.260302, 26.615316], [-83.000000, -115.111152, -156.909928, 51.905524, 88.464924, 96.700005], [97.000000, 120.432740, 5.275608, 56.130898, -108.650194, -55.867299], [97.000000, -150.000000, -165.000000, 63.000000, -62.000000, -124.000000], [-83.000000, 164.001571, -2.814465, -100.972256, -53.260302, -153.384684], [-83.000000, -115.111152, -156.909928, -128.094476, -88.464924, -83.299995]] + joints: [97.000000, -149.000000, -165.000000, 63.000000, -62.000000, -124.000000] + pose: {translation: [0.01631961055006877, 0.4157941408845727, -0.4436623675878536], quaternion: [-0.6613661870649599, 0.3036819318296471, -0.2384427095897612, 0.6430529722587892]} + solutions: [[97.000000, 121.432740, 5.275608, -123.869102, 108.650194, 124.132701], [97.000000, -149.000000, -165.000000, -117.000000, 62.000000, 56.000000], [-83.000000, 162.859129, -2.415768, 79.215756, 53.211941, 26.301188], [-83.000000, -115.827427, -157.308624, 51.903155, 88.535858, 96.790516], [97.000000, 121.432740, 5.275608, 56.130898, -108.650194, -55.867299], [97.000000, -149.000000, -165.000000, 63.000000, -62.000000, -124.000000], [-83.000000, 162.859129, -2.415768, -100.784244, -53.211941, -153.698812], [-83.000000, -115.827427, -157.308624, -128.096845, -88.535858, -83.209484]] - id: 140 parameters: Irb2400_10 - joints: [-11.000000, 178.000000, 30.000000, 108.000000, -111.000000, -79.000000] - pose: {translation: [-0.5709751361326035, 0.03410330733087542, 0.1530333673640371], quaternion: [0.606209309941853, -0.2987813560868087, 0.4951803035847399, 0.5459271386700564]} - solutions: [[169.000000, 66.167350, 44.448754, 62.950286, 85.517197, -39.900152], [169.000000, -160.407415, 155.826854, 97.842057, 116.328012, 76.054565], [-11.000000, 178.000000, 30.000000, -72.000000, 111.000000, 101.000000], [-11.000000, -65.273317, 170.275608, -115.002266, 101.566169, -7.933268], [169.000000, 66.167350, 44.448754, -117.049714, -85.517197, 140.099848], [169.000000, -160.407415, 155.826854, -82.157943, -116.328012, -103.945435], [-11.000000, 178.000000, 30.000000, 108.000000, -111.000000, -79.000000], [-11.000000, -65.273317, 170.275608, 64.997734, -101.566169, 172.066732]] + joints: [-11.000000, 177.000000, 30.000000, 108.000000, -111.000000, -79.000000] + pose: {translation: [-0.5629611165571667, 0.03254553972836631, 0.1414631128231967], quaternion: [0.6010353875405722, -0.3026219774475872, 0.5008518628078402, 0.5443563292656591]} + solutions: [[169.000000, 67.504016, 44.236116, 62.959001, 85.460802, -40.010960], [169.000000, -159.324024, 156.039491, 97.696787, 116.368031, 75.727250], [-11.000000, 177.000000, 30.000000, -72.000000, 111.000000, 101.000000], [-11.000000, -66.273317, 170.275608, -115.002266, 101.566169, -7.933268], [169.000000, 67.504016, 44.236116, -117.040999, -85.460802, 139.989040], [169.000000, -159.324024, 156.039491, -82.303213, -116.368031, -104.272750], [-11.000000, 177.000000, 30.000000, 108.000000, -111.000000, -79.000000], [-11.000000, -66.273317, 170.275608, 64.997734, -101.566169, 172.066732]] - id: 141 parameters: Irb2400_10 joints: [-154.000000, -77.000000, 46.000000, 165.000000, -122.000000, -59.000000] @@ -711,14 +711,14 @@ cases: solutions: [[26.000000, -75.575341, 46.243561, 14.223740, 116.709565, -44.418768], [26.000000, 59.999358, 154.032047, 164.472407, 124.924548, 120.043482], [-154.000000, -77.000000, 46.000000, -15.000000, 122.000000, 121.000000], [-154.000000, 58.281749, 154.275608, -165.343562, 119.833315, -43.505581], [26.000000, -75.575341, 46.243561, -165.776260, -116.709565, 135.581232], [26.000000, 59.999358, 154.032047, -15.527593, -124.924548, -59.956518], [-154.000000, -77.000000, 46.000000, 165.000000, -122.000000, -59.000000], [-154.000000, 58.281749, 154.275608, 14.656438, -119.833315, 136.494419]] - id: 142 parameters: Irb2400_10 - joints: [-125.000000, -6.000000, 24.000000, -22.000000, -166.000000, 50.000000] - pose: {translation: [-0.4029514053709344, -0.5889043145987467, 1.254841813212519], quaternion: [-0.4811256013921791, 0.1092489987927253, -0.4119408586647695, 0.7660858574013317]} - solutions: [[-125.000000, -6.000000, 24.000000, 158.000000, 166.000000, -130.000000], [-125.000000, 104.016261, 176.275608, 174.442849, 69.364475, -106.629726], [55.000000, -101.888365, 7.205024, -5.797744, 63.783404, -106.025282], [55.000000, -10.239784, -166.929416, -9.279022, 145.802658, -116.289513], [-125.000000, -6.000000, 24.000000, -22.000000, -166.000000, 50.000000], [-125.000000, 104.016261, 176.275608, -5.557151, -69.364475, 73.370274], [55.000000, -101.888365, 7.205024, 174.202256, -63.783404, 73.974718], [55.000000, -10.239784, -166.929416, 170.720978, -145.802658, 63.710487]] + joints: [-125.000000, -6.000000, 24.000000, -22.000000, -165.000000, 50.000000] + pose: {translation: [-0.4029493309075678, -0.5898393814394791, 1.255993529622974], quaternion: [-0.4736753599878598, 0.1107882619149217, -0.4153542754984532, 0.7686601590998439]} + solutions: [[-125.000000, -6.000000, 24.000000, 158.000000, 165.000000, -130.000000], [-125.000000, 104.016261, 176.275608, 174.016374, 68.447042, -106.476231], [55.000000, -101.888365, 7.205024, -6.254292, 62.870402, -105.820331], [55.000000, -10.239784, -166.929416, -9.690492, 144.830451, -116.627881], [-125.000000, -6.000000, 24.000000, -22.000000, -165.000000, 50.000000], [-125.000000, 104.016261, 176.275608, -5.983626, -68.447042, 73.523769], [55.000000, -101.888365, 7.205024, 173.745708, -62.870402, 74.179669], [55.000000, -10.239784, -166.929416, 170.309508, -144.830451, 63.372119]] - id: 143 parameters: Irb2400_10 - joints: [-135.000000, -5.000000, -171.000000, 112.000000, 154.000000, -115.000000] - pose: {translation: [0.4831896685975546, 0.4343309868027888, 1.216058613913703], quaternion: [0.6527608447493153, -0.4326199028510361, 0.1419940667164443, 0.6054593167477451]} - solutions: [[45.000000, -11.427927, 26.855605, -41.848256, 142.466509, -84.588178], [45.000000, 101.769630, 173.420003, -154.730329, 107.797199, 139.005182], [-135.000000, -101.056206, 11.275608, 24.642938, 102.892485, 136.639308], [-135.000000, -5.000000, -171.000000, 112.000000, 154.000000, -115.000000], [45.000000, -11.427927, 26.855605, 138.151744, -142.466509, 95.411822], [45.000000, 101.769630, 173.420003, 25.269671, -107.797199, -40.994818], [-135.000000, -101.056206, 11.275608, -155.357062, -102.892485, -43.360692], [-135.000000, -5.000000, -171.000000, -68.000000, -154.000000, 65.000000]] + joints: [-135.000000, -5.000000, -171.000000, 112.000000, 153.000000, -115.000000] + pose: {translation: [0.4845515498525788, 0.4339520121615322, 1.215608655406011], quaternion: [0.6570008500386934, -0.429247479410475, 0.1478175968787736, 0.6018691240802877]} + solutions: [[45.000000, -11.427927, 26.855605, -42.663226, 141.601255, -85.230703], [45.000000, 101.769630, 173.420003, -153.719168, 108.070144, 139.316543], [-135.000000, -101.056206, 11.275608, 25.617807, 103.205667, 136.859425], [-135.000000, -5.000000, -171.000000, 112.000000, 153.000000, -115.000000], [45.000000, -11.427927, 26.855605, 137.336774, -141.601255, 94.769297], [45.000000, 101.769630, 173.420003, 26.280832, -108.070144, -40.683457], [-135.000000, -101.056206, 11.275608, -154.382193, -103.205667, -43.140575], [-135.000000, -5.000000, -171.000000, -68.000000, -153.000000, 65.000000]] - id: 144 parameters: Irb2400_10 joints: [125.000000, -10.000000, 119.000000, 150.000000, -26.000000, -50.000000] @@ -731,54 +731,54 @@ cases: solutions: [[-137.000000, -66.914843, 58.393008, 167.556075, 87.274384, 41.395188], [-137.000000, 83.942112, 141.882600, 19.518888, 40.106102, -154.376050], [43.000000, -100.000000, 53.000000, -160.000000, 39.000000, -155.000000], [43.000000, 43.887596, 147.275608, -12.483948, 84.695246, 41.966615], [-137.000000, -66.914843, 58.393008, -12.443925, -87.274384, -138.604812], [-137.000000, 83.942112, 141.882600, -160.481112, -40.106102, 25.623950], [43.000000, -100.000000, 53.000000, 20.000000, -39.000000, 25.000000], [43.000000, 43.887596, 147.275608, 167.516052, -84.695246, -138.033385]] - id: 146 parameters: Irb2400_10 - joints: [-83.000000, 180.000000, -75.000000, -76.000000, 36.000000, 179.000000] - pose: {translation: [-0.04744378171059224, -0.01138535793994401, -0.9175095501902835], quaternion: [0.9339316118547419, -0.009754877369875467, -0.3271833014216606, -0.1436233755929898]} - solutions: [[-83.000000, 180.000000, -75.000000, -76.000000, 36.000000, 179.000000], [-83.000000, -174.932968, -84.724392, -70.014491, 37.363663, 171.540734], [-83.000000, 180.000000, -75.000000, 104.000000, -36.000000, -1.000000], [-83.000000, -174.932968, -84.724392, 109.985509, -37.363663, -8.459266]] + joints: [-83.000000, 179.000000, -75.000000, -76.000000, 36.000000, 179.000000] + pose: {translation: [-0.04418251304775214, -0.0379462597248113, -0.9189250702171832], quaternion: [0.9354880014300437, -0.01243565752343438, -0.3260931179100481, -0.1355390425452607]} + solutions: [[-83.000000, 179.000000, -75.000000, -76.000000, 36.000000, 179.000000], [-83.000000, -175.932968, -84.724392, -70.014491, 37.363663, 171.540734], [-83.000000, 179.000000, -75.000000, 104.000000, -36.000000, -1.000000], [-83.000000, -175.932968, -84.724392, 109.985509, -37.363663, -8.459266]] - id: 147 parameters: Irb2400_10 - joints: [160.000000, -41.000000, 106.000000, 33.000000, 132.000000, -114.000000] - pose: {translation: [-0.01820990786514032, -0.02998345089858089, 0.5490197305567271], quaternion: [0.4303744873030276, 0.3784941971582708, 0.04496844249146646, 0.8182284415589963]} - solutions: [[160.000000, 66.001772, 94.275608, 33.609639, 46.987593, -161.875832], [160.000000, -41.000000, 106.000000, 33.000000, 132.000000, -114.000000], [-20.000000, 141.884257, 85.062421, -25.369179, 109.147704, 33.672710], [-20.000000, -17.890382, 115.213187, -153.077146, 116.633543, -124.661898], [160.000000, 66.001772, 94.275608, -146.390361, -46.987593, 18.124168], [160.000000, -41.000000, 106.000000, -147.000000, -132.000000, 66.000000], [-20.000000, 141.884257, 85.062421, 154.630821, -109.147704, -146.327290], [-20.000000, -17.890382, 115.213187, 26.922854, -116.633543, 55.338102]] + joints: [160.000000, -40.000000, 106.000000, 33.000000, 131.000000, -114.000000] + pose: {translation: [-0.01704122293609314, -0.03097855951149455, 0.5493050068731758], quaternion: [0.4339205427153203, 0.3751874469900279, 0.04591712010616816, 0.8178257518028537]} + solutions: [[160.000000, 67.001772, 94.275608, 34.635178, 46.321400, -162.579779], [160.000000, -40.000000, 106.000000, 33.000000, 131.000000, -114.000000], [-20.000000, 141.539040, 85.198047, -25.815120, 109.280666, 33.848367], [-20.000000, -17.796175, 115.077561, -152.657219, 116.502972, -124.083065], [160.000000, 67.001772, 94.275608, -145.364822, -46.321400, 17.420221], [160.000000, -40.000000, 106.000000, -147.000000, -131.000000, 66.000000], [-20.000000, 141.539040, 85.198047, 154.184880, -109.280666, -146.151633], [-20.000000, -17.796175, 115.077561, 27.342781, -116.502972, 55.916935]] - id: 148 parameters: Irb2400_10 - joints: [63.000000, -149.000000, -142.000000, 71.000000, 28.000000, -20.000000] - pose: {translation: [0.03369284261734604, 0.1492355890980112, -0.7204980693782147], quaternion: [-0.1426819978187463, 0.9587390236849728, 0.2058418788906672, -0.1345007541123706]} - solutions: [[63.000000, 145.955974, -17.724392, 146.882389, 54.336784, -110.481677], [63.000000, -149.000000, -142.000000, 71.000000, 28.000000, -20.000000], [-117.000000, 159.687435, -20.975037, -140.884663, 44.717119, 18.676296], [-117.000000, -138.702531, -138.749355, -57.181744, 31.883756, -78.521189], [63.000000, 145.955974, -17.724392, -33.117611, -54.336784, 69.518323], [63.000000, -149.000000, -142.000000, -109.000000, -28.000000, 160.000000], [-117.000000, 159.687435, -20.975037, 39.115337, -44.717119, -161.323704], [-117.000000, -138.702531, -138.749355, 122.818256, -31.883756, 101.478811]] + joints: [63.000000, -148.000000, -142.000000, 71.000000, 28.000000, -20.000000] + pose: {translation: [0.02310805127124228, 0.1284617664035679, -0.7211370263920314], quaternion: [-0.1408152707644251, 0.9597701605245901, 0.1989447340305056, -0.1394033403031495]} + solutions: [[63.000000, 146.955974, -17.724392, 146.882389, 54.336784, -110.481677], [63.000000, -148.000000, -142.000000, 71.000000, 28.000000, -20.000000], [-117.000000, 158.427841, -20.431797, -141.064346, 44.937474, 18.929643], [-117.000000, -139.388661, -139.292595, -56.873152, 32.008588, -78.884860], [63.000000, 146.955974, -17.724392, -33.117611, -54.336784, 69.518323], [63.000000, -148.000000, -142.000000, -109.000000, -28.000000, 160.000000], [-117.000000, 158.427841, -20.431797, 38.935654, -44.937474, -161.070357], [-117.000000, -139.388661, -139.292595, 123.126848, -32.008588, 101.115140]] - id: 149 parameters: Irb2400_10 - joints: [114.000000, -32.000000, 50.000000, 91.000000, 156.000000, -104.000000] - pose: {translation: [-0.1993607606758221, 0.3627845456631206, 1.132528141850815], quaternion: [0.3980499870908186, 0.4438807484814418, -0.6082311943501171, 0.5240046785325342]} - solutions: [[114.000000, -32.000000, 50.000000, 91.000000, 156.000000, -104.000000], [114.000000, 108.148574, 150.275608, 152.791357, 62.801369, -1.870461], [-66.000000, -112.632356, 37.597106, -28.069613, 59.798885, -0.078328], [-66.000000, 12.758670, 162.678501, -61.675846, 152.484749, -73.806306], [114.000000, -32.000000, 50.000000, -89.000000, -156.000000, 76.000000], [114.000000, 108.148574, 150.275608, -27.208643, -62.801369, 178.129539], [-66.000000, -112.632356, 37.597106, 151.930387, -59.798885, 179.921672], [-66.000000, 12.758670, 162.678501, 118.324154, -152.484749, 106.193694]] + joints: [114.000000, -32.000000, 50.000000, 91.000000, 155.000000, -104.000000] + pose: {translation: [-0.2008347416824175, 0.3627767191461078, 1.132360440544994], quaternion: [0.4037558071232439, 0.439820005887908, -0.6111261758996142, 0.5196772149761161]} + solutions: [[114.000000, -32.000000, 50.000000, 91.000000, 155.000000, -104.000000], [114.000000, 108.148574, 150.275608, 151.694229, 63.015759, -1.370803], [-66.000000, -112.632356, 37.597106, -29.189910, 60.044242, 0.483163], [-66.000000, 12.758670, 162.678501, -62.733809, 151.616312, -74.740902], [114.000000, -32.000000, 50.000000, -89.000000, -155.000000, 76.000000], [114.000000, 108.148574, 150.275608, -28.305771, -63.015759, 178.629197], [-66.000000, -112.632356, 37.597106, 150.810090, -60.044242, -179.516837], [-66.000000, 12.758670, 162.678501, 117.266191, -151.616312, 105.259098]] - id: 150 parameters: Irb2400_10 - joints: [18.000000, -123.000000, -136.000000, -3.000000, -55.000000, -166.000000] - pose: {translation: [-0.4232540090594525, -0.133691989473536, -0.5969839330932871], quaternion: [0.9255353321816085, 0.05428762393165883, 0.3560418153069407, -0.1169248841105803]} - solutions: [[-162.000000, 124.972155, -11.653114, -6.939398, 20.783401, 18.770043], [-162.000000, -163.552556, -148.071279, -2.464384, 85.590973, 12.467783], [18.000000, 178.289869, -23.724392, 177.408767, 108.510896, 11.455033], [18.000000, -123.000000, -136.000000, 177.000000, 55.000000, 14.000000], [-162.000000, 124.972155, -11.653114, 173.060602, -20.783401, -161.229957], [-162.000000, -163.552556, -148.071279, 177.535616, -85.590973, -167.532217], [18.000000, 178.289869, -23.724392, -2.591233, -108.510896, -168.544967], [18.000000, -123.000000, -136.000000, -3.000000, -55.000000, -166.000000]] + joints: [18.000000, -122.000000, -136.000000, -3.000000, -55.000000, -166.000000] + pose: {translation: [-0.4432920137354725, -0.140202731865982, -0.5873078232520327], quaternion: [0.9287703394317647, 0.05427526648317307, 0.3482004494577506, -0.1148751454293127]} + solutions: [[-162.000000, 123.674655, -11.197516, -6.990119, 20.626469, 18.824266], [-162.000000, -164.366426, -148.526877, -2.463518, 85.860192, 12.456166], [18.000000, 179.289869, -23.724392, 177.408767, 108.510896, 11.455033], [18.000000, -122.000000, -136.000000, 177.000000, 55.000000, 14.000000], [-162.000000, 123.674655, -11.197516, 173.009881, -20.626469, -161.175734], [-162.000000, -164.366426, -148.526877, 177.536482, -85.860192, -167.543834], [18.000000, 179.289869, -23.724392, -2.591233, -108.510896, -168.544967], [18.000000, -122.000000, -136.000000, -3.000000, -55.000000, -166.000000]] - id: 151 parameters: Irb2400_10 - joints: [101.000000, -163.000000, 51.000000, -121.000000, -52.000000, 4.000000] - pose: {translation: [0.03937707937924718, -0.5034744857510322, 0.6517008081720873], quaternion: [0.07268659214775473, -0.3650792907065845, -0.1997855105241582, 0.9063771403801647]} - solutions: [[-79.000000, 11.367145, 67.745960, -89.446833, 137.507901, -39.552775], [-79.000000, 175.471369, 132.529647, -129.653065, 61.318979, -160.375779], [101.000000, -163.000000, 51.000000, 59.000000, 52.000000, -176.000000], [101.000000, -21.614406, 149.275608, 64.212539, 131.395522, -76.456915], [-79.000000, 11.367145, 67.745960, 90.553167, -137.507901, 140.447225], [-79.000000, 175.471369, 132.529647, 50.346935, -61.318979, 19.624221], [101.000000, -163.000000, 51.000000, -121.000000, -52.000000, 4.000000], [101.000000, -21.614406, 149.275608, -115.787461, -131.395522, 103.543085]] + joints: [101.000000, -162.000000, 51.000000, -121.000000, -52.000000, 4.000000] + pose: {translation: [0.0392373757123805, -0.5027557726906074, 0.6621969901092576], quaternion: [0.06525227570796538, -0.3682860030478974, -0.1965295289033202, 0.9063573824617831]} + solutions: [[-79.000000, 9.875248, 67.759346, -89.969202, 137.510340, -40.261178], [-79.000000, 173.999955, 132.516262, -129.447258, 61.010280, -160.802501], [101.000000, -162.000000, 51.000000, 59.000000, 52.000000, -176.000000], [101.000000, -20.614406, 149.275608, 64.212539, 131.395522, -76.456915], [-79.000000, 9.875248, 67.759346, 90.030798, -137.510340, 139.738822], [-79.000000, 173.999955, 132.516262, 50.552742, -61.010280, 19.197499], [101.000000, -162.000000, 51.000000, -121.000000, -52.000000, 4.000000], [101.000000, -20.614406, 149.275608, -115.787461, -131.395522, 103.543085]] - id: 152 parameters: Irb2400_10 - joints: [-97.000000, -60.000000, 144.000000, -48.000000, 71.000000, 0.000000] - pose: {translation: [-0.01687518788663478, 0.3526437505634354, 0.1976043455249278], quaternion: [-0.3661305503954294, -0.7489372761947142, -0.1998480565960374, 0.5148806955673998]} - solutions: [[83.000000, 71.822292, 66.339287, 134.375430, 100.564235, -30.491939], [83.000000, -126.196199, 133.936320, 66.453246, 50.038710, 104.278087], [-97.000000, 151.922691, 56.275608, -131.646888, 70.105112, 139.181519], [-97.000000, -60.000000, 144.000000, -48.000000, 71.000000, 0.000000], [83.000000, 71.822292, 66.339287, -45.624570, -100.564235, 149.508061], [83.000000, -126.196199, 133.936320, -113.546754, -50.038710, -75.721913], [-97.000000, 151.922691, 56.275608, 48.353112, -70.105112, -40.818481], [-97.000000, -60.000000, 144.000000, 132.000000, -71.000000, -180.000000]] + joints: [-97.000000, -60.000000, 144.000000, -48.000000, 70.000000, 0.000000] + pose: {translation: [-0.01656789639795352, 0.3521267303807877, 0.1962482234574628], quaternion: [-0.3678605904261234, -0.7534018836254052, -0.196645395749346, 0.5083254627614265]} + solutions: [[83.000000, 71.822292, 66.339287, 134.890191, 99.702127, -30.401370], [83.000000, -126.196199, 133.936320, 65.193499, 50.292169, 105.085068], [-97.000000, 151.922691, 56.275608, -132.338770, 70.863223, 139.412661], [-97.000000, -60.000000, 144.000000, -48.000000, 70.000000, 0.000000], [83.000000, 71.822292, 66.339287, -45.109809, -99.702127, 149.598630], [83.000000, -126.196199, 133.936320, -114.806501, -50.292169, -74.914932], [-97.000000, 151.922691, 56.275608, 47.661230, -70.863223, -40.587339], [-97.000000, -60.000000, 144.000000, 132.000000, -70.000000, -180.000000]] - id: 153 parameters: Irb2400_10 - joints: [-120.000000, -122.000000, -16.000000, 50.000000, -163.000000, -97.000000] - pose: {translation: [0.5332943927976199, 0.9617678360708447, 0.5800138723063234], quaternion: [-0.1751599916286589, 0.9268743455586353, -0.1576329973582253, -0.2921896011526786]} - solutions: [[60.000000, 41.360917, 9.253322, 13.309768, 76.623107, 31.132220], [60.000000, 135.224457, -168.977715, 34.724463, 156.847224, 66.772118], [-120.000000, -122.000000, -16.000000, -130.000000, 163.000000, 83.000000], [-120.000000, -55.131779, -143.724392, -166.413857, 107.552725, 38.433540], [60.000000, 41.360917, 9.253322, -166.690232, -76.623107, -148.867780], [60.000000, 135.224457, -168.977715, -145.275537, -156.847224, -113.227882], [-120.000000, -122.000000, -16.000000, 50.000000, -163.000000, -97.000000], [-120.000000, -55.131779, -143.724392, 13.586143, -107.552725, -141.566460]] + joints: [-120.000000, -122.000000, -16.000000, 50.000000, -162.000000, -97.000000] + pose: {translation: [0.5328257900971242, 0.9631238677641931, 0.5796365202878189], quaternion: [-0.1727901672341989, 0.9285151323404413, -0.1494126008665869, -0.2927098936221195]} + solutions: [[60.000000, 41.360917, 9.253322, 14.120397, 76.006935, 30.940433], [60.000000, 135.224457, -168.977715, 35.408451, 155.885536, 67.398762], [-120.000000, -122.000000, -16.000000, -130.000000, 162.000000, 83.000000], [-120.000000, -55.131779, -143.724392, -165.680702, 106.838952, 38.650296], [60.000000, 41.360917, 9.253322, -165.879603, -76.006935, -149.059567], [60.000000, 135.224457, -168.977715, -144.591549, -155.885536, -112.601238], [-120.000000, -122.000000, -16.000000, 50.000000, -162.000000, -97.000000], [-120.000000, -55.131779, -143.724392, 14.319298, -106.838952, -141.349704]] - id: 154 parameters: Irb2400_10 - joints: [170.000000, -169.000000, -72.000000, -98.000000, 125.000000, 157.000000] - pose: {translation: [0.2585356513650011, 0.02442716845168552, -0.7648911024750074], quaternion: [-0.5184597335581088, 0.08946495588350319, 0.3562070326243266, 0.7722124553881462]} - solutions: [[-10.000000, 158.268160, -52.251518, 59.058111, 108.955009, 109.218489], [-10.000000, -172.935679, -107.472875, 70.270167, 120.484048, 135.508919], [170.000000, -169.000000, -72.000000, -98.000000, 125.000000, 157.000000], [170.000000, -160.806262, -87.724392, -103.061406, 123.620416, 148.033823], [-10.000000, 158.268160, -52.251518, -120.941889, -108.955009, -70.781511], [-10.000000, -172.935679, -107.472875, -109.729833, -120.484048, -44.491081], [170.000000, -169.000000, -72.000000, 82.000000, -125.000000, -23.000000], [170.000000, -160.806262, -87.724392, 76.938594, -123.620416, -31.966177]] + joints: [170.000000, -168.000000, -72.000000, -98.000000, 124.000000, 157.000000] + pose: {translation: [0.2828464213612347, 0.02098545260057121, -0.7596834797886021], quaternion: [-0.5281087241641576, 0.08836559226930632, 0.3476746164832843, 0.7696850385825371]} + solutions: [[-10.000000, 156.670048, -51.143122, 59.693499, 108.024483, 109.003537], [-10.000000, -173.375797, -108.581271, 70.986149, 119.732936, 136.315756], [170.000000, -168.000000, -72.000000, -98.000000, 124.000000, 157.000000], [170.000000, -159.806262, -87.724392, -102.876351, 122.632497, 148.134958], [-10.000000, 156.670048, -51.143122, -120.306501, -108.024483, -70.996463], [-10.000000, -173.375797, -108.581271, -109.013851, -119.732936, -43.684244], [170.000000, -168.000000, -72.000000, 82.000000, -124.000000, -23.000000], [170.000000, -159.806262, -87.724392, 77.123649, -122.632497, -31.865042]] - id: 155 parameters: Irb2400_10 - joints: [101.000000, 133.000000, 50.000000, 64.000000, 19.000000, 35.000000] - pose: {translation: [0.01852601630808668, -0.2256614381819394, 0.05521055641845794], quaternion: [-0.09665566277193394, -0.6282143957479147, 0.771336396598681, -0.03231902089115518]} - solutions: [[-79.000000, 102.823193, 54.143786, -122.970395, 159.586625, 153.025059], [-79.000000, -111.840082, 146.131821, -156.911208, 48.260307, 81.869136], [101.000000, 133.000000, 50.000000, 64.000000, 19.000000, 35.000000], [101.000000, -86.851426, 150.275608, 21.265186, 126.214366, 110.662799], [-79.000000, 102.823193, 54.143786, 57.029605, -159.586625, -26.974941], [-79.000000, -111.840082, 146.131821, 23.088792, -48.260307, -98.130864], [101.000000, 133.000000, 50.000000, -116.000000, -19.000000, -145.000000], [101.000000, -86.851426, 150.275608, -158.734814, -126.214366, -69.337201]] + joints: [101.000000, 132.000000, 50.000000, 64.000000, 19.000000, 35.000000] + pose: {translation: [0.0166524285077035, -0.2160226645392052, 0.04962290454613448], quaternion: [-0.09564448039240121, -0.634851715000578, 0.7660865549982435, -0.03044377739728885]} + solutions: [[-79.000000, 104.035811, 53.847179, -123.159295, 159.540802, 152.823471], [-79.000000, -111.004606, 146.428429, -156.957281, 48.381831, 81.938422], [101.000000, 132.000000, 50.000000, 64.000000, 19.000000, 35.000000], [101.000000, -87.851426, 150.275608, 21.265186, 126.214366, 110.662799], [-79.000000, 104.035811, 53.847179, 56.840705, -159.540802, -27.176529], [-79.000000, -111.004606, 146.428429, 23.042719, -48.381831, -98.061578], [101.000000, 132.000000, 50.000000, -116.000000, -19.000000, -145.000000], [101.000000, -87.851426, 150.275608, -158.734814, -126.214366, -69.337201]] - id: 156 parameters: Irb2400_10 joints: [0.000000, 10.000000, -62.000000, 88.000000, 31.000000, -99.000000] @@ -786,14 +786,14 @@ cases: solutions: [[0.000000, 10.000000, -62.000000, 88.000000, 31.000000, -99.000000], [0.000000, 28.620388, -97.724392, 62.383635, 35.514310, -68.603457], [0.000000, 10.000000, -62.000000, -92.000000, -31.000000, 81.000000], [0.000000, 28.620388, -97.724392, -117.616365, -35.514310, 111.396543]] - id: 157 parameters: Irb2400_10 - joints: [28.000000, 63.000000, -129.000000, -166.000000, -140.000000, -150.000000] - pose: {translation: [0.8183472585062913, 0.4500931236598076, 1.598652439067004], quaternion: [-0.08618158455687194, 0.9845407870944303, 0.1234532677840027, 0.08950678021355578]} - solutions: [[28.000000, 11.656738, -30.724392, 8.966647, 93.868332, 19.796835], [28.000000, 63.000000, -129.000000, 14.000000, 140.000000, 30.000000], [-152.000000, -47.430023, -72.404576, -167.446298, 134.320639, 28.030087], [-152.000000, -39.657971, -87.319816, -168.722207, 127.330553, 26.082173], [28.000000, 11.656738, -30.724392, -171.033353, -93.868332, -160.203165], [28.000000, 63.000000, -129.000000, -166.000000, -140.000000, -150.000000], [-152.000000, -47.430023, -72.404576, 12.553702, -134.320639, -151.969913], [-152.000000, -39.657971, -87.319816, 11.277793, -127.330553, -153.917827]] + joints: [28.000000, 62.000000, -129.000000, -166.000000, -139.000000, -150.000000] + pose: {translation: [0.8041713539652852, 0.4428647455288897, 1.613514744809989], quaternion: [-0.08622627143036098, 0.9819806778268448, 0.1317593658022801, 0.1044913776984936]} + solutions: [[28.000000, 10.656738, -30.724392, 9.144002, 92.884129, 19.807280], [28.000000, 62.000000, -129.000000, 14.000000, 139.000000, 30.000000], [-152.000000, -47.879915, -69.801243, -167.154719, 134.446345, 28.415256], [-152.000000, -37.394275, -89.923150, -168.825345, 125.019044, 25.810768], [28.000000, 10.656738, -30.724392, -170.855998, -92.884129, -160.192720], [28.000000, 62.000000, -129.000000, -166.000000, -139.000000, -150.000000], [-152.000000, -47.879915, -69.801243, 12.845281, -134.446345, -151.584744], [-152.000000, -37.394275, -89.923150, 11.174655, -125.019044, -154.189232]] - id: 158 parameters: Irb2400_10 - joints: [117.000000, 57.000000, 77.000000, -12.000000, 93.000000, -170.000000] - pose: {translation: [-0.07837433859584578, 0.1926919643673182, 0.4229666274357852], quaternion: [0.1403487011767154, 0.3495782680638125, -0.3740831062549501, 0.8474426860798092]} - solutions: [[117.000000, 57.000000, 77.000000, -12.000000, 93.000000, -170.000000], [117.000000, -122.893154, 123.275608, -163.736936, 132.149421, 21.713727], [-63.000000, 154.890521, 65.418167, 11.995528, 92.567187, 11.182616], [-63.000000, -44.488029, 134.857440, 162.578539, 136.093759, 177.898098], [117.000000, 57.000000, 77.000000, 168.000000, -93.000000, 10.000000], [117.000000, -122.893154, 123.275608, 16.263064, -132.149421, -158.286273], [-63.000000, 154.890521, 65.418167, -168.004472, -92.567187, -168.817384], [-63.000000, -44.488029, 134.857440, -17.421461, -136.093759, -2.101902]] + joints: [117.000000, 56.000000, 77.000000, -12.000000, 93.000000, -170.000000] + pose: {translation: [-0.07988844529617199, 0.1956635660838342, 0.4248680121841005], quaternion: [0.1454505339799947, 0.3558309711076782, -0.3719067798906361, 0.8449342040874419]} + solutions: [[117.000000, 56.000000, 77.000000, -12.000000, 93.000000, -170.000000], [117.000000, -123.893154, 123.275608, -163.736936, 132.149421, 21.713727], [-63.000000, 155.638519, 65.255196, 11.999702, 92.973095, 11.268978], [-63.000000, -43.978366, 135.020411, 162.679529, 135.781323, 178.038638], [117.000000, 56.000000, 77.000000, 168.000000, -93.000000, 10.000000], [117.000000, -123.893154, 123.275608, 16.263064, -132.149421, -158.286273], [-63.000000, 155.638519, 65.255196, -168.000298, -92.973095, -168.731022], [-63.000000, -43.978366, 135.020411, -17.320471, -135.781323, -1.961362]] - id: 159 parameters: Irb2400_10 joints: [31.000000, -54.000000, -13.000000, 28.000000, -60.000000, 63.000000] @@ -801,39 +801,39 @@ cases: solutions: [[-149.000000, -28.864243, -6.248944, 128.929469, 31.509691, 124.433753], [-149.000000, 48.357985, -153.475448, 30.549713, 53.119898, -121.616816], [31.000000, -54.000000, -13.000000, -152.000000, 60.000000, -117.000000], [31.000000, 16.046406, -146.724392, -74.979381, 24.895041, 151.408565], [-149.000000, -28.864243, -6.248944, -51.070531, -31.509691, -55.566247], [-149.000000, 48.357985, -153.475448, -149.450287, -53.119898, 58.383184], [31.000000, -54.000000, -13.000000, 28.000000, -60.000000, 63.000000], [31.000000, 16.046406, -146.724392, 105.020619, -24.895041, -28.591435]] - id: 160 parameters: Irb2400_10 - joints: [119.000000, 30.000000, 146.000000, 40.000000, 84.000000, -85.000000] - pose: {translation: [0.1001599892403065, -0.2927737702404097, 1.102190177152641], quaternion: [0.1512090612755868, -0.3174673435496808, 0.2794023209654988, 0.8934677658465119]} - solutions: [[-61.000000, -54.726056, 63.662336, -140.227359, 87.788669, -81.826961], [-61.000000, 103.361319, 136.613272, -51.257271, 55.045789, 135.540592], [119.000000, -115.504651, 54.275608, 128.045434, 54.266657, 136.745924], [119.000000, 30.000000, 146.000000, 40.000000, 84.000000, -85.000000], [-61.000000, -54.726056, 63.662336, 39.772641, -87.788669, 98.173039], [-61.000000, 103.361319, 136.613272, 128.742729, -55.045789, -44.459408], [119.000000, -115.504651, 54.275608, -51.954566, -54.266657, -43.254076], [119.000000, 30.000000, 146.000000, -140.000000, -84.000000, 95.000000]] + joints: [119.000000, 29.000000, 146.000000, 40.000000, 83.000000, -85.000000] + pose: {translation: [0.1050531303941651, -0.3013785687093712, 1.094797685153741], quaternion: [0.167177337755668, -0.3140731816052784, 0.2789427359256905, 0.8919645309156389]} + solutions: [[-61.000000, -53.730842, 63.924327, -140.291727, 86.988060, -81.659758], [-61.000000, 104.730097, 136.351281, -50.527535, 55.740347, 135.194333], [119.000000, -116.504651, 54.275608, 128.858092, 55.015503, 136.275626], [119.000000, 29.000000, 146.000000, 40.000000, 83.000000, -85.000000], [-61.000000, -53.730842, 63.924327, 39.708273, -86.988060, 98.340242], [-61.000000, 104.730097, 136.351281, 129.472465, -55.740347, -44.805667], [119.000000, -116.504651, 54.275608, -51.141908, -55.015503, -43.724374], [119.000000, 29.000000, 146.000000, -140.000000, -83.000000, 95.000000]] - id: 161 parameters: Irb2400_10 - joints: [-8.000000, -66.000000, 174.000000, -73.000000, -156.000000, 5.000000] - pose: {translation: [-0.6047658911935223, 0.118381177743184, 0.2127116444067023], quaternion: [0.001680682332370941, 0.2897488234808407, 0.5741591669075694, 0.7657571714678043]} - solutions: [[172.000000, 65.878164, 41.335129, -31.939913, 132.672428, -126.410140], [172.000000, -164.378482, 158.940478, -155.808104, 108.346561, 84.545127], [-8.000000, -178.549677, 26.275608, 22.906749, 87.872626, 75.597814], [-8.000000, -66.000000, 174.000000, 107.000000, 156.000000, -175.000000], [172.000000, 65.878164, 41.335129, 148.060087, -132.672428, 53.589860], [172.000000, -164.378482, 158.940478, 24.191896, -108.346561, -95.454873], [-8.000000, -178.549677, 26.275608, -157.093251, -87.872626, -104.402186], [-8.000000, -66.000000, 174.000000, -73.000000, -156.000000, 5.000000]] + joints: [-8.000000, -65.000000, 174.000000, -73.000000, -155.000000, 5.000000] + pose: {translation: [-0.6112596986737746, 0.1205974615228805, 0.2245474141906351], quaternion: [0.003158385609416163, 0.3027184586903435, 0.574293766897067, 0.7606170052474915]} + solutions: [[172.000000, 64.548306, 41.537046, -33.012076, 132.113848, -127.183767], [172.000000, -165.471236, 158.738562, -154.812691, 108.258605, 84.740867], [-8.000000, -177.549677, 26.275608, 23.850417, 88.205097, 75.565519], [-8.000000, -65.000000, 174.000000, 107.000000, 155.000000, -175.000000], [172.000000, 64.548306, 41.537046, 146.987924, -132.113848, 52.816233], [172.000000, -165.471236, 158.738562, 25.187309, -108.258605, -95.259133], [-8.000000, -177.549677, 26.275608, -156.149583, -88.205097, -104.434481], [-8.000000, -65.000000, 174.000000, -73.000000, -155.000000, 5.000000]] - id: 162 parameters: Irb2400_10 - joints: [-125.000000, 87.000000, -17.000000, -41.000000, 161.000000, -66.000000] - pose: {translation: [-0.6698985059563527, -0.9250613922997002, 0.05698067710485301], quaternion: [0.1566247850779456, 0.2706271337740179, 0.9124457724916067, -0.2639551920814254]} - solutions: [[-125.000000, 87.000000, -17.000000, -41.000000, 161.000000, -66.000000], [-125.000000, 152.810121, -142.724392, -162.915536, 133.360818, 165.333388], [55.000000, -129.664635, -53.494462, 15.452181, 126.710219, 162.800395], [55.000000, -102.166760, -106.229930, 25.687264, 150.477732, 176.129135], [-125.000000, 87.000000, -17.000000, 139.000000, -161.000000, 114.000000], [-125.000000, 152.810121, -142.724392, 17.084464, -133.360818, -14.666612], [55.000000, -129.664635, -53.494462, -164.547819, -126.710219, -17.199605], [55.000000, -102.166760, -106.229930, -154.312736, -150.477732, -3.870865]] + joints: [-125.000000, 87.000000, -17.000000, -41.000000, 160.000000, -66.000000] + pose: {translation: [-0.670178334704215, -0.9238615118442034, 0.05615436738414693], quaternion: [0.1577531841917596, 0.2788278091021977, 0.9096976420469526, -0.2642332034450699]} + solutions: [[-125.000000, 87.000000, -17.000000, -41.000000, 160.000000, -66.000000], [-125.000000, 152.810121, -142.724392, -161.830451, 133.980510, 166.082676], [55.000000, -129.664635, -53.494462, 16.398874, 127.365168, 163.370644], [55.000000, -102.166760, -106.229930, 27.507043, 150.932977, 177.716235], [-125.000000, 87.000000, -17.000000, 139.000000, -160.000000, 114.000000], [-125.000000, 152.810121, -142.724392, 18.169549, -133.980510, -13.917324], [55.000000, -129.664635, -53.494462, -163.601126, -127.365168, -16.629356], [55.000000, -102.166760, -106.229930, -152.492957, -150.932977, -2.283765]] - id: 163 parameters: Irb2400_10 - joints: [62.000000, 173.000000, -130.000000, 10.000000, 155.000000, -44.000000] - pose: {translation: [0.3464513971289481, 0.6648673479185241, -0.4742554724100225], quaternion: [0.4776481102892562, -0.3391105271805985, 0.04157541971753254, 0.8093996649169742]} - solutions: [[62.000000, 120.605649, -29.724392, 4.410858, 107.404483, -51.757734], [62.000000, 173.000000, -130.000000, 10.000000, 155.000000, -44.000000], [-118.000000, -149.860701, -61.304225, -161.666793, 166.507799, -35.219673], [-118.000000, -130.514492, -98.420167, -171.774579, 149.139411, -46.005867], [62.000000, 120.605649, -29.724392, -175.589142, -107.404483, 128.242266], [62.000000, 173.000000, -130.000000, -170.000000, -155.000000, 136.000000], [-118.000000, -149.860701, -61.304225, 18.333207, -166.507799, 144.780327], [-118.000000, -130.514492, -98.420167, 8.225421, -149.139411, 133.994133]] + joints: [62.000000, 172.000000, -130.000000, 10.000000, 154.000000, -44.000000] + pose: {translation: [0.3549329428528719, 0.6813140830866409, -0.4641581852281976], quaternion: [0.4888101463312063, -0.3475217246474033, 0.03995757766422681, 0.7991850122024101]} + solutions: [[62.000000, 119.605649, -29.724392, 4.551570, 106.413586, -51.716805], [62.000000, 172.000000, -130.000000, 10.000000, 154.000000, -44.000000], [-118.000000, -148.252815, -62.640163, -163.095616, 164.823646, -36.658601], [-118.000000, -130.300183, -97.084229, -171.578218, 148.684412, -45.796571], [62.000000, 119.605649, -29.724392, -175.448430, -106.413586, 128.283195], [62.000000, 172.000000, -130.000000, -170.000000, -154.000000, 136.000000], [-118.000000, -148.252815, -62.640163, 16.904384, -164.823646, 143.341399], [-118.000000, -130.300183, -97.084229, 8.421782, -148.684412, 134.203429]] - id: 164 parameters: Irb2400_10 - joints: [-58.000000, 134.000000, 23.000000, -71.000000, 69.000000, -168.000000] - pose: {translation: [-0.1024370966826194, 0.02234413171174733, -0.2821250088027845], quaternion: [-0.5828460925643529, -0.30068621428844, 0.6987889928618025, 0.2856084319037863]} - solutions: [[122.000000, 129.206723, 23.764143, 95.139238, 117.590483, 66.844727], [122.000000, -121.038848, 176.511465, 116.951604, 82.001338, 161.160640], [-58.000000, 134.000000, 23.000000, -71.000000, 69.000000, -168.000000], [-58.000000, -117.092949, 177.275608, -70.087645, 110.141204, 102.306854], [122.000000, 129.206723, 23.764143, -84.860762, -117.590483, -113.155273], [122.000000, -121.038848, 176.511465, -63.048396, -82.001338, -18.839360], [-58.000000, 134.000000, 23.000000, 109.000000, -69.000000, 12.000000], [-58.000000, -117.092949, 177.275608, 109.912355, -110.141204, -77.693146]] + joints: [-58.000000, 133.000000, 23.000000, -71.000000, 68.000000, -168.000000] + pose: {translation: [-0.09432025429336047, 0.01032459105606201, -0.285734815543587], quaternion: [-0.593599293319312, -0.2931567420599354, 0.6937837675540681, 0.2834838398111978]} + solutions: [[122.000000, 130.381258, 23.418004, 96.157937, 118.144921, 67.471885], [122.000000, -120.248329, 176.857604, 117.489228, 81.206124, 160.961907], [-58.000000, 133.000000, 23.000000, -71.000000, 68.000000, -168.000000], [-58.000000, -118.092949, 177.275608, -69.022575, 110.132648, 102.673529], [122.000000, 130.381258, 23.418004, -83.842063, -118.144921, -112.528115], [122.000000, -120.248329, 176.857604, -62.510772, -81.206124, -19.038093], [-58.000000, 133.000000, 23.000000, 109.000000, -68.000000, 12.000000], [-58.000000, -118.092949, 177.275608, 110.977425, -110.132648, -77.326471]] - id: 165 parameters: Irb2400_10 - joints: [-124.000000, 67.000000, -119.000000, 2.000000, -160.000000, 59.000000] - pose: {translation: [-0.5797896220381349, -0.8577590841131575, 1.523473823086158], quaternion: [0.8746380597899283, -0.005659756382943814, 0.262750937282912, -0.4073550987548171]} - solutions: [[-124.000000, 26.147293, -40.724392, -2.281602, 162.552887, 54.943787], [-124.000000, 67.000000, -119.000000, -178.000000, 160.000000, -121.000000], [-124.000000, 26.147293, -40.724392, 177.718398, -162.552887, -125.056213], [-124.000000, 67.000000, -119.000000, 2.000000, -160.000000, 59.000000]] + joints: [-124.000000, 66.000000, -119.000000, 2.000000, -159.000000, 59.000000] + pose: {translation: [-0.5704387835056174, -0.8438091725571942, 1.540909866728265], quaternion: [0.8746392383406442, -0.005614749346908601, 0.2624968636349847, -0.4075169615199663]} + solutions: [[-124.000000, 25.147293, -40.724392, -2.531384, 163.550235, 54.704845], [-124.000000, 66.000000, -119.000000, -178.000000, 159.000000, -121.000000], [-124.000000, 25.147293, -40.724392, 177.468616, -163.550235, -125.295155], [-124.000000, 66.000000, -119.000000, 2.000000, -159.000000, 59.000000]] - id: 166 parameters: Irb2400_10 - joints: [-173.000000, 177.000000, -105.000000, -136.000000, -170.000000, -108.000000] - pose: {translation: [-0.4579341033907164, -0.06655746133816397, -0.6890335272581575], quaternion: [0.2032181277907748, -0.09848070653943052, 0.9318849529556748, -0.283891488832453]} - solutions: [[-173.000000, 150.786540, -54.724392, 13.167918, 148.027419, 39.663576], [-173.000000, 177.000000, -105.000000, 44.000000, 170.000000, 72.000000], [-173.000000, 150.786540, -54.724392, -166.832082, -148.027419, -140.336424], [-173.000000, 177.000000, -105.000000, -136.000000, -170.000000, -108.000000]] + joints: [-173.000000, 176.000000, -105.000000, -136.000000, -169.000000, -108.000000] + pose: {translation: [-0.4794473246128496, -0.07021983927440585, -0.6831033460632502], quaternion: [0.2164313427067343, -0.1068984528120463, 0.9287585610802602, -0.2813142902532246]} + solutions: [[-173.000000, 149.786540, -54.724392, 14.154758, 147.178601, 40.496849], [-173.000000, 176.000000, -105.000000, 44.000000, 169.000000, 72.000000], [-173.000000, 149.786540, -54.724392, -165.845242, -147.178601, -139.503151], [-173.000000, 176.000000, -105.000000, -136.000000, -169.000000, -108.000000]] - id: 167 parameters: Irb2400_10 joints: [52.000000, 31.000000, 62.000000, 70.000000, 124.000000, 29.000000] @@ -841,14 +841,14 @@ cases: solutions: [[52.000000, 31.000000, 62.000000, 70.000000, 124.000000, 29.000000], [52.000000, -173.248960, 138.275608, 128.301194, 83.076220, 160.737846], [-128.000000, -170.782798, 45.587362, -55.376738, 71.208074, 177.070994], [-128.000000, -35.996440, 154.688245, -86.144248, 128.665400, 68.216483], [52.000000, 31.000000, 62.000000, -110.000000, -124.000000, -151.000000], [52.000000, -173.248960, 138.275608, -51.698806, -83.076220, -19.262154], [-128.000000, -170.782798, 45.587362, 124.623262, -71.208074, -2.929006], [-128.000000, -35.996440, 154.688245, 93.855752, -128.665400, -111.783517]] - id: 168 parameters: Irb2400_10 - joints: [89.000000, 24.000000, 19.000000, 47.000000, -161.000000, -139.000000] - pose: {translation: [0.03742797592180541, 0.9845811324502758, 0.9114880567254867], quaternion: [0.1143436247710406, 0.2886359381497103, -0.6791405998686246, 0.6651186933869329]} - solutions: [[89.000000, 24.000000, 19.000000, -133.000000, 161.000000, 41.000000], [89.000000, 128.492864, -178.724392, -165.661342, 74.038961, -8.417421], [-91.000000, -118.953310, -2.999400, 15.051281, 66.477953, -10.522359], [-91.000000, -38.263659, -156.724992, 20.404695, 136.926360, 10.805209], [89.000000, 24.000000, 19.000000, 47.000000, -161.000000, -139.000000], [89.000000, 128.492864, -178.724392, 14.338658, -74.038961, 171.582579], [-91.000000, -118.953310, -2.999400, -164.948719, -66.477953, 169.477641], [-91.000000, -38.263659, -156.724992, -159.595305, -136.926360, -169.194791]] + joints: [89.000000, 24.000000, 19.000000, 47.000000, -160.000000, -139.000000] + pose: {translation: [0.03846823151649664, 0.9855757349630763, 0.911847833224707], quaternion: [0.1060585650304694, 0.2881326391658316, -0.6782153313052461, 0.667648955225368]} + solutions: [[89.000000, 24.000000, 19.000000, -133.000000, 160.000000, 41.000000], [89.000000, 128.492864, -178.724392, -164.868817, 73.389882, -8.639671], [-91.000000, -118.953310, -2.999400, 15.909155, 65.858103, -10.868998], [-91.000000, -38.263659, -156.724992, 21.129473, 136.059727, 11.330902], [89.000000, 24.000000, 19.000000, 47.000000, -160.000000, -139.000000], [89.000000, 128.492864, -178.724392, 15.131183, -73.389882, 171.360329], [-91.000000, -118.953310, -2.999400, -164.090845, -65.858103, 169.131002], [-91.000000, -38.263659, -156.724992, -158.870527, -136.059727, -168.669098]] - id: 169 parameters: Irb2400_10 - joints: [84.000000, -29.000000, -120.000000, 134.000000, -129.000000, 151.000000] - pose: {translation: [-0.04566804616184474, -0.889093656263678, 1.516525636896399], quaternion: [-0.2251413207797933, 0.6164430853188442, 0.372350281852251, 0.6562503911196272]} - solutions: [[-96.000000, 9.517042, -14.065372, 109.958082, 143.505100, -61.598870], [-96.000000, 78.434112, -145.659020, 145.301853, 100.873810, -3.350123], [84.000000, -70.900268, -39.724392, -34.483108, 99.103441, -2.110562], [84.000000, -29.000000, -120.000000, -46.000000, 129.000000, -29.000000], [-96.000000, 9.517042, -14.065372, -70.041918, -143.505100, 118.401130], [-96.000000, 78.434112, -145.659020, -34.698147, -100.873810, 176.649877], [84.000000, -70.900268, -39.724392, 145.516892, -99.103441, 177.889438], [84.000000, -29.000000, -120.000000, 134.000000, -129.000000, 151.000000]] + joints: [84.000000, -29.000000, -120.000000, 134.000000, -128.000000, 151.000000] + pose: {translation: [-0.04507685712134616, -0.8898242241192803, 1.517673491903315], quaternion: [-0.2195144178093893, 0.6129861530717602, 0.3714464815784466, 0.6618828505400954]} + solutions: [[-96.000000, 9.517042, -14.065372, 110.846294, 142.659292, -60.888721], [-96.000000, 78.434112, -145.659020, 144.862361, 99.972049, -3.429636], [84.000000, -70.900268, -39.724392, -34.940044, 98.211284, -2.179345], [84.000000, -29.000000, -120.000000, -46.000000, 128.000000, -29.000000], [-96.000000, 9.517042, -14.065372, -69.153706, -142.659292, 119.111279], [-96.000000, 78.434112, -145.659020, -35.137639, -99.972049, 176.570364], [84.000000, -70.900268, -39.724392, 145.059956, -98.211284, 177.820655], [84.000000, -29.000000, -120.000000, 134.000000, -128.000000, 151.000000]] - id: 170 parameters: Irb2400_10 joints: [50.000000, 135.000000, -153.000000, 157.000000, -17.000000, 28.000000] @@ -856,14 +856,14 @@ cases: solutions: [[50.000000, 58.284319, -6.724392, -171.894253, 54.115545, 1.134332], [50.000000, 135.000000, -153.000000, -23.000000, 17.000000, -152.000000], [-130.000000, -116.767041, -39.468346, 162.567889, 22.416419, -157.907148], [-130.000000, -74.598501, -120.256047, 21.318972, 18.313897, -14.423143], [50.000000, 58.284319, -6.724392, 8.105747, -54.115545, -178.865668], [50.000000, 135.000000, -153.000000, 157.000000, -17.000000, 28.000000], [-130.000000, -116.767041, -39.468346, -17.432111, -22.416419, 22.092852], [-130.000000, -74.598501, -120.256047, -158.681028, -18.313897, 165.576857]] - id: 171 parameters: Irb2400_10 - joints: [-48.000000, -53.000000, -58.000000, -25.000000, -157.000000, -155.000000] - pose: {translation: [-0.5648211661729826, 0.6482740173851517, 1.611920060360718], quaternion: [-0.6653140844254798, 0.7419521092810143, 0.0005319638888756828, 0.08284898075993648]} - solutions: [[132.000000, 7.714778, -27.460340, -10.084127, 109.422145, 44.846523], [132.000000, 62.490415, -132.264053, -25.795165, 157.698887, 24.138397], [-48.000000, -53.000000, -58.000000, 155.000000, 157.000000, 25.000000], [-48.000000, -30.206027, -101.724392, 165.944770, 137.160447, 37.828708], [132.000000, 7.714778, -27.460340, 169.915873, -109.422145, -135.153477], [132.000000, 62.490415, -132.264053, 154.204835, -157.698887, -155.861603], [-48.000000, -53.000000, -58.000000, -25.000000, -157.000000, -155.000000], [-48.000000, -30.206027, -101.724392, -14.055230, -137.160447, -142.171292]] + joints: [-48.000000, -53.000000, -58.000000, -25.000000, -156.000000, -155.000000] + pose: {translation: [-0.5653059802967948, 0.6496717206624066, 1.612030449691043], quaternion: [-0.6655900905230944, 0.7412666495917691, 0.008530178590446661, 0.08626019738945415]} + solutions: [[132.000000, 7.714778, -27.460340, -10.442074, 108.481192, 44.730268], [132.000000, 62.490415, -132.264053, -25.757152, 156.698996, 24.173441], [-48.000000, -53.000000, -58.000000, 155.000000, 156.000000, 25.000000], [-48.000000, -30.206027, -101.724392, 165.624076, 136.184956, 37.595412], [132.000000, 7.714778, -27.460340, 169.557926, -108.481192, -135.269732], [132.000000, 62.490415, -132.264053, 154.242848, -156.698996, -155.826559], [-48.000000, -53.000000, -58.000000, -25.000000, -156.000000, -155.000000], [-48.000000, -30.206027, -101.724392, -14.375924, -136.184956, -142.404588]] - id: 172 parameters: Irb2400_10 - joints: [32.000000, 115.000000, 69.000000, -65.000000, 71.000000, -155.000000] - pose: {translation: [-0.002843191543441169, -0.08766694291900788, 0.2708622100376852], quaternion: [-0.07773648440128408, -0.5322516153964226, 0.7859592749171118, -0.304849594181451]} - solutions: [[-148.000000, 107.560017, 69.982472, 64.528478, 108.342331, 23.527218], [-148.000000, -84.830313, 130.293135, 120.617409, 95.283542, 161.233683], [32.000000, 115.000000, 69.000000, -65.000000, 71.000000, -155.000000], [32.000000, -78.951595, 131.275608, -91.505660, 120.993378, 77.155807], [-148.000000, 107.560017, 69.982472, -115.471522, -108.342331, -156.472782], [-148.000000, -84.830313, 130.293135, -59.382591, -95.283542, -18.766317], [32.000000, 115.000000, 69.000000, 115.000000, -71.000000, 25.000000], [32.000000, -78.951595, 131.275608, 88.494340, -120.993378, -102.844193]] + joints: [32.000000, 114.000000, 69.000000, -65.000000, 70.000000, -155.000000] + pose: {translation: [0.0008380182744538878, -0.08483744161208999, 0.2681807178866662], quaternion: [-0.09228581523950415, -0.5331414905919244, 0.7841589335678405, -0.3038720885845693]} + solutions: [[-148.000000, 108.678624, 69.703104, 64.552282, 109.411140, 23.672267], [-148.000000, -84.159273, 130.572503, 121.314677, 94.535233, 161.335726], [32.000000, 114.000000, 69.000000, -65.000000, 70.000000, -155.000000], [32.000000, -79.951595, 131.275608, -90.578477, 121.603585, 77.637490], [-148.000000, 108.678624, 69.703104, -115.447718, -109.411140, -156.327733], [-148.000000, -84.159273, 130.572503, -58.685323, -94.535233, -18.664274], [32.000000, 114.000000, 69.000000, 115.000000, -70.000000, 25.000000], [32.000000, -79.951595, 131.275608, 89.421523, -121.603585, -102.362510]] - id: 173 parameters: Irb2400_10 joints: [31.000000, 82.000000, 33.000000, -7.000000, 22.000000, -40.000000] @@ -871,19 +871,19 @@ cases: solutions: [[31.000000, 82.000000, 33.000000, -7.000000, 22.000000, -40.000000], [31.000000, -157.877294, 167.275608, -3.294791, 127.407448, -48.497720], [-149.000000, 174.849313, 19.696948, 174.546888, 151.288403, -51.280788], [-149.000000, -79.891173, -179.421341, 176.899698, 57.576989, -44.831378], [31.000000, 82.000000, 33.000000, 173.000000, -22.000000, 140.000000], [31.000000, -157.877294, 167.275608, 176.705209, -127.407448, 131.502280], [-149.000000, 174.849313, 19.696948, -5.453112, -151.288403, 128.719212], [-149.000000, -79.891173, -179.421341, -3.100302, -57.576989, 135.168622]] - id: 174 parameters: Irb2400_10 - joints: [143.000000, -165.000000, -65.000000, 114.000000, 75.000000, -86.000000] - pose: {translation: [0.3165749270689809, -0.332473326768137, -0.7694358982988], quaternion: [0.59798010467081, -0.6064829853271992, -0.00245164780937352, 0.5240154314039944]} - solutions: [[-37.000000, 145.356620, -42.497609, -87.994938, 62.001240, -30.435084], [-37.000000, -175.647510, -117.226783, -71.267285, 68.713387, -69.219396], [143.000000, -165.000000, -65.000000, 114.000000, 75.000000, -86.000000], [143.000000, -149.508534, -94.724392, 109.770888, 69.667415, -72.141001], [-37.000000, 145.356620, -42.497609, 92.005062, -62.001240, 149.564916], [-37.000000, -175.647510, -117.226783, 108.732715, -68.713387, 110.780604], [143.000000, -165.000000, -65.000000, -66.000000, -75.000000, 94.000000], [143.000000, -149.508534, -94.724392, -70.229112, -69.667415, 107.858999]] + joints: [143.000000, -164.000000, -65.000000, 114.000000, 75.000000, -86.000000] + pose: {translation: [0.3358040945556544, -0.3469635438078247, -0.7595753373496984], quaternion: [0.5952224183741754, -0.6101247995976279, 0.004901064101754379, 0.5229091519101793]} + solutions: [[-37.000000, 143.893856, -41.687701, -88.179451, 61.989653, -30.042122], [-37.000000, -176.262285, -118.036691, -71.111212, 68.850323, -69.650629], [143.000000, -164.000000, -65.000000, 114.000000, 75.000000, -86.000000], [143.000000, -148.508534, -94.724392, 109.770888, 69.667415, -72.141001], [-37.000000, 143.893856, -41.687701, 91.820549, -61.989653, 149.957878], [-37.000000, -176.262285, -118.036691, 108.888788, -68.850323, 110.349371], [143.000000, -164.000000, -65.000000, -66.000000, -75.000000, 94.000000], [143.000000, -148.508534, -94.724392, -70.229112, -69.667415, 107.858999]] - id: 175 parameters: Irb2400_10 - joints: [-67.000000, 25.000000, 65.000000, 12.000000, -156.000000, -150.000000] - pose: {translation: [0.2148353088488034, -0.5245166824842704, 0.5765983537604593], quaternion: [0.120734933384732, -0.169264133942439, 0.8900764338685753, 0.4056312003447222]} - solutions: [[-67.000000, 25.000000, 65.000000, -168.000000, 156.000000, 30.000000], [-67.000000, -174.988761, 135.275608, -169.323194, 27.158042, 9.488509], [113.000000, -169.545120, 48.501022, 32.994133, 8.933791, -13.664468], [113.000000, -31.234861, 151.774585, 5.983186, 125.778605, 22.517540], [-67.000000, 25.000000, 65.000000, 12.000000, -156.000000, -150.000000], [-67.000000, -174.988761, 135.275608, 10.676806, -27.158042, -170.511491], [113.000000, -169.545120, 48.501022, -147.005867, -8.933791, 166.335532], [113.000000, -31.234861, 151.774585, -174.016814, -125.778605, -157.482460]] + joints: [-67.000000, 24.000000, 65.000000, 12.000000, -155.000000, -150.000000] + pose: {translation: [0.2153310969560017, -0.5264030004951257, 0.5841582765300698], quaternion: [0.1194009694855199, -0.1704443255060774, 0.8902017247939744, 0.4052567452400136]} + solutions: [[-67.000000, 24.000000, 65.000000, -168.000000, 155.000000, 30.000000], [-67.000000, -175.988761, 135.275608, -168.530236, 26.223603, 8.780020], [113.000000, -168.818714, 48.448081, 36.477183, 8.499434, -17.079183], [113.000000, -30.573049, 151.827526, 6.163089, 125.070619, 22.646413], [-67.000000, 24.000000, 65.000000, 12.000000, -155.000000, -150.000000], [-67.000000, -175.988761, 135.275608, 11.469764, -26.223603, -171.219980], [113.000000, -168.818714, 48.448081, -143.522817, -8.499434, 162.920817], [113.000000, -30.573049, 151.827526, -173.836911, -125.070619, -157.353587]] - id: 176 parameters: Irb2400_10 - joints: [-86.000000, -49.000000, 105.000000, 170.000000, 3.000000, -39.000000] - pose: {translation: [0.01145301822450913, -0.1527117840765907, 0.4591674795234207], quaternion: [0.8998497163269322, -0.2996840843372444, 0.1252977634234085, 0.2911364080673847]} - solutions: [[-86.000000, 46.340739, 95.275608, 179.479124, 88.570910, -48.973581], [-86.000000, -49.000000, 105.000000, 170.000000, 3.000000, -39.000000], [94.000000, 148.589984, 83.605367, -179.460306, 105.240202, 131.155300], [94.000000, -15.619086, 116.670240, -1.191823, 25.908222, -47.914503], [-86.000000, 46.340739, 95.275608, -0.520876, -88.570910, 131.026419], [-86.000000, -49.000000, 105.000000, -10.000000, -3.000000, 141.000000], [94.000000, 148.589984, 83.605367, 0.539694, -105.240202, -48.844700], [94.000000, -15.619086, 116.670240, 178.808177, -25.908222, 132.085497]] + joints: [-86.000000, -48.000000, 105.000000, 170.000000, 3.000000, -39.000000] + pose: {translation: [0.01126274029859435, -0.1499906829620641, 0.4582638152413223], quaternion: [0.902426149004542, -0.3005862010128515, 0.1221363915458624, 0.2834743078546089]} + solutions: [[-86.000000, 47.340739, 95.275608, 179.479124, 88.570910, -48.973581], [-86.000000, -48.000000, 105.000000, 170.000000, 3.000000, -39.000000], [94.000000, 148.258662, 83.720041, -179.458237, 106.023519, 131.162976], [94.000000, -15.618882, 116.555567, -1.231137, 25.022890, -47.870960], [-86.000000, 47.340739, 95.275608, -0.520876, -88.570910, 131.026419], [-86.000000, -48.000000, 105.000000, -10.000000, -3.000000, 141.000000], [94.000000, 148.258662, 83.720041, 0.541763, -106.023519, -48.837024], [94.000000, -15.618882, 116.555567, 178.768863, -25.022890, 132.129040]] - id: 177 parameters: Irb2400_10 joints: [175.000000, 50.000000, 79.000000, -97.000000, -7.000000, -10.000000] @@ -891,29 +891,29 @@ cases: solutions: [[175.000000, 50.000000, 79.000000, 83.000000, 7.000000, 170.000000], [175.000000, -125.705846, 121.275608, 9.660655, 133.878577, -100.322855], [-5.000000, 158.283352, 66.536425, -127.282124, 171.255678, -54.657517], [-5.000000, -39.441089, 133.739183, -170.077782, 44.587013, -114.153409], [175.000000, 50.000000, 79.000000, -97.000000, -7.000000, -10.000000], [175.000000, -125.705846, 121.275608, -170.339345, -133.878577, 79.677145], [-5.000000, 158.283352, 66.536425, 52.717876, -171.255678, 125.342483], [-5.000000, -39.441089, 133.739183, 9.922218, -44.587013, 65.846591]] - id: 178 parameters: Irb2400_10 - joints: [-102.000000, -40.000000, -155.000000, 40.000000, 61.000000, 143.000000] - pose: {translation: [0.2758699324854921, 1.068025377852775, 0.873596615952646], quaternion: [-0.1144889677086568, 0.4754442987800492, 0.3441665788432094, 0.801495078611163]} - solutions: [[78.000000, 25.746150, 17.662462, -145.564221, 83.818878, 160.914568], [78.000000, 128.770429, -177.386854, -76.345153, 35.348416, 58.550638], [-102.000000, -118.847818, -4.724392, 113.647172, 37.859531, 46.123722], [-102.000000, -40.000000, -155.000000, 40.000000, 61.000000, 143.000000], [78.000000, 25.746150, 17.662462, 34.435779, -83.818878, -19.085432], [78.000000, 128.770429, -177.386854, 103.654847, -35.348416, -121.449362], [-102.000000, -118.847818, -4.724392, -66.352828, -37.859531, -133.876278], [-102.000000, -40.000000, -155.000000, -140.000000, -61.000000, -37.000000]] + joints: [-102.000000, -39.000000, -155.000000, 40.000000, 61.000000, 143.000000] + pose: {translation: [0.2748935354776159, 1.063431791090716, 0.8945357742115678], quaternion: [-0.108267612962034, 0.4710342529557172, 0.3480040674683775, 0.8033044413865876]} + solutions: [[78.000000, 24.591778, 17.578802, -145.549407, 83.622576, 160.779127], [78.000000, 127.524317, -177.303194, -76.122861, 35.387073, 58.278040], [-102.000000, -117.847818, -4.724392, 113.647172, 37.859531, 46.123722], [-102.000000, -39.000000, -155.000000, 40.000000, 61.000000, 143.000000], [78.000000, 24.591778, 17.578802, 34.450593, -83.622576, -19.220873], [78.000000, 127.524317, -177.303194, 103.877139, -35.387073, -121.721960], [-102.000000, -117.847818, -4.724392, -66.352828, -37.859531, -133.876278], [-102.000000, -39.000000, -155.000000, -140.000000, -61.000000, -37.000000]] - id: 179 parameters: Irb2400_10 - joints: [-39.000000, 148.000000, 92.000000, 142.000000, 47.000000, -43.000000] - pose: {translation: [-0.04758967556007242, 0.08778503913732924, 0.6291852742884598], quaternion: [-0.589920028701358, 0.02755090836543969, 0.3472170585866971, 0.728474859835005]} - solutions: [[141.000000, 122.968339, 96.193584, -30.478350, 117.411040, -86.210299], [141.000000, 40.468980, 104.082023, -118.141448, 149.294200, 167.064061], [-39.000000, 148.000000, 92.000000, 142.000000, 47.000000, -43.000000], [-39.000000, 21.102391, 108.275608, 28.156462, 72.591262, 99.852201], [141.000000, 122.968339, 96.193584, 149.521650, -117.411040, 93.789701], [141.000000, 40.468980, 104.082023, 61.858552, -149.294200, -12.935939], [-39.000000, 148.000000, 92.000000, -38.000000, -47.000000, 137.000000], [-39.000000, 21.102391, 108.275608, -151.843538, -72.591262, -80.147799]] + joints: [-39.000000, 147.000000, 92.000000, 142.000000, 47.000000, -43.000000] + pose: {translation: [-0.04775931856434536, 0.08792241333353271, 0.6258282544790977], quaternion: [-0.5962529487320842, 0.02451633650130344, 0.3430518190868695, 0.7253942512827347]} + solutions: [[141.000000, 122.016005, 96.126515, -31.033964, 119.146484, -87.382903], [141.000000, 38.500393, 104.149092, -122.245952, 147.833785, 162.254633], [-39.000000, 147.000000, 92.000000, 142.000000, 47.000000, -43.000000], [-39.000000, 20.102391, 108.275608, 28.156462, 72.591262, 99.852201], [141.000000, 122.016005, 96.126515, 148.966036, -119.146484, 92.617097], [141.000000, 38.500393, 104.149092, 57.754048, -147.833785, -17.745367], [-39.000000, 147.000000, 92.000000, -38.000000, -47.000000, 137.000000], [-39.000000, 20.102391, 108.275608, -151.843538, -72.591262, -80.147799]] - id: 180 parameters: Irb2400_10 - joints: [49.000000, 42.000000, -109.000000, 124.000000, 98.000000, 14.000000] - pose: {translation: [0.4029817227799316, 0.569943484296755, 1.894148914814369], quaternion: [-0.6354976633939132, 0.2280649574571343, 0.7180560376467917, -0.1688923378958956]} - solutions: [[49.000000, 11.608315, -50.724392, 117.335040, 112.457243, -10.805663], [49.000000, 42.000000, -109.000000, 124.000000, 98.000000, 14.000000], [49.000000, 11.608315, -50.724392, -62.664960, -112.457243, 169.194337], [49.000000, 42.000000, -109.000000, -56.000000, -98.000000, -166.000000]] + joints: [49.000000, 42.000000, -109.000000, 124.000000, 97.000000, 14.000000] + pose: {translation: [0.4031722100724334, 0.5704073068463809, 1.895545119750616], quaternion: [-0.6290368998983195, 0.2279704220993193, 0.7238911354679355, -0.1682964325382834]} + solutions: [[49.000000, 11.608315, -50.724392, 117.786092, 111.548884, -10.636668], [49.000000, 42.000000, -109.000000, 124.000000, 97.000000, 14.000000], [49.000000, 11.608315, -50.724392, -62.213908, -111.548884, 169.363332], [49.000000, 42.000000, -109.000000, -56.000000, -97.000000, -166.000000]] - id: 181 parameters: Irb2400_10 - joints: [-34.000000, 0.000000, -10.000000, 160.000000, -49.000000, -19.000000] - pose: {translation: [0.7218212673287535, -0.5133398582293975, 1.534371150075196], quaternion: [0.8873256817695986, -0.07001275431051568, 0.3047624448478785, 0.3389265420652627]} - solutions: [[-34.000000, 0.000000, -10.000000, -20.000000, 49.000000, 161.000000], [-34.000000, 73.230843, -149.724392, -16.269308, 112.871889, 141.098675], [146.000000, -69.449807, -30.224031, 163.229034, 116.546436, 139.899226], [146.000000, -17.580672, -129.500361, 164.142191, 70.847328, 152.894456], [-34.000000, 0.000000, -10.000000, 160.000000, -49.000000, -19.000000], [-34.000000, 73.230843, -149.724392, 163.730692, -112.871889, -38.901325], [146.000000, -69.449807, -30.224031, -16.770966, -116.546436, -40.100774], [146.000000, -17.580672, -129.500361, -15.857809, -70.847328, -27.105544]] + joints: [-34.000000, 1.000000, -10.000000, 160.000000, -48.000000, -19.000000] + pose: {translation: [0.736002191404167, -0.5224994731100653, 1.521608893148235], quaternion: [0.8877059424238672, -0.06712438788194673, 0.3051351862185009, 0.338178938534363]} + solutions: [[-34.000000, 1.000000, -10.000000, -20.000000, 48.000000, 161.000000], [-34.000000, 74.230843, -149.724392, -15.902368, 111.931190, 141.238519], [146.000000, -70.099566, -30.692996, 163.644252, 115.499018, 140.111815], [146.000000, -18.723310, -129.031396, 164.324464, 70.171546, 152.750046], [-34.000000, 1.000000, -10.000000, 160.000000, -48.000000, -19.000000], [-34.000000, 74.230843, -149.724392, 164.097632, -111.931190, -38.761481], [146.000000, -70.099566, -30.692996, -16.355748, -115.499018, -39.888185], [146.000000, -18.723310, -129.031396, -15.675536, -70.171546, -27.249954]] - id: 182 parameters: Irb2400_10 - joints: [-138.000000, -166.000000, 100.000000, 97.000000, -139.000000, -28.000000] - pose: {translation: [-0.106385334147058, -0.02130988351434932, 0.6142093510964201], quaternion: [0.03291679651514024, 0.9273118378365944, 0.3398804665009887, -0.1532661358760267]} - solutions: [[-138.000000, -166.000000, 100.000000, -83.000000, 139.000000, 152.000000], [-138.000000, -169.409932, 100.275608, -86.610340, 139.284001, 147.227717], [42.000000, -171.880490, 83.498390, 68.674197, 135.650495, 114.127127], [42.000000, 23.603630, 116.777218, 137.285767, 73.727838, -112.736648], [-138.000000, -166.000000, 100.000000, 97.000000, -139.000000, -28.000000], [-138.000000, -169.409932, 100.275608, 93.389660, -139.284001, -32.772283], [42.000000, -171.880490, 83.498390, -111.325803, -135.650495, -65.872873], [42.000000, 23.603630, 116.777218, -42.714233, -73.727838, 67.263352]] + joints: [-138.000000, -165.000000, 100.000000, 97.000000, -138.000000, -28.000000] + pose: {translation: [-0.1075136824736457, -0.02084188614396564, 0.6151597532429804], quaternion: [0.02775727163422148, 0.9236990996213946, 0.349507190911382, -0.1544481490056902]} + solutions: [[-138.000000, -165.000000, 100.000000, -83.000000, 138.000000, 152.000000], [-138.000000, -168.409932, 100.275608, -86.485314, 138.287400, 147.321772], [42.000000, -171.903065, 83.420471, 68.708584, 134.537273, 113.559870], [42.000000, 23.359059, 116.855137, 136.412583, 74.424889, -113.045176], [-138.000000, -165.000000, 100.000000, 97.000000, -138.000000, -28.000000], [-138.000000, -168.409932, 100.275608, 93.514686, -138.287400, -32.678228], [42.000000, -171.903065, 83.420471, -111.291416, -134.537273, -66.440130], [42.000000, 23.359059, 116.855137, -43.587417, -74.424889, 66.954824]] - id: 183 parameters: Irb2400_10 joints: [11.000000, 156.000000, 23.000000, -64.000000, -19.000000, 66.000000] @@ -921,19 +921,19 @@ cases: solutions: [[-169.000000, 102.464365, 31.109160, -159.742171, 122.315227, 14.447360], [-169.000000, -139.556874, 169.166447, -138.215696, 26.049725, -35.472275], [11.000000, 156.000000, 23.000000, 116.000000, 19.000000, -114.000000], [11.000000, -95.092949, 177.275608, 17.022421, 88.311060, 2.769321], [-169.000000, 102.464365, 31.109160, 20.257829, -122.315227, -165.552640], [-169.000000, -139.556874, 169.166447, 41.784304, -26.049725, 144.527725], [11.000000, 156.000000, 23.000000, -64.000000, -19.000000, 66.000000], [11.000000, -95.092949, 177.275608, -162.977579, -88.311060, -177.230679]] - id: 184 parameters: Irb2400_10 - joints: [-142.000000, 132.000000, -103.000000, 24.000000, 117.000000, -86.000000] - pose: {translation: [-0.9915881394620344, -0.8138049374872728, -0.146499344766504], quaternion: [0.4086643839834876, 0.7608568933856572, 0.3349590542365063, 0.3766863961386296]} - solutions: [[-142.000000, 107.874591, -56.724392, 21.393169, 96.522168, -94.879291], [-142.000000, 132.000000, -103.000000, 24.000000, 117.000000, -86.000000], [-142.000000, 107.874591, -56.724392, -158.606831, -96.522168, 85.120709], [-142.000000, 132.000000, -103.000000, -156.000000, -117.000000, 94.000000]] + joints: [-142.000000, 131.000000, -103.000000, 24.000000, 116.000000, -86.000000] + pose: {translation: [-1.002453157497098, -0.8226352840303405, -0.1269046770335164], quaternion: [0.4123651458476063, 0.7678170141654493, 0.3211254503509702, 0.3705272788675932]} + solutions: [[-142.000000, 106.874591, -56.724392, 21.548237, 95.534130, -94.863005], [-142.000000, 131.000000, -103.000000, 24.000000, 116.000000, -86.000000], [-142.000000, 106.874591, -56.724392, -158.451763, -95.534130, 85.136995], [-142.000000, 131.000000, -103.000000, -156.000000, -116.000000, 94.000000]] - id: 185 parameters: Irb2400_10 - joints: [12.000000, -165.000000, 172.000000, -79.000000, 58.000000, -123.000000] - pose: {translation: [0.7252268838399795, 0.08181121861433334, -0.04313647895703741], quaternion: [0.7772439931129722, -0.09212361908304705, 0.4772510431406987, 0.399545311320204]} - solutions: [[12.000000, 80.212288, 28.275608, -123.525483, 86.959931, -17.433095], [12.000000, -165.000000, 172.000000, -79.000000, 58.000000, -123.000000], [-168.000000, -178.438960, 13.494040, 112.742694, 64.508304, -147.101409], [-168.000000, -79.970240, -173.218432, 63.256285, 68.777924, -48.548303], [12.000000, 80.212288, 28.275608, 56.474517, -86.959931, 162.566905], [12.000000, -165.000000, 172.000000, 101.000000, -58.000000, 57.000000], [-168.000000, -178.438960, 13.494040, -67.257306, -64.508304, 32.898591], [-168.000000, -79.970240, -173.218432, -116.743715, -68.777924, 131.451697]] + joints: [12.000000, -164.000000, 172.000000, -79.000000, 58.000000, -123.000000] + pose: {translation: [0.7138984993717141, 0.0794032961624828, -0.05396822731688453], quaternion: [0.78056322193674, -0.08784375670967309, 0.4707655850765382, 0.4017266419773677]} + solutions: [[12.000000, 81.212288, 28.275608, -123.525483, 86.959931, -17.433095], [12.000000, -164.000000, 172.000000, -79.000000, 58.000000, -123.000000], [-168.000000, -179.416424, 13.732701, 112.857240, 64.609522, -147.368053], [-168.000000, -80.687692, -173.457093, 63.271513, 68.758181, -48.590352], [12.000000, 81.212288, 28.275608, 56.474517, -86.959931, 162.566905], [12.000000, -164.000000, 172.000000, 101.000000, -58.000000, 57.000000], [-168.000000, -179.416424, 13.732701, -67.142760, -64.609522, 32.631947], [-168.000000, -80.687692, -173.457093, -116.728487, -68.758181, 131.409648]] - id: 186 parameters: Irb2400_10 - joints: [128.000000, 160.000000, 55.000000, -145.000000, -54.000000, 50.000000] - pose: {translation: [0.1926407960123214, -0.3106347216695569, 0.3497812431582961], quaternion: [0.1605313676893294, -0.1850149159581262, 0.1579501289129631, 0.9565829381905049]} - solutions: [[-52.000000, 61.728707, 66.923283, -44.605346, 138.638385, 35.858692], [-52.000000, -135.415521, 133.352325, -152.083020, 82.357730, -111.659939], [128.000000, 160.000000, 55.000000, 35.000000, 54.000000, -130.000000], [128.000000, -53.569035, 145.275608, 74.632366, 151.233601, -35.037171], [-52.000000, 61.728707, 66.923283, 135.394654, -138.638385, -144.141308], [-52.000000, -135.415521, 133.352325, 27.916980, -82.357730, 68.340061], [128.000000, 160.000000, 55.000000, -145.000000, -54.000000, 50.000000], [128.000000, -53.569035, 145.275608, -105.367634, -151.233601, 144.962829]] + joints: [128.000000, 159.000000, 55.000000, -145.000000, -53.000000, 50.000000] + pose: {translation: [0.191004002816948, -0.3077176161366286, 0.3418020456844196], quaternion: [0.1734652171318406, -0.1745412911918325, 0.1579551988433208, 0.9562924820748401]} + solutions: [[-52.000000, 63.179725, 66.691735, -44.800796, 139.451992, 35.812273], [-52.000000, -134.312292, 133.583873, -152.424245, 81.705360, -111.458275], [128.000000, 159.000000, 55.000000, 35.000000, 53.000000, -130.000000], [128.000000, -54.569035, 145.275608, 72.557177, 151.304290, -36.856921], [-52.000000, 63.179725, 66.691735, 135.199204, -139.451992, -144.187727], [-52.000000, -134.312292, 133.583873, 27.575755, -81.705360, 68.541725], [128.000000, 159.000000, 55.000000, -145.000000, -53.000000, 50.000000], [128.000000, -54.569035, 145.275608, -107.442823, -151.304290, 143.143079]] - id: 187 parameters: Irb2400_10 joints: [164.000000, -65.000000, -22.000000, 3.000000, 47.000000, -146.000000] @@ -941,9 +941,9 @@ cases: solutions: [[-16.000000, -11.354397, -7.161431, -177.429273, 121.419307, -142.612236], [-16.000000, 64.895826, -152.562961, -177.228164, 52.326122, -145.647885], [164.000000, -65.000000, -22.000000, 3.000000, 47.000000, -146.000000], [164.000000, -4.471517, -137.724392, 2.243863, 102.147671, -143.480593], [-16.000000, -11.354397, -7.161431, 2.570727, -121.419307, 37.387764], [-16.000000, 64.895826, -152.562961, 2.771836, -52.326122, 34.352115], [164.000000, -65.000000, -22.000000, -177.000000, -47.000000, 34.000000], [164.000000, -4.471517, -137.724392, -177.756137, -102.147671, 36.519407]] - id: 188 parameters: Irb2400_10 - joints: [-142.000000, -177.000000, -2.000000, -114.000000, 131.000000, 171.000000] - pose: {translation: [0.4673298890338626, 0.4394879582717139, -0.2378982372548895], quaternion: [0.6448998955020173, 0.4932440302838046, -0.4050149302162503, -0.4204489953285681]} - solutions: [[38.000000, 95.409653, 12.802074, 53.054895, 59.618487, 81.241610], [38.000000, -166.874970, -172.526466, 52.611670, 119.801653, 148.199273], [-142.000000, -177.000000, -2.000000, -114.000000, 131.000000, 171.000000], [-142.000000, -95.241978, -157.724392, -136.054680, 83.464292, 108.901705], [38.000000, 95.409653, 12.802074, -126.945105, -59.618487, -98.758390], [38.000000, -166.874970, -172.526466, -127.388330, -119.801653, -31.800727], [-142.000000, -177.000000, -2.000000, 66.000000, -131.000000, -9.000000], [-142.000000, -95.241978, -157.724392, 43.945320, -83.464292, -71.098295]] + joints: [-142.000000, -176.000000, -2.000000, -114.000000, 130.000000, 171.000000] + pose: {translation: [0.4793281373954262, 0.449978965930266, -0.225226124927059], quaternion: [0.6493807031439913, 0.4951923408963546, -0.3916566238189664, -0.4239036882601194]} + solutions: [[38.000000, 94.128111, 13.105321, 54.224402, 59.606696, 80.634928], [38.000000, -167.826463, -172.829713, 53.166944, 119.031971, 148.648974], [-142.000000, -176.000000, -2.000000, -114.000000, 130.000000, 171.000000], [-142.000000, -94.241978, -157.724392, -135.164296, 82.997136, 108.796751], [38.000000, 94.128111, 13.105321, -125.775598, -59.606696, -99.365072], [38.000000, -167.826463, -172.829713, -126.833056, -119.031971, -31.351026], [-142.000000, -176.000000, -2.000000, 66.000000, -130.000000, -9.000000], [-142.000000, -94.241978, -157.724392, 44.835704, -82.997136, -71.203249]] - id: 189 parameters: Irb2400_10 joints: [-75.000000, -77.000000, -123.000000, -56.000000, -6.000000, -10.000000] @@ -951,9 +951,9 @@ cases: solutions: [[105.000000, 62.057231, -5.364591, -171.003915, 33.655388, -73.361047], [105.000000, 140.222174, -154.359801, -8.131660, 37.781228, 120.589167], [-75.000000, -122.044814, -36.724392, 172.937280, 44.812593, 119.169088], [-75.000000, -77.000000, -123.000000, 124.000000, 6.000000, 170.000000], [105.000000, 62.057231, -5.364591, 8.996085, -33.655388, 106.638953], [105.000000, 140.222174, -154.359801, 171.868340, -37.781228, -59.410833], [-75.000000, -122.044814, -36.724392, -7.062720, -44.812593, -60.830912], [-75.000000, -77.000000, -123.000000, -56.000000, -6.000000, -10.000000]] - id: 190 parameters: Irb2400_10 - joints: [100.000000, 101.000000, 26.000000, 27.000000, -71.000000, 152.000000] - pose: {translation: [-0.04846542951429023, 0.4849802063887325, -0.2689316513950727], quaternion: [0.5309621217514798, 0.7756209646563438, 0.341008100695986, -0.01431152369406293]} - solutions: [[100.000000, 101.000000, 26.000000, -153.000000, 71.000000, -28.000000], [100.000000, -146.757870, 174.275608, -43.025596, 38.984379, -162.619992], [-80.000000, 162.870184, 16.369318, 150.561761, 60.854593, 176.787251], [-80.000000, -95.522112, -176.093710, 40.741408, 41.125988, -51.559090], [100.000000, 101.000000, 26.000000, 27.000000, -71.000000, 152.000000], [100.000000, -146.757870, 174.275608, 136.974404, -38.984379, 17.380008], [-80.000000, 162.870184, 16.369318, -29.438239, -60.854593, -3.212749], [-80.000000, -95.522112, -176.093710, -139.258592, -41.125988, 128.440910]] + joints: [100.000000, 101.000000, 26.000000, 27.000000, -70.000000, 152.000000] + pose: {translation: [-0.04847950165340456, 0.4837653330580989, -0.2697829385120681], quaternion: [0.5335107645123351, 0.7770987652642219, 0.333726403266612, -0.01051003981992039]} + solutions: [[100.000000, 101.000000, 26.000000, -153.000000, 70.000000, -28.000000], [100.000000, -146.757870, 174.275608, -41.911095, 39.692143, -163.481993], [-80.000000, 162.870184, 16.369318, 151.037622, 61.763304, 176.558788], [-80.000000, -95.522112, -176.093710, 41.360491, 40.210974, -52.028676], [100.000000, 101.000000, 26.000000, 27.000000, -70.000000, 152.000000], [100.000000, -146.757870, 174.275608, 138.088905, -39.692143, 16.518007], [-80.000000, 162.870184, 16.369318, -28.962378, -61.763304, -3.441212], [-80.000000, -95.522112, -176.093710, -138.639509, -40.210974, 127.971324]] - id: 191 parameters: Irb2400_10 joints: [95.000000, 14.000000, -80.000000, -161.000000, -81.000000, 151.000000] @@ -971,14 +971,14 @@ cases: solutions: [[-55.000000, 35.792819, 10.877424, 175.839738, 46.466428, -110.715541], [-55.000000, 131.416816, -170.601817, 4.736831, 39.560529, 62.761061], [125.000000, -119.278437, -13.724392, -175.899410, 47.349669, 63.635498], [125.000000, -50.000000, -146.000000, -11.000000, 16.000000, -103.000000], [-55.000000, 35.792819, 10.877424, -4.160262, -46.466428, 69.284459], [-55.000000, 131.416816, -170.601817, -175.263169, -39.560529, -117.238939], [125.000000, -119.278437, -13.724392, 4.100590, -47.349669, -116.364502], [125.000000, -50.000000, -146.000000, 169.000000, -16.000000, 77.000000]] - id: 194 parameters: Irb2400_10 - joints: [144.000000, -6.000000, 83.000000, 113.000000, 170.000000, -156.000000] - pose: {translation: [-0.2624013013239661, 0.173851571598595, 0.693717485314742], quaternion: [-0.03611515828933988, -0.1062104611983702, 0.8855684401886456, -0.4507588834572369]} - solutions: [[144.000000, -6.000000, 83.000000, 113.000000, 170.000000, -156.000000], [144.000000, -171.915069, 117.275608, 166.973543, 45.166125, -80.052807], [-36.000000, -171.808214, 66.690674, -21.572833, 25.768266, -69.718224], [-36.000000, -9.301821, 133.584934, -20.804875, 153.254497, -108.059807], [144.000000, -6.000000, 83.000000, -67.000000, -170.000000, 24.000000], [144.000000, -171.915069, 117.275608, -13.026457, -45.166125, 99.947193], [-36.000000, -171.808214, 66.690674, 158.427167, -25.768266, 110.281776], [-36.000000, -9.301821, 133.584934, 159.195125, -153.254497, 71.940193]] + joints: [144.000000, -6.000000, 83.000000, 113.000000, 169.000000, -156.000000] + pose: {translation: [-0.2636890077314435, 0.173127461316978, 0.6935822762235363], quaternion: [-0.04477353603700653, -0.1066566678286203, 0.8856237908742343, -0.4497668137112708]} + solutions: [[144.000000, -6.000000, 83.000000, 113.000000, 169.000000, -156.000000], [144.000000, -171.915069, 117.275608, 165.599949, 44.931519, -79.082332], [-36.000000, -171.808214, 66.690674, -23.872650, 25.721457, -67.646641], [-36.000000, -9.301821, 133.584934, -22.416976, 152.575282, -109.495156], [144.000000, -6.000000, 83.000000, -67.000000, -169.000000, 24.000000], [144.000000, -171.915069, 117.275608, -14.400051, -44.931519, 100.917668], [-36.000000, -171.808214, 66.690674, 156.127350, -25.721457, 112.353359], [-36.000000, -9.301821, 133.584934, 157.583024, -152.575282, 70.504844]] - id: 195 parameters: Irb2400_10 - joints: [-89.000000, -47.000000, -19.000000, 31.000000, -124.000000, -159.000000] - pose: {translation: [-0.04163500316416036, 0.3056804322059222, 1.821591145745294], quaternion: [0.6338335109506343, -0.4573409662609395, -0.5547045680692237, -0.2853018807134615]} - solutions: [[91.000000, -28.610532, -13.512691, 29.571611, 59.905600, -13.454369], [91.000000, 40.892304, -146.211701, 28.485637, 116.457613, 16.018932], [-89.000000, -47.000000, -19.000000, -149.000000, 124.000000, 21.000000], [-89.000000, 16.695745, -140.724392, -153.345319, 72.137033, -6.325345], [91.000000, -28.610532, -13.512691, -150.428389, -59.905600, 166.545631], [91.000000, 40.892304, -146.211701, -151.514363, -116.457613, -163.981068], [-89.000000, -47.000000, -19.000000, 31.000000, -124.000000, -159.000000], [-89.000000, 16.695745, -140.724392, 26.654681, -72.137033, 173.674655]] + joints: [-89.000000, -46.000000, -19.000000, 31.000000, -123.000000, -159.000000] + pose: {translation: [-0.04169004002935048, 0.2846697442165885, 1.829917134655934], quaternion: [0.6275685540289995, -0.4483936805209814, -0.565306917184047, -0.2924532554899466]} + solutions: [[91.000000, -29.363098, -14.009613, 30.156218, 59.298308, -13.643036], [91.000000, 39.613060, -145.714780, 28.532465, 115.270163, 15.945867], [-89.000000, -46.000000, -19.000000, -149.000000, 123.000000, 21.000000], [-89.000000, 17.695745, -140.724392, -152.860567, 71.249224, -6.477614], [91.000000, -29.363098, -14.009613, -149.843782, -59.298308, 166.356964], [91.000000, 39.613060, -145.714780, -151.467535, -115.270163, -164.054133], [-89.000000, -46.000000, -19.000000, 31.000000, -123.000000, -159.000000], [-89.000000, 17.695745, -140.724392, 27.139433, -71.249224, 173.522386]] - id: 196 parameters: Irb2400_10 joints: [-129.000000, 21.000000, -174.000000, 180.000000, 16.000000, 38.000000] @@ -991,14 +991,14 @@ cases: solutions: [[-8.000000, -20.104521, -10.364621, -10.841223, 84.764464, 10.125239], [-8.000000, 52.738931, -149.359771, -21.360925, 149.054133, -9.419217], [172.000000, -55.874604, -20.724392, 153.416109, 155.257070, -15.316309], [172.000000, 6.000000, -139.000000, 169.000000, 101.000000, 7.000000], [-8.000000, -20.104521, -10.364621, 169.158777, -84.764464, -169.874761], [-8.000000, 52.738931, -149.359771, 158.639075, -149.054133, 170.580783], [172.000000, -55.874604, -20.724392, -26.583891, -155.257070, 164.683691], [172.000000, 6.000000, -139.000000, -11.000000, -101.000000, -173.000000]] - id: 198 parameters: Irb2400_10 - joints: [-50.000000, -137.000000, -96.000000, -51.000000, -163.000000, -69.000000] - pose: {translation: [-0.4132720964456772, 0.5225646924892622, -0.529313543763945], quaternion: [0.006101457698005724, 0.4164840028533701, -0.4777488726054351, 0.7734725995828355]} - solutions: [[130.000000, 128.242611, -33.615871, -16.384498, 126.341933, 150.858697], [130.000000, 176.548908, -126.108522, -58.159057, 164.486545, 103.544230], [-50.000000, -153.821774, -63.724392, 71.171744, 166.109853, 51.388792], [-50.000000, -137.000000, -96.000000, 129.000000, 163.000000, 111.000000], [130.000000, 128.242611, -33.615871, 163.615502, -126.341933, -29.141303], [130.000000, 176.548908, -126.108522, 121.840943, -164.486545, -76.455770], [-50.000000, -153.821774, -63.724392, -108.828256, -166.109853, -128.611208], [-50.000000, -137.000000, -96.000000, -51.000000, -163.000000, -69.000000]] + joints: [-50.000000, -136.000000, -96.000000, -51.000000, -162.000000, -69.000000] + pose: {translation: [-0.4249174713681543, 0.5381536977298572, -0.5166712324129235], quaternion: [0.003795250853146984, 0.4302653515338881, -0.4714814916696071, 0.7697808300765768]} + solutions: [[130.000000, 126.853919, -33.008279, -17.126433, 125.362543, 150.475286], [130.000000, 175.798113, -126.716113, -58.736750, 163.683261, 102.904913], [-50.000000, -152.821774, -63.724392, 74.637288, 165.578675, 54.749201], [-50.000000, -136.000000, -96.000000, 129.000000, 162.000000, 111.000000], [130.000000, 126.853919, -33.008279, 162.873567, -125.362543, -29.524714], [130.000000, 175.798113, -126.716113, 121.263250, -163.683261, -77.095087], [-50.000000, -152.821774, -63.724392, -105.362712, -165.578675, -125.250799], [-50.000000, -136.000000, -96.000000, -51.000000, -162.000000, -69.000000]] - id: 199 parameters: Irb2400_10 - joints: [7.000000, -127.000000, 51.000000, 34.000000, -75.000000, -158.000000] - pose: {translation: [-0.4629857004650913, -0.1031040892922943, 0.9937661833834169], quaternion: [-0.507957231922902, -0.1398204968995307, 0.7455215483979107, -0.4082000735648795]} - solutions: [[-173.000000, -36.797394, 63.883649, 143.174589, 64.311581, -130.114843], [-173.000000, 121.605444, 136.391958, 34.317951, 73.347124, 20.834326], [7.000000, -127.000000, 51.000000, -146.000000, 75.000000, 22.000000], [7.000000, 14.385594, 149.275608, -40.704803, 55.917151, -122.358905], [-173.000000, -36.797394, 63.883649, -36.825411, -64.311581, 49.885157], [-173.000000, 121.605444, 136.391958, -145.682049, -73.347124, -159.165674], [7.000000, -127.000000, 51.000000, 34.000000, -75.000000, -158.000000], [7.000000, 14.385594, 149.275608, 139.295197, -55.917151, 57.641095]] + joints: [7.000000, -126.000000, 51.000000, 34.000000, -74.000000, -158.000000] + pose: {translation: [-0.455682779584655, -0.1019840458553163, 1.004988794154131], quaternion: [-0.4936265331003087, -0.141707169191698, 0.7536009606138092, -0.4102895516351707]} + solutions: [[-173.000000, -37.931477, 63.668167, 143.593410, 64.914856, -130.106038], [-173.000000, 120.164197, 136.607440, 34.299020, 72.533794, 20.961537], [7.000000, -126.000000, 51.000000, -146.000000, 74.000000, 22.000000], [7.000000, 15.385594, 149.275608, -40.007897, 56.731806, -122.745344], [-173.000000, -37.931477, 63.668167, -36.406590, -64.914856, 49.893962], [-173.000000, 120.164197, 136.607440, -145.700980, -72.533794, -159.038463], [7.000000, -126.000000, 51.000000, 34.000000, -74.000000, -158.000000], [7.000000, 15.385594, 149.275608, 139.992103, -56.731806, 57.254656]] - id: 200 parameters: Irb2400_10 joints: [-127.000000, -134.000000, -149.000000, -56.000000, -15.000000, 53.000000] @@ -1006,9 +1006,9 @@ cases: solutions: [[53.000000, 142.228256, -8.344055, -149.997249, 25.410821, -29.617683], [53.000000, -142.780256, -151.380337, -17.069179, 46.971182, -170.239785], [-127.000000, 153.538688, -10.724392, 167.147332, 74.709705, -178.630062], [-127.000000, -134.000000, -149.000000, 124.000000, 15.000000, -127.000000], [53.000000, 142.228256, -8.344055, 30.002751, -25.410821, 150.382317], [53.000000, -142.780256, -151.380337, 162.930821, -46.971182, 9.760215], [-127.000000, 153.538688, -10.724392, -12.852668, -74.709705, 1.369938], [-127.000000, -134.000000, -149.000000, -56.000000, -15.000000, 53.000000]] - id: 201 parameters: Irb2400_10 - joints: [129.000000, 15.000000, -135.000000, 141.000000, 179.000000, 15.000000] - pose: {translation: [0.10654269717069, -0.1330527283328293, 1.808149509202612], quaternion: [0.7668185598254265, 0.5901921848540067, -0.01190619811195854, -0.252033179742334]} - solutions: [[-51.000000, -26.581214, -19.413994, -2.465056, 165.204940, 51.612308], [-51.000000, 36.677156, -140.310399, -179.074817, 137.140210, -125.326063], [129.000000, -42.656331, -24.724392, 0.800301, 128.155185, -125.509828], [129.000000, 15.000000, -135.000000, 141.000000, 179.000000, 15.000000], [-51.000000, -26.581214, -19.413994, 177.534944, -165.204940, -128.387692], [-51.000000, 36.677156, -140.310399, 0.925183, -137.140210, 54.673937], [129.000000, -42.656331, -24.724392, -179.199699, -128.155185, 54.490172], [129.000000, 15.000000, -135.000000, -39.000000, -179.000000, -165.000000]] + joints: [129.000000, 15.000000, -135.000000, 141.000000, 178.000000, 15.000000] + pose: {translation: [0.1064577451455736, -0.1344308239911147, 1.807606885483825], quaternion: [0.7672582426886596, 0.5923210379599526, -0.01703639675609251, -0.2453168119023304]} + solutions: [[-51.000000, -26.581214, -19.413994, -4.682016, 164.391107, 49.472853], [-51.000000, 36.677156, -140.310399, -178.122455, 137.905995, -124.623625], [129.000000, -42.656331, -24.724392, 1.617720, 128.924101, -125.000513], [129.000000, 15.000000, -135.000000, 141.000000, 178.000000, 15.000000], [-51.000000, -26.581214, -19.413994, 175.317984, -164.391107, -130.527147], [-51.000000, 36.677156, -140.310399, 1.877545, -137.905995, 55.376375], [129.000000, -42.656331, -24.724392, -178.382280, -128.924101, 54.999487], [129.000000, 15.000000, -135.000000, -39.000000, -178.000000, -165.000000]] - id: 202 parameters: Irb2400_10 joints: [-171.000000, 29.000000, 77.000000, -163.000000, -27.000000, -72.000000] @@ -1016,14 +1016,14 @@ cases: solutions: [[-171.000000, 29.000000, 77.000000, 17.000000, 27.000000, 108.000000], [-171.000000, -150.893154, 123.275608, 21.012593, 158.273733, 142.876005], [9.000000, 174.688584, 61.870324, -42.054109, 168.570615, -98.245866], [9.000000, -29.740294, 138.405284, -171.264810, 60.927949, 118.968311], [-171.000000, 29.000000, 77.000000, -163.000000, -27.000000, -72.000000], [-171.000000, -150.893154, 123.275608, -158.987407, -158.273733, -37.123995], [9.000000, 174.688584, 61.870324, 137.945891, -168.570615, 81.754134], [9.000000, -29.740294, 138.405284, 8.735190, -60.927949, -61.031689]] - id: 203 parameters: Irb2400_10 - joints: [-134.000000, -9.000000, -96.000000, -170.000000, -85.000000, 86.000000] - pose: {translation: [0.1894262156235184, 0.1749894520979797, 2.034392468240567], quaternion: [-0.1326894511814351, -0.5597695758134862, 0.7682714546904522, 0.2807320848185615]} - solutions: [[46.000000, -7.710133, -46.611715, -169.665443, 105.360363, -90.354112], [46.000000, 26.980878, -113.112678, -169.634867, 74.042402, -95.998271], [-134.000000, -25.821774, -63.724392, 10.622273, 69.792576, -96.826140], [-134.000000, -9.000000, -96.000000, 10.000000, 85.000000, -94.000000], [46.000000, -7.710133, -46.611715, 10.334557, -105.360363, 89.645888], [46.000000, 26.980878, -113.112678, 10.365133, -74.042402, 84.001729], [-134.000000, -25.821774, -63.724392, -169.377727, -69.792576, 83.173860], [-134.000000, -9.000000, -96.000000, -170.000000, -85.000000, 86.000000]] + joints: [-134.000000, -9.000000, -96.000000, -170.000000, -84.000000, 86.000000] + pose: {translation: [0.1897679055476857, 0.1753788260703028, 2.035782590859456], quaternion: [-0.1307082195884891, -0.5528893541364591, 0.7730343787342951, 0.28221724382018]} + solutions: [[46.000000, -7.710133, -46.611715, -169.731081, 104.362377, -90.370947], [46.000000, 26.980878, -113.112678, -169.598415, 73.043013, -96.008598], [-134.000000, -25.821774, -63.724392, 10.675157, 68.793801, -96.844840], [-134.000000, -9.000000, -96.000000, 10.000000, 84.000000, -94.000000], [46.000000, -7.710133, -46.611715, 10.268919, -104.362377, 89.629053], [46.000000, 26.980878, -113.112678, 10.401585, -73.043013, 83.991402], [-134.000000, -25.821774, -63.724392, -169.324843, -68.793801, 83.155160], [-134.000000, -9.000000, -96.000000, -170.000000, -84.000000, 86.000000]] - id: 204 parameters: Irb2400_10 - joints: [9.000000, -134.000000, 124.000000, 112.000000, -19.000000, -51.000000] - pose: {translation: [0.3930652795319283, 0.0362773606460764, 0.3930661075685118], quaternion: [0.4040409196221275, 0.5609908306324666, 0.3299876782522158, 0.6427661747625749]} - solutions: [[9.000000, 47.324200, 76.275608, -158.563703, 124.313836, -105.382382], [9.000000, -134.000000, 124.000000, -68.000000, 19.000000, 129.000000], [-171.000000, 162.662399, 63.150261, 155.162248, 45.941665, 79.979229], [-171.000000, -39.976042, 137.125346, 17.620398, 85.711125, -119.223331], [9.000000, 47.324200, 76.275608, 21.436297, -124.313836, 74.617618], [9.000000, -134.000000, 124.000000, 112.000000, -19.000000, -51.000000], [-171.000000, 162.662399, 63.150261, -24.837752, -45.941665, -100.020771], [-171.000000, -39.976042, 137.125346, -162.379602, -85.711125, 60.776669]] + joints: [9.000000, -133.000000, 124.000000, 112.000000, -19.000000, -51.000000] + pose: {translation: [0.3891954741011022, 0.03566444367875016, 0.3879706290662063], quaternion: [0.4059922709356644, 0.5669600104444326, 0.3257268193822466, 0.6384580343550204]} + solutions: [[9.000000, 48.324200, 76.275608, -158.563703, 124.313836, -105.382382], [9.000000, -133.000000, 124.000000, -68.000000, 19.000000, 129.000000], [-171.000000, 161.935861, 63.290369, 155.328727, 46.317233, 79.739012], [-171.000000, -40.504550, 136.985238, 17.628201, 85.395295, -119.323969], [9.000000, 48.324200, 76.275608, 21.436297, -124.313836, 74.617618], [9.000000, -133.000000, 124.000000, 112.000000, -19.000000, -51.000000], [-171.000000, 161.935861, 63.290369, -24.671273, -46.317233, -100.260988], [-171.000000, -40.504550, 136.985238, -162.371799, -85.395295, 60.676031]] - id: 205 parameters: Irb2400_10 joints: [-46.000000, -108.000000, -124.000000, -143.000000, -16.000000, 130.000000] @@ -1036,14 +1036,14 @@ cases: solutions: [[-152.000000, -64.000000, 85.000000, 76.000000, 72.000000, -58.000000], [-152.000000, 136.024769, 115.275608, 84.380968, 111.988101, 68.378957], [28.000000, -148.464133, 72.276483, -97.553092, 111.427138, 63.153127], [28.000000, 22.941773, 127.999124, -101.305479, 70.231458, -66.311158], [-152.000000, -64.000000, 85.000000, -104.000000, -72.000000, 122.000000], [-152.000000, 136.024769, 115.275608, -95.619032, -111.988101, -111.621043], [28.000000, -148.464133, 72.276483, 82.446908, -111.427138, -116.846873], [28.000000, 22.941773, 127.999124, 78.694521, -70.231458, 113.688842]] - id: 207 parameters: Irb2400_10 - joints: [123.000000, 106.000000, -174.000000, 176.000000, -145.000000, 93.000000] - pose: {translation: [-0.5169285857576623, 0.8022445499347407, 1.088494398086932], quaternion: [0.9670701334486974, 0.2273734562048918, -0.01912284266029205, -0.112743005519414]} - solutions: [[123.000000, 6.679438, 14.275608, -2.761668, 56.141395, -82.182168], [123.000000, 106.000000, -174.000000, -4.000000, 145.000000, -87.000000], [-57.000000, -100.627003, -5.753313, 175.324435, 150.603710, -87.797384], [-57.000000, -22.876518, -153.971080, 177.673153, 80.225941, -83.326416], [123.000000, 6.679438, 14.275608, 177.238332, -56.141395, 97.817832], [123.000000, 106.000000, -174.000000, 176.000000, -145.000000, 93.000000], [-57.000000, -100.627003, -5.753313, -4.675565, -150.603710, 92.202616], [-57.000000, -22.876518, -153.971080, -2.326847, -80.225941, 96.673584]] + joints: [123.000000, 106.000000, -174.000000, 176.000000, -144.000000, 93.000000] + pose: {translation: [-0.5176420970180002, 0.8034979474810574, 1.088841818959081], quaternion: [0.9660420692579752, 0.2272496420892549, -0.02154524993340544, -0.1210624747780336]} + solutions: [[123.000000, 6.679438, 14.275608, -2.864012, 55.144970, -82.124409], [123.000000, 106.000000, -174.000000, -4.000000, 144.000000, -87.000000], [-57.000000, -100.627003, -5.753313, 175.351938, 149.603804, -87.773540], [-57.000000, -22.876518, -153.971080, 177.607935, 79.228002, -83.314785], [123.000000, 6.679438, 14.275608, 177.135988, -55.144970, 97.875591], [123.000000, 106.000000, -174.000000, 176.000000, -144.000000, 93.000000], [-57.000000, -100.627003, -5.753313, -4.648062, -149.603804, 92.226460], [-57.000000, -22.876518, -153.971080, -2.392065, -79.228002, 96.685215]] - id: 208 parameters: Irb2400_10 - joints: [158.000000, -28.000000, -21.000000, -169.000000, -167.000000, -80.000000] - pose: {translation: [-0.1147530649527987, 0.04242829116764792, 1.821031685504743], quaternion: [-0.5429348494867555, 0.8033304455565975, -0.2145267263599519, 0.11772947010802]} - solutions: [[158.000000, -28.000000, -21.000000, 11.000000, 167.000000, 100.000000], [158.000000, 33.583686, -138.724392, 176.420193, 136.572482, -93.326107], [-22.000000, -40.202533, -25.115287, -3.082755, 127.046967, -92.583101], [-22.000000, 17.042007, -134.609105, -74.907493, 177.452012, -165.617932], [158.000000, -28.000000, -21.000000, -169.000000, -167.000000, -80.000000], [158.000000, 33.583686, -138.724392, -3.579807, -136.572482, 86.673893], [-22.000000, -40.202533, -25.115287, 176.917245, -127.046967, 87.416899], [-22.000000, 17.042007, -134.609105, 105.092507, -177.452012, 14.382068]] + joints: [158.000000, -28.000000, -21.000000, -169.000000, -166.000000, -80.000000] + pose: {translation: [-0.1160577005216055, 0.04265853569306514, 1.820364063994255], quaternion: [-0.5436008560982254, 0.8053218922582781, -0.2084375029597998, 0.1118417026815413]} + solutions: [[158.000000, -28.000000, -21.000000, 11.000000, 166.000000, 100.000000], [158.000000, 33.583686, -138.724392, 176.078742, 137.545055, -93.576077], [-22.000000, -40.202533, -25.115287, -3.359289, 128.022629, -92.751584], [-22.000000, 17.042007, -134.609105, -96.885687, 177.335001, 172.426049], [158.000000, -28.000000, -21.000000, -169.000000, -166.000000, -80.000000], [158.000000, 33.583686, -138.724392, -3.921258, -137.545055, 86.423923], [-22.000000, -40.202533, -25.115287, 176.640711, -128.022629, 87.248416], [-22.000000, 17.042007, -134.609105, 83.114313, -177.335001, -7.573951]] - id: 209 parameters: Irb2400_10 joints: [18.000000, -21.000000, 0.000000, 29.000000, 66.000000, -14.000000] @@ -1051,39 +1051,39 @@ cases: solutions: [[18.000000, -21.000000, -0.000000, 29.000000, 66.000000, -14.000000], [18.000000, 62.899011, -159.724392, 36.893931, 132.460167, 25.578991], [-162.000000, -65.816677, -11.108034, -139.195195, 137.332314, 31.112684], [-162.000000, 6.237246, -148.616358, -153.335560, 80.723619, -5.922560], [18.000000, -21.000000, -0.000000, -151.000000, -66.000000, 166.000000], [18.000000, 62.899011, -159.724392, -143.106069, -132.460167, -154.421009], [-162.000000, -65.816677, -11.108034, 40.804805, -137.332314, -148.887316], [-162.000000, 6.237246, -148.616358, 26.664440, -80.723619, 174.077440]] - id: 210 parameters: Irb2400_10 - joints: [-45.000000, -147.000000, 56.000000, -29.000000, 17.000000, 79.000000] - pose: {translation: [-0.2997150355445136, 0.2826761771892564, 0.8579190487697503], quaternion: [0.1373567464409625, 0.02867330363042468, 0.04381257553223758, 0.9891367064725192]} - solutions: [[135.000000, -20.930353, 71.480239, 161.589758, 153.332224, 34.507529], [135.000000, 149.131969, 128.795369, 158.996385, 23.294863, 70.497076], [-45.000000, -147.000000, 56.000000, -29.000000, 17.000000, 79.000000], [-45.000000, 0.719899, 144.275608, -12.306222, 138.314487, 41.819402], [135.000000, -20.930353, 71.480239, -18.410242, -153.332224, -145.492471], [135.000000, 149.131969, 128.795369, -21.003615, -23.294863, -109.502924], [-45.000000, -147.000000, 56.000000, 151.000000, -17.000000, -101.000000], [-45.000000, 0.719899, 144.275608, 167.693778, -138.314487, -138.180598]] + joints: [-45.000000, -146.000000, 56.000000, -29.000000, 17.000000, 79.000000] + pose: {translation: [-0.2966621207301327, 0.2796232623748755, 0.8668144156055537], quaternion: [0.1437254253341269, 0.03450542176247905, 0.0431402660544456, 0.9880745394079686]} + solutions: [[135.000000, -22.307119, 71.352545, 161.901131, 152.853148, 34.856700], [135.000000, 147.542414, 128.923063, 158.604428, 22.864255, 70.923131], [-45.000000, -146.000000, 56.000000, -29.000000, 17.000000, 79.000000], [-45.000000, 1.719899, 144.275608, -12.306222, 138.314487, 41.819402], [135.000000, -22.307119, 71.352545, -18.098869, -152.853148, -145.143300], [135.000000, 147.542414, 128.923063, -21.395572, -22.864255, -109.076869], [-45.000000, -146.000000, 56.000000, 151.000000, -17.000000, -101.000000], [-45.000000, 1.719899, 144.275608, 167.693778, -138.314487, -138.180598]] - id: 211 parameters: Irb2400_10 - joints: [-177.000000, 106.000000, -65.000000, 151.000000, 70.000000, -73.000000] - pose: {translation: [-1.49974810536091, -0.1173752318171634, 0.06088758653551662], quaternion: [0.4965171458107758, -0.2356383959705422, -0.4410920455281326, 0.7094949454592039]} - solutions: [[-177.000000, 106.000000, -65.000000, 151.000000, 70.000000, -73.000000], [-177.000000, 121.491466, -94.724392, 147.407187, 57.751586, -64.897859], [-177.000000, 106.000000, -65.000000, -29.000000, -70.000000, 107.000000], [-177.000000, 121.491466, -94.724392, -32.592813, -57.751586, 115.102141]] + joints: [-177.000000, 106.000000, -65.000000, 151.000000, 69.000000, -73.000000] + pose: {translation: [-1.500510864604222, -0.117162984373482, 0.0596330131619992], quaternion: [0.5012937378757267, -0.2411206367772435, -0.4403756039995008, 0.7047231756433117]} + solutions: [[-177.000000, 106.000000, -65.000000, 151.000000, 69.000000, -73.000000], [-177.000000, 121.491466, -94.724392, 147.238689, 56.761679, -64.806719], [-177.000000, 106.000000, -65.000000, -29.000000, -69.000000, 107.000000], [-177.000000, 121.491466, -94.724392, -32.761311, -56.761679, 115.193281]] - id: 212 parameters: Irb2400_10 - joints: [-136.000000, 126.000000, -62.000000, -43.000000, 120.000000, 62.000000] - pose: {translation: [-0.7942421387799525, -0.6971998180840261, -0.4041996353306798], quaternion: [-0.6434936458165275, -0.006570902918981677, -0.1296024008158126, 0.7543712406576489]} - solutions: [[-136.000000, 126.000000, -62.000000, -43.000000, 120.000000, 62.000000], [-136.000000, 144.620388, -97.724392, -52.189891, 131.618307, 46.436608], [-136.000000, 126.000000, -62.000000, 137.000000, -120.000000, -118.000000], [-136.000000, 144.620388, -97.724392, 127.810109, -131.618307, -133.563392]] + joints: [-136.000000, 125.000000, -62.000000, -43.000000, 120.000000, 62.000000] + pose: {translation: [-0.8069326860839183, -0.709454937161624, -0.3873660896285057], quaternion: [-0.6488556714295599, -0.002620849399264023, -0.1255182022251358, 0.7504829309932981]} + solutions: [[-136.000000, 125.000000, -62.000000, -43.000000, 120.000000, 62.000000], [-136.000000, 143.620388, -97.724392, -52.189891, 131.618307, 46.436608], [-136.000000, 125.000000, -62.000000, 137.000000, -120.000000, -118.000000], [-136.000000, 143.620388, -97.724392, 127.810109, -131.618307, -133.563392]] - id: 213 parameters: Irb2400_10 - joints: [-131.000000, -139.000000, 8.000000, 69.000000, 21.000000, -55.000000] - pose: {translation: [0.6798534171005898, 0.7387351059073138, 0.6312187545457324], quaternion: [0.3179851990956488, -0.06683059303963163, 0.8359029458658073, -0.442363368830351]} - solutions: [[49.000000, 35.773815, 28.660594, -157.444377, 119.282649, 24.132504], [49.000000, 150.993644, 171.615014, -133.152956, 27.297038, -30.818022], [-131.000000, -139.000000, 8.000000, 69.000000, 21.000000, -55.000000], [-131.000000, -46.492439, -167.724392, 19.549138, 90.989050, 12.999981], [49.000000, 35.773815, 28.660594, 22.555623, -119.282649, -155.867496], [49.000000, 150.993644, 171.615014, 46.847044, -27.297038, 149.181978], [-131.000000, -139.000000, 8.000000, -111.000000, -21.000000, 125.000000], [-131.000000, -46.492439, -167.724392, -160.450862, -90.989050, -167.000019]] + joints: [-131.000000, -138.000000, 8.000000, 69.000000, 21.000000, -55.000000] + pose: {translation: [0.6795574472346197, 0.7383946315240126, 0.6504759648648709], quaternion: [0.3102740393876131, -0.06980072065479892, 0.8372514751490082, -0.444823388817376]} + solutions: [[49.000000, 34.532732, 28.676815, -157.492491, 119.074951, 24.033815], [49.000000, 149.770778, 171.598792, -132.812852, 27.134033, -31.200465], [-131.000000, -138.000000, 8.000000, 69.000000, 21.000000, -55.000000], [-131.000000, -45.492439, -167.724392, 19.549138, 90.989050, 12.999981], [49.000000, 34.532732, 28.676815, 22.507509, -119.074951, -155.966185], [49.000000, 149.770778, 171.598792, 47.187148, -27.134033, 148.799535], [-131.000000, -138.000000, 8.000000, -111.000000, -21.000000, 125.000000], [-131.000000, -45.492439, -167.724392, -160.450862, -90.989050, -167.000019]] - id: 214 parameters: Irb2400_10 - joints: [-52.000000, -104.000000, 76.000000, 123.000000, 74.000000, 78.000000] - pose: {translation: [0.06568595465535457, 0.02722961059454808, 0.9683853608113174], quaternion: [0.3621408552217325, 0.2702268970012355, 0.8918115089749022, -0.02244231664209162]} - solutions: [[-52.000000, -104.000000, 76.000000, 123.000000, 74.000000, 78.000000], [-52.000000, 74.141880, 124.275608, 55.186395, 79.092755, -140.220897], [128.000000, -109.613937, 75.024086, -121.068111, 70.252652, -154.282410], [128.000000, 66.680596, 125.251521, -54.296363, 83.109864, 64.478365], [-52.000000, -104.000000, 76.000000, -57.000000, -74.000000, -102.000000], [-52.000000, 74.141880, 124.275608, -124.813605, -79.092755, 39.779103], [128.000000, -109.613937, 75.024086, 58.931889, -70.252652, 25.717590], [128.000000, 66.680596, 125.251521, 125.703637, -83.109864, -115.521635]] + joints: [-52.000000, -103.000000, 76.000000, 123.000000, 73.000000, 78.000000] + pose: {translation: [0.07005656210279611, 0.0210615276592987, 0.9701867771016487], quaternion: [0.3685931559027779, 0.2563898935375251, 0.8932439183829242, -0.02277301441107295]} + solutions: [[-52.000000, -103.000000, 76.000000, 123.000000, 73.000000, 78.000000], [-52.000000, 75.141880, 124.275608, 54.557940, 79.879013, -140.106214], [128.000000, -110.142589, 74.760630, -121.966408, 70.976324, -153.817053], [128.000000, 65.664138, 125.514978, -54.088221, 81.992720, 64.650011], [-52.000000, -103.000000, 76.000000, -57.000000, -73.000000, -102.000000], [-52.000000, 75.141880, 124.275608, -125.442060, -79.879013, 39.893786], [128.000000, -110.142589, 74.760630, 58.033592, -70.976324, 26.182947], [128.000000, 65.664138, 125.514978, 125.911779, -81.992720, -115.349989]] - id: 215 parameters: Irb2400_10 - joints: [122.000000, -93.000000, -141.000000, 168.000000, 180.000000, -4.000000] - pose: {translation: [0.4709035583644379, -0.7536032242989077, -0.04328924444197402], quaternion: [-0.1683027176196154, -0.2591634581772251, -0.401933851733823, 0.8619499266302463]} - solutions: [[-58.000000, 87.716096, 2.348067, 0.000000, 143.935837, 8.000000], [-58.000000, 174.134039, -162.072459, 180.000000, 138.061580, -172.000000], [122.000000, -156.986974, -18.724392, -0.000000, 121.711366, -172.000000], [122.000000, -93.000000, -141.000000, -170.537678, 179.999999, 19.855214], [-58.000000, 87.716096, 2.348067, 180.000000, -143.935837, -172.000000], [-58.000000, 174.134039, -162.072459, 0.000000, -138.061580, 8.000000], [122.000000, -156.986974, -18.724392, 180.000000, -121.711366, 8.000000], [122.000000, -93.000000, -141.000000, 9.462322, -179.999999, -160.144786]] + joints: [122.000000, -93.000000, -141.000000, 168.000000, 179.000000, -4.000000] + pose: {translation: [0.4700239497056111, -0.7527775836119993, -0.04415261635116779], quaternion: [-0.171270558324008, -0.2669017739792752, -0.4002956641835977, 0.859763467550181]} + solutions: [[-58.000000, 87.716096, 2.348067, -0.345117, 142.957185, 7.722757], [-58.000000, 174.134039, -162.072459, -179.682854, 139.039297, -171.762278], [122.000000, -156.986974, -18.724392, 0.247028, 122.689276, -171.868358], [122.000000, -93.000000, -141.000000, 168.000000, 179.000000, -4.000000], [-58.000000, 87.716096, 2.348067, 179.654883, -142.957185, -172.277243], [-58.000000, 174.134039, -162.072459, 0.317146, -139.039297, 8.237722], [122.000000, -156.986974, -18.724392, -179.752972, -122.689276, 8.131642], [122.000000, -93.000000, -141.000000, -12.000000, -179.000000, 176.000000]] - id: 216 parameters: Irb2400_10 - joints: [121.000000, 102.000000, 43.000000, 42.000000, -90.000000, 175.000000] - pose: {translation: [-0.09792966703245788, 0.2734132033131024, -0.1269571087049447], quaternion: [0.5002380139737194, 0.7444032716692786, 0.4386130756121467, -0.05695847966507279]} - solutions: [[121.000000, 102.000000, 43.000000, -138.000000, 90.000000, -5.000000], [121.000000, -126.294924, 157.275608, -65.673757, 47.250477, -128.663125], [-59.000000, 144.486602, 36.925160, 132.774349, 65.724601, -161.041009], [-59.000000, -90.897823, 163.350448, 48.598443, 63.133690, -32.138021], [121.000000, 102.000000, 43.000000, 42.000000, -90.000000, 175.000000], [121.000000, -126.294924, 157.275608, 114.326243, -47.250477, 51.336875], [-59.000000, 144.486602, 36.925160, -47.225651, -65.724601, 18.958991], [-59.000000, -90.897823, 163.350448, -131.401557, -63.133690, 147.861979]] + joints: [121.000000, 101.000000, 43.000000, 42.000000, -90.000000, 175.000000] + pose: {translation: [-0.1045843665274995, 0.2844884831439085, -0.1236189288748056], quaternion: [0.5017642568795189, 0.7408380572464217, 0.4419162673607336, -0.06404386071629649]} + solutions: [[121.000000, 101.000000, 43.000000, -138.000000, 90.000000, -5.000000], [121.000000, -127.294924, 157.275608, -65.673757, 47.250477, -128.663125], [-59.000000, 145.532669, 36.640082, 132.694874, 65.562407, -160.848303], [-59.000000, -90.180156, 163.635525, 48.599486, 63.131875, -32.140328], [121.000000, 101.000000, 43.000000, 42.000000, -90.000000, 175.000000], [121.000000, -127.294924, 157.275608, 114.326243, -47.250477, 51.336875], [-59.000000, 145.532669, 36.640082, -47.305126, -65.562407, 19.151697], [-59.000000, -90.180156, 163.635525, -131.400514, -63.131875, 147.859672]] - id: 217 parameters: Irb2400_10 joints: [-75.000000, -10.000000, 109.000000, 85.000000, -17.000000, 177.000000] @@ -1091,39 +1091,39 @@ cases: solutions: [[105.000000, 114.233070, 92.326870, 159.827198, 122.371955, -109.355526], [105.000000, -10.251756, 107.948738, 130.680333, 22.585734, -51.178789], [-75.000000, 121.829763, 91.275608, -161.340676, 114.445654, 89.728135], [-75.000000, -10.000000, 109.000000, -95.000000, 17.000000, -3.000000], [105.000000, 114.233070, 92.326870, -20.172802, -122.371955, 70.644474], [105.000000, -10.251756, 107.948738, -49.319667, -22.585734, 128.821211], [-75.000000, 121.829763, 91.275608, 18.659324, -114.445654, -90.271865], [-75.000000, -10.000000, 109.000000, 85.000000, -17.000000, 177.000000]] - id: 218 parameters: Irb2400_10 - joints: [20.000000, -144.000000, 33.000000, 157.000000, -141.000000, 32.000000] - pose: {translation: [-0.5955209555399488, -0.2389943671563186, 0.657092653618209], quaternion: [0.8234076975331059, -0.2845416746440811, 0.4540471715804213, -0.1867537550192513]} - solutions: [[-160.000000, 11.413256, 50.792322, 14.277037, 85.634213, 49.146884], [-160.000000, 152.541216, 149.483285, 149.651906, 150.877538, -156.831476], [20.000000, -144.000000, 33.000000, -23.000000, 141.000000, -148.000000], [20.000000, -23.877294, 167.275608, -164.788253, 110.422266, 55.676671], [-160.000000, 11.413256, 50.792322, -165.722963, -85.634213, -130.853116], [-160.000000, 152.541216, 149.483285, -30.348094, -150.877538, 23.168524], [20.000000, -144.000000, 33.000000, 157.000000, -141.000000, 32.000000], [20.000000, -23.877294, 167.275608, 15.211747, -110.422266, -124.323329]] + joints: [20.000000, -143.000000, 33.000000, 157.000000, -140.000000, 32.000000] + pose: {translation: [-0.5939443850244083, -0.2388965227749386, 0.6712716540147308], quaternion: [0.8234677278946843, -0.2839705239057044, 0.4555516010056618, -0.1836692175892964]} + solutions: [[-160.000000, 10.121124, 50.746904, 14.567552, 86.916515, 49.211909], [-160.000000, 151.192791, 149.528704, 150.217103, 149.626394, -156.265420], [20.000000, -143.000000, 33.000000, -23.000000, 140.000000, -148.000000], [20.000000, -22.877294, 167.275608, -164.357144, 111.337557, 55.830328], [-160.000000, 10.121124, 50.746904, -165.432448, -86.916515, -130.788091], [-160.000000, 151.192791, 149.528704, -29.782897, -149.626394, 23.734580], [20.000000, -143.000000, 33.000000, 157.000000, -140.000000, 32.000000], [20.000000, -22.877294, 167.275608, 15.642856, -111.337557, -124.169672]] - id: 219 parameters: Irb2400_10 - joints: [-48.000000, -93.000000, 130.000000, 31.000000, -169.000000, 169.000000] - pose: {translation: [0.008453467759424745, -0.02187231010550918, 0.2928658173848064], quaternion: [-0.3724236807632894, -0.02472045850153747, 0.6713966322559161, 0.6402468767074241]} - solutions: [[-48.000000, 98.917488, 70.275608, -6.695587, 57.444531, 142.081688], [-48.000000, -93.000000, 130.000000, -149.000000, 169.000000, -11.000000], [132.000000, 123.666221, 67.022013, 6.704447, 122.673329, -37.901874], [132.000000, -73.329242, 133.253595, 174.123149, 106.302350, 136.811982], [-48.000000, 98.917488, 70.275608, 173.304413, -57.444531, -37.918312], [-48.000000, -93.000000, 130.000000, 31.000000, -169.000000, 169.000000], [132.000000, 123.666221, 67.022013, -173.295553, -122.673329, 142.098126], [132.000000, -73.329242, 133.253595, -5.876851, -106.302350, -43.188018]] + joints: [-48.000000, -92.000000, 130.000000, 31.000000, -168.000000, 169.000000] + pose: {translation: [0.004812438432305617, -0.01894749058340518, 0.2950775657462734], quaternion: [-0.3574845069111434, -0.02971903614969324, 0.6765229372689033, 0.6431472005364599]} + solutions: [[-48.000000, 99.917488, 70.275608, -7.227458, 58.337306, 142.364405], [-48.000000, -92.000000, 130.000000, -149.000000, 168.000000, -11.000000], [132.000000, 122.667871, 67.282395, 7.216374, 121.520470, -37.656753], [132.000000, -73.933882, 132.993213, 173.560999, 107.282042, 136.635708], [-48.000000, 99.917488, 70.275608, 172.772542, -58.337306, -37.635595], [-48.000000, -92.000000, 130.000000, 31.000000, -168.000000, 169.000000], [132.000000, 122.667871, 67.282395, -172.783626, -121.520470, 142.343247], [132.000000, -73.933882, 132.993213, -6.439001, -107.282042, -43.364292]] - id: 220 parameters: Irb2400_10 - joints: [96.000000, -137.000000, -157.000000, -105.000000, -95.000000, 118.000000] - pose: {translation: [-0.08412069144126028, 0.01787650508787431, -0.5375679721278009], quaternion: [0.5750603947042711, -0.426533089514212, -0.3669108680441477, 0.5939288517180482]} - solutions: [[96.000000, 142.016458, -2.724392, 80.698417, 77.179792, -133.586120], [96.000000, -137.000000, -157.000000, 75.000000, 95.000000, -62.000000], [-84.000000, 147.494907, -3.805116, -100.642383, 101.737033, -32.748532], [-84.000000, -132.676074, -155.919276, -104.496581, 83.664712, -103.130110], [96.000000, 142.016458, -2.724392, -99.301583, -77.179792, 46.413880], [96.000000, -137.000000, -157.000000, -105.000000, -95.000000, 118.000000], [-84.000000, 147.494907, -3.805116, 79.357617, -101.737033, 147.251468], [-84.000000, -132.676074, -155.919276, 75.503419, -83.664712, 76.869890]] + joints: [96.000000, -136.000000, -157.000000, -105.000000, -95.000000, 118.000000] + pose: {translation: [-0.08201926154392351, -0.002117264830387086, -0.5361109278537977], quaternion: [0.5702186352328434, -0.4302429339075303, -0.362670577802658, 0.5985079597232774]} + solutions: [[96.000000, 143.016458, -2.724392, 80.698417, 77.179792, -133.586120], [96.000000, -136.000000, -157.000000, 75.000000, 95.000000, -62.000000], [-84.000000, 146.281908, -3.367282, -100.596387, 101.778467, -32.522811], [-84.000000, -133.421472, -156.357110, -104.476813, 83.618875, -103.308615], [96.000000, 143.016458, -2.724392, -99.301583, -77.179792, 46.413880], [96.000000, -136.000000, -157.000000, -105.000000, -95.000000, 118.000000], [-84.000000, 146.281908, -3.367282, 79.403613, -101.778467, 147.477189], [-84.000000, -133.421472, -156.357110, 75.523187, -83.618875, 76.691385]] - id: 221 parameters: Irb2400_10 - joints: [125.000000, 31.000000, -32.000000, 0.000000, 173.000000, 34.000000] - pose: {translation: [-0.6489776428993453, 0.9268361271268957, 1.355629239119645], quaternion: [0.538296947074856, -0.5289829366339924, 0.6450732599065589, 0.1195572619019531]} - solutions: [[125.000000, 31.000000, -32.000000, 0.000000, 173.000000, 34.000000], [125.000000, 81.003072, -127.724392, 180.000000, 141.278679, -146.000000], [125.000000, 31.000000, -32.000000, -180.000000, -173.000000, -146.000000], [125.000000, 81.003072, -127.724392, 0.000000, -141.278679, 34.000000]] + joints: [125.000000, 31.000000, -32.000000, 0.000000, 172.000000, 34.000000] + pose: {translation: [-0.6491034149578891, 0.9270157482416088, 1.354162023172832], quaternion: [0.5423598965037412, -0.5329755859179354, 0.6385729807284855, 0.1183525063673006]} + solutions: [[125.000000, 31.000000, -32.000000, 0.000000, 172.000000, 34.000000], [125.000000, 81.003072, -127.724392, 180.000000, 142.278679, -146.000000], [125.000000, 31.000000, -32.000000, -180.000000, -172.000000, -146.000000], [125.000000, 81.003072, -127.724392, 0.000000, -142.278679, 34.000000]] - id: 222 parameters: Irb2400_10 - joints: [-135.000000, -144.000000, -56.000000, -37.000000, -30.000000, 177.000000] - pose: {translation: [0.7501164823972329, 0.7139449462665191, -0.3975125898913113], quaternion: [-0.5487826158342017, 0.7311324646009372, -0.1106897617725566, 0.3899111904055396]} - solutions: [[45.000000, 107.917682, -23.428126, -153.729026, 42.830927, 123.971986], [45.000000, 166.940114, -136.296267, -52.309357, 22.349701, 13.996928], [-135.000000, -144.000000, -56.000000, 143.000000, 30.000000, -3.000000], [-135.000000, -119.118382, -103.724392, 96.033856, 17.612861, 47.543390], [45.000000, 107.917682, -23.428126, 26.270974, -42.830927, -56.028014], [45.000000, 166.940114, -136.296267, 127.690643, -22.349701, -166.003072], [-135.000000, -144.000000, -56.000000, -37.000000, -30.000000, 177.000000], [-135.000000, -119.118382, -103.724392, -83.966144, -17.612861, -132.456610]] + joints: [-135.000000, -143.000000, -56.000000, -37.000000, -30.000000, 177.000000] + pose: {translation: [0.7624893502398318, 0.726317814109118, -0.3775455739303927], quaternion: [-0.5456727154292128, 0.7293816636839755, -0.1095603404497059, 0.3977941780849114]} + solutions: [[45.000000, 106.591371, -23.009215, -153.773141, 42.913979, 124.032181], [45.000000, 166.055463, -136.715178, -51.730068, 22.536512, 13.370169], [-135.000000, -143.000000, -56.000000, 143.000000, 30.000000, -3.000000], [-135.000000, -118.118382, -103.724392, 96.033856, 17.612861, 47.543390], [45.000000, 106.591371, -23.009215, 26.226859, -42.913979, -55.967819], [45.000000, 166.055463, -136.715178, 128.269932, -22.536512, -166.629831], [-135.000000, -143.000000, -56.000000, -37.000000, -30.000000, 177.000000], [-135.000000, -118.118382, -103.724392, -83.966144, -17.612861, -132.456610]] - id: 223 parameters: Irb2400_10 - joints: [80.000000, -147.000000, 40.000000, -119.000000, -130.000000, 22.000000] - pose: {translation: [-0.1581288761213567, -0.5688326324776007, 0.6632571154698078], quaternion: [0.3924878712840644, 0.773958886259183, 0.1872581856437663, -0.4602991257701383]} - solutions: [[-100.000000, 5.641023, 57.221540, -43.172619, 78.306043, -16.460795], [-100.000000, 154.952521, 143.054068, -109.846769, 134.577175, -144.442122], [80.000000, -147.000000, 40.000000, 61.000000, 130.000000, -158.000000], [80.000000, -18.819067, 160.275608, 137.620073, 96.280985, -32.928033], [-100.000000, 5.641023, 57.221540, 136.827381, -78.306043, 163.539205], [-100.000000, 154.952521, 143.054068, 70.153231, -134.577175, 35.557878], [80.000000, -147.000000, 40.000000, -119.000000, -130.000000, 22.000000], [80.000000, -18.819067, 160.275608, -42.379927, -96.280985, 147.071967]] + joints: [80.000000, -146.000000, 40.000000, -119.000000, -130.000000, 22.000000] + pose: {translation: [-0.1579644425574828, -0.5679000833962675, 0.6752509055956674], quaternion: [0.3967124798660011, 0.7748411927057387, 0.1800049285452634, -0.4580813902619606]} + solutions: [[-100.000000, 4.312737, 57.168509, -43.119305, 78.584257, -16.726956], [-100.000000, 153.554728, 143.107099, -110.165325, 134.459224, -144.896463], [80.000000, -146.000000, 40.000000, 61.000000, 130.000000, -158.000000], [80.000000, -17.819067, 160.275608, 137.620073, 96.280985, -32.928033], [-100.000000, 4.312737, 57.168509, 136.880695, -78.584257, 163.273044], [-100.000000, 153.554728, 143.107099, 69.834675, -134.459224, 35.103537], [80.000000, -146.000000, 40.000000, -119.000000, -130.000000, 22.000000], [80.000000, -17.819067, 160.275608, -42.379927, -96.280985, 147.071967]] - id: 224 parameters: Irb2400_10 - joints: [64.000000, -28.000000, 77.000000, -93.000000, -88.000000, -50.000000] - pose: {translation: [0.08368189027155218, 0.3650892346461449, 0.7510847374949334], quaternion: [-0.6108355819285843, -0.396492956176809, 0.3628036523091456, 0.5814178681665085]} - solutions: [[64.000000, -28.000000, 77.000000, 87.000000, 88.000000, 130.000000], [64.000000, 152.106846, 123.275608, 90.620895, 93.551243, -96.415582], [-116.000000, -150.866163, 61.775365, -88.993223, 93.461788, -90.112750], [-116.000000, 4.573413, 138.500242, -93.351577, 88.671357, 142.060151], [64.000000, -28.000000, 77.000000, -93.000000, -88.000000, -50.000000], [64.000000, 152.106846, 123.275608, -89.379105, -93.551243, 83.584418], [-116.000000, -150.866163, 61.775365, 91.006777, -93.461788, 89.887250], [-116.000000, 4.573413, 138.500242, 86.648423, -88.671357, -37.939849]] + joints: [64.000000, -28.000000, 77.000000, -93.000000, -87.000000, -50.000000] + pose: {translation: [0.08416733959567538, 0.3659371412776151, 0.7499684049780891], quaternion: [-0.6167341293969414, -0.3956418177450952, 0.3567129510713298, 0.5795363976717397]} + solutions: [[64.000000, -28.000000, 77.000000, 87.000000, 87.000000, 130.000000], [64.000000, 152.106846, 123.275608, 89.894565, 94.240363, -96.464933], [-116.000000, -150.866163, 61.775365, -89.639254, 94.226331, -90.156062], [-116.000000, 4.573413, 138.500242, -93.560674, 87.693439, 142.066783], [64.000000, -28.000000, 77.000000, -93.000000, -87.000000, -50.000000], [64.000000, 152.106846, 123.275608, -90.105435, -94.240363, 83.535067], [-116.000000, -150.866163, 61.775365, 90.360746, -94.226331, 89.843938], [-116.000000, 4.573413, 138.500242, 86.439326, -87.693439, -37.933217]] - id: 225 parameters: Irb2400_10 joints: [-32.000000, 24.000000, 9.000000, -102.000000, 127.000000, 128.000000] @@ -1131,19 +1131,19 @@ cases: solutions: [[-32.000000, 24.000000, 9.000000, -102.000000, 127.000000, 128.000000], [-32.000000, 117.589293, -168.724392, -128.240799, 84.048813, 49.957916], [148.000000, -107.809383, -14.969169, 52.419501, 80.306914, 45.111704], [148.000000, -39.849775, -144.755223, 61.042473, 116.772437, 96.600236], [-32.000000, 24.000000, 9.000000, 78.000000, -127.000000, -52.000000], [-32.000000, 117.589293, -168.724392, 51.759201, -84.048813, -130.042084], [148.000000, -107.809383, -14.969169, -127.580499, -80.306914, -134.888296], [148.000000, -39.849775, -144.755223, -118.957527, -116.772437, -83.399764]] - id: 226 parameters: Irb2400_10 - joints: [-164.000000, 36.000000, -131.000000, 179.000000, 52.000000, 18.000000] - pose: {translation: [-0.2330941360017791, -0.0680547552410037, 1.972013159919796], quaternion: [0.01180641946093956, 0.4770071915908281, 0.2492783989723582, 0.8427247637490674]} - solutions: [[-164.000000, -17.445858, -28.724392, 179.197729, 100.824479, 17.233623], [-164.000000, 36.000000, -131.000000, 179.000000, 52.000000, 18.000000], [16.000000, -39.437285, -37.903619, -1.127449, 44.342216, 18.190677], [16.000000, 4.371140, -121.820773, -0.791713, 84.445926, 17.460931], [-164.000000, -17.445858, -28.724392, -0.802271, -100.824479, -162.766377], [-164.000000, 36.000000, -131.000000, -1.000000, -52.000000, -162.000000], [16.000000, -39.437285, -37.903619, 178.872551, -44.342216, -161.809323], [16.000000, 4.371140, -121.820773, 179.208287, -84.445926, -162.539069]] + joints: [-164.000000, 36.000000, -131.000000, 179.000000, 51.000000, 18.000000] + pose: {translation: [-0.2338855293811617, -0.06826491669239527, 1.973250226479673], quaternion: [0.01160230628942505, 0.4693226786995296, 0.2504572410611464, 0.8466834001839786]} + solutions: [[-164.000000, -17.445858, -28.724392, 179.211303, 99.824569, 17.236056], [-164.000000, 36.000000, -131.000000, 179.000000, 51.000000, 18.000000], [16.000000, -39.437285, -37.903619, -1.132297, 43.342222, 18.194174], [16.000000, 4.371140, -121.820773, -0.782243, 83.445970, 17.459932], [-164.000000, -17.445858, -28.724392, -0.788697, -99.824569, -162.763944], [-164.000000, 36.000000, -131.000000, -1.000000, -51.000000, -162.000000], [16.000000, -39.437285, -37.903619, 178.867703, -43.342222, -161.805826], [16.000000, 4.371140, -121.820773, 179.217757, -83.445970, -162.540068]] - id: 227 parameters: Irb2400_10 - joints: [-40.000000, -7.000000, -9.000000, 103.000000, 137.000000, -149.000000] - pose: {translation: [0.5260183002327448, -0.3676470099798781, 1.648021774468603], quaternion: [-0.7258229796834209, 0.01544732983360152, 0.1134925364885869, 0.678278575753266]} - solutions: [[-40.000000, -7.000000, -9.000000, 103.000000, 137.000000, -149.000000], [-40.000000, 67.293813, -150.724392, 137.852954, 97.991635, -83.691272], [140.000000, -65.953877, -25.858084, -41.799924, 94.453754, -80.491192], [140.000000, -9.491641, -133.866309, -58.866710, 129.073585, -122.739454], [-40.000000, -7.000000, -9.000000, -77.000000, -137.000000, 31.000000], [-40.000000, 67.293813, -150.724392, -42.147046, -97.991635, 96.308728], [140.000000, -65.953877, -25.858084, 138.200076, -94.453754, 99.508808], [140.000000, -9.491641, -133.866309, 121.133290, -129.073585, 57.260546]] + joints: [-40.000000, -7.000000, -9.000000, 103.000000, 136.000000, -149.000000] + pose: {translation: [0.5273931296762993, -0.3674318825711491, 1.64853594291308], quaternion: [-0.7235957564583745, 0.02103042579960353, 0.1079895579395119, 0.6813994113602895]} + solutions: [[-40.000000, -7.000000, -9.000000, 103.000000, 136.000000, -149.000000], [-40.000000, 67.293813, -150.724392, 136.936396, 97.572913, -83.815386], [140.000000, -65.953877, -25.858084, -42.732764, 94.086824, -80.560655], [140.000000, -9.491641, -133.866309, -59.429521, 128.175433, -123.090781], [-40.000000, -7.000000, -9.000000, -77.000000, -136.000000, 31.000000], [-40.000000, 67.293813, -150.724392, -43.063604, -97.572913, 96.184614], [140.000000, -65.953877, -25.858084, 137.267236, -94.086824, 99.439345], [140.000000, -9.491641, -133.866309, 120.570479, -128.175433, 56.909219]] - id: 228 parameters: Irb2400_10 - joints: [-51.000000, 24.000000, -99.000000, 61.000000, -125.000000, -106.000000] - pose: {translation: [0.2085130288918084, -0.3542599537164235, 1.984908142690939], quaternion: [0.7489467379943487, -0.4058351454954127, -0.4496808183819822, 0.2686331697829821]} - solutions: [[-51.000000, 4.048875, -60.724392, -105.349522, 132.016831, 95.722917], [-51.000000, 24.000000, -99.000000, -119.000000, 125.000000, 74.000000], [-51.000000, 4.048875, -60.724392, 74.650478, -132.016831, -84.277083], [-51.000000, 24.000000, -99.000000, 61.000000, -125.000000, -106.000000]] + joints: [-51.000000, 24.000000, -99.000000, 61.000000, -124.000000, -106.000000] + pose: {translation: [0.2078933973266944, -0.3546625665211671, 1.986194519246663], quaternion: [0.745583151386671, -0.4026937113042028, -0.454869523570139, 0.2739292897290148]} + solutions: [[-51.000000, 4.048875, -60.724392, -105.840561, 131.086791, 95.397200], [-51.000000, 24.000000, -99.000000, -119.000000, 124.000000, 74.000000], [-51.000000, 4.048875, -60.724392, 74.159439, -131.086791, -84.602800], [-51.000000, 24.000000, -99.000000, 61.000000, -124.000000, -106.000000]] - id: 229 parameters: Irb2400_10 joints: [36.000000, -7.000000, -63.000000, 116.000000, -38.000000, -23.000000] @@ -1156,14 +1156,14 @@ cases: solutions: [[-93.000000, -87.758166, 87.889413, -57.217025, 83.217236, 151.912290], [-93.000000, 122.843482, 112.386195, -104.169476, 120.566478, 25.117797], [87.000000, -147.662414, 77.275608, 85.174601, 123.090124, 42.730911], [87.000000, 33.000000, 123.000000, 118.000000, 71.000000, 173.000000], [-93.000000, -87.758166, 87.889413, 122.782975, -83.217236, -28.087710], [-93.000000, 122.843482, 112.386195, 75.830524, -120.566478, -154.882203], [87.000000, -147.662414, 77.275608, -94.825399, -123.090124, -137.269089], [87.000000, 33.000000, 123.000000, -62.000000, -71.000000, -7.000000]] - id: 231 parameters: Irb2400_10 - joints: [-117.000000, -150.000000, 177.000000, -15.000000, -66.000000, 157.000000] - pose: {translation: [-0.2301327650785993, -0.4959298643894881, -0.1668901425307145], quaternion: [0.3865241078523879, -0.2231741039303982, 0.3092720774299228, 0.8397280604493096]} - solutions: [[-117.000000, 100.787481, 23.275608, 141.301617, 157.779301, -65.780816], [-117.000000, -150.000000, 177.000000, 165.000000, 66.000000, -23.000000], [63.000000, 165.974829, 12.957755, -21.008108, 41.264341, -13.118349], [63.000000, -96.140373, -172.682147, -16.961865, 125.857993, -39.349639], [-117.000000, 100.787481, 23.275608, -38.698383, -157.779301, 114.219184], [-117.000000, -150.000000, 177.000000, -15.000000, -66.000000, 157.000000], [63.000000, 165.974829, 12.957755, 158.991892, -41.264341, 166.881651], [63.000000, -96.140373, -172.682147, 163.038135, -125.857993, 140.650361]] + joints: [-117.000000, -149.000000, 177.000000, -15.000000, -66.000000, 157.000000] + pose: {translation: [-0.2239068090255199, -0.4837107376329009, -0.1745610228484329], quaternion: [0.3918133487644297, -0.2288971248521949, 0.3090563507327297, 0.8358065434274669]} + solutions: [[-117.000000, 101.787481, 23.275608, 141.301617, 157.779301, -65.780816], [-117.000000, -149.000000, 177.000000, 165.000000, 66.000000, -23.000000], [63.000000, 164.917812, 13.267507, -21.112046, 41.028487, -12.980322], [63.000000, -96.860181, -172.991899, -16.968102, 125.886266, -39.360283], [-117.000000, 101.787481, 23.275608, -38.698383, -157.779301, 114.219184], [-117.000000, -149.000000, 177.000000, -15.000000, -66.000000, 157.000000], [63.000000, 164.917812, 13.267507, 158.887954, -41.028487, 167.019678], [63.000000, -96.860181, -172.991899, 163.031898, -125.886266, 140.639717]] - id: 232 parameters: Irb2400_10 - joints: [-129.000000, -173.000000, -38.000000, 84.000000, -151.000000, 67.000000] - pose: {translation: [0.2813040416194359, 0.4125043063656646, -0.5547193041269046], quaternion: [-0.5353103601182295, -0.09965275555978796, 0.8293391828453035, -0.1253342190182584]} - solutions: [[51.000000, 128.839203, -22.294785, 29.288822, 99.744722, 169.275866], [51.000000, -170.943271, -137.429607, 53.594734, 143.196793, -148.791178], [-129.000000, -173.000000, -38.000000, -96.000000, 151.000000, -113.000000], [-129.000000, -129.292607, -121.724392, -141.271081, 129.586695, -169.077888], [51.000000, 128.839203, -22.294785, -150.711178, -99.744722, -10.724134], [51.000000, -170.943271, -137.429607, -126.405266, -143.196793, 31.208822], [-129.000000, -173.000000, -38.000000, 84.000000, -151.000000, 67.000000], [-129.000000, -129.292607, -121.724392, 38.728919, -129.586695, 10.922112]] + joints: [-129.000000, -172.000000, -38.000000, 84.000000, -150.000000, 67.000000] + pose: {translation: [0.2934516987972021, 0.4295458831472653, -0.544593621258722], quaternion: [-0.544471302312077, -0.09836526909720435, 0.8246570206952492, -0.117541792618885]} + solutions: [[51.000000, 127.505899, -21.771091, 30.263660, 99.366254, 169.344453], [51.000000, -171.724119, -137.953301, 54.876468, 142.557657, -147.620015], [-129.000000, -172.000000, -38.000000, -96.000000, 150.000000, -113.000000], [-129.000000, -128.292607, -121.724392, -140.202966, 129.023721, -168.401269], [51.000000, 127.505899, -21.771091, -149.736340, -99.366254, -10.655547], [51.000000, -171.724119, -137.953301, -125.123532, -142.557657, 32.379985], [-129.000000, -172.000000, -38.000000, 84.000000, -150.000000, 67.000000], [-129.000000, -128.292607, -121.724392, 39.797034, -129.023721, 11.598731]] - id: 233 parameters: Irb2400_10 joints: [-68.000000, -77.000000, 24.000000, 95.000000, -73.000000, -96.000000] @@ -1171,29 +1171,29 @@ cases: solutions: [[112.000000, -48.521630, 29.315422, 104.867997, 99.712639, -21.775770], [112.000000, 67.434208, 170.960185, 96.614080, 73.546250, 78.396014], [-68.000000, -77.000000, 24.000000, -85.000000, 73.000000, 84.000000], [-68.000000, 33.016261, 176.275608, -73.701562, 96.996530, -11.957305], [112.000000, -48.521630, 29.315422, -75.132003, -99.712639, 158.224230], [112.000000, 67.434208, 170.960185, -83.385920, -73.546250, -101.603986], [-68.000000, -77.000000, 24.000000, 95.000000, -73.000000, -96.000000], [-68.000000, 33.016261, 176.275608, 106.298438, -96.996530, 168.042695]] - id: 234 parameters: Irb2400_10 - joints: [-66.000000, -2.000000, 127.000000, 103.000000, 106.000000, -47.000000] - pose: {translation: [-0.01617199131702171, 0.2320591065398658, 0.6323275676222478], quaternion: [0.6626923790123422, 0.09979245864640829, 0.7401658422871464, 0.05508903618349243]} - solutions: [[114.000000, -22.929405, 89.709278, -74.034945, 103.043279, -35.218040], [114.000000, -163.824336, 110.566330, -109.381991, 96.834061, -158.261166], [-66.000000, -175.135412, 73.275608, 69.564543, 88.241165, 178.342102], [-66.000000, -2.000000, 127.000000, 103.000000, 106.000000, -47.000000], [114.000000, -22.929405, 89.709278, 105.965055, -103.043279, 144.781960], [114.000000, -163.824336, 110.566330, 70.618009, -96.834061, 21.738834], [-66.000000, -175.135412, 73.275608, -110.435457, -88.241165, -1.657898], [-66.000000, -2.000000, 127.000000, -77.000000, -106.000000, 133.000000]] + joints: [-66.000000, -2.000000, 127.000000, 103.000000, 105.000000, -47.000000] + pose: {translation: [-0.01612289189642541, 0.2328985576133703, 0.6311053908215206], quaternion: [0.6674238184373443, 0.1041846720234929, 0.7355567628421414, 0.05145142694874135]} + solutions: [[114.000000, -22.929405, 89.709278, -74.243735, 102.064265, -35.263423], [114.000000, -163.824336, 110.566330, -108.442662, 97.195756, -158.146445], [-66.000000, -175.135412, 73.275608, 70.275962, 88.944155, 178.324628], [-66.000000, -2.000000, 127.000000, 103.000000, 105.000000, -47.000000], [114.000000, -22.929405, 89.709278, 105.756265, -102.064265, 144.736577], [114.000000, -163.824336, 110.566330, 71.557338, -97.195756, 21.853555], [-66.000000, -175.135412, 73.275608, -109.724038, -88.944155, -1.675372], [-66.000000, -2.000000, 127.000000, -77.000000, -105.000000, 133.000000]] - id: 235 parameters: Irb2400_10 - joints: [73.000000, -162.000000, 20.000000, -42.000000, -143.000000, -87.000000] - pose: {translation: [-0.2566404085111886, -0.7223597477274133, 0.2311982859072191], quaternion: [0.8671461375814303, -0.4124504973637692, -0.2344605369729953, -0.1515599548176275]} - solutions: [[-107.000000, 51.285821, 37.891598, -47.727478, 32.970935, 171.422982], [-107.000000, 177.017330, 162.384010, -31.173876, 128.927236, 107.905885], [73.000000, -162.000000, 20.000000, 138.000000, 143.000000, 93.000000], [73.000000, -56.406814, -179.724392, 152.217515, 59.761013, 143.579368], [-107.000000, 51.285821, 37.891598, 132.272522, -32.970935, -8.577018], [-107.000000, 177.017330, 162.384010, 148.826124, -128.927236, -72.094115], [73.000000, -162.000000, 20.000000, -42.000000, -143.000000, -87.000000], [73.000000, -56.406814, -179.724392, -27.782485, -59.761013, -36.420632]] + joints: [73.000000, -161.000000, 20.000000, -42.000000, -142.000000, -87.000000] + pose: {translation: [-0.2596794865966474, -0.72960652493889, 0.2462561823575686], quaternion: [0.8691016902773125, -0.4127953140662504, -0.2364314559637252, -0.1355081077756495]} + solutions: [[-107.000000, 49.971570, 38.018824, -49.316903, 32.904883, 172.680763], [-107.000000, 175.850294, 162.256784, -31.620820, 128.211166, 107.507360], [73.000000, -161.000000, 20.000000, 138.000000, 142.000000, 93.000000], [73.000000, -55.406814, -179.724392, 151.317510, 59.129079, 144.036912], [-107.000000, 49.971570, 38.018824, 130.683097, -32.904883, -7.319237], [-107.000000, 175.850294, 162.256784, 148.379180, -128.211166, -72.492640], [73.000000, -161.000000, 20.000000, -42.000000, -142.000000, -87.000000], [73.000000, -55.406814, -179.724392, -28.682490, -59.129079, -35.963088]] - id: 236 parameters: Irb2400_10 - joints: [63.000000, 120.000000, -96.000000, 67.000000, -131.000000, -12.000000] - pose: {translation: [0.6947547559400413, 1.233462693368371, 0.1243226435032783], quaternion: [0.4443387362249113, 0.1855920990577484, 0.08738717287676195, 0.8720562724239731]} - solutions: [[63.000000, 103.178226, -63.724392, -98.950144, 135.309498, -171.588112], [63.000000, 120.000000, -96.000000, -113.000000, 131.000000, 168.000000], [63.000000, 103.178226, -63.724392, 81.049856, -135.309498, 8.411888], [63.000000, 120.000000, -96.000000, 67.000000, -131.000000, -12.000000]] + joints: [63.000000, 120.000000, -96.000000, 67.000000, -130.000000, -12.000000] + pose: {translation: [0.696082336547972, 1.234114712071278, 0.12420772470302], quaternion: [0.4419936800543779, 0.1928702140748969, 0.09151337848578442, 0.8712450682057312]} + solutions: [[63.000000, 103.178226, -63.724392, -99.438030, 134.371238, -171.932150], [63.000000, 120.000000, -96.000000, -113.000000, 130.000000, 168.000000], [63.000000, 103.178226, -63.724392, 80.561970, -134.371238, 8.067850], [63.000000, 120.000000, -96.000000, 67.000000, -130.000000, -12.000000]] - id: 237 parameters: Irb2400_10 - joints: [146.000000, -139.000000, -158.000000, 159.000000, 78.000000, -19.000000] - pose: {translation: [-0.163990091090168, 0.07467269696113167, -0.5089989118295298], quaternion: [0.08494717005571502, -0.6149161864744894, -0.2778533352414008, 0.7331163522977961]} - solutions: [[146.000000, 138.947179, -1.724392, 141.981626, 145.310247, -56.297366], [146.000000, -139.000000, -158.000000, 159.000000, 78.000000, -19.000000], [-34.000000, 150.088274, -3.910593, -26.733625, 51.191231, -6.043758], [-34.000000, -130.195328, -155.813800, -23.411994, 118.090063, -35.086396], [146.000000, 138.947179, -1.724392, -38.018374, -145.310247, 123.702634], [146.000000, -139.000000, -158.000000, -21.000000, -78.000000, 161.000000], [-34.000000, 150.088274, -3.910593, 153.266375, -51.191231, 173.956242], [-34.000000, -130.195328, -155.813800, 156.588006, -118.090063, 144.913604]] + joints: [146.000000, -138.000000, -158.000000, 159.000000, 77.000000, -19.000000] + pose: {translation: [-0.1479561320687565, 0.06399645280973953, -0.5116171271466734], quaternion: [0.08318207624979958, -0.6283234050101167, -0.2731391418559745, 0.723661143141904]} + solutions: [[146.000000, 139.947179, -1.724392, 143.025371, 144.510222, -55.443290], [146.000000, -138.000000, -158.000000, 159.000000, 77.000000, -19.000000], [-34.000000, 148.884066, -3.475029, -27.113354, 50.011038, -5.721776], [-34.000000, -130.934403, -156.249363, -23.135923, 117.289482, -35.019210], [146.000000, 139.947179, -1.724392, -36.974629, -144.510222, 124.556710], [146.000000, -138.000000, -158.000000, -21.000000, -77.000000, 161.000000], [-34.000000, 148.884066, -3.475029, 152.886646, -50.011038, 174.278224], [-34.000000, -130.934403, -156.249363, 156.864077, -117.289482, 144.980790]] - id: 238 parameters: Irb2400_10 - joints: [-39.000000, 25.000000, -83.000000, 110.000000, 102.000000, 44.000000] - pose: {translation: [0.5543655197009193, -0.3483838327191187, 1.965844288166615], quaternion: [-0.002044019581051026, 0.7067631465352917, 0.6801471414772395, 0.1946318129798568]} - solutions: [[-39.000000, 21.730052, -76.724392, 109.372130, 103.012727, 41.101255], [-39.000000, 25.000000, -83.000000, 110.000000, 102.000000, 44.000000], [-39.000000, 21.730052, -76.724392, -70.627870, -103.012727, -138.898745], [-39.000000, 25.000000, -83.000000, -70.000000, -102.000000, -136.000000]] + joints: [-39.000000, 25.000000, -83.000000, 110.000000, 101.000000, 44.000000] + pose: {translation: [0.5550724382070283, -0.3485986578510972, 1.96713072564218], quaternion: [0.001045725586903577, 0.7013914388602718, 0.6844184451532433, 0.1990486068414731]} + solutions: [[-39.000000, 21.730052, -76.724392, 109.423831, 102.014001, 41.112457], [-39.000000, 25.000000, -83.000000, 110.000000, 101.000000, 44.000000], [-39.000000, 21.730052, -76.724392, -70.576169, -102.014001, -138.887543], [-39.000000, 25.000000, -83.000000, -70.000000, -101.000000, -136.000000]] - id: 239 parameters: Irb2400_10 joints: [51.000000, -72.000000, 33.000000, 135.000000, 142.000000, -125.000000] @@ -1206,9 +1206,9 @@ cases: solutions: [[94.000000, 115.000000, -63.000000, -130.000000, 8.000000, 55.000000], [94.000000, 132.577305, -96.724392, -29.366262, 12.556590, -46.498927], [94.000000, 115.000000, -63.000000, 50.000000, -8.000000, -125.000000], [94.000000, 132.577305, -96.724392, 150.633738, -12.556590, 133.501073]] - id: 241 parameters: Irb2400_10 - joints: [-35.000000, 119.000000, 86.000000, 62.000000, -83.000000, 6.000000] - pose: {translation: [-0.08436894054027559, -0.03186111044532906, 0.4384156026505328], quaternion: [0.2130902042606515, 0.7999984833230679, -0.4333372839267505, -0.3561092387006154]} - solutions: [[145.000000, 101.173369, 88.333043, 109.767599, 111.370694, -26.487768], [145.000000, -46.313480, 111.942565, 98.244303, 62.315270, 91.588822], [-35.000000, 119.000000, 86.000000, -118.000000, 83.000000, -174.000000], [-35.000000, -37.630474, 114.275608, -66.298917, 73.154997, 52.338647], [145.000000, 101.173369, 88.333043, -70.232401, -111.370694, 153.512232], [145.000000, -46.313480, 111.942565, -81.755697, -62.315270, -88.411178], [-35.000000, 119.000000, 86.000000, 62.000000, -83.000000, 6.000000], [-35.000000, -37.630474, 114.275608, 113.701083, -73.154997, -127.661353]] + joints: [-35.000000, 118.000000, 86.000000, 62.000000, -83.000000, 6.000000] + pose: {translation: [-0.08182564074794035, -0.03364194813184939, 0.4358100425032914], quaternion: [0.2179621871661362, 0.8003446203219623, -0.4358017989224061, -0.3493104145934429]} + solutions: [[145.000000, 102.179569, 88.071660, 109.861333, 111.284194, -26.230044], [145.000000, -46.444730, 112.203948, 97.791196, 62.193938, 92.562090], [-35.000000, 118.000000, 86.000000, -118.000000, 83.000000, -174.000000], [-35.000000, -38.630474, 114.275608, -66.298917, 73.154997, 52.338647], [145.000000, 102.179569, 88.071660, -70.138667, -111.284194, 153.769956], [145.000000, -46.444730, 112.203948, -82.208804, -62.193938, -87.437910], [-35.000000, 118.000000, 86.000000, 62.000000, -83.000000, 6.000000], [-35.000000, -38.630474, 114.275608, 113.701083, -73.154997, -127.661353]] - id: 242 parameters: Irb2400_10 joints: [28.000000, -33.000000, -32.000000, 144.000000, -61.000000, -82.000000] @@ -1216,29 +1216,29 @@ cases: solutions: [[-152.000000, -26.835599, -29.553111, 146.692355, 110.580377, 65.590244], [-152.000000, 25.738825, -130.171281, 146.762635, 69.707050, 91.400405], [28.000000, -33.000000, -32.000000, -36.000000, 61.000000, 98.000000], [28.000000, 17.003072, -127.724392, -31.433730, 99.678878, 72.728816], [-152.000000, -26.835599, -29.553111, -33.307645, -110.580377, -114.409756], [-152.000000, 25.738825, -130.171281, -33.237365, -69.707050, -88.599595], [28.000000, -33.000000, -32.000000, 144.000000, -61.000000, -82.000000], [28.000000, 17.003072, -127.724392, 148.566270, -99.678878, -107.271184]] - id: 243 parameters: Irb2400_10 - joints: [-18.000000, 165.000000, 131.000000, 73.000000, 26.000000, 98.000000] - pose: {translation: [0.5201904021909599, -0.1315529386289922, 0.7356818022798335], quaternion: [0.298841678950617, 0.1867370062493676, 0.9200758699929176, 0.1711237414147312]} - solutions: [[-18.000000, -1.482838, 69.275608, 150.975380, 120.227481, -26.393307], [-18.000000, 165.000000, 131.000000, 73.000000, 26.000000, 98.000000], [162.000000, -156.275860, 52.699665, -127.228689, 31.769519, 121.002258], [162.000000, -12.766497, 147.575943, -25.197563, 100.043646, -15.477058], [-18.000000, -1.482838, 69.275608, -29.024620, -120.227481, 153.606693], [-18.000000, 165.000000, 131.000000, -107.000000, -26.000000, -82.000000], [162.000000, -156.275860, 52.699665, 52.771311, -31.769519, -58.997742], [162.000000, -12.766497, 147.575943, 154.802437, -100.043646, 164.522942]] + joints: [-18.000000, 164.000000, 131.000000, 73.000000, 26.000000, 98.000000] + pose: {translation: [0.5181242331109613, -0.1308815995991533, 0.7432618953441272], quaternion: [0.2907327356673767, 0.1877907871723058, 0.9220174875238411, 0.173472906716849]} + solutions: [[-18.000000, -2.482838, 69.275608, 150.975380, 120.227481, -26.393307], [-18.000000, 164.000000, 131.000000, 73.000000, 26.000000, 98.000000], [162.000000, -155.629488, 52.729909, -126.810170, 31.574812, 120.510502], [162.000000, -12.082079, 147.545699, -25.224068, 100.356530, -15.626728], [-18.000000, -2.482838, 69.275608, -29.024620, -120.227481, 153.606693], [-18.000000, 164.000000, 131.000000, -107.000000, -26.000000, -82.000000], [162.000000, -155.629488, 52.729909, 53.189830, -31.574812, -59.489498], [162.000000, -12.082079, 147.545699, 154.775932, -100.356530, 164.373272]] - id: 244 parameters: Irb2400_10 - joints: [-39.000000, 36.000000, 176.000000, -18.000000, 115.000000, -135.000000] - pose: {translation: [-0.1145630725765731, 0.06213941372774705, 1.514056354604853], quaternion: [0.2457525247256169, -0.4313872722010734, 0.8673076687870556, -0.03589046721714956]} - solutions: [[141.000000, -51.102687, 28.636251, 160.250111, 124.024139, -138.540442], [141.000000, 64.089806, 171.639357, 144.186985, 28.595745, -94.824905], [-39.000000, -74.322394, 24.275608, -43.099371, 24.197990, -86.699080], [-39.000000, 36.000000, 176.000000, -18.000000, 115.000000, -135.000000], [141.000000, -51.102687, 28.636251, -19.749889, -124.024139, 41.459558], [141.000000, 64.089806, 171.639357, -35.813015, -28.595745, 85.175095], [-39.000000, -74.322394, 24.275608, 136.900629, -24.197990, 93.300920], [-39.000000, 36.000000, 176.000000, 162.000000, -115.000000, 45.000000]] + joints: [-39.000000, 36.000000, 176.000000, -18.000000, 114.000000, -135.000000] + pose: {translation: [-0.1153314421246707, 0.06251700399469076, 1.515267898585901], quaternion: [0.2401698996442458, -0.4262405096077702, 0.8714529980716554, -0.03474362425114166]} + solutions: [[141.000000, -51.102687, 28.636251, 160.323761, 123.026025, -138.499763], [141.000000, 64.089806, 171.639357, 142.805441, 27.838515, -93.607500], [-39.000000, -74.322394, 24.275608, -44.968792, 23.543902, -84.989517], [-39.000000, 36.000000, 176.000000, -18.000000, 114.000000, -135.000000], [141.000000, -51.102687, 28.636251, -19.676239, -123.026025, 41.500237], [141.000000, 64.089806, 171.639357, -37.194559, -27.838515, 86.392500], [-39.000000, -74.322394, 24.275608, 135.031208, -23.543902, 95.010483], [-39.000000, 36.000000, 176.000000, 162.000000, -114.000000, 45.000000]] - id: 245 parameters: Irb2400_10 - joints: [-73.000000, -3.000000, -101.000000, 64.000000, -149.000000, -42.000000] - pose: {translation: [-0.1111693353725647, 0.2290377107219764, 1.943609898021377], quaternion: [-0.2476340523511694, 0.9390636617922159, -0.003241011025295008, -0.2383826987536366]} - solutions: [[107.000000, -11.018523, -47.007288, 44.005359, 138.215934, 113.401969], [107.000000, 23.258797, -112.717104, 87.515879, 152.396603, 164.837387], [-73.000000, -25.037984, -58.724392, -79.635164, 151.927253, 179.350929], [-73.000000, -3.000000, -101.000000, -116.000000, 149.000000, 138.000000], [107.000000, -11.018523, -47.007288, -135.994641, -138.215934, -66.598031], [107.000000, 23.258797, -112.717104, -92.484121, -152.396603, -15.162613], [-73.000000, -25.037984, -58.724392, 100.364836, -151.927253, -0.649071], [-73.000000, -3.000000, -101.000000, 64.000000, -149.000000, -42.000000]] + joints: [-73.000000, -3.000000, -101.000000, 64.000000, -148.000000, -42.000000] + pose: {translation: [-0.112468673786503, 0.2293991613414458, 1.944227860905292], quaternion: [-0.2462116426454585, 0.9375008992105341, 0.0006365588280624624, -0.2459095073357747]} + solutions: [[107.000000, -11.018523, -47.007288, 44.619191, 137.305029, 113.856430], [107.000000, 23.258797, -112.717104, 86.569711, 151.501017, 164.002338], [-73.000000, -25.037984, -58.724392, -81.005288, 151.169622, 178.146249], [-73.000000, -3.000000, -101.000000, -116.000000, 148.000000, 138.000000], [107.000000, -11.018523, -47.007288, -135.380809, -137.305029, -66.143570], [107.000000, 23.258797, -112.717104, -93.430289, -151.501017, -15.997662], [-73.000000, -25.037984, -58.724392, 98.994712, -151.169622, -1.853751], [-73.000000, -3.000000, -101.000000, 64.000000, -148.000000, -42.000000]] - id: 246 parameters: Irb2400_10 - joints: [159.000000, 104.000000, 33.000000, 107.000000, -47.000000, -61.000000] - pose: {translation: [-0.229981921697245, 0.1519600161403655, -0.1954392205650777], quaternion: [0.7464559652898037, -0.3117254280300977, 0.3856995243847158, -0.4436965475323464]} - solutions: [[159.000000, 104.000000, 33.000000, -73.000000, 47.000000, 119.000000], [159.000000, -135.877294, 167.275608, -49.404452, 112.915355, 28.710990], [-21.000000, 152.429471, 25.724216, 115.215792, 129.370308, -0.265247], [-21.000000, -95.635941, 174.551392, 129.338203, 64.728368, 80.659857], [159.000000, 104.000000, 33.000000, 107.000000, -47.000000, -61.000000], [159.000000, -135.877294, 167.275608, 130.595548, -112.915355, -151.289010], [-21.000000, 152.429471, 25.724216, -64.784208, -129.370308, 179.734753], [-21.000000, -95.635941, 174.551392, -50.661797, -64.728368, -99.340143]] + joints: [159.000000, 103.000000, 33.000000, 107.000000, -46.000000, -61.000000] + pose: {translation: [-0.2429834621162951, 0.155904801664076, -0.1933257559169558], quaternion: [0.7499366482698769, -0.3212885259221289, 0.3793636625443471, -0.4364079722386692]} + solutions: [[159.000000, 103.000000, 33.000000, -73.000000, 46.000000, 119.000000], [159.000000, -136.877294, 167.275608, -48.318765, 112.916710, 29.133748], [-21.000000, 153.488672, 25.424068, 116.531919, 129.746363, 0.740121], [-21.000000, -94.911225, 174.851540, 130.037988, 63.961630, 80.339627], [159.000000, 103.000000, 33.000000, 107.000000, -46.000000, -61.000000], [159.000000, -136.877294, 167.275608, 131.681235, -112.916710, -150.866252], [-21.000000, 153.488672, 25.424068, -63.468081, -129.746363, -179.259879], [-21.000000, -94.911225, 174.851540, -49.962012, -63.961630, -99.660373]] - id: 247 parameters: Irb2400_10 - joints: [81.000000, 60.000000, -13.000000, -10.000000, -104.000000, -30.000000] - pose: {translation: [0.2001022043607444, 1.354946119556059, 0.5778302000504706], quaternion: [-0.2757086003240347, 0.0983673889572368, 0.4511375279765761, 0.8430798036652767]} - solutions: [[81.000000, 60.000000, -13.000000, 170.000000, 104.000000, 150.000000], [81.000000, 130.046406, -146.724392, 165.262691, 41.478250, 163.591158], [-99.000000, -108.935724, -51.836147, -15.523801, 39.016426, 164.621343], [-99.000000, -79.705633, -107.888246, -10.697761, 65.186000, 156.975603], [81.000000, 60.000000, -13.000000, -10.000000, -104.000000, -30.000000], [81.000000, 130.046406, -146.724392, -14.737309, -41.478250, -16.408842], [-99.000000, -108.935724, -51.836147, 164.476199, -39.016426, -15.378657], [-99.000000, -79.705633, -107.888246, 169.302239, -65.186000, -23.024397]] + joints: [81.000000, 59.000000, -13.000000, -10.000000, -104.000000, -30.000000] + pose: {translation: [0.2001734354172806, 1.355395854747157, 0.5999928668569677], quaternion: [-0.2690473770558055, 0.09332433084804836, 0.4515918098117881, 0.8455583454038338]} + solutions: [[81.000000, 59.000000, -13.000000, 170.000000, 104.000000, 150.000000], [81.000000, 129.046406, -146.724392, 165.262691, 41.478250, 163.591158], [-99.000000, -108.035519, -51.912532, -15.465888, 39.186203, 164.546715], [-99.000000, -78.885229, -107.811860, -10.688927, 65.287419, 156.954513], [81.000000, 59.000000, -13.000000, -10.000000, -104.000000, -30.000000], [81.000000, 129.046406, -146.724392, -14.737309, -41.478250, -16.408842], [-99.000000, -108.035519, -51.912532, 164.534112, -39.186203, -15.453285], [-99.000000, -78.885229, -107.811860, 169.311073, -65.287419, -23.045487]] - id: 248 parameters: Irb2400_10 joints: [-134.000000, -120.000000, -117.000000, 58.000000, -95.000000, 163.000000] @@ -1246,14 +1246,14 @@ cases: solutions: [[46.000000, 114.762977, -19.738382, 60.935218, 75.135659, -49.716604], [46.000000, 177.678707, -139.986010, 60.942745, 104.880090, -0.134662], [-134.000000, -158.758455, -42.724392, -114.164533, 112.186525, 15.145092], [-134.000000, -120.000000, -117.000000, -122.000000, 95.000000, -17.000000], [46.000000, 114.762977, -19.738382, -119.064782, -75.135659, 130.283396], [46.000000, 177.678707, -139.986010, -119.057255, -104.880090, 179.865338], [-134.000000, -158.758455, -42.724392, 65.835467, -112.186525, -164.854908], [-134.000000, -120.000000, -117.000000, 58.000000, -95.000000, 163.000000]] - id: 249 parameters: Irb2400_10 - joints: [61.000000, 46.000000, -98.000000, 18.000000, 123.000000, 80.000000] - pose: {translation: [0.4609377116205614, 0.8769918799798303, 1.704575554233268], quaternion: [0.05654375672869527, 0.9782261608168928, 0.1921650740830519, -0.05430438445562086]} - solutions: [[61.000000, 27.092109, -61.724392, 15.670406, 106.362603, 74.483280], [61.000000, 46.000000, -98.000000, 18.000000, 123.000000, 80.000000], [61.000000, 27.092109, -61.724392, -164.329594, -106.362603, -105.516720], [61.000000, 46.000000, -98.000000, -162.000000, -123.000000, -100.000000]] + joints: [61.000000, 46.000000, -98.000000, 18.000000, 122.000000, 80.000000] + pose: {translation: [0.4613853431754611, 0.8783074927014493, 1.705094778797324], quaternion: [0.05729949017947755, 0.97661974402283, 0.2004789099312467, -0.05233402987285688]} + solutions: [[61.000000, 27.092109, -61.724392, 15.770101, 105.367212, 74.510534], [61.000000, 46.000000, -98.000000, 18.000000, 122.000000, 80.000000], [61.000000, 27.092109, -61.724392, -164.229899, -105.367212, -105.489466], [61.000000, 46.000000, -98.000000, -162.000000, -122.000000, -100.000000]] - id: 250 parameters: Irb2400_10 - joints: [-72.000000, -67.000000, -51.000000, 116.000000, 159.000000, 155.000000] - pose: {translation: [-0.2820949653225121, 0.9567974370927996, 1.417377481592442], quaternion: [0.7797395319659266, 0.583981265886641, 0.1068383562447327, 0.198891198945347]} - solutions: [[108.000000, 14.917594, -19.699771, -20.316984, 111.925835, -150.455434], [108.000000, 77.874104, -140.024622, -64.353561, 159.065565, 154.621368], [-72.000000, -67.000000, -51.000000, 116.000000, 159.000000, 155.000000], [-72.000000, -36.896301, -108.724392, 150.616451, 138.968852, -165.598382], [108.000000, 14.917594, -19.699771, 159.683016, -111.925835, 29.544566], [108.000000, 77.874104, -140.024622, 115.646439, -159.065565, -25.378632], [-72.000000, -67.000000, -51.000000, -64.000000, -159.000000, -25.000000], [-72.000000, -36.896301, -108.724392, -29.383549, -138.968852, 14.401618]] + joints: [-72.000000, -67.000000, -51.000000, 116.000000, 158.000000, 155.000000] + pose: {translation: [-0.2811590635895708, 0.9579316667995115, 1.417573481359881], quaternion: [0.7781313557034943, 0.5851380265198801, 0.1151549102386202, 0.1971406346733151]} + solutions: [[108.000000, 14.917594, -19.699771, -21.191521, 111.343463, -150.777874], [108.000000, 77.874104, -140.024622, -64.335871, 158.065586, 154.637835], [-72.000000, -67.000000, -51.000000, 116.000000, 158.000000, 155.000000], [-72.000000, -36.896301, -108.724392, 149.664280, 138.192173, -166.312425], [108.000000, 14.917594, -19.699771, 158.808479, -111.343463, 29.222126], [108.000000, 77.874104, -140.024622, 115.664129, -158.065586, -25.362165], [-72.000000, -67.000000, -51.000000, -64.000000, -158.000000, -25.000000], [-72.000000, -36.896301, -108.724392, -30.335720, -138.192173, 13.687575]] - id: 251 parameters: Irb2400_10 joints: [-149.000000, 126.000000, 42.000000, -122.000000, -110.000000, -48.000000] @@ -1261,14 +1261,14 @@ cases: solutions: [[31.000000, 119.013456, 43.005535, -52.920711, 87.282179, -73.103694], [31.000000, -109.274920, 157.270073, -104.215204, 124.706814, 169.321329], [-149.000000, 126.000000, 42.000000, 58.000000, 110.000000, 132.000000], [-149.000000, -103.475075, 158.275608, 122.645182, 108.842175, -103.447805], [31.000000, 119.013456, 43.005535, 127.079289, -87.282179, 106.896306], [31.000000, -109.274920, 157.270073, 75.784796, -124.706814, -10.678671], [-149.000000, 126.000000, 42.000000, -122.000000, -110.000000, -48.000000], [-149.000000, -103.475075, 158.275608, -57.354818, -108.842175, 76.552195]] - id: 252 parameters: Irb2400_10 - joints: [-12.000000, 26.000000, 60.000000, -103.000000, 73.000000, 122.000000] - pose: {translation: [0.5864271566383076, -0.205620924003818, 0.4813905325127339], quaternion: [0.2329339170384584, 0.7642437264738914, -0.5682677304551538, 0.1968377589838124]} - solutions: [[-12.000000, 26.000000, 60.000000, -103.000000, 73.000000, 122.000000], [-12.000000, 179.010375, 140.275608, -68.716733, 90.133963, -6.639899], [168.000000, -164.888068, 43.087628, 110.344452, 96.389818, -23.002949], [168.000000, -33.079305, 157.187980, 87.576863, 68.848353, 90.392758], [-12.000000, 26.000000, 60.000000, 77.000000, -73.000000, -58.000000], [-12.000000, 179.010375, 140.275608, 111.283267, -90.133963, 173.360101], [168.000000, -164.888068, 43.087628, -69.655548, -96.389818, 156.997051], [168.000000, -33.079305, 157.187980, -92.423137, -68.848353, -89.607242]] + joints: [-12.000000, 26.000000, 60.000000, -103.000000, 72.000000, 122.000000] + pose: {translation: [0.5865161484204768, -0.2051954622269549, 0.4799721292804753], quaternion: [0.2340962196467004, 0.7693303526663648, -0.5615131200724717, 0.1950199589781734]} + solutions: [[-12.000000, 26.000000, 60.000000, -103.000000, 72.000000, 122.000000], [-12.000000, 179.010375, 140.275608, -67.935594, 90.758355, -6.633816], [168.000000, -164.888068, 43.087628, 110.922536, 97.208664, -22.934506], [168.000000, -33.079305, 157.187980, 88.142106, 67.997637, 90.184882], [-12.000000, 26.000000, 60.000000, 77.000000, -72.000000, -58.000000], [-12.000000, 179.010375, 140.275608, 112.064406, -90.758355, 173.366184], [168.000000, -164.888068, 43.087628, -69.077464, -97.208664, 157.065494], [168.000000, -33.079305, 157.187980, -91.857894, -67.997637, -89.815118]] - id: 253 parameters: Irb2400_10 - joints: [-149.000000, 22.000000, -82.000000, -48.000000, 98.000000, -30.000000] - pose: {translation: [-0.6044156897677109, -0.2901936679740102, 1.95160767123064], quaternion: [0.8229110933192088, 0.2207616843868898, -0.4033993085796397, -0.3336923868420083]} - solutions: [[-149.000000, 19.772178, -77.724392, -47.804966, 96.627094, -28.468106], [-149.000000, 22.000000, -82.000000, -48.000000, 98.000000, -30.000000], [-149.000000, 19.772178, -77.724392, 132.195034, -96.627094, 151.531894], [-149.000000, 22.000000, -82.000000, 132.000000, -98.000000, 150.000000]] + joints: [-149.000000, 22.000000, -82.000000, -48.000000, 97.000000, -30.000000] + pose: {translation: [-0.6052163554725247, -0.2905068774885617, 1.952816653951475], quaternion: [0.8183751196456952, 0.221514986586269, -0.4105662601800716, -0.3356018776233662]} + solutions: [[-149.000000, 19.772178, -77.724392, -47.831827, 95.627450, -28.470973], [-149.000000, 22.000000, -82.000000, -48.000000, 97.000000, -30.000000], [-149.000000, 19.772178, -77.724392, 132.168173, -95.627450, 151.529027], [-149.000000, 22.000000, -82.000000, 132.000000, -97.000000, 150.000000]] - id: 254 parameters: Irb2400_10 joints: [-7.000000, 48.000000, 154.000000, 175.000000, 65.000000, 15.000000] @@ -1276,9 +1276,9 @@ cases: solutions: [[173.000000, -67.447306, 49.675453, -5.192327, 60.788546, 15.421822], [173.000000, 72.301670, 150.600155, -90.181790, 175.469468, -77.299867], [-7.000000, -87.613276, 46.275608, 70.829555, 175.202900, -96.350399], [-7.000000, 48.000000, 154.000000, 175.000000, 65.000000, 15.000000], [173.000000, -67.447306, 49.675453, 174.807673, -60.788546, -164.578178], [173.000000, 72.301670, 150.600155, 89.818210, -175.469468, 102.700133], [-7.000000, -87.613276, 46.275608, -109.170445, -175.202900, 83.649601], [-7.000000, 48.000000, 154.000000, -5.000000, -65.000000, -165.000000]] - id: 255 parameters: Irb2400_10 - joints: [46.000000, 176.000000, -170.000000, 37.000000, 122.000000, 98.000000] - pose: {translation: [0.5685202704223071, 0.6511697897026415, -0.08548644338433847], quaternion: [0.3289146975536111, 0.8372006040913198, -0.1980935249885756, -0.3894473335381131]} - solutions: [[46.000000, 81.028796, 10.275608, 41.171013, 50.829668, 47.316477], [46.000000, 176.000000, -170.000000, 37.000000, 122.000000, 98.000000], [-134.000000, -159.466933, -9.478602, -133.955065, 134.849768, 112.415845], [-134.000000, -85.681957, -150.245790, -148.763688, 79.796725, 70.100057], [46.000000, 81.028796, 10.275608, -138.828987, -50.829668, -132.683523], [46.000000, 176.000000, -170.000000, -143.000000, -122.000000, -82.000000], [-134.000000, -159.466933, -9.478602, 46.044935, -134.849768, -67.584155], [-134.000000, -85.681957, -150.245790, 31.236312, -79.796725, -109.899943]] + joints: [46.000000, 175.000000, -170.000000, 37.000000, 122.000000, 98.000000] + pose: {translation: [0.5769318287356568, 0.6598802133223322, -0.07205764101766959], quaternion: [0.3276583136980355, 0.8407730418380317, -0.190836717705974, -0.3864221380280813]} + solutions: [[46.000000, 80.028796, 10.275608, 41.171013, 50.829668, 47.316477], [46.000000, 175.000000, -170.000000, 37.000000, 122.000000, 98.000000], [-134.000000, -158.473705, -9.730424, -134.139382, 134.669981, 112.154082], [-134.000000, -84.956387, -149.993968, -148.761576, 79.777394, 70.088144], [46.000000, 80.028796, 10.275608, -138.828987, -50.829668, -132.683523], [46.000000, 175.000000, -170.000000, -143.000000, -122.000000, -82.000000], [-134.000000, -158.473705, -9.730424, 45.860618, -134.669981, -67.845918], [-134.000000, -84.956387, -149.993968, 31.238424, -79.777394, -109.911856]] - id: 256 parameters: Irb2400_10 joints: [-39.000000, 28.000000, 64.000000, 26.000000, -17.000000, -171.000000] @@ -1286,9 +1286,9 @@ cases: solutions: [[-39.000000, 28.000000, 64.000000, -154.000000, 17.000000, 9.000000], [-39.000000, -173.430876, 136.275608, -8.038946, 113.582107, -149.228583], [141.000000, -170.669463, 47.585293, 169.889800, 133.103256, -152.941486], [141.000000, -33.473427, 152.690315, 154.680273, 17.438867, -121.701521], [-39.000000, 28.000000, 64.000000, 26.000000, -17.000000, -171.000000], [-39.000000, -173.430876, 136.275608, 171.961054, -113.582107, 30.771417], [141.000000, -170.669463, 47.585293, -10.110200, -133.103256, 27.058514], [141.000000, -33.473427, 152.690315, -25.319727, -17.438867, 58.298479]] - id: 257 parameters: Irb2400_10 - joints: [4.000000, 178.000000, 169.000000, 123.000000, -110.000000, 86.000000] - pose: {translation: [0.8140409059345748, -0.01022815843574944, 0.1628802948700748], quaternion: [-0.5731052076385155, 0.6777590601875905, -0.2855712499873168, -0.3614445164778815]} - solutions: [[4.000000, 59.832999, 31.275608, -75.286672, 54.568705, -0.594499], [4.000000, 178.000000, 169.000000, -57.000000, 110.000000, -94.000000], [-176.000000, -162.522856, 13.213488, 115.957734, 118.774837, -110.903224], [-176.000000, -64.359666, -172.937880, 122.108929, 68.498613, -35.937168], [4.000000, 59.832999, 31.275608, 104.713328, -54.568705, 179.405501], [4.000000, 178.000000, 169.000000, 123.000000, -110.000000, 86.000000], [-176.000000, -162.522856, 13.213488, -64.042266, -118.774837, 69.096776], [-176.000000, -64.359666, -172.937880, -57.891071, -68.498613, 144.062832]] + joints: [4.000000, 177.000000, 169.000000, 123.000000, -110.000000, 86.000000] + pose: {translation: [0.8218041844447295, -0.009685297119304749, 0.1753638275751261], quaternion: [-0.5708174313686734, 0.6810535646882304, -0.2901368426585731, -0.3551818050002545]} + solutions: [[4.000000, 58.832999, 31.275608, -75.286672, 54.568705, -0.594499], [4.000000, 177.000000, 169.000000, -57.000000, 110.000000, -94.000000], [-176.000000, -161.624328, 13.066517, 116.080071, 118.665853, -110.648641], [-176.000000, -63.621143, -172.790909, 122.070652, 68.437781, -35.832878], [4.000000, 58.832999, 31.275608, 104.713328, -54.568705, 179.405501], [4.000000, 177.000000, 169.000000, 123.000000, -110.000000, 86.000000], [-176.000000, -161.624328, 13.066517, -63.919929, -118.665853, 69.351359], [-176.000000, -63.621143, -172.790909, -57.929348, -68.437781, 144.167122]] - id: 258 parameters: Irb2400_10 joints: [-41.000000, -16.000000, 71.000000, 134.000000, -112.000000, 124.000000] @@ -1296,19 +1296,19 @@ cases: solutions: [[-41.000000, -16.000000, 71.000000, -46.000000, 112.000000, -56.000000], [-41.000000, 153.265739, 129.275608, -136.836996, 102.843887, 156.978398], [139.000000, -149.341011, 55.150237, 42.186451, 96.699214, 151.237437], [139.000000, -2.717169, 145.125371, 126.995141, 123.376732, -70.934507], [-41.000000, -16.000000, 71.000000, 134.000000, -112.000000, 124.000000], [-41.000000, 153.265739, 129.275608, 43.163004, -102.843887, -23.021602], [139.000000, -149.341011, 55.150237, -137.813549, -96.699214, -28.762563], [139.000000, -2.717169, 145.125371, -53.004859, -123.376732, 109.065493]] - id: 259 parameters: Irb2400_10 - joints: [-38.000000, -117.000000, 137.000000, 16.000000, 118.000000, 104.000000] - pose: {translation: [0.1430005887427148, -0.0854724624565712, 0.109425889081847], quaternion: [0.8522073199005114, 0.3037061317762925, -0.1029327314603154, -0.4134127746255398]} - solutions: [[-38.000000, 85.461295, 63.275608, 124.119431, 17.096099, -28.998618], [-38.000000, -117.000000, 137.000000, 16.000000, 118.000000, 104.000000], [142.000000, 142.190143, 55.858103, -147.295809, 153.228111, 126.157102], [142.000000, -70.273598, 144.417504, -155.318254, 35.649259, 75.855328], [-38.000000, 85.461295, 63.275608, -55.880569, -17.096099, 151.001382], [-38.000000, -117.000000, 137.000000, -164.000000, -118.000000, -76.000000], [142.000000, 142.190143, 55.858103, 32.704191, -153.228111, -53.842898], [142.000000, -70.273598, 144.417504, 24.681746, -35.649259, -104.144672]] + joints: [-38.000000, -116.000000, 137.000000, 16.000000, 118.000000, 104.000000] + pose: {translation: [0.1360397496439803, -0.08003405892030398, 0.1083631068924396], quaternion: [0.8492459447936354, 0.30140470725517, -0.107157415155319, -0.4200640618682127]} + solutions: [[-38.000000, 86.461295, 63.275608, 124.119431, 17.096099, -28.998618], [-38.000000, -116.000000, 137.000000, 16.000000, 118.000000, 104.000000], [142.000000, 141.243698, 56.098361, -146.978100, 153.474906, 126.512569], [142.000000, -70.908958, 144.177247, -155.390421, 35.762311, 75.944201], [-38.000000, 86.461295, 63.275608, -55.880569, -17.096099, 151.001382], [-38.000000, -116.000000, 137.000000, -164.000000, -118.000000, -76.000000], [142.000000, 141.243698, 56.098361, 33.021900, -153.474906, -53.487431], [142.000000, -70.908958, 144.177247, 24.609579, -35.762311, -104.055799]] - id: 260 parameters: Irb2400_10 - joints: [63.000000, 141.000000, -165.000000, -104.000000, -178.000000, -143.000000] - pose: {translation: [0.4973588600730496, 0.9824618140827392, 0.4623197387490793], quaternion: [0.6476530800086413, -0.5363267972165788, 0.09859167287502897, 0.532145409246787]} - solutions: [[63.000000, 51.432740, 5.275608, 1.963707, 98.802532, -38.691182], [63.000000, 141.000000, -165.000000, 76.000000, 178.000000, 37.000000], [-117.000000, -125.915788, -21.238582, -13.115687, 171.417728, 128.034377], [-117.000000, -64.583904, -138.485810, -177.371026, 132.416211, -37.217851], [63.000000, 51.432740, 5.275608, -178.036293, -98.802532, 141.308818], [63.000000, 141.000000, -165.000000, -104.000000, -178.000000, -143.000000], [-117.000000, -125.915788, -21.238582, 166.884313, -171.417728, -51.965623], [-117.000000, -64.583904, -138.485810, 2.628974, -132.416211, 142.782149]] + joints: [63.000000, 140.000000, -165.000000, -104.000000, -177.000000, -143.000000] + pose: {translation: [0.4973134391679551, 0.9855403015461849, 0.4795183135150402], quaternion: [0.6492695853140537, -0.5433286509476239, 0.08960862420590565, 0.5246077364216779]} + solutions: [[63.000000, 50.432740, 5.275608, 2.943583, 98.554127, -38.543328], [63.000000, 140.000000, -165.000000, 76.000000, 177.000000, 37.000000], [-117.000000, -125.046287, -21.285407, -20.203878, 171.544677, 121.016682], [-117.000000, -63.763818, -138.438985, -176.081497, 132.004115, -36.357086], [63.000000, 50.432740, 5.275608, -177.056417, -98.554127, 141.456672], [63.000000, 140.000000, -165.000000, -104.000000, -177.000000, -143.000000], [-117.000000, -125.046287, -21.285407, 159.796122, -171.544677, -58.983318], [-117.000000, -63.763818, -138.438985, 3.918503, -132.004115, 143.642914]] - id: 261 parameters: Irb2400_10 - joints: [114.000000, 171.000000, -108.000000, -81.000000, -2.000000, -6.000000] - pose: {translation: [-0.2924009024934746, 0.6495396605451431, -0.7682202298367905], quaternion: [0.9545818890870157, 0.1810138492335769, -0.07140631939899336, -0.2256292112351529]} - solutions: [[114.000000, 141.653156, -51.724392, 175.691010, 27.307816, 96.835688], [114.000000, 171.000000, -108.000000, 99.000000, 2.000000, 174.000000], [114.000000, 141.653156, -51.724392, -4.308990, -27.307816, -83.164312], [114.000000, 171.000000, -108.000000, -81.000000, -2.000000, -6.000000]] + joints: [114.000000, 170.000000, -108.000000, -81.000000, -2.000000, -6.000000] + pose: {translation: [-0.3021818056147207, 0.6715079286374565, -0.7573232029694242], quaternion: [0.9524933561469794, 0.1807753654436725, -0.0733487369669432, -0.2338731205802075]} + solutions: [[114.000000, 140.653156, -51.724392, 175.691010, 27.307816, 96.835688], [114.000000, 170.000000, -108.000000, 99.000000, 2.000000, 174.000000], [114.000000, 140.653156, -51.724392, -4.308990, -27.307816, -83.164312], [114.000000, 170.000000, -108.000000, -81.000000, -2.000000, -6.000000]] - id: 262 parameters: Irb2400_10 joints: [-117.000000, 48.000000, -125.000000, 140.000000, 19.000000, 93.000000] @@ -1316,14 +1316,14 @@ cases: solutions: [[-117.000000, 0.857164, -34.724392, 165.823290, 58.701284, 62.048217], [-117.000000, 48.000000, -125.000000, 140.000000, 19.000000, 93.000000], [63.000000, -41.075718, -61.730492, -40.364666, 18.851945, 93.385507], [63.000000, -22.174191, -97.993900, -22.022414, 33.924654, 73.125231], [-117.000000, 0.857164, -34.724392, -14.176710, -58.701284, -117.951783], [-117.000000, 48.000000, -125.000000, -40.000000, -19.000000, -87.000000], [63.000000, -41.075718, -61.730492, 139.635334, -18.851945, -86.614493], [63.000000, -22.174191, -97.993900, 157.977586, -33.924654, -106.874769]] - id: 263 parameters: Irb2400_10 - joints: [122.000000, -87.000000, -162.000000, 120.000000, -92.000000, -153.000000] - pose: {translation: [0.4795189070520172, -0.6285632583961638, -0.08334525988375077], quaternion: [0.6274164997278465, -0.02281188271327323, 0.7734945019511491, -0.08680097538436346]} - solutions: [[-58.000000, 86.040436, 18.190792, 114.148407, 108.467704, -4.783785], [-58.000000, -170.355610, -177.915184, 109.089543, 66.328495, 79.698647], [122.000000, -173.340121, 2.275608, -80.903797, 61.225466, 102.061596], [122.000000, -87.000000, -162.000000, -60.000000, 92.000000, 27.000000], [-58.000000, 86.040436, 18.190792, -65.851593, -108.467704, 175.216215], [-58.000000, -170.355610, -177.915184, -70.910457, -66.328495, -100.301353], [122.000000, -173.340121, 2.275608, 99.096203, -61.225466, -77.938404], [122.000000, -87.000000, -162.000000, 120.000000, -92.000000, -153.000000]] + joints: [122.000000, -87.000000, -162.000000, 120.000000, -91.000000, -153.000000] + pose: {translation: [0.4798386649948757, -0.6290115135938762, -0.08472280375813346], quaternion: [0.633750723826786, -0.02520050463317341, 0.7684962600588268, -0.08448936554889257]} + solutions: [[-58.000000, 86.040436, 18.190792, 114.701020, 107.616870, -4.612624], [-58.000000, -170.355610, -177.915184, 108.216940, 65.724940, 80.053206], [122.000000, -173.340121, 2.275608, -82.008820, 60.972183, 102.595668], [122.000000, -87.000000, -162.000000, -60.000000, 91.000000, 27.000000], [-58.000000, 86.040436, 18.190792, -65.298980, -107.616870, 175.387376], [-58.000000, -170.355610, -177.915184, -71.783060, -65.724940, -99.946794], [122.000000, -173.340121, 2.275608, 97.991180, -60.972183, -77.404332], [122.000000, -87.000000, -162.000000, 120.000000, -91.000000, -153.000000]] - id: 264 parameters: Irb2400_10 - joints: [12.000000, -91.000000, 41.000000, -134.000000, 52.000000, 31.000000] - pose: {translation: [-0.2100746836993039, -0.09391120518106888, 1.337832149696448], quaternion: [0.1412890477132862, 0.2613330585911705, -0.7522846762361146, 0.588056292699926]} - solutions: [[-168.000000, -57.381985, 46.683201, 144.841360, 79.859755, -109.412132], [-168.000000, 78.722551, 153.592407, 47.354010, 50.411458, 28.839223], [12.000000, -91.000000, 41.000000, -134.000000, 52.000000, 31.000000], [12.000000, 38.350303, 159.275608, -36.088079, 74.226436, -105.273605], [-168.000000, -57.381985, 46.683201, -35.158640, -79.859755, 70.587868], [-168.000000, 78.722551, 153.592407, -132.645990, -50.411458, -151.160777], [12.000000, -91.000000, 41.000000, 46.000000, -52.000000, -149.000000], [12.000000, 38.350303, 159.275608, 143.911921, -74.226436, 74.726395]] + joints: [12.000000, -90.000000, 41.000000, -134.000000, 52.000000, 31.000000] + pose: {translation: [-0.1976867759761664, -0.09127807410915324, 1.343394253001728], quaternion: [0.1337953472088343, 0.2649777553513708, -0.7539362015202659, 0.5860595518131325]} + solutions: [[-168.000000, -58.253262, 46.381938, 144.823460, 79.718709, -109.311154], [-168.000000, 77.488058, 153.893670, 47.394670, 50.366241, 28.775451], [12.000000, -90.000000, 41.000000, -134.000000, 52.000000, 31.000000], [12.000000, 39.350303, 159.275608, -36.088079, 74.226436, -105.273605], [-168.000000, -58.253262, 46.381938, -35.176540, -79.718709, 70.688846], [-168.000000, 77.488058, 153.893670, -132.605330, -50.366241, -151.224549], [12.000000, -90.000000, 41.000000, 46.000000, -52.000000, -149.000000], [12.000000, 39.350303, 159.275608, 143.911921, -74.226436, 74.726395]] - id: 265 parameters: Irb2400_10 joints: [102.000000, 125.000000, 49.000000, -125.000000, 117.000000, -18.000000] @@ -1331,24 +1331,24 @@ cases: solutions: [[-78.000000, 113.310841, 50.631544, 112.556338, 52.216143, -175.093081], [-78.000000, -105.760386, 149.644064, 46.936161, 92.550172, -48.232325], [102.000000, 125.000000, 49.000000, -125.000000, 117.000000, -18.000000], [102.000000, -96.079847, 151.275608, -101.732485, 48.197238, -123.652625], [-78.000000, 113.310841, 50.631544, -67.443662, -52.216143, 4.906919], [-78.000000, -105.760386, 149.644064, -133.063839, -92.550172, 131.767675], [102.000000, 125.000000, 49.000000, 55.000000, -117.000000, 162.000000], [102.000000, -96.079847, 151.275608, 78.267515, -48.197238, 56.347375]] - id: 266 parameters: Irb2400_10 - joints: [11.000000, 134.000000, -45.000000, 170.000000, 54.000000, -6.000000] - pose: {translation: [0.8064585641916258, 0.1689243319848554, -0.6760353160598479], quaternion: [0.862400578877704, 0.2077515622642604, 0.4578574090057952, -0.05891623669804637]} - solutions: [[11.000000, 134.000000, -45.000000, 170.000000, 54.000000, -6.000000], [11.000000, 170.376938, -114.724392, 157.693929, 21.723624, 8.945573], [11.000000, 134.000000, -45.000000, -10.000000, -54.000000, 174.000000], [11.000000, 170.376938, -114.724392, -22.306071, -21.723624, -171.054427]] + joints: [11.000000, 133.000000, -45.000000, 170.000000, 54.000000, -6.000000] + pose: {translation: [0.828468043044717, 0.1732025412882794, -0.663205343074508], quaternion: [0.858347539613553, 0.2074859612055724, 0.4655734023179257, -0.05857033546148335]} + solutions: [[11.000000, 133.000000, -45.000000, 170.000000, 54.000000, -6.000000], [11.000000, 169.376938, -114.724392, 157.693929, 21.723624, 8.945573], [11.000000, 133.000000, -45.000000, -10.000000, -54.000000, 174.000000], [11.000000, 169.376938, -114.724392, -22.306071, -21.723624, -171.054427]] - id: 267 parameters: Irb2400_10 - joints: [-167.000000, 160.000000, 159.000000, 163.000000, -134.000000, 25.000000] - pose: {translation: [-0.7992638660922499, -0.1661776299517176, 0.4668599073482718], quaternion: [0.2026564374389463, 0.9728228114994995, 0.1114681022226006, -0.01100036261473749]} - solutions: [[-167.000000, 30.326498, 41.275608, -29.160560, 25.570938, -116.292513], [-167.000000, 160.000000, 159.000000, -17.000000, 134.000000, -155.000000], [13.000000, -148.186695, 22.431542, 157.607633, 146.489944, -161.969060], [13.000000, -39.909128, 177.844066, 164.772786, 53.201639, -133.749158], [-167.000000, 30.326498, 41.275608, 150.839440, -25.570938, 63.707487], [-167.000000, 160.000000, 159.000000, 163.000000, -134.000000, 25.000000], [13.000000, -148.186695, 22.431542, -22.392367, -146.489944, 18.030940], [13.000000, -39.909128, 177.844066, -15.227214, -53.201639, 46.250842]] + joints: [-167.000000, 159.000000, 159.000000, 163.000000, -134.000000, 25.000000] + pose: {translation: [-0.8016767243833537, -0.166734682180827, 0.4793811959825145], quaternion: [0.2036181144266883, 0.9729110513979632, 0.1078310021499973, -0.0188739111038786]} + solutions: [[-167.000000, 29.326498, 41.275608, -29.160560, 25.570938, -116.292513], [-167.000000, 159.000000, 159.000000, -17.000000, 134.000000, -155.000000], [13.000000, -147.390168, 22.409220, 157.736672, 146.281078, -161.814109], [13.000000, -39.137304, 177.866387, 164.732141, 53.003030, -133.681461], [-167.000000, 29.326498, 41.275608, 150.839440, -25.570938, 63.707487], [-167.000000, 159.000000, 159.000000, 163.000000, -134.000000, 25.000000], [13.000000, -147.390168, 22.409220, -22.263328, -146.281078, 18.185891], [13.000000, -39.137304, 177.866387, -15.267859, -53.003030, 46.318539]] - id: 268 parameters: Irb2400_10 - joints: [99.000000, 20.000000, -121.000000, 71.000000, 112.000000, 105.000000] - pose: {translation: [-0.08858687915018067, 0.08296966577326045, 1.966491886691932], quaternion: [-0.4767552976490939, 0.6540393302487749, 0.4489153473160838, -0.3786977047663976]} - solutions: [[99.000000, -22.948132, -38.724392, 61.757254, 95.650872, 67.975935], [99.000000, 20.000000, -121.000000, 71.000000, 112.000000, 105.000000], [-81.000000, -27.171042, -40.849171, -104.393668, 115.166018, 116.476885], [-81.000000, 13.550972, -118.875221, -116.478343, 101.648016, 79.652513], [99.000000, -22.948132, -38.724392, -118.242746, -95.650872, -112.024065], [99.000000, 20.000000, -121.000000, -109.000000, -112.000000, -75.000000], [-81.000000, -27.171042, -40.849171, 75.606332, -115.166018, -63.523115], [-81.000000, 13.550972, -118.875221, 63.521657, -101.648016, -100.347487]] + joints: [99.000000, 20.000000, -121.000000, 71.000000, 111.000000, 105.000000] + pose: {translation: [-0.08908061858357741, 0.08280073936266333, 1.967880587606405], quaternion: [-0.4745589481960013, 0.649375111262498, 0.4533344767122199, -0.3841791532397106]} + solutions: [[99.000000, -22.948132, -38.724392, 62.361551, 94.852192, 68.031247], [99.000000, 20.000000, -121.000000, 71.000000, 111.000000, 105.000000], [-81.000000, -27.171042, -40.849171, -104.611776, 114.185854, 116.385825], [-81.000000, 13.550972, -118.875221, -116.042615, 100.743968, 79.737120], [99.000000, -22.948132, -38.724392, -117.638449, -94.852192, -111.968753], [99.000000, 20.000000, -121.000000, -109.000000, -111.000000, -75.000000], [-81.000000, -27.171042, -40.849171, 75.388224, -114.185854, -63.614175], [-81.000000, 13.550972, -118.875221, 63.957385, -100.743968, -100.262880]] - id: 269 parameters: Irb2400_10 - joints: [-101.000000, 149.000000, 120.000000, -153.000000, -95.000000, 60.000000] - pose: {translation: [-0.03677695602816262, -0.3906713546952337, 0.7571356161108425], quaternion: [0.2884774903350215, -0.6727603246638686, 0.6758628536436686, 0.08592837827406577]} - solutions: [[-101.000000, -38.180054, 80.275608, 140.198398, 44.952151, 87.983619], [-101.000000, 149.000000, 120.000000, 27.000000, 95.000000, -120.000000], [79.000000, -150.806387, 65.627123, -152.795422, 98.401466, -118.247632], [79.000000, 10.121639, 134.648484, -44.871250, 39.869299, 94.839532], [-101.000000, -38.180054, 80.275608, -39.801602, -44.952151, -92.016381], [-101.000000, 149.000000, 120.000000, -153.000000, -95.000000, 60.000000], [79.000000, -150.806387, 65.627123, 27.204578, -98.401466, 61.752368], [79.000000, 10.121639, 134.648484, 135.128750, -39.869299, -85.160468]] + joints: [-101.000000, 148.000000, 120.000000, -153.000000, -94.000000, 60.000000] + pose: {translation: [-0.03625324772763119, -0.3882540467024703, 0.7636657404535547], quaternion: [0.2865494114271929, -0.661238579434652, 0.6873934880868781, 0.09023950583712156]} + solutions: [[-101.000000, -39.180054, 80.275608, 140.852469, 45.837118, 87.524301], [-101.000000, 148.000000, 120.000000, 27.000000, 94.000000, -120.000000], [79.000000, -150.305806, 65.725235, -152.849477, 97.044882, -118.436537], [79.000000, 10.766556, 134.550373, -43.632318, 41.020419, 93.691477], [-101.000000, -39.180054, 80.275608, -39.147531, -45.837118, -92.475699], [-101.000000, 148.000000, 120.000000, -153.000000, -94.000000, 60.000000], [79.000000, -150.305806, 65.725235, 27.150523, -97.044882, 61.563463], [79.000000, 10.766556, 134.550373, 136.367682, -41.020419, -86.308523]] - id: 270 parameters: Irb2400_10 joints: [-96.000000, -88.000000, -11.000000, 39.000000, 65.000000, -180.000000] @@ -1356,29 +1356,29 @@ cases: solutions: [[84.000000, -0.786737, 7.616572, -128.209864, 133.458167, -119.961884], [84.000000, 91.306420, -167.340964, -142.311752, 68.895595, -176.652758], [-96.000000, -88.000000, -11.000000, 39.000000, 65.000000, 180.000000], [-96.000000, -15.831367, -148.724392, 40.147009, 117.795521, -139.636330], [84.000000, -0.786737, 7.616572, 51.790136, -133.458167, 60.038116], [84.000000, 91.306420, -167.340964, 37.688248, -68.895595, 3.347242], [-96.000000, -88.000000, -11.000000, -141.000000, -65.000000, 0.000000], [-96.000000, -15.831367, -148.724392, -139.852991, -117.795521, 40.363670]] - id: 271 parameters: Irb2400_10 - joints: [-95.000000, 6.000000, 48.000000, -20.000000, -84.000000, 98.000000] - pose: {translation: [-0.04058883163107106, -0.7956656783353091, 0.8241845584208205], quaternion: [0.5071966821857097, 0.1018740707291582, 0.09293036951416861, 0.8507274215134005]} - solutions: [[-95.000000, 6.000000, 48.000000, 160.000000, 84.000000, -82.000000], [-95.000000, 143.699839, 152.275608, 32.624677, 39.117533, 69.409931], [85.000000, -136.943662, 30.318242, -152.389777, 47.217539, 76.264134], [85.000000, -19.858135, 169.957366, -22.768873, 61.509735, -72.857201], [-95.000000, 6.000000, 48.000000, -20.000000, -84.000000, 98.000000], [-95.000000, 143.699839, 152.275608, -147.375323, -39.117533, -110.590069], [85.000000, -136.943662, 30.318242, 27.610223, -47.217539, -103.735866], [85.000000, -19.858135, 169.957366, 157.231127, -61.509735, 107.142799]] + joints: [-95.000000, 6.000000, 48.000000, -20.000000, -83.000000, 98.000000] + pose: {translation: [-0.04071043408402771, -0.7963965706887611, 0.8228993291800829], quaternion: [0.5146418876607771, 0.1016400520287745, 0.091430485211308, 0.8464357587333872]} + solutions: [[-95.000000, 6.000000, 48.000000, 160.000000, 83.000000, -82.000000], [-95.000000, 143.699839, 152.275608, 31.880187, 39.998001, 69.983940], [85.000000, -136.943662, 30.318242, -152.886933, 48.147525, 76.598851], [85.000000, -19.858135, 169.957366, -22.951387, 60.522562, -72.768758], [-95.000000, 6.000000, 48.000000, -20.000000, -83.000000, 98.000000], [-95.000000, 143.699839, 152.275608, -148.119813, -39.998001, -110.016060], [85.000000, -136.943662, 30.318242, 27.113067, -48.147525, -103.401149], [85.000000, -19.858135, 169.957366, 157.048613, -60.522562, 107.231242]] - id: 272 parameters: Irb2400_10 - joints: [21.000000, 130.000000, 58.000000, 127.000000, -20.000000, -7.000000] - pose: {translation: [-0.1812346513054724, -0.09443898946410492, 0.1616660569585101], quaternion: [-0.3633447834181071, -0.4479684651381651, 0.7956116409020397, 0.1852213256236153]} - solutions: [[-159.000000, 98.877288, 62.162724, 85.099218, 164.088533, 26.631645], [-159.000000, -105.145442, 138.112884, 160.503769, 54.928724, 133.225561], [21.000000, 130.000000, 58.000000, -53.000000, 20.000000, 173.000000], [21.000000, -79.663702, 142.275608, -22.892152, 135.397215, 104.993668], [-159.000000, 98.877288, 62.162724, -94.900782, -164.088533, -153.368355], [-159.000000, -105.145442, 138.112884, -19.496231, -54.928724, -46.774439], [21.000000, 130.000000, 58.000000, 127.000000, -20.000000, -7.000000], [21.000000, -79.663702, 142.275608, 157.107848, -135.397215, -75.006332]] + joints: [21.000000, 129.000000, 58.000000, 127.000000, -20.000000, -7.000000] + pose: {translation: [-0.1738052903041684, -0.09158712497240963, 0.1564463066897964], quaternion: [-0.3692334903044283, -0.4519485164443957, 0.7912202680285523, 0.1827010004957426]} + solutions: [[-159.000000, 100.097500, 61.872885, 85.342658, 164.094334, 26.884779], [-159.000000, -104.327828, 138.402723, 160.528883, 55.030024, 133.181798], [21.000000, 129.000000, 58.000000, -53.000000, 20.000000, 173.000000], [21.000000, -80.663702, 142.275608, -22.892152, 135.397215, 104.993668], [-159.000000, 100.097500, 61.872885, -94.657342, -164.094334, -153.115221], [-159.000000, -104.327828, 138.402723, -19.471117, -55.030024, -46.818202], [21.000000, 129.000000, 58.000000, 127.000000, -20.000000, -7.000000], [21.000000, -80.663702, 142.275608, 157.107848, -135.397215, -75.006332]] - id: 273 parameters: Irb2400_10 - joints: [-7.000000, 164.000000, -12.000000, -175.000000, 169.000000, 150.000000] - pose: {translation: [-0.2261407913246973, 0.02634242371183634, -0.5114323625365247], quaternion: [-0.1368773640247064, 0.5785829128020578, -0.2921604654239448, 0.7490985667283034]} - solutions: [[173.000000, 130.483375, -5.084898, 1.003961, 71.644995, 144.775231], [173.000000, -151.053389, -154.639494, 1.573402, 142.723313, 146.343514], [-7.000000, 164.000000, -12.000000, -175.000000, 169.000000, 150.000000], [-7.000000, -124.892838, -147.724392, -179.016116, 104.421575, 145.336475], [173.000000, 130.483375, -5.084898, -178.996039, -71.644995, -35.224769], [173.000000, -151.053389, -154.639494, -178.426598, -142.723313, -33.656486], [-7.000000, 164.000000, -12.000000, 5.000000, -169.000000, -30.000000], [-7.000000, -124.892838, -147.724392, 0.983884, -104.421575, -34.663525]] + joints: [-7.000000, 164.000000, -12.000000, -175.000000, 168.000000, 150.000000] + pose: {translation: [-0.2257406106801519, 0.02616563536536183, -0.5128498978350018], quaternion: [-0.137932695852487, 0.5854968950523557, -0.2906592658714172, 0.7441002274304215]} + solutions: [[173.000000, 130.483375, -5.084898, 1.100472, 70.649174, 144.744043], [173.000000, -151.053389, -154.639494, 1.676353, 141.725304, 146.424891], [-7.000000, 164.000000, -12.000000, -175.000000, 168.000000, 150.000000], [-7.000000, -124.892838, -147.724392, -178.932532, 103.424871, 145.356587], [173.000000, 130.483375, -5.084898, -178.899528, -70.649174, -35.255957], [173.000000, -151.053389, -154.639494, -178.323647, -141.725304, -33.575109], [-7.000000, 164.000000, -12.000000, 5.000000, -168.000000, -30.000000], [-7.000000, -124.892838, -147.724392, 1.067468, -103.424871, -34.643413]] - id: 274 parameters: Irb2400_10 - joints: [68.000000, 57.000000, -143.000000, 180.000000, -57.000000, -125.000000] - pose: {translation: [0.2560812232453444, 0.6338232690613155, 1.802757319308157], quaternion: [-0.05745497379765402, 0.5042758331139241, 0.757214450964575, 0.4111339019998058]} - solutions: [[68.000000, -9.101679, -16.724392, -180.000000, 3.173929, -125.000000], [68.000000, 57.000000, -143.000000, -0.000000, 57.000000, 55.000000], [-112.000000, -56.486691, -32.487265, 180.000000, 62.026045, 55.000000], [-112.000000, -6.995385, -127.237128, 180.000000, 16.767488, 55.000000], [68.000000, -9.101679, -16.724392, 0.000000, -3.173929, 55.000000], [68.000000, 57.000000, -143.000000, 180.000000, -57.000000, -125.000000], [-112.000000, -56.486691, -32.487265, 0.000000, -62.026045, -125.000000], [-112.000000, -6.995385, -127.237128, 0.000000, -16.767488, -125.000000]] + joints: [68.000000, 56.000000, -143.000000, 180.000000, -57.000000, -125.000000] + pose: {translation: [0.2482826224805175, 0.6145210548332503, 1.812761649779377], quaternion: [-0.05660160688395338, 0.4967859278382938, 0.761077944845753, 0.4132316080231097]} + solutions: [[68.000000, -10.101679, -16.724392, -180.000000, 3.173929, -125.000000], [68.000000, 56.000000, -143.000000, -0.000000, 57.000000, 55.000000], [-112.000000, -55.866237, -31.911356, 180.000000, 62.222407, 55.000000], [-112.000000, -5.770055, -127.813036, 180.000000, 16.416909, 55.000000], [68.000000, -10.101679, -16.724392, 0.000000, -3.173929, 55.000000], [68.000000, 56.000000, -143.000000, 180.000000, -57.000000, -125.000000], [-112.000000, -55.866237, -31.911356, 0.000000, -62.222407, -125.000000], [-112.000000, -5.770055, -127.813036, 0.000000, -16.416909, -125.000000]] - id: 275 parameters: Irb2400_10 - joints: [-36.000000, -19.000000, 142.000000, -46.000000, -40.000000, 166.000000] - pose: {translation: [-0.3256982083796983, 0.2852141989686726, 0.4995878016620486], quaternion: [0.9618387638949882, 0.133008144274512, 0.1491535507482827, -0.186890995301516]} - solutions: [[144.000000, 9.159829, 74.676809, -83.510351, 27.733823, 30.253037], [144.000000, -175.187719, 125.598799, -37.313030, 130.288806, -78.659594], [-36.000000, -169.701187, 58.275608, 128.157494, 143.982157, -98.254048], [-36.000000, -19.000000, 142.000000, 134.000000, 40.000000, -14.000000], [144.000000, 9.159829, 74.676809, 96.489649, -27.733823, -149.746963], [144.000000, -175.187719, 125.598799, 142.686970, -130.288806, 101.340406], [-36.000000, -169.701187, 58.275608, -51.842506, -143.982157, 81.745952], [-36.000000, -19.000000, 142.000000, -46.000000, -40.000000, 166.000000]] + joints: [-36.000000, -18.000000, 142.000000, -46.000000, -40.000000, 166.000000] + pose: {translation: [-0.3272623014722693, 0.2863505791181848, 0.5088750521464056], quaternion: [0.9618965261122595, 0.1309185874797737, 0.1430396135352619, -0.1927564926666574]} + solutions: [[144.000000, 7.528759, 74.707393, -82.378621, 27.807586, 28.973996], [144.000000, -176.762550, 125.568215, -37.627919, 130.769307, -79.144157], [-36.000000, -168.701187, 58.275608, 128.157494, 143.982157, -98.254048], [-36.000000, -18.000000, 142.000000, 134.000000, 40.000000, -14.000000], [144.000000, 7.528759, 74.707393, 97.621379, -27.807586, -151.026004], [144.000000, -176.762550, 125.568215, 142.372081, -130.769307, 100.855843], [-36.000000, -168.701187, 58.275608, -51.842506, -143.982157, 81.745952], [-36.000000, -18.000000, 142.000000, -46.000000, -40.000000, 166.000000]] - id: 276 parameters: Irb2400_10 joints: [-166.000000, -89.000000, 177.000000, 41.000000, 2.000000, 126.000000] @@ -1396,9 +1396,9 @@ cases: solutions: [[157.000000, 35.000000, 65.000000, 24.000000, 114.000000, -54.000000], [157.000000, -164.988761, 135.275608, 156.291492, 112.464421, 106.209892], [-23.000000, -176.955629, 49.227140, -21.821801, 91.620565, 115.086719], [-23.000000, -37.757181, 151.048468, -141.927320, 142.946835, -32.252615], [157.000000, 35.000000, 65.000000, -156.000000, -114.000000, 126.000000], [157.000000, -164.988761, 135.275608, -23.708508, -112.464421, -73.790108], [-23.000000, -176.955629, 49.227140, 158.178199, -91.620565, -64.913281], [-23.000000, -37.757181, 151.048468, 38.072680, -142.946835, 147.747385]] - id: 279 parameters: Irb2400_10 - joints: [-178.000000, -123.000000, -88.000000, 89.000000, -130.000000, -77.000000] - pose: {translation: [1.018581285563834, 0.1007131864901841, -0.2463758220861985], quaternion: [-0.4130782403007814, -0.4117841575176592, -0.09677483567213115, 0.80649538510032]} - solutions: [[2.000000, 104.547691, -26.344098, 57.885115, 115.270786, 48.776659], [2.000000, 160.498204, -133.380294, 92.256490, 129.957400, 108.066506], [-178.000000, -131.481006, -71.724392, -84.486656, 129.692108, 113.149850], [-178.000000, -123.000000, -88.000000, -91.000000, 130.000000, 103.000000], [2.000000, 104.547691, -26.344098, -122.114885, -115.270786, -131.223341], [2.000000, 160.498204, -133.380294, -87.743510, -129.957400, -71.933494], [-178.000000, -131.481006, -71.724392, 95.513344, -129.692108, -66.850150], [-178.000000, -123.000000, -88.000000, 89.000000, -130.000000, -77.000000]] + joints: [-178.000000, -122.000000, -88.000000, 89.000000, -129.000000, -77.000000] + pose: {translation: [1.034384097332353, 0.1022090932728369, -0.2272588008378677], quaternion: [-0.4185877286118735, -0.4163258291997286, -0.1048647716217639, 0.8002877589151457]} + solutions: [[2.000000, 103.222324, -25.941106, 58.747516, 114.643225, 49.080659], [2.000000, 159.597138, -133.783286, 92.388558, 128.949231, 108.385023], [-178.000000, -130.481006, -71.724392, -84.712472, 128.707537, 113.007123], [-178.000000, -122.000000, -88.000000, -91.000000, 129.000000, 103.000000], [2.000000, 103.222324, -25.941106, -121.252484, -114.643225, -130.919341], [2.000000, 159.597138, -133.783286, -87.611442, -128.949231, -71.614977], [-178.000000, -130.481006, -71.724392, 95.287528, -128.707537, -66.992877], [-178.000000, -122.000000, -88.000000, 89.000000, -129.000000, -77.000000]] - id: 280 parameters: Irb2400_10 joints: [-75.000000, 100.000000, -51.000000, 6.000000, -112.000000, 1.000000] @@ -1406,34 +1406,34 @@ cases: solutions: [[-75.000000, 100.000000, -51.000000, -174.000000, 112.000000, -179.000000], [-75.000000, 130.103699, -108.724392, -174.412664, 84.514863, 178.209509], [-75.000000, 100.000000, -51.000000, 6.000000, -112.000000, 1.000000], [-75.000000, 130.103699, -108.724392, 5.587336, -84.514863, -1.790491]] - id: 281 parameters: Irb2400_10 - joints: [72.000000, -97.000000, -50.000000, 61.000000, 65.000000, 98.000000] - pose: {translation: [-0.4708244142983652, -1.231010879062762, 0.8779514432078087], quaternion: [-0.4190053420103377, 0.1584202049582387, 0.8777049997432397, -0.1702101508533177]} - solutions: [[-108.000000, 44.712365, -12.443266, -125.608508, 102.843104, 152.566199], [-108.000000, 115.349243, -147.281126, -119.429575, 65.521347, 99.026453], [72.000000, -97.000000, -50.000000, 61.000000, 65.000000, 98.000000], [72.000000, -65.851313, -109.724392, 53.431802, 80.736790, 123.079496], [-108.000000, 44.712365, -12.443266, 54.391492, -102.843104, -27.433801], [-108.000000, 115.349243, -147.281126, 60.570425, -65.521347, -80.973547], [72.000000, -97.000000, -50.000000, -119.000000, -65.000000, -82.000000], [72.000000, -65.851313, -109.724392, -126.568198, -80.736790, -56.920504]] + joints: [72.000000, -97.000000, -50.000000, 61.000000, 64.000000, 98.000000] + pose: {translation: [-0.4706922927338985, -1.232411891044418, 0.8784210327196224], quaternion: [-0.4185844697716073, 0.1506226689189586, 0.8785317033959252, -0.1740169514788896]} + solutions: [[-108.000000, 44.712365, -12.443266, -126.442303, 102.262044, 152.384981], [-108.000000, 115.349243, -147.281126, -119.449418, 64.521508, 99.034833], [72.000000, -97.000000, -50.000000, 61.000000, 64.000000, 98.000000], [72.000000, -65.851313, -109.724392, 53.001180, 79.831334, 123.152172], [-108.000000, 44.712365, -12.443266, 53.557697, -102.262044, -27.615019], [-108.000000, 115.349243, -147.281126, 60.550582, -64.521508, -80.965167], [72.000000, -97.000000, -50.000000, -119.000000, -64.000000, -82.000000], [72.000000, -65.851313, -109.724392, -126.998820, -79.831334, -56.847828]] - id: 282 parameters: Irb2400_10 - joints: [38.000000, 9.000000, 103.000000, -58.000000, -75.000000, 160.000000] - pose: {translation: [0.02389870745500292, 0.1070307677086618, 0.5240283812210761], quaternion: [0.5288462001200499, 0.6604405259529997, 0.3286472325963098, -0.4196796454491166]} - solutions: [[38.000000, 73.229239, 97.275608, 120.789122, 107.532300, -69.318470], [38.000000, 9.000000, 103.000000, 122.000000, 75.000000, -20.000000], [-142.000000, 143.894883, 88.455803, -124.486562, 96.381642, 146.691965], [-142.000000, -3.046225, 111.819805, -75.057876, 57.975244, 20.786929], [38.000000, 73.229239, 97.275608, -59.210878, -107.532300, 110.681530], [38.000000, 9.000000, 103.000000, -58.000000, -75.000000, 160.000000], [-142.000000, 143.894883, 88.455803, 55.513438, -96.381642, -33.308035], [-142.000000, -3.046225, 111.819805, 104.942124, -57.975244, -159.213071]] + joints: [38.000000, 9.000000, 103.000000, -58.000000, -74.000000, 160.000000] + pose: {translation: [0.02353020614367912, 0.1063162068452891, 0.5227816195974145], quaternion: [0.5302684591249764, 0.6648377583016819, 0.3223268574154472, -0.4158263019366375]} + solutions: [[38.000000, 73.229239, 97.275608, 121.581591, 106.878886, -69.084050], [38.000000, 9.000000, 103.000000, 122.000000, 74.000000, -20.000000], [-142.000000, 143.894883, 88.455803, -124.718647, 97.354734, 146.664210], [-142.000000, -3.046225, 111.819805, -75.834833, 57.220466, 21.203282], [38.000000, 73.229239, 97.275608, -58.418409, -106.878886, 110.915950], [38.000000, 9.000000, 103.000000, -58.000000, -74.000000, 160.000000], [-142.000000, 143.894883, 88.455803, 55.281353, -97.354734, -33.335790], [-142.000000, -3.046225, 111.819805, 104.165167, -57.220466, -158.796718]] - id: 283 parameters: Irb2400_10 - joints: [-144.000000, 95.000000, 157.000000, 14.000000, -27.000000, 85.000000] - pose: {translation: [-0.3142105314725679, -0.2167479139991733, 1.29034386836229], quaternion: [-0.3495966670720086, 0.1488125059201149, -0.3458062945947772, 0.8579364866192305]} - solutions: [[-144.000000, -37.031345, 43.275608, -170.134425, 140.132218, -74.872105], [-144.000000, 95.000000, 157.000000, -166.000000, 27.000000, -95.000000], [36.000000, -101.213059, 32.699595, 15.902271, 23.630963, -97.103407], [36.000000, 18.568201, 167.576012, 7.999845, 127.891239, -77.541805], [-144.000000, -37.031345, 43.275608, 9.865575, -140.132218, 105.127895], [-144.000000, 95.000000, 157.000000, 14.000000, -27.000000, 85.000000], [36.000000, -101.213059, 32.699595, -164.097729, -23.630963, 82.896593], [36.000000, 18.568201, 167.576012, -172.000155, -127.891239, 102.458195]] + joints: [-144.000000, 94.000000, 157.000000, 14.000000, -27.000000, 85.000000] + pose: {translation: [-0.3046404549277563, -0.2097948463931011, 1.295155658259388], quaternion: [-0.3564253571174006, 0.1530900445029686, -0.3440883126977829, 0.8550600190294277]} + solutions: [[-144.000000, -38.031345, 43.275608, -170.134425, 140.132218, -74.872105], [-144.000000, 94.000000, 157.000000, -166.000000, 27.000000, -95.000000], [36.000000, -100.514009, 32.947279, 15.868989, 23.682196, -97.067070], [36.000000, 19.548749, 167.328329, 8.028969, 128.155765, -77.494526], [-144.000000, -38.031345, 43.275608, 9.865575, -140.132218, 105.127895], [-144.000000, 94.000000, 157.000000, 14.000000, -27.000000, 85.000000], [36.000000, -100.514009, 32.947279, -164.131011, -23.682196, 82.932930], [36.000000, 19.548749, 167.328329, -171.971031, -128.155765, 102.505474]] - id: 284 parameters: Irb2400_10 - joints: [-78.000000, 17.000000, 80.000000, 40.000000, -85.000000, 6.000000] - pose: {translation: [0.03233351229375595, -0.413906422867835, 0.5081119520157503], quaternion: [0.6652132437436906, 0.3837257211975317, -0.5466386296608768, 0.3338144990888057]} - solutions: [[-78.000000, 17.000000, 80.000000, -140.000000, 85.000000, -174.000000], [-78.000000, -156.459637, 120.275608, -47.547292, 60.211585, 38.687328], [102.000000, 178.983471, 64.244554, 139.419834, 79.855457, 18.761549], [102.000000, -22.096891, 136.031054, 46.400514, 62.157194, 164.056770], [-78.000000, 17.000000, 80.000000, 40.000000, -85.000000, 6.000000], [-78.000000, -156.459637, 120.275608, 132.452708, -60.211585, -141.312672], [102.000000, 178.983471, 64.244554, -40.580166, -79.855457, -161.238451], [102.000000, -22.096891, 136.031054, -133.599486, -62.157194, -15.943230]] + joints: [-78.000000, 17.000000, 80.000000, 40.000000, -84.000000, 6.000000] + pose: {translation: [0.03236301818700268, -0.4136056426927733, 0.5066595520437384], quaternion: [0.6702365398978217, 0.3861095681195859, -0.5411946323943198, 0.3298647478283784]} + solutions: [[-78.000000, 17.000000, 80.000000, -140.000000, 84.000000, -174.000000], [-78.000000, -156.459637, 120.275608, -46.930164, 61.054648, 38.384678], [102.000000, 178.983471, 64.244554, 139.643576, 80.830828, 18.724016], [102.000000, -22.096891, 136.031054, 46.826807, 61.230296, 163.854621], [-78.000000, 17.000000, 80.000000, 40.000000, -84.000000, 6.000000], [-78.000000, -156.459637, 120.275608, 133.069836, -61.054648, -141.615322], [102.000000, 178.983471, 64.244554, -40.356424, -80.830828, -161.275984], [102.000000, -22.096891, 136.031054, -133.173193, -61.230296, -16.145379]] - id: 285 parameters: Irb2400_10 - joints: [138.000000, -104.000000, 123.000000, -118.000000, -102.000000, 121.000000] - pose: {translation: [-0.156388338332762, 0.04202910613830324, 0.2951332315878504], quaternion: [0.8215671709508966, 0.09099251164451481, -0.250969614804925, 0.5037479517427647]} - solutions: [[138.000000, 75.337586, 77.275608, 100.894520, 61.582657, 167.622744], [138.000000, -104.000000, 123.000000, 62.000000, 102.000000, -59.000000], [-42.000000, 140.344030, 69.138308, -99.770135, 118.793251, -10.029050], [-42.000000, -53.389889, 131.137299, -106.780143, 64.430615, -135.416695], [138.000000, 75.337586, 77.275608, -79.105480, -61.582657, -12.377256], [138.000000, -104.000000, 123.000000, -118.000000, -102.000000, 121.000000], [-42.000000, 140.344030, 69.138308, 80.229865, -118.793251, 169.970950], [-42.000000, -53.389889, 131.137299, 73.219857, -64.430615, 44.583305]] + joints: [138.000000, -104.000000, 123.000000, -118.000000, -101.000000, 121.000000] + pose: {translation: [-0.1575509567463009, 0.04272452776526285, 0.2945286555583854], quaternion: [0.8241759912436077, 0.08684767470889493, -0.255333223859837, 0.4979923309134558]} + solutions: [[138.000000, 75.337586, 77.275608, 101.715649, 62.271916, 167.236315], [138.000000, -104.000000, 123.000000, 62.000000, 101.000000, -59.000000], [-42.000000, 140.344030, 69.138308, -100.625575, 118.134116, -10.436767], [-42.000000, -53.389889, 131.137299, -105.700481, 64.199720, -135.884655], [138.000000, 75.337586, 77.275608, -78.284351, -62.271916, -12.763685], [138.000000, -104.000000, 123.000000, -118.000000, -101.000000, 121.000000], [-42.000000, 140.344030, 69.138308, 79.374425, -118.134116, 169.563233], [-42.000000, -53.389889, 131.137299, 74.299519, -64.199720, 44.115345]] - id: 286 parameters: Irb2400_10 - joints: [-141.000000, -88.000000, 86.000000, -105.000000, 97.000000, 125.000000] - pose: {translation: [-0.1555334508360192, -0.02108827192529446, 0.8223318419705148], quaternion: [-0.4023446500439812, 0.4603028280796583, 0.7795150626055602, 0.1363684575475732]} - solutions: [[-141.000000, -88.000000, 86.000000, -105.000000, 97.000000, 125.000000], [-141.000000, 115.369526, 114.275608, -86.190385, 73.914462, -2.970671], [39.000000, -142.384196, 76.483534, 89.027728, 73.508935, 13.964256], [39.000000, 36.698177, 123.792074, 78.542516, 101.980155, 146.226243], [-141.000000, -88.000000, 86.000000, 75.000000, -97.000000, -55.000000], [-141.000000, 115.369526, 114.275608, 93.809615, -73.914462, 177.029329], [39.000000, -142.384196, 76.483534, -90.972272, -73.508935, -166.035744], [39.000000, 36.698177, 123.792074, -101.457484, -101.980155, -33.773757]] + joints: [-141.000000, -88.000000, 86.000000, -105.000000, 96.000000, 125.000000] + pose: {translation: [-0.1567791534790706, -0.02188828922509764, 0.8224267220804263], quaternion: [-0.407205874866431, 0.4553956171701839, 0.7807619212929174, 0.131183190979043]} + solutions: [[-141.000000, -88.000000, 86.000000, -105.000000, 96.000000, 125.000000], [-141.000000, 115.369526, 114.275608, -85.372443, 74.531259, -3.193073], [39.000000, -142.384196, 76.483534, 89.999329, 73.870116, 13.691382], [39.000000, 36.698177, 123.792074, 78.173644, 101.047761, 146.152611], [-141.000000, -88.000000, 86.000000, 75.000000, -96.000000, -55.000000], [-141.000000, 115.369526, 114.275608, 94.627557, -74.531259, 176.806927], [39.000000, -142.384196, 76.483534, -90.000671, -73.870116, -166.308618], [39.000000, 36.698177, 123.792074, -101.826356, -101.047761, -33.847389]] - id: 287 parameters: Irb2400_10 joints: [120.000000, -10.000000, 160.000000, -19.000000, -17.000000, -8.000000] @@ -1441,14 +1441,14 @@ cases: solutions: [[-60.000000, -5.824276, 56.794419, -131.464926, 7.297659, -74.529520], [-60.000000, 142.928480, 143.481189, -6.282807, 119.565178, 150.664760], [120.000000, -138.502711, 40.275608, 173.090957, 127.693885, 149.536873], [120.000000, -10.000000, 160.000000, 161.000000, 17.000000, 172.000000], [-60.000000, -5.824276, 56.794419, 48.535074, -7.297659, 105.470480], [-60.000000, 142.928480, 143.481189, 173.717193, -119.565178, -29.335240], [120.000000, -138.502711, 40.275608, -6.909043, -127.693885, -30.463127], [120.000000, -10.000000, 160.000000, -19.000000, -17.000000, -8.000000]] - id: 288 parameters: Irb2400_10 - joints: [167.000000, 175.000000, 46.000000, 40.000000, -36.000000, 22.000000] - pose: {translation: [0.5664511822762002, -0.09781601730068647, 0.3223514201699965], quaternion: [0.5938218108493851, -0.2278280171301333, 0.6640162637603353, -0.3931315976004394]} - solutions: [[-13.000000, 51.072113, 60.459504, 153.942388, 120.671952, 42.164507], [-13.000000, -155.294089, 139.816104, 81.307981, 22.470691, 155.564383], [167.000000, 175.000000, 46.000000, -140.000000, 36.000000, -158.000000], [167.000000, -49.718251, 154.275608, -22.220333, 87.540910, 57.174602], [-13.000000, 51.072113, 60.459504, -26.057612, -120.671952, -137.835493], [-13.000000, -155.294089, 139.816104, -98.692019, -22.470691, -24.435617], [167.000000, 175.000000, 46.000000, 40.000000, -36.000000, 22.000000], [167.000000, -49.718251, 154.275608, 157.779667, -87.540910, -122.825398]] + joints: [167.000000, 174.000000, 46.000000, 40.000000, -36.000000, 22.000000] + pose: {translation: [0.5613746501140764, -0.09664400750322617, 0.3106341714244633], quaternion: [0.5986735128231113, -0.2324655836723906, 0.6584945511736439, -0.3923451331755146]} + solutions: [[-13.000000, 52.505860, 60.277904, 153.876322, 120.898404, 42.035427], [-13.000000, -154.107152, 139.997704, 82.190941, 22.417804, 154.609062], [167.000000, 174.000000, 46.000000, -140.000000, 36.000000, -158.000000], [167.000000, -50.718251, 154.275608, -22.220333, 87.540910, 57.174602], [-13.000000, 52.505860, 60.277904, -26.123678, -120.898404, -137.964573], [-13.000000, -154.107152, 139.997704, -97.809059, -22.417804, -25.390938], [167.000000, 174.000000, 46.000000, 40.000000, -36.000000, 22.000000], [167.000000, -50.718251, 154.275608, 157.779667, -87.540910, -122.825398]] - id: 289 parameters: Irb2400_10 - joints: [-137.000000, -124.000000, 9.000000, -101.000000, 26.000000, 85.000000] - pose: {translation: [0.6805406724419819, 0.6846271090903797, 0.9142128130316782], quaternion: [0.1138652246981739, 0.3121180461250437, 0.9047991212793008, -0.2663748975029828]} - solutions: [[43.000000, 16.469312, 28.958884, 153.720472, 103.610739, -23.831337], [43.000000, 132.024252, 171.316723, 96.315084, 25.654547, 65.797518], [-137.000000, -124.000000, 9.000000, -101.000000, 26.000000, 85.000000], [-137.000000, -30.410707, -168.724392, -25.916794, 79.918494, -12.341274], [43.000000, 16.469312, 28.958884, -26.279528, -103.610739, 156.168663], [43.000000, 132.024252, 171.316723, -83.684916, -25.654547, -114.202482], [-137.000000, -124.000000, 9.000000, 79.000000, -26.000000, -95.000000], [-137.000000, -30.410707, -168.724392, 154.083206, -79.918494, 167.658726]] + joints: [-137.000000, -123.000000, 9.000000, -101.000000, 26.000000, 85.000000] + pose: {translation: [0.6766029675687147, 0.6809551398913003, 0.932747605759317], quaternion: [0.1065009689017576, 0.3084213187482268, 0.9073489433348501, -0.2650504268883992]} + solutions: [[43.000000, 15.298922, 28.864376, 153.748598, 103.373190, -23.710785], [43.000000, 130.747659, 171.411232, 95.937972, 25.635114, 66.215837], [-137.000000, -123.000000, 9.000000, -101.000000, 26.000000, 85.000000], [-137.000000, -29.410707, -168.724392, -25.916794, 79.918494, -12.341274], [43.000000, 15.298922, 28.864376, -26.251402, -103.373190, 156.289215], [43.000000, 130.747659, 171.411232, -84.062028, -25.635114, -113.784163], [-137.000000, -123.000000, 9.000000, 79.000000, -26.000000, -95.000000], [-137.000000, -29.410707, -168.724392, 154.083206, -79.918494, 167.658726]] - id: 290 parameters: Irb2400_10 joints: [-155.000000, 7.000000, -146.000000, 127.000000, 64.000000, 171.000000] @@ -1456,24 +1456,24 @@ cases: solutions: [[25.000000, -21.451771, -3.146710, -61.169602, 55.021660, -173.024763], [25.000000, 59.080484, -156.577682, -47.225345, 102.067833, 128.078256], [-155.000000, -62.278437, -13.724392, 131.549611, 106.433636, 123.108299], [-155.000000, 7.000000, -146.000000, 127.000000, 64.000000, 171.000000], [25.000000, -21.451771, -3.146710, 118.830398, -55.021660, 6.975237], [25.000000, 59.080484, -156.577682, 132.774655, -102.067833, -51.921744], [-155.000000, -62.278437, -13.724392, -48.450389, -106.433636, -56.891701], [-155.000000, 7.000000, -146.000000, -53.000000, -64.000000, -9.000000]] - id: 291 parameters: Irb2400_10 - joints: [-36.000000, -32.000000, 123.000000, -25.000000, -47.000000, -170.000000] - pose: {translation: [-0.06260337720485271, 0.07795810701306261, 0.3966885110793551], quaternion: [0.9045023606152857, -0.1691352319690887, 0.3914955322508324, 3.428958887253957e-05]} - solutions: [[144.000000, 56.496422, 87.984008, -121.079773, 21.154822, 115.233355], [144.000000, -92.502064, 112.291600, -19.499338, 112.185658, -15.257801], [-36.000000, 147.337586, 77.275608, 96.746554, 161.866110, -90.546109], [-36.000000, -32.000000, 123.000000, 155.000000, 47.000000, 10.000000], [144.000000, 56.496422, 87.984008, 58.920227, -21.154822, -64.766645], [144.000000, -92.502064, 112.291600, 160.500662, -112.185658, 164.742199], [-36.000000, 147.337586, 77.275608, -83.253446, -161.866110, 89.453891], [-36.000000, -32.000000, 123.000000, -25.000000, -47.000000, -170.000000]] + joints: [-36.000000, -31.000000, 123.000000, -25.000000, -46.000000, -170.000000] + pose: {translation: [-0.0666939191557421, 0.08039660985031062, 0.3991074864579895], quaternion: [0.9105046801540937, -0.1716830654521556, 0.3761566876634954, -0.003506961714962064]} + solutions: [[144.000000, 54.507627, 88.263278, -122.189013, 21.052296, 116.050694], [144.000000, -93.286044, 112.012330, -19.049493, 111.340413, -15.110397], [-36.000000, 148.337586, 77.275608, 99.933399, 162.023140, -87.516115], [-36.000000, -31.000000, 123.000000, 155.000000, 46.000000, 10.000000], [144.000000, 54.507627, 88.263278, 57.810987, -21.052296, -63.949306], [144.000000, -93.286044, 112.012330, 160.950507, -111.340413, 164.889603], [-36.000000, 148.337586, 77.275608, -80.066601, -162.023140, 92.483885], [-36.000000, -31.000000, 123.000000, -25.000000, -46.000000, -170.000000]] - id: 292 parameters: Irb2400_10 - joints: [161.000000, -135.000000, 120.000000, -132.000000, 34.000000, 175.000000] - pose: {translation: [-0.324781796606223, 0.1491893711436425, 0.4912575885247504], quaternion: [-0.2771909795868245, 0.3676521188347814, 0.8861010084307572, -0.05312328312508282]} - solutions: [[161.000000, 37.819946, 80.275608, -130.083809, 147.102078, -97.429657], [161.000000, -135.000000, 120.000000, -132.000000, 34.000000, 175.000000], [-19.000000, 165.429811, 66.349053, 115.326865, 27.371086, 99.582279], [-19.000000, -32.574138, 133.926554, 27.345949, 115.223979, -129.934302], [161.000000, 37.819946, 80.275608, 49.916191, -147.102078, 82.570343], [161.000000, -135.000000, 120.000000, 48.000000, -34.000000, -5.000000], [-19.000000, 165.429811, 66.349053, -64.673135, -27.371086, -80.417721], [-19.000000, -32.574138, 133.926554, -152.654051, -115.223979, 50.065698]] + joints: [161.000000, -134.000000, 120.000000, -132.000000, 34.000000, 175.000000] + pose: {translation: [-0.3227030353545539, 0.1484735962432563, 0.4868145785197841], quaternion: [-0.2843408066810968, 0.3705939310409244, 0.882735607697767, -0.05087524775400697]} + solutions: [[161.000000, 38.819946, 80.275608, -130.083809, 147.102078, -97.429657], [161.000000, -134.000000, 120.000000, -132.000000, 34.000000, 175.000000], [-19.000000, 164.767446, 66.465223, 116.113276, 27.568031, 98.695944], [-19.000000, -33.063324, 133.810385, 27.261348, 114.873302, -130.134120], [161.000000, 38.819946, 80.275608, 49.916191, -147.102078, 82.570343], [161.000000, -134.000000, 120.000000, 48.000000, -34.000000, -5.000000], [-19.000000, 164.767446, 66.465223, -63.886724, -27.568031, -81.304056], [-19.000000, -33.063324, 133.810385, -152.738652, -114.873302, 49.865880]] - id: 293 parameters: Irb2400_10 - joints: [-19.000000, 132.000000, -96.000000, -12.000000, 55.000000, -161.000000] - pose: {translation: [1.237213117069883, -0.4413172425387408, -0.275053753367059], quaternion: [0.9600651036165148, -0.2663793635234011, -0.00867873062384125, 0.08509824405613518]} - solutions: [[-19.000000, 115.178226, -63.724392, -15.373113, 39.973467, -156.052924], [-19.000000, 132.000000, -96.000000, -12.000000, 55.000000, -161.000000], [-19.000000, 115.178226, -63.724392, 164.626887, -39.973467, 23.947076], [-19.000000, 132.000000, -96.000000, 168.000000, -55.000000, 19.000000]] + joints: [-19.000000, 131.000000, -96.000000, -12.000000, 55.000000, -161.000000] + pose: {translation: [1.251725654699694, -0.4463143099835901, -0.253739928604536], quaternion: [0.959858385271427, -0.2670960318412125, 1.734979412058597e-16, 0.08562470437208512]} + solutions: [[-19.000000, 114.178226, -63.724392, -15.373113, 39.973467, -156.052924], [-19.000000, 131.000000, -96.000000, -12.000000, 55.000000, -161.000000], [-19.000000, 114.178226, -63.724392, 164.626887, -39.973467, 23.947076], [-19.000000, 131.000000, -96.000000, 168.000000, -55.000000, 19.000000]] - id: 294 parameters: Irb2400_10 - joints: [-145.000000, -149.000000, -106.000000, 158.000000, -103.000000, 85.000000] - pose: {translation: [0.3076827402737457, 0.2533168713290329, -0.7151733042431258], quaternion: [0.08926874712081073, 0.5162140045558024, 0.7949635223504697, 0.3059202353883726]} - solutions: [[35.000000, 150.145830, -40.792145, 149.469257, 134.068086, -112.109879], [35.000000, -169.072428, -118.932248, 158.230071, 100.211765, -93.856760], [-145.000000, -176.257739, -53.724392, -21.773815, 79.734371, -85.735131], [-145.000000, -149.000000, -106.000000, -22.000000, 103.000000, -95.000000], [35.000000, 150.145830, -40.792145, -30.530743, -134.068086, 67.890121], [35.000000, -169.072428, -118.932248, -21.769929, -100.211765, 86.143240], [-145.000000, -176.257739, -53.724392, 158.226185, -79.734371, 94.264869], [-145.000000, -149.000000, -106.000000, 158.000000, -103.000000, 85.000000]] + joints: [-145.000000, -149.000000, -106.000000, 158.000000, -102.000000, 85.000000] + pose: {translation: [0.308156375992296, 0.2537953526189585, -0.7164952459405735], quaternion: [0.09132018954548236, 0.5233379007156653, 0.7905135296352871, 0.3047399286595993]} + solutions: [[35.000000, 150.145830, -40.792145, 149.872248, 133.111628, -111.832010], [35.000000, -169.072428, -118.932248, 158.209859, 99.211963, -93.860170], [-145.000000, -176.257739, -53.724392, -21.937961, 78.747459, -85.704487], [-145.000000, -149.000000, -106.000000, -22.000000, 102.000000, -95.000000], [35.000000, 150.145830, -40.792145, -30.127752, -133.111628, 68.167990], [35.000000, -169.072428, -118.932248, -21.790141, -99.211963, 86.139830], [-145.000000, -176.257739, -53.724392, 158.062039, -78.747459, 94.295513], [-145.000000, -149.000000, -106.000000, 158.000000, -102.000000, 85.000000]] - id: 295 parameters: Irb2400_10 joints: [-98.000000, -60.000000, 175.000000, -116.000000, -1.000000, 50.000000] @@ -1481,9 +1481,9 @@ cases: solutions: [[82.000000, 57.570775, 41.654506, -178.420012, 34.673882, -67.302933], [82.000000, -172.310735, 158.621101, -0.918015, 78.252693, 114.183481], [-98.000000, -171.434746, 25.275608, 179.091464, 98.401413, 113.863807], [-98.000000, -60.000000, 175.000000, 64.000000, 1.000000, -130.000000], [82.000000, 57.570775, 41.654506, 1.579988, -34.673882, 112.697067], [82.000000, -172.310735, 158.621101, 179.081985, -78.252693, -65.816519], [-98.000000, -171.434746, 25.275608, -0.908536, -98.401413, -66.136193], [-98.000000, -60.000000, 175.000000, -116.000000, -1.000000, 50.000000]] - id: 296 parameters: Irb2400_10 - joints: [43.000000, 134.000000, -146.000000, 155.000000, -162.000000, 108.000000] - pose: {translation: [0.9169680884832209, 0.839908312611674, 0.3741962848976013], quaternion: [0.6352699065817818, -0.5764306058935926, 0.03350015604504388, 0.512871954707681]} - solutions: [[43.000000, 64.721563, -13.724392, -7.632662, 100.502559, -49.482723], [43.000000, 134.000000, -146.000000, -25.000000, 162.000000, -72.000000], [-137.000000, -112.080336, -52.972546, 150.496618, 164.622143, -76.699968], [-137.000000, -84.037342, -106.751846, 168.226663, 140.204415, -57.181531], [43.000000, 64.721563, -13.724392, 172.367338, -100.502559, 130.517277], [43.000000, 134.000000, -146.000000, 155.000000, -162.000000, 108.000000], [-137.000000, -112.080336, -52.972546, -29.503382, -164.622143, 103.300032], [-137.000000, -84.037342, -106.751846, -11.773337, -140.204415, 122.818469]] + joints: [43.000000, 133.000000, -146.000000, 155.000000, -161.000000, 108.000000] + pose: {translation: [0.9208650114150967, 0.8427292939391002, 0.393052342964704], quaternion: [0.6423464533944385, -0.5809388634171482, 0.03721336839690467, 0.4985140278826011]} + solutions: [[43.000000, 63.721563, -13.724392, -8.021021, 99.578566, -49.550434], [43.000000, 133.000000, -146.000000, -25.000000, 161.000000, -72.000000], [-137.000000, -111.137369, -53.128412, 151.136839, 163.439168, -76.055870], [-137.000000, -83.257175, -106.595980, 167.850583, 139.174473, -57.459744], [43.000000, 63.721563, -13.724392, 171.978979, -99.578566, 130.449566], [43.000000, 133.000000, -146.000000, 155.000000, -161.000000, 108.000000], [-137.000000, -111.137369, -53.128412, -28.863161, -163.439168, 103.944130], [-137.000000, -83.257175, -106.595980, -12.149417, -139.174473, 122.540256]] - id: 297 parameters: Irb2400_10 joints: [-93.000000, -119.000000, -27.000000, -103.000000, 39.000000, -19.000000] @@ -1491,19 +1491,19 @@ cases: solutions: [[87.000000, 48.955265, 1.324612, 141.071632, 77.389686, -115.544496], [87.000000, 134.274543, -161.049005, 86.016951, 37.928353, -30.500496], [-93.000000, -119.000000, -27.000000, -103.000000, 39.000000, -19.000000], [-93.000000, -63.739912, -132.724392, -50.291116, 52.851779, -89.522565], [87.000000, 48.955265, 1.324612, -38.928368, -77.389686, 64.455504], [87.000000, 134.274543, -161.049005, -93.983049, -37.928353, 149.499504], [-93.000000, -119.000000, -27.000000, 77.000000, -39.000000, 161.000000], [-93.000000, -63.739912, -132.724392, 129.708884, -52.851779, 90.477435]] - id: 298 parameters: Irb2400_10 - joints: [-80.000000, 40.000000, -149.000000, 118.000000, -116.000000, 52.000000] - pose: {translation: [-0.0272274007100346, -0.2340435045341061, 1.801421645046432], quaternion: [0.1735782659559108, 0.7800170082162645, -0.5034229483113876, -0.3286478169630179]} - solutions: [[-80.000000, -32.461312, -10.724392, -54.180409, 78.151704, -72.615939], [-80.000000, 40.000000, -149.000000, -62.000000, 116.000000, -128.000000], [100.000000, -47.053927, -14.860716, 113.644427, 119.966995, -137.261327], [100.000000, 21.020545, -144.863676, 127.285632, 85.898794, -83.129852], [-80.000000, -32.461312, -10.724392, 125.819591, -78.151704, 107.384061], [-80.000000, 40.000000, -149.000000, 118.000000, -116.000000, 52.000000], [100.000000, -47.053927, -14.860716, -66.355573, -119.966995, 42.738673], [100.000000, 21.020545, -144.863676, -52.714368, -85.898794, 96.870148]] + joints: [-80.000000, 40.000000, -149.000000, 118.000000, -115.000000, 52.000000] + pose: {translation: [-0.02780921374570037, -0.2339913090653185, 1.802785307106737], quaternion: [0.1740163617591375, 0.7747597768520398, -0.5078350822877811, -0.3340196449463013]} + solutions: [[-80.000000, -32.461312, -10.724392, -55.023081, 77.584893, -72.438838], [-80.000000, 40.000000, -149.000000, -62.000000, 115.000000, -128.000000], [100.000000, -47.053927, -14.860716, 113.828391, 118.979902, -137.170810], [100.000000, 21.020545, -144.863676, 126.577655, 85.190416, -83.074852], [-80.000000, -32.461312, -10.724392, 124.976919, -77.584893, 107.561162], [-80.000000, 40.000000, -149.000000, 118.000000, -115.000000, 52.000000], [100.000000, -47.053927, -14.860716, -66.171609, -118.979902, 42.829190], [100.000000, 21.020545, -144.863676, -53.422345, -85.190416, 96.925148]] - id: 299 parameters: Irb2400_10 - joints: [88.000000, 140.000000, -168.000000, -43.000000, 43.000000, 19.000000] - pose: {translation: [0.08247968229351896, 1.229074688364875, 0.540338489568308], quaternion: [-0.4679442156713436, 0.574066653464918, 0.2402929002752855, 0.6274830758487535]} - solutions: [[88.000000, 47.194443, 8.275608, -145.226616, 54.639603, 142.814796], [88.000000, 140.000000, -168.000000, -43.000000, 43.000000, 19.000000], [-92.000000, -125.791185, -17.264049, 142.512332, 49.841243, 11.024668], [-92.000000, -60.260351, -142.460343, 61.709900, 31.884711, 107.075201], [88.000000, 47.194443, 8.275608, 34.773384, -54.639603, -37.185204], [88.000000, 140.000000, -168.000000, 137.000000, -43.000000, -161.000000], [-92.000000, -125.791185, -17.264049, -37.487668, -49.841243, -168.975332], [-92.000000, -60.260351, -142.460343, -118.290100, -31.884711, -72.924799]] + joints: [88.000000, 139.000000, -168.000000, -43.000000, 43.000000, 19.000000] + pose: {translation: [0.08251914437960771, 1.230204734657185, 0.5600921010289378], quaternion: [-0.4625271617449512, 0.5717580465958022, 0.2451477987620196, 0.6317150604214283]} + solutions: [[88.000000, 46.194443, 8.275608, -145.226616, 54.639603, 142.814796], [88.000000, 139.000000, -168.000000, -43.000000, 43.000000, 19.000000], [-92.000000, -124.937369, -17.287878, 142.424726, 49.706419, 11.160322], [-92.000000, -59.431737, -142.436514, 61.501519, 31.954880, 107.320705], [88.000000, 46.194443, 8.275608, 34.773384, -54.639603, -37.185204], [88.000000, 139.000000, -168.000000, 137.000000, -43.000000, -161.000000], [-92.000000, -124.937369, -17.287878, -37.575274, -49.706419, -168.839678], [-92.000000, -59.431737, -142.436514, -118.498481, -31.954880, -72.679295]] - id: 300 parameters: Irb2400_10 - joints: [-118.000000, 179.000000, -178.000000, 85.000000, 113.000000, -175.000000] - pose: {translation: [-0.3237595036555082, -0.7749305344460237, 0.0256715982278584], quaternion: [-0.4573978639024286, 0.5722631627732101, -0.468408856646297, 0.4938574790823836]} - solutions: [[-118.000000, 75.302937, 18.275608, 67.133447, 84.391841, 94.574398], [-118.000000, 179.000000, -178.000000, 85.000000, 113.000000, -175.000000], [62.000000, -162.845929, -0.236161, -87.260777, 113.357202, -155.497907], [62.000000, -79.199939, -159.488231, -112.140469, 98.108730, 126.740664], [-118.000000, 75.302937, 18.275608, -112.866553, -84.391841, -85.425602], [-118.000000, 179.000000, -178.000000, -95.000000, -113.000000, 5.000000], [62.000000, -162.845929, -0.236161, 92.739223, -113.357202, 24.502093], [62.000000, -79.199939, -159.488231, 67.859531, -98.108730, -53.259336]] + joints: [-118.000000, 178.000000, -178.000000, 85.000000, 112.000000, -175.000000] + pose: {translation: [-0.3286795659838948, -0.7853884883374506, 0.03856066816332317], quaternion: [-0.458621975325056, 0.5745176955526664, -0.4753684672874558, 0.4833426543918636]} + solutions: [[-118.000000, 74.302937, 18.275608, 68.138215, 84.400126, 94.476278], [-118.000000, 178.000000, -178.000000, 85.000000, 112.000000, -175.000000], [62.000000, -161.881856, -0.452958, -87.726063, 112.424418, -155.911507], [62.000000, -78.468090, -159.271435, -111.288904, 97.563133, 126.809501], [-118.000000, 74.302937, 18.275608, -111.861785, -84.400126, -85.523722], [-118.000000, 178.000000, -178.000000, -95.000000, -112.000000, 5.000000], [62.000000, -161.881856, -0.452958, 92.273937, -112.424418, 24.088493], [62.000000, -78.468090, -159.271435, 68.711096, -97.563133, -53.190499]] - id: 301 parameters: Irb2400_10 joints: [-136.000000, -79.000000, 97.000000, 63.000000, 14.000000, 130.000000] @@ -1511,44 +1511,44 @@ cases: solutions: [[-136.000000, -79.000000, 97.000000, 63.000000, 14.000000, 130.000000], [-136.000000, -148.228362, 103.275608, 13.268264, 69.915875, -172.334483], [44.000000, -176.508316, 79.604006, -166.964322, 107.128086, -163.804309], [44.000000, 9.128961, 120.671601, -26.942435, 28.407331, 36.382460], [-136.000000, -79.000000, 97.000000, -117.000000, -14.000000, -50.000000], [-136.000000, -148.228362, 103.275608, -166.731736, -69.915875, 7.665517], [44.000000, -176.508316, 79.604006, 13.035678, -107.128086, 16.195691], [44.000000, 9.128961, 120.671601, 153.057565, -28.407331, -143.617540]] - id: 302 parameters: Irb2400_10 - joints: [-109.000000, -163.000000, -135.000000, 139.000000, 36.000000, -131.000000] - pose: {translation: [-0.1100127188046852, -0.4201790690167179, -0.7054566107389343], quaternion: [0.7130888055609886, 0.4945034738937766, -0.2270239831737801, 0.442075537385299]} - solutions: [[-109.000000, 139.343669, -24.724392, 157.083863, 82.029543, -162.762681], [-109.000000, -163.000000, -135.000000, 139.000000, 36.000000, -131.000000], [71.000000, 176.621490, -34.897729, -78.190014, 23.201209, -88.933621], [71.000000, -136.417562, -124.826663, -29.360688, 51.858914, -146.958127], [-109.000000, 139.343669, -24.724392, -22.916137, -82.029543, 17.237319], [-109.000000, -163.000000, -135.000000, -41.000000, -36.000000, 49.000000], [71.000000, 176.621490, -34.897729, 101.809986, -23.201209, 91.066379], [71.000000, -136.417562, -124.826663, 150.639312, -51.858914, 33.041873]] + joints: [-109.000000, -162.000000, -135.000000, 139.000000, 36.000000, -131.000000] + pose: {translation: [-0.1024934361785012, -0.3983414866214355, -0.7110689608785746], quaternion: [0.71735425718117, 0.4951018697482796, -0.2209091966727661, 0.4375798613981255]} + solutions: [[-109.000000, 140.343669, -24.724392, 157.083863, 82.029543, -162.762681], [-109.000000, -162.000000, -135.000000, 139.000000, 36.000000, -131.000000], [71.000000, 175.321499, -34.231772, -79.028482, 23.128928, -88.021627], [71.000000, -137.018684, -125.492621, -29.258450, 52.091804, -147.124098], [-109.000000, 140.343669, -24.724392, -22.916137, -82.029543, 17.237319], [-109.000000, -162.000000, -135.000000, -41.000000, -36.000000, 49.000000], [71.000000, 175.321499, -34.231772, 100.971518, -23.128928, 91.978373], [71.000000, -137.018684, -125.492621, 150.741550, -52.091804, 32.875902]] - id: 303 parameters: Irb2400_10 - joints: [103.000000, 54.000000, -29.000000, 97.000000, 119.000000, 116.000000] - pose: {translation: [-0.3819145166702494, 1.326233109422745, 0.8582901982547447], quaternion: [-0.04086488225259761, -0.5895625431319221, 0.5334226958606976, 0.6051498134140072]} - solutions: [[103.000000, 54.000000, -29.000000, 97.000000, 119.000000, 116.000000], [103.000000, 107.156012, -130.724392, 116.563296, 103.939434, 166.061791], [103.000000, 54.000000, -29.000000, -83.000000, -119.000000, -64.000000], [103.000000, 107.156012, -130.724392, -63.436704, -103.939434, -13.938209]] + joints: [103.000000, 53.000000, -29.000000, 97.000000, 118.000000, 116.000000] + pose: {translation: [-0.3818759846932285, 1.322942889977033, 0.880108538278038], quaternion: [-0.04144902988508486, -0.5946895411020463, 0.5236666426090063, 0.6086046130650296]} + solutions: [[103.000000, 53.000000, -29.000000, 97.000000, 118.000000, 116.000000], [103.000000, 106.156012, -130.724392, 115.775455, 103.296222, 165.876292], [103.000000, 53.000000, -29.000000, -83.000000, -118.000000, -64.000000], [103.000000, 106.156012, -130.724392, -64.224545, -103.296222, -14.123708]] - id: 304 parameters: Irb2400_10 - joints: [-82.000000, 86.000000, 133.000000, -169.000000, -158.000000, -84.000000] - pose: {translation: [0.03559038658646617, -0.2095833679833732, 1.009094264265316], quaternion: [0.7984147371025133, 0.1067433551701644, 0.048337946337638, 0.5905956371735236]} - solutions: [[-82.000000, -77.387959, 67.275608, 8.827849, 27.759381, 77.958217], [-82.000000, 86.000000, 133.000000, 11.000000, 158.000000, 96.000000], [98.000000, -107.092121, 62.445874, -171.113622, 152.437484, 93.674801], [98.000000, 49.280042, 137.829734, -170.187036, 24.796318, 76.859938], [-82.000000, -77.387959, 67.275608, -171.172151, -27.759381, -102.041783], [-82.000000, 86.000000, 133.000000, -169.000000, -158.000000, -84.000000], [98.000000, -107.092121, 62.445874, 8.886378, -152.437484, -86.325199], [98.000000, 49.280042, 137.829734, 9.812964, -24.796318, -103.140062]] + joints: [-82.000000, 85.000000, 133.000000, -169.000000, -157.000000, -84.000000] + pose: {translation: [0.03494277691230436, -0.2030962866878151, 1.012407297252002], quaternion: [0.7879611652727073, 0.1065608873951434, 0.05002881907106891, 0.6043666904802011]} + solutions: [[-82.000000, -78.387959, 67.275608, 9.514495, 26.810197, 77.347946], [-82.000000, 85.000000, 133.000000, 11.000000, 157.000000, 96.000000], [98.000000, -106.470216, 62.700479, -171.063986, 151.316296, 93.709562], [98.000000, 50.258397, 137.575128, -169.259728, 23.582246, 75.993828], [-82.000000, -78.387959, 67.275608, -170.485505, -26.810197, -102.652054], [-82.000000, 85.000000, 133.000000, -169.000000, -157.000000, -84.000000], [98.000000, -106.470216, 62.700479, 8.936014, -151.316296, -86.290438], [98.000000, 50.258397, 137.575128, 10.740272, -23.582246, -104.006172]] - id: 305 parameters: Irb2400_10 - joints: [-5.000000, 8.000000, 78.000000, 160.000000, -111.000000, 16.000000] - pose: {translation: [0.3054013167104497, -0.05396360787253772, 0.5945806795850093], quaternion: [-0.5929798243975314, 0.01501227397004773, 0.7739629594044328, -0.2216549051062337]} - solutions: [[-5.000000, 8.000000, 78.000000, -20.000000, 111.000000, -164.000000], [-5.000000, -169.846042, 122.275608, -159.724142, 112.867976, 31.601264], [175.000000, -173.061517, 61.739206, 18.646239, 92.939772, 24.422886], [175.000000, -17.671988, 138.536402, 152.776161, 135.734866, -176.792926], [-5.000000, 8.000000, 78.000000, 160.000000, -111.000000, 16.000000], [-5.000000, -169.846042, 122.275608, 20.275858, -112.867976, -148.398736], [175.000000, -173.061517, 61.739206, -161.353761, -92.939772, -155.577114], [175.000000, -17.671988, 138.536402, -27.223839, -135.734866, 3.207074]] + joints: [-5.000000, 8.000000, 78.000000, 160.000000, -110.000000, 16.000000] + pose: {translation: [0.3049972298897566, -0.05410662556420661, 0.5931604455298767], quaternion: [-0.5999827813451083, 0.01501401255611923, 0.768923177400849, -0.2203460659329665]} + solutions: [[-5.000000, 8.000000, 78.000000, -20.000000, 110.000000, -164.000000], [-5.000000, -169.846042, 122.275608, -159.430148, 113.830861, 31.717789], [175.000000, -173.061517, 61.739206, 18.793055, 93.928976, 24.431681], [175.000000, -17.671988, 138.536402, 153.087986, 134.759260, -176.571476], [-5.000000, 8.000000, 78.000000, 160.000000, -110.000000, 16.000000], [-5.000000, -169.846042, 122.275608, 20.569852, -113.830861, -148.282211], [175.000000, -173.061517, 61.739206, -161.206945, -93.928976, -155.568319], [175.000000, -17.671988, 138.536402, -26.912014, -134.759260, 3.428524]] - id: 306 parameters: Irb2400_10 - joints: [-25.000000, -168.000000, 66.000000, 66.000000, 177.000000, 41.000000] - pose: {translation: [-0.2848414934513389, 0.1373078517003328, 0.5531868931942979], quaternion: [-0.002499676132964626, 0.9930681700350923, -0.0270809551774437, 0.1143502651901634]} - solutions: [[155.000000, -11.127873, 82.280293, -5.151518, 32.173150, 159.393006], [155.000000, -178.981633, 117.995314, -9.975037, 163.977419, 145.434328], [-25.000000, -168.000000, 66.000000, 66.000000, 177.000000, 41.000000], [-25.000000, -6.522077, 134.275608, 176.474228, 51.027761, 157.248415], [155.000000, -11.127873, 82.280293, 174.848482, -32.173150, -20.606994], [155.000000, -178.981633, 117.995314, 170.024963, -163.977419, -34.565672], [-25.000000, -168.000000, 66.000000, -114.000000, -177.000000, -139.000000], [-25.000000, -6.522077, 134.275608, -3.525772, -51.027761, -22.751585]] + joints: [-25.000000, -167.000000, 66.000000, 66.000000, 176.000000, 41.000000] + pose: {translation: [-0.2846699178906056, 0.1387204137425896, 0.5606635215168032], quaternion: [-0.003055780801083492, 0.9934293086291812, -0.01769076938525565, 0.1130305606409188]} + solutions: [[155.000000, -12.929198, 82.250597, -6.632770, 33.484577, 160.591444], [155.000000, 179.138995, 118.025010, -14.275205, 165.022563, 141.242853], [-25.000000, -167.000000, 66.000000, 66.000000, 176.000000, 41.000000], [-25.000000, -5.522077, 134.275608, 175.327802, 51.475650, 157.965984], [155.000000, -12.929198, 82.250597, 173.367230, -33.484577, -19.408556], [155.000000, 179.138995, 118.025010, 165.724795, -165.022563, -38.757147], [-25.000000, -167.000000, 66.000000, -114.000000, -176.000000, -139.000000], [-25.000000, -5.522077, 134.275608, -4.672198, -51.475650, -22.034016]] - id: 307 parameters: Irb2400_10 - joints: [-117.000000, 62.000000, -79.000000, -166.000000, 21.000000, -117.000000] - pose: {translation: [-0.6749596572061729, -1.308450747125679, 1.347285162986493], quaternion: [0.4351035947360918, -0.08912959541325245, -0.3309467273192805, 0.8325953643552542]} - solutions: [[-117.000000, 62.000000, -79.000000, -166.000000, 21.000000, -117.000000], [-117.000000, 62.898498, -80.724392, -165.458347, 20.199582, -117.578637], [-117.000000, 62.000000, -79.000000, 14.000000, -21.000000, 63.000000], [-117.000000, 62.898498, -80.724392, 14.541653, -20.199582, 62.421363]] + joints: [-117.000000, 62.000000, -79.000000, -166.000000, 20.000000, -117.000000] + pose: {translation: [-0.6750646532939012, -1.309397282443794, 1.34614768696333], quaternion: [0.4428719222729145, -0.08840089831818934, -0.3285173297701297, 0.8295336675985698]} + solutions: [[-117.000000, 62.000000, -79.000000, -166.000000, 20.000000, -117.000000], [-117.000000, 62.898498, -80.724392, -165.427639, 19.199635, -117.607548], [-117.000000, 62.000000, -79.000000, 14.000000, -20.000000, 63.000000], [-117.000000, 62.898498, -80.724392, 14.572361, -19.199635, 62.392452]] - id: 308 parameters: Irb2400_10 - joints: [74.000000, -100.000000, -54.000000, 124.000000, 12.000000, 163.000000] - pose: {translation: [-0.403040773652391, -1.352416457538021, 0.7297761654535276], quaternion: [0.5319697546327224, -0.2342231150140776, -0.03883032756647047, 0.812797587478078]} - solutions: [[-106.000000, 51.398458, -13.887800, -168.179529, 57.293101, -78.862599], [-106.000000, 120.503708, -145.836592, -58.684069, 11.639908, 165.742179], [74.000000, -100.000000, -54.000000, 124.000000, 12.000000, 163.000000], [74.000000, -73.030089, -105.724392, 29.552949, 20.454694, -100.389926], [-106.000000, 51.398458, -13.887800, 11.820471, -57.293101, 101.137401], [-106.000000, 120.503708, -145.836592, 121.315931, -11.639908, -14.257821], [74.000000, -100.000000, -54.000000, -56.000000, -12.000000, -17.000000], [74.000000, -73.030089, -105.724392, -150.447051, -20.454694, 79.610074]] + joints: [74.000000, -99.000000, -54.000000, 124.000000, 12.000000, 163.000000] + pose: {translation: [-0.4024252007206833, -1.350269699604746, 0.7561313514773864], quaternion: [0.5250379581579498, -0.2325848539786422, -0.03814365042816389, 0.8177924492957115]} + solutions: [[-106.000000, 50.258481, -13.928183, -168.155700, 57.116573, -78.906594], [-106.000000, 119.320933, -145.796210, -58.097316, 11.714540, 165.143026], [74.000000, -99.000000, -54.000000, 124.000000, 12.000000, 163.000000], [74.000000, -72.030089, -105.724392, 29.552949, 20.454694, -100.389926], [-106.000000, 50.258481, -13.928183, 11.844300, -57.116573, 101.093406], [-106.000000, 119.320933, -145.796210, 121.902684, -11.714540, -14.856974], [74.000000, -99.000000, -54.000000, -56.000000, -12.000000, -17.000000], [74.000000, -72.030089, -105.724392, -150.447051, -20.454694, 79.610074]] - id: 309 parameters: Irb2400_10 - joints: [30.000000, -54.000000, -164.000000, 57.000000, -82.000000, 156.000000] - pose: {translation: [-0.7989356845747965, -0.5427797826043056, 0.4147742428894616], quaternion: [0.8409929633015505, 0.2192599375182938, 0.250130249967785, 0.4267209551074382]} - solutions: [[-150.000000, 44.361705, 25.276455, 65.062099, 66.334233, -52.706366], [-150.000000, 155.797394, 174.999153, 67.897669, 116.313666, 35.602331], [30.000000, -142.490362, 4.275608, -105.646731, 120.405025, 49.135524], [30.000000, -54.000000, -164.000000, -123.000000, 82.000000, -24.000000], [-150.000000, 44.361705, 25.276455, -114.937901, -66.334233, 127.293634], [-150.000000, 155.797394, 174.999153, -112.102331, -116.313666, -144.397669], [30.000000, -142.490362, 4.275608, 74.353269, -120.405025, -130.864476], [30.000000, -54.000000, -164.000000, 57.000000, -82.000000, 156.000000]] + joints: [30.000000, -53.000000, -164.000000, 57.000000, -82.000000, 156.000000] + pose: {translation: [-0.8018216945785528, -0.5444460212568583, 0.4333616811319863], quaternion: [0.8409893777935792, 0.2235678755802541, 0.2428083145379325, 0.4287171489900411]} + solutions: [[-150.000000, 43.110021, 25.332929, 64.984699, 66.416660, -52.513226], [-150.000000, 154.608606, 174.942678, 68.010317, 116.405726, 35.856040], [30.000000, -141.490362, 4.275608, -105.646731, 120.405025, 49.135524], [30.000000, -53.000000, -164.000000, -123.000000, 82.000000, -24.000000], [-150.000000, 43.110021, 25.332929, -115.015301, -66.416660, 127.486774], [-150.000000, 154.608606, 174.942678, -111.989683, -116.405726, -144.143960], [30.000000, -141.490362, 4.275608, 74.353269, -120.405025, -130.864476], [30.000000, -53.000000, -164.000000, 57.000000, -82.000000, 156.000000]] - id: 310 parameters: Irb2400_10 joints: [-132.000000, 73.000000, -30.000000, 99.000000, -162.000000, -139.000000] @@ -1556,9 +1556,9 @@ cases: solutions: [[-132.000000, 73.000000, -30.000000, -81.000000, 162.000000, 41.000000], [-132.000000, 125.104622, -129.724392, -155.507174, 132.591452, -41.319536], [-132.000000, 73.000000, -30.000000, 99.000000, -162.000000, -139.000000], [-132.000000, 125.104622, -129.724392, 24.492826, -132.591452, 138.680464]] - id: 311 parameters: Irb2400_10 - joints: [102.000000, 45.000000, 97.000000, 77.000000, 84.000000, 178.000000] - pose: {translation: [-0.09469907087673708, 0.04935709974610656, 0.5518191988514823], quaternion: [0.6520388043793091, -0.1373902528109249, -0.597864859157475, 0.4455636051124058]} - solutions: [[102.000000, 45.000000, 97.000000, 77.000000, 84.000000, 178.000000], [102.000000, -24.228362, 103.275608, 78.632065, 98.726578, -120.601705], [-78.000000, 148.302134, 85.252266, -75.891609, 92.333119, 13.158920], [-78.000000, -10.856021, 115.023342, -100.866154, 99.346553, -117.407823], [102.000000, 45.000000, 97.000000, -103.000000, -84.000000, -2.000000], [102.000000, -24.228362, 103.275608, -101.367935, -98.726578, 59.398295], [-78.000000, 148.302134, 85.252266, 104.108391, -92.333119, -166.841080], [-78.000000, -10.856021, 115.023342, 79.133846, -99.346553, 62.592177]] + joints: [102.000000, 45.000000, 97.000000, 77.000000, 83.000000, 178.000000] + pose: {translation: [-0.09430235729789195, 0.04827774502935735, 0.5508819599694796], quaternion: [0.6570923902728318, -0.1333170826395436, -0.5921973631759794, 0.446943429495764]} + solutions: [[102.000000, 45.000000, 97.000000, 77.000000, 83.000000, 178.000000], [102.000000, -24.228362, 103.275608, 77.744932, 98.246847, -120.732632], [-78.000000, 148.302134, 85.252266, -75.629690, 93.298295, 13.171786], [-78.000000, -10.856021, 115.023342, -101.780473, 98.916342, -117.552929], [102.000000, 45.000000, 97.000000, -103.000000, -83.000000, -2.000000], [102.000000, -24.228362, 103.275608, -102.255068, -98.246847, 59.267368], [-78.000000, 148.302134, 85.252266, 104.370310, -93.298295, -166.828214], [-78.000000, -10.856021, 115.023342, 78.219527, -98.916342, 62.447071]] - id: 312 parameters: Irb2400_10 joints: [164.000000, 83.000000, -149.000000, -53.000000, 18.000000, -126.000000] @@ -1576,9 +1576,9 @@ cases: solutions: [[-135.000000, 26.453335, -13.065684, 152.512271, 123.917160, -51.337565], [-135.000000, 96.430091, -146.658708, 155.149185, 65.699536, -24.357683], [45.000000, -83.000000, -46.000000, -25.000000, 65.000000, -24.000000], [45.000000, -47.669182, -113.724392, -22.603680, 94.772137, -37.132149], [-135.000000, 26.453335, -13.065684, -27.487729, -123.917160, 128.662435], [-135.000000, 96.430091, -146.658708, -24.850815, -65.699536, 155.642317], [45.000000, -83.000000, -46.000000, 155.000000, -65.000000, 156.000000], [45.000000, -47.669182, -113.724392, 157.396320, -94.772137, 142.867851]] - id: 315 parameters: Irb2400_10 - joints: [45.000000, 32.000000, 36.000000, -55.000000, -155.000000, -56.000000] - pose: {translation: [0.5956742442967647, 0.6372889379935445, 0.6425671909179743], quaternion: [-0.1350324195567397, -0.1273036792869829, 0.3365146443295214, 0.923210654758937]} - solutions: [[45.000000, 32.000000, 36.000000, 125.000000, 155.000000, 124.000000], [45.000000, 155.551070, 164.275608, 156.215627, 59.137283, -170.949888], [-135.000000, -143.861540, 16.460385, -27.795970, 47.934312, -164.237174], [-135.000000, -42.154179, -176.184777, -27.708879, 131.881694, 156.988512], [45.000000, 32.000000, 36.000000, -55.000000, -155.000000, -56.000000], [45.000000, 155.551070, 164.275608, -23.784373, -59.137283, 9.050112], [-135.000000, -143.861540, 16.460385, 152.204030, -47.934312, 15.762826], [-135.000000, -42.154179, -176.184777, 152.291121, -131.881694, -23.011488]] + joints: [45.000000, 32.000000, 36.000000, -55.000000, -154.000000, -56.000000] + pose: {translation: [0.5955713607476651, 0.6387372214087609, 0.6422627321938746], quaternion: [-0.1433484913524071, -0.1252282906914964, 0.3349219029405433, 0.9228198113218854]} + solutions: [[45.000000, 32.000000, 36.000000, 125.000000, 154.000000, 124.000000], [45.000000, 155.551070, 164.275608, 155.154730, 58.719781, -170.402337], [-135.000000, -143.861540, 16.460385, -29.081585, 47.628514, -163.373268], [-135.000000, -42.154179, -176.184777, -28.430737, 131.040637, 156.510544], [45.000000, 32.000000, 36.000000, -55.000000, -154.000000, -56.000000], [45.000000, 155.551070, 164.275608, -24.845270, -58.719781, 9.597663], [-135.000000, -143.861540, 16.460385, 150.918415, -47.628514, 16.626732], [-135.000000, -42.154179, -176.184777, 151.569263, -131.040637, -23.489456]] - id: 316 parameters: Irb2400_10 joints: [15.000000, -63.000000, -108.000000, 58.000000, 2.000000, -134.000000] @@ -1586,24 +1586,24 @@ cases: solutions: [[-165.000000, 40.993412, -13.617326, -177.211357, 37.469008, -78.229636], [-165.000000, 110.385333, -146.107066, -3.911418, 25.713778, 107.509419], [15.000000, -92.346844, -51.724392, 176.117665, 25.920330, 107.477112], [15.000000, -63.000000, -108.000000, 58.000000, 2.000000, -134.000000], [-165.000000, 40.993412, -13.617326, 2.788643, -37.469008, 101.770364], [-165.000000, 110.385333, -146.107066, 176.088582, -25.713778, -72.490581], [15.000000, -92.346844, -51.724392, -3.882335, -25.920330, -72.522888], [15.000000, -63.000000, -108.000000, -122.000000, -2.000000, 46.000000]] - id: 317 parameters: Irb2400_10 - joints: [79.000000, 117.000000, 168.000000, -175.000000, -18.000000, -153.000000] - pose: {translation: [0.1579113270760008, 0.8243810644426106, 1.130464135312937], quaternion: [-0.1254118952358486, 0.2545277971464616, 0.7912604731897639, 0.5416588599668922]} - solutions: [[79.000000, -2.299890, 32.275608, 178.454628, 87.040892, -148.163770], [79.000000, 117.000000, 168.000000, 5.000000, 18.000000, 27.000000], [-101.000000, -113.574620, 14.925230, -176.252168, 24.332529, 28.340698], [-101.000000, -13.545240, -174.649623, -1.699204, 65.268540, -147.532505], [79.000000, -2.299890, 32.275608, -1.545372, -87.040892, 31.836230], [79.000000, 117.000000, 168.000000, -175.000000, -18.000000, -153.000000], [-101.000000, -113.574620, 14.925230, 3.747832, -24.332529, -151.659302], [-101.000000, -13.545240, -174.649623, 178.300796, -65.268540, 32.467495]] + joints: [79.000000, 116.000000, 168.000000, -175.000000, -18.000000, -153.000000] + pose: {translation: [0.1561733054506891, 0.8154397183102705, 1.143289339448511], quaternion: [-0.1220846883700445, 0.2468380895465896, 0.7932018580359464, 0.5431363538034452]} + solutions: [[79.000000, -3.299890, 32.275608, 178.454628, 87.040892, -148.163770], [79.000000, 116.000000, 168.000000, 5.000000, 18.000000, 27.000000], [-101.000000, -112.844874, 15.092345, -176.237194, 24.229613, 28.324270], [-101.000000, -12.633033, -174.816738, -1.695747, 65.523336, -147.540810], [79.000000, -3.299890, 32.275608, -1.545372, -87.040892, 31.836230], [79.000000, 116.000000, 168.000000, -175.000000, -18.000000, -153.000000], [-101.000000, -112.844874, 15.092345, 3.762806, -24.229613, -151.675730], [-101.000000, -12.633033, -174.816738, 178.304253, -65.523336, 32.459190]] - id: 318 parameters: Irb2400_10 - joints: [50.000000, -83.000000, 80.000000, 145.000000, 65.000000, 81.000000] - pose: {translation: [0.08167685414950783, 0.16608009528437, 0.940144409591102], quaternion: [-0.2533324143593726, -0.2325304356643333, -0.4544307674580573, 0.8217329018069605]} - solutions: [[50.000000, -83.000000, 80.000000, 145.000000, 65.000000, 81.000000], [50.000000, 103.540363, 120.275608, 32.492514, 75.397325, -124.606592], [-130.000000, -129.262304, 72.320215, -144.826364, 64.476190, -132.375998], [-130.000000, 42.218258, 127.955393, -32.445398, 75.684482, 73.448764], [50.000000, -83.000000, 80.000000, -35.000000, -65.000000, -99.000000], [50.000000, 103.540363, 120.275608, -147.507486, -75.397325, 55.393408], [-130.000000, -129.262304, 72.320215, 35.173636, -64.476190, 47.624002], [-130.000000, 42.218258, 127.955393, 147.554602, -75.684482, -106.551236]] + joints: [50.000000, -82.000000, 80.000000, 145.000000, 65.000000, 81.000000] + pose: {translation: [0.08531658100435734, 0.1704177528396985, 0.9387034848790429], quaternion: [-0.2613650245839142, -0.2309500585547074, -0.4514379983910278, 0.8213124423668069]} + solutions: [[50.000000, -82.000000, 80.000000, 145.000000, 65.000000, 81.000000], [50.000000, 104.540363, 120.275608, 32.492514, 75.397325, -124.606592], [-130.000000, -129.702963, 72.114973, -144.923014, 64.765806, -132.150499], [-130.000000, 41.428020, 128.160634, -32.502985, 75.334371, 73.678908], [50.000000, -82.000000, 80.000000, -35.000000, -65.000000, -99.000000], [50.000000, 104.540363, 120.275608, -147.507486, -75.397325, 55.393408], [-130.000000, -129.702963, 72.114973, 35.076986, -64.765806, 47.849501], [-130.000000, 41.428020, 128.160634, 147.497015, -75.334371, -106.321092]] - id: 319 parameters: Irb2400_10 - joints: [102.000000, 178.000000, -176.000000, 60.000000, -4.000000, -34.000000] - pose: {translation: [-0.1963814253068297, 0.9485995899307315, 0.019001721659074], quaternion: [-0.4185927243334762, 0.5698761951337301, 0.6257256756619347, 0.3293761256867237]} - solutions: [[102.000000, 76.494831, 16.275608, -176.532553, 92.767811, -153.892904], [102.000000, 178.000000, -176.000000, -120.000000, 4.000000, 146.000000], [-78.000000, -161.780356, -2.571212, 167.351870, 16.015382, 38.111599], [-78.000000, -80.633084, -157.153180, 4.091448, 57.854608, -156.240137], [102.000000, 76.494831, 16.275608, 3.467447, -92.767811, 26.107096], [102.000000, 178.000000, -176.000000, 60.000000, -4.000000, -34.000000], [-78.000000, -161.780356, -2.571212, -12.648130, -16.015382, -141.888401], [-78.000000, -80.633084, -157.153180, -175.908552, -57.854608, 23.759863]] + joints: [102.000000, 177.000000, -176.000000, 60.000000, -4.000000, -34.000000] + pose: {translation: [-0.1985165321908718, 0.9586444780643502, 0.03425340766108902], quaternion: [-0.4146299991776323, 0.5651110050550334, 0.6313256950168353, 0.3319026703103734]} + solutions: [[102.000000, 75.494831, 16.275608, -176.532553, 92.767811, -153.892904], [102.000000, 177.000000, -176.000000, -120.000000, 4.000000, 146.000000], [-78.000000, -160.810181, -2.794691, 167.155568, 15.768320, 38.315701], [-78.000000, -79.901772, -156.929701, 4.089423, 57.899702, -156.236329], [102.000000, 75.494831, 16.275608, 3.467447, -92.767811, 26.107096], [102.000000, 177.000000, -176.000000, 60.000000, -4.000000, -34.000000], [-78.000000, -160.810181, -2.794691, -12.844432, -15.768320, -141.684299], [-78.000000, -79.901772, -156.929701, -175.910577, -57.899702, 23.763671]] - id: 320 parameters: Irb2400_10 - joints: [-97.000000, -58.000000, 30.000000, 91.000000, 94.000000, -88.000000] - pose: {translation: [0.07202905645096457, -0.1090337137948912, 1.460765020344373], quaternion: [-0.1422014359024774, 0.6989041996792319, -0.1754948692559554, 0.6786112452375375]} - solutions: [[-97.000000, -58.000000, 30.000000, 91.000000, 94.000000, -88.000000], [-97.000000, 58.726683, 170.275608, 93.674474, 88.128793, 14.902760], [83.000000, -70.664786, 27.642492, -86.540130, 87.756388, 20.875014], [83.000000, 43.413242, 172.633115, -88.449229, 93.820609, -79.936838], [-97.000000, -58.000000, 30.000000, -89.000000, -94.000000, 92.000000], [-97.000000, 58.726683, 170.275608, -86.325526, -88.128793, -165.097240], [83.000000, -70.664786, 27.642492, 93.459870, -87.756388, -159.124986], [83.000000, 43.413242, 172.633115, 91.550771, -93.820609, 100.063162]] + joints: [-97.000000, -57.000000, 30.000000, 91.000000, 93.000000, -88.000000] + pose: {translation: [0.07015935347372483, -0.125004251001174, 1.461319581708607], quaternion: [-0.1302427468714394, 0.6979630304411043, -0.175639977569516, 0.6819347720304576]} + solutions: [[-97.000000, -57.000000, 30.000000, 91.000000, 93.000000, -88.000000], [-97.000000, 59.726683, 170.275608, 92.699323, 88.352351, 14.932701], [83.000000, -71.425257, 27.314228, -87.483914, 88.084078, 20.820707], [83.000000, 42.285256, 172.961379, -88.579768, 92.825537, -79.744523], [-97.000000, -57.000000, 30.000000, -89.000000, -93.000000, 92.000000], [-97.000000, 59.726683, 170.275608, -87.300677, -88.352351, -165.067299], [83.000000, -71.425257, 27.314228, 92.516086, -88.084078, -159.179293], [83.000000, 42.285256, 172.961379, 91.420232, -92.825537, 100.255477]] - id: 321 parameters: Irb2400_10 joints: [-11.000000, -77.000000, 92.000000, -57.000000, 58.000000, -116.000000] @@ -1616,24 +1616,24 @@ cases: solutions: [[-117.000000, 81.000000, 7.000000, 48.000000, 93.000000, 49.000000], [-117.000000, 172.427188, -166.724392, 87.091877, 132.005265, 131.332339], [63.000000, -155.655410, -13.999783, -78.665244, 130.809297, 152.724913], [63.000000, -86.668836, -145.724609, -124.644489, 115.568861, 77.662130], [-117.000000, 81.000000, 7.000000, -132.000000, -93.000000, -131.000000], [-117.000000, 172.427188, -166.724392, -92.908123, -132.005265, -48.667661], [63.000000, -155.655410, -13.999783, 101.334756, -130.809297, -27.275087], [63.000000, -86.668836, -145.724609, 55.355511, -115.568861, -102.337870]] - id: 323 parameters: Irb2400_10 - joints: [11.000000, 125.000000, 131.000000, 164.000000, -6.000000, 115.000000] - pose: {translation: [0.345703179985789, 0.06470303783210296, 0.9946319493470273], quaternion: [0.06157240069306266, -0.03955511183587184, -0.5705973992980915, 0.817962615597314]} - solutions: [[11.000000, -41.482838, 69.275608, -177.958900, 126.006306, 100.283440], [11.000000, 125.000000, 131.000000, -16.000000, 6.000000, -65.000000], [-169.000000, -131.687373, 56.508482, 165.901862, 6.793058, -66.913728], [-169.000000, 16.692685, 143.767125, 1.865816, 117.758495, 99.952434], [11.000000, -41.482838, 69.275608, 2.041100, -126.006306, -79.716560], [11.000000, 125.000000, 131.000000, 164.000000, -6.000000, 115.000000], [-169.000000, -131.687373, 56.508482, -14.098138, -6.793058, 113.086272], [-169.000000, 16.692685, 143.767125, -178.134184, -117.758495, -80.047566]] + joints: [11.000000, 124.000000, 131.000000, 164.000000, -6.000000, 115.000000] + pose: {translation: [0.3391617874012022, 0.06343151991931979, 0.9989668576879067], quaternion: [0.0678199009477993, -0.04561033813708409, -0.5701140941988746, 0.8174901086167637]} + solutions: [[11.000000, -42.482838, 69.275608, -177.958900, 126.006306, 100.283440], [11.000000, 124.000000, 131.000000, -16.000000, 6.000000, -65.000000], [-169.000000, -131.097516, 56.668373, 165.371138, 6.550626, -66.379387], [-169.000000, 17.490815, 143.607235, 1.872073, 118.120063, 99.965789], [11.000000, -42.482838, 69.275608, 2.041100, -126.006306, -79.716560], [11.000000, 124.000000, 131.000000, 164.000000, -6.000000, 115.000000], [-169.000000, -131.097516, 56.668373, -14.628862, -6.550626, 113.620613], [-169.000000, 17.490815, 143.607235, -178.127927, -118.120063, -80.034211]] - id: 324 parameters: Irb2400_10 - joints: [-76.000000, -106.000000, 86.000000, -48.000000, 106.000000, 41.000000] - pose: {translation: [-0.03900922559158464, -0.09453394354440735, 0.7463704828229883], quaternion: [0.8441231278608864, 0.3698683231094465, -0.3785130699025088, -0.08591521683344713]} - solutions: [[-76.000000, -106.000000, 86.000000, -48.000000, 106.000000, 41.000000], [-76.000000, 97.369526, 114.275608, -130.738580, 109.472381, -100.821315], [104.000000, -137.329511, 79.863973, 60.227456, 124.614946, -77.180828], [104.000000, 48.898544, 120.411635, 134.163895, 84.764163, 63.388390], [-76.000000, -106.000000, 86.000000, 132.000000, -106.000000, -139.000000], [-76.000000, 97.369526, 114.275608, 49.261420, -109.472381, 79.178685], [104.000000, -137.329511, 79.863973, -119.772544, -124.614946, 102.819172], [104.000000, 48.898544, 120.411635, -45.836105, -84.764163, -116.611610]] + joints: [-76.000000, -105.000000, 86.000000, -48.000000, 105.000000, 41.000000] + pose: {translation: [-0.03839188734300092, -0.09822778543734934, 0.7468741725346979], quaternion: [0.8405856823522212, 0.3756409095308879, -0.3805489231119129, -0.08655711888470766]} + solutions: [[-76.000000, -105.000000, 86.000000, -48.000000, 105.000000, 41.000000], [-76.000000, 98.369526, 114.275608, -130.079730, 110.257268, -100.597429], [104.000000, -137.574963, 79.661194, 60.966897, 124.816115, -77.154846], [104.000000, 48.191598, 120.614414, 133.818360, 84.182850, 63.066588], [-76.000000, -105.000000, 86.000000, 132.000000, -105.000000, -139.000000], [-76.000000, 98.369526, 114.275608, 49.920270, -110.257268, 79.402571], [104.000000, -137.574963, 79.661194, -119.033103, -124.816115, 102.845154], [104.000000, 48.191598, 120.614414, -46.181640, -84.182850, -116.933412]] - id: 325 parameters: Irb2400_10 - joints: [61.000000, 85.000000, 176.000000, 34.000000, 92.000000, 2.000000] - pose: {translation: [0.2594686116142699, 0.5660754069088694, 1.409117846663612], quaternion: [-0.508385699008491, 0.4404240811910357, 0.5327956813422756, 0.5135166712909139]} - solutions: [[61.000000, -25.322394, 24.275608, 98.154173, 34.371740, -99.196741], [61.000000, 85.000000, 176.000000, 34.000000, 92.000000, 2.000000], [-119.000000, -88.297395, 12.458863, -145.790512, 96.274683, 4.900964], [-119.000000, 9.044615, -172.183255, -104.823014, 35.316365, -71.379265], [61.000000, -25.322394, 24.275608, -81.845827, -34.371740, 80.803259], [61.000000, 85.000000, 176.000000, -146.000000, -92.000000, -178.000000], [-119.000000, -88.297395, 12.458863, 34.209488, -96.274683, -175.099036], [-119.000000, 9.044615, -172.183255, 75.176986, -35.316365, 108.620735]] + joints: [61.000000, 84.000000, 176.000000, 34.000000, 92.000000, 2.000000] + pose: {translation: [0.2527110432548313, 0.5538844308789309, 1.418087745236891], quaternion: [-0.5067010797807604, 0.4341682622001175, 0.5339860552107809, 0.5192406269616917]} + solutions: [[61.000000, -26.322394, 24.275608, 98.154173, 34.371740, -99.196741], [61.000000, 84.000000, 176.000000, 34.000000, 92.000000, 2.000000], [-119.000000, -87.580457, 12.751311, -145.789932, 96.282446, 4.906274], [-119.000000, 10.079686, -172.475703, -104.471108, 35.251283, -71.810362], [61.000000, -26.322394, 24.275608, -81.845827, -34.371740, 80.803259], [61.000000, 84.000000, 176.000000, -146.000000, -92.000000, -178.000000], [-119.000000, -87.580457, 12.751311, 34.210068, -96.282446, -175.093726], [-119.000000, 10.079686, -172.475703, 75.528892, -35.251283, 108.189638]] - id: 326 parameters: Irb2400_10 - joints: [-169.000000, -47.000000, 150.000000, 89.000000, -158.000000, -24.000000] - pose: {translation: [0.4215539183612647, 0.1143743697904779, 0.4064567609848033], quaternion: [-0.2210884513704746, -0.0120474659250532, 0.5967657821764977, 0.7712621839936552]} - solutions: [[11.000000, 49.235742, 64.480413, 33.797005, 137.674250, 93.408467], [11.000000, -151.505263, 135.795195, 157.987400, 87.861878, -112.057345], [-169.000000, 172.511374, 50.275608, -24.872025, 62.939608, -101.012255], [-169.000000, -47.000000, 150.000000, -91.000000, 158.000000, 156.000000], [11.000000, 49.235742, 64.480413, -146.202995, -137.674250, -86.591533], [11.000000, -151.505263, 135.795195, -22.012600, -87.861878, 67.942655], [-169.000000, 172.511374, 50.275608, 155.127975, -62.939608, 78.987745], [-169.000000, -47.000000, 150.000000, 89.000000, -158.000000, -24.000000]] + joints: [-169.000000, -47.000000, 150.000000, 89.000000, -157.000000, -24.000000] + pose: {translation: [0.4213949211725513, 0.1157394895255241, 0.4058982155586158], quaternion: [-0.2285750210024511, -0.008016599581754177, 0.5949377615281324, 0.7705441284006841]} + solutions: [[11.000000, 49.235742, 64.480413, 35.103795, 137.206452, 94.371041], [11.000000, -151.505263, 135.795195, 156.987300, 87.896101, -112.020330], [-169.000000, 172.511374, 50.275608, -25.964019, 63.168564, -100.517406], [-169.000000, -47.000000, 150.000000, -91.000000, 157.000000, 156.000000], [11.000000, 49.235742, 64.480413, -144.896205, -137.206452, -85.628959], [11.000000, -151.505263, 135.795195, -23.012700, -87.896101, 67.979670], [-169.000000, 172.511374, 50.275608, 154.035981, -63.168564, 79.482594], [-169.000000, -47.000000, 150.000000, 89.000000, -157.000000, -24.000000]] - id: 327 parameters: Irb2400_10 joints: [-147.000000, -62.000000, -92.000000, -54.000000, 22.000000, 57.000000] @@ -1641,34 +1641,34 @@ cases: solutions: [[33.000000, 34.028063, -20.626347, 158.225112, 54.782408, 18.054851], [33.000000, 96.006169, -139.098046, 78.430783, 18.019947, 107.230959], [-147.000000, -74.650758, -67.724392, -84.563701, 17.724019, 89.376846], [-147.000000, -62.000000, -92.000000, -54.000000, 22.000000, 57.000000], [33.000000, 34.028063, -20.626347, -21.774888, -54.782408, -161.945149], [33.000000, 96.006169, -139.098046, -101.569217, -18.019947, -72.769041], [-147.000000, -74.650758, -67.724392, 95.436299, -17.724019, -90.623154], [-147.000000, -62.000000, -92.000000, 126.000000, -22.000000, -123.000000]] - id: 328 parameters: Irb2400_10 - joints: [28.000000, 96.000000, -101.000000, -73.000000, 100.000000, -160.000000] - pose: {translation: [1.387544989138432, 0.6471074052240823, 0.7159289641517088], quaternion: [0.8065513651956989, -0.02142997661678177, 0.2078341017105404, 0.5530105221144813]} - solutions: [[28.000000, 73.962016, -58.724392, -70.677411, 93.630919, -140.642285], [28.000000, 96.000000, -101.000000, -73.000000, 100.000000, -160.000000], [28.000000, 73.962016, -58.724392, 109.322589, -93.630919, 39.357715], [28.000000, 96.000000, -101.000000, 107.000000, -100.000000, 20.000000]] + joints: [28.000000, 96.000000, -101.000000, -73.000000, 99.000000, -160.000000] + pose: {translation: [1.388947407827159, 0.6475878918695397, 0.7159851726492132], quaternion: [0.8064669036743707, -0.01627401776147642, 0.2145040807391258, 0.5507579222943917]} + solutions: [[28.000000, 73.962016, -58.724392, -71.009225, 92.687396, -140.660572], [28.000000, 96.000000, -101.000000, -73.000000, 99.000000, -160.000000], [28.000000, 73.962016, -58.724392, 108.990775, -92.687396, 39.339428], [28.000000, 96.000000, -101.000000, 107.000000, -99.000000, 20.000000]] - id: 329 parameters: Irb2400_10 - joints: [-81.000000, 70.000000, -44.000000, -176.000000, 63.000000, -56.000000] - pose: {translation: [0.2400800074097831, -1.549577129881061, 0.6974796417171479], quaternion: [0.4278024287206266, -0.1305869935151933, 0.3280780962014923, 0.8320437980648617]} - solutions: [[-81.000000, 70.000000, -44.000000, -176.000000, 63.000000, -56.000000], [-81.000000, 107.423312, -115.724392, -172.597839, 28.844520, -60.673870], [-81.000000, 70.000000, -44.000000, 4.000000, -63.000000, 124.000000], [-81.000000, 107.423312, -115.724392, 7.402161, -28.844520, 119.326130]] + joints: [-81.000000, 69.000000, -44.000000, -176.000000, 63.000000, -56.000000] + pose: {translation: [0.2398198474649597, -1.547934544635375, 0.7230881905527962], quaternion: [0.4201668032563042, -0.128890132817123, 0.3297751523244779, 0.8355211188313135]} + solutions: [[-81.000000, 69.000000, -44.000000, -176.000000, 63.000000, -56.000000], [-81.000000, 106.423312, -115.724392, -172.597839, 28.844520, -60.673870], [-81.000000, 69.000000, -44.000000, 4.000000, -63.000000, 124.000000], [-81.000000, 106.423312, -115.724392, 7.402161, -28.844520, 119.326130]] - id: 330 parameters: Irb2400_10 - joints: [-102.000000, 93.000000, 14.000000, -92.000000, -107.000000, -173.000000] - pose: {translation: [-0.06960055850577354, -0.7181703241656165, -0.1587820107305735], quaternion: [0.5601745338880753, -0.2037826734364482, 0.8001221634336029, -0.06694503097842593]} - solutions: [[-102.000000, 93.000000, 14.000000, 88.000000, 107.000000, 7.000000], [-102.000000, -167.979943, -173.724392, 106.964285, 92.291126, 96.344993], [78.000000, -175.822463, -1.173689, -73.331944, 86.063295, 116.725867], [78.000000, -93.180367, -158.550703, -81.574049, 104.950123, 43.675390], [-102.000000, 93.000000, 14.000000, -92.000000, -107.000000, -173.000000], [-102.000000, -167.979943, -173.724392, -73.035715, -92.291126, -83.655007], [78.000000, -175.822463, -1.173689, 106.668056, -86.063295, -63.274133], [78.000000, -93.180367, -158.550703, 98.425951, -104.950123, -136.324610]] + joints: [-102.000000, 92.000000, 14.000000, -92.000000, -106.000000, -173.000000] + pose: {translation: [-0.07189239949604447, -0.7309778867631833, -0.149260208500453], quaternion: [0.569156894439511, -0.1973756179217577, 0.7957054448227633, -0.06289785402845069]} + solutions: [[-102.000000, 92.000000, 14.000000, 88.000000, 106.000000, 7.000000], [-102.000000, -168.979943, -173.724392, 105.963559, 92.279346, 96.305089], [78.000000, -174.788358, -1.472969, -74.259225, 86.473235, 116.532111], [78.000000, -92.466541, -158.251424, -82.186720, 104.145495, 43.534049], [-102.000000, 92.000000, 14.000000, -92.000000, -106.000000, -173.000000], [-102.000000, -168.979943, -173.724392, -74.036441, -92.279346, -83.694911], [78.000000, -174.788358, -1.472969, 105.740775, -86.473235, -63.467889], [78.000000, -92.466541, -158.251424, 97.813280, -104.145495, -136.465951]] - id: 331 parameters: Irb2400_10 - joints: [103.000000, -150.000000, -141.000000, -1.000000, -120.000000, -115.000000] - pose: {translation: [-0.04569826980734359, 0.192229891589863, -0.5859680695990724], quaternion: [-0.3137634330061235, -0.1140314067332918, -0.09192975610635631, 0.9381355266318744]} - solutions: [[103.000000, 146.013026, -18.724392, 153.102660, 178.085421, 38.615605], [103.000000, -150.000000, -141.000000, 179.000000, 120.000000, 65.000000], [-77.000000, 160.785268, -22.274267, -0.866835, 92.492493, 65.462338], [-77.000000, -138.975564, -137.450125, -1.608383, 147.419224, 64.144658], [103.000000, 146.013026, -18.724392, -26.897340, -178.085421, -141.384395], [103.000000, -150.000000, -141.000000, -1.000000, -120.000000, -115.000000], [-77.000000, 160.785268, -22.274267, 179.133165, -92.492493, -114.537662], [-77.000000, -138.975564, -137.450125, 178.391617, -147.419224, -115.855342]] + joints: [103.000000, -149.000000, -141.000000, -1.000000, -119.000000, -115.000000] + pose: {translation: [-0.04124616090721311, 0.1728890135996134, -0.5884517146288577], quaternion: [-0.3292698407719691, -0.1193706911100016, -0.0913058179164042, 0.9321991512957621]} + solutions: [[103.000000, 147.013026, -18.724392, 162.091363, 177.154684, 47.596880], [103.000000, -149.000000, -141.000000, 179.000000, 119.000000, 65.000000], [-77.000000, 159.521342, -21.720691, -0.874802, 91.202910, 65.466481], [-77.000000, -139.655502, -138.003701, -1.591175, 146.652757, 64.155549], [103.000000, 147.013026, -18.724392, -17.908637, -177.154684, -132.403120], [103.000000, -149.000000, -141.000000, -1.000000, -119.000000, -115.000000], [-77.000000, 159.521342, -21.720691, 179.125198, -91.202910, -114.533519], [-77.000000, -139.655502, -138.003701, 178.408825, -146.652757, -115.844451]] - id: 332 parameters: Irb2400_10 - joints: [-120.000000, -177.000000, 117.000000, -173.000000, 39.000000, 31.000000] - pose: {translation: [-0.1610147224892187, -0.2658475534336486, 0.7160695053083972], quaternion: [-0.05308482153213839, 0.06716059943381616, 0.7449894180128445, 0.6615604452017027]} - solutions: [[-120.000000, -11.852642, 83.275608, -155.651424, 169.279216, 60.422566], [-120.000000, -177.000000, 117.000000, -173.000000, 39.000000, 31.000000], [60.000000, -169.139159, 66.991707, 12.147624, 21.374675, 25.116280], [60.000000, -6.180316, 133.283900, 9.212166, 151.375252, 44.552933], [-120.000000, -11.852642, 83.275608, 24.348576, -169.279216, -119.577434], [-120.000000, -177.000000, 117.000000, 7.000000, -39.000000, -149.000000], [60.000000, -169.139159, 66.991707, -167.852376, -21.374675, -154.883720], [60.000000, -6.180316, 133.283900, -170.787834, -151.375252, -135.447067]] + joints: [-120.000000, -176.000000, 117.000000, -173.000000, 39.000000, 31.000000] + pose: {translation: [-0.1618806273153666, -0.2673473445870558, 0.7123762250290772], quaternion: [-0.05133371067221162, 0.05864129271729885, 0.7452369874189271, 0.6622294779906944]} + solutions: [[-120.000000, -10.852642, 83.275608, -155.651424, 169.279216, 60.422566], [-120.000000, -176.000000, 117.000000, -173.000000, 39.000000, 31.000000], [60.000000, -169.660063, 66.981316, 12.405290, 20.916687, 24.840015], [60.000000, -6.716881, 133.294291, 9.075531, 150.907447, 44.396925], [-120.000000, -10.852642, 83.275608, 24.348576, -169.279216, -119.577434], [-120.000000, -176.000000, 117.000000, 7.000000, -39.000000, -149.000000], [60.000000, -169.660063, 66.981316, -167.594710, -20.916687, -155.159985], [60.000000, -6.716881, 133.294291, -170.924469, -150.907447, -135.603075]] - id: 333 parameters: Irb2400_10 - joints: [99.000000, 24.000000, -23.000000, -156.000000, -111.000000, -142.000000] - pose: {translation: [-0.2058760832821193, 1.093525590287255, 1.308901289916683], quaternion: [-0.5184341109402245, 0.8089919728083893, -0.09861029818579094, -0.2589093849919671]} - solutions: [[99.000000, 24.000000, -23.000000, 24.000000, 111.000000, 38.000000], [99.000000, 83.473808, -136.724392, 61.352818, 154.361777, 87.720973], [-81.000000, -65.739848, -65.743585, -126.515068, 151.805490, 78.902945], [-81.000000, -51.023780, -93.980807, -141.618368, 142.296925, 61.008979], [99.000000, 24.000000, -23.000000, -156.000000, -111.000000, -142.000000], [99.000000, 83.473808, -136.724392, -118.647182, -154.361777, -92.279027], [-81.000000, -65.739848, -65.743585, 53.484932, -151.805490, -101.097055], [-81.000000, -51.023780, -93.980807, 38.381632, -142.296925, -118.991021]] + joints: [99.000000, 23.000000, -23.000000, -156.000000, -110.000000, -142.000000] + pose: {translation: [-0.2043835937158286, 1.082751563729035, 1.325987508033535], quaternion: [-0.5200130965328729, 0.8116725584149755, -0.08299248318542862, -0.2527573640571082]} + solutions: [[99.000000, 23.000000, -23.000000, 24.000000, 110.000000, 38.000000], [99.000000, 82.473808, -136.724392, 59.630489, 153.704947, 86.172467], [-81.000000, -65.445525, -64.612828, -127.255306, 151.302013, 78.414021], [-81.000000, -49.550303, -95.111564, -142.740750, 140.853388, 59.879164], [99.000000, 23.000000, -23.000000, -156.000000, -110.000000, -142.000000], [99.000000, 82.473808, -136.724392, -120.369511, -153.704947, -93.827533], [-81.000000, -65.445525, -64.612828, 52.744694, -151.302013, -101.585979], [-81.000000, -49.550303, -95.111564, 37.259250, -140.853388, -120.120836]] - id: 334 parameters: Irb2400_10 joints: [105.000000, -46.000000, 141.000000, 127.000000, -83.000000, 138.000000] @@ -1676,24 +1676,24 @@ cases: solutions: [[-75.000000, 53.552131, 71.958154, 123.932199, 107.179116, -74.888570], [-75.000000, -135.582642, 128.317453, 79.607070, 53.697697, 56.025513], [105.000000, 161.965353, 59.275608, -119.660967, 65.812652, 93.079934], [105.000000, -46.000000, 141.000000, -53.000000, 83.000000, -42.000000], [-75.000000, 53.552131, 71.958154, -56.067801, -107.179116, 105.111430], [-75.000000, -135.582642, 128.317453, -100.392930, -53.697697, -123.974487], [105.000000, 161.965353, 59.275608, 60.339033, -65.812652, -86.920066], [105.000000, -46.000000, 141.000000, 127.000000, -83.000000, 138.000000]] - id: 335 parameters: Irb2400_10 - joints: [-80.000000, -60.000000, -55.000000, -59.000000, 45.000000, -134.000000] - pose: {translation: [-0.2155845505742116, 0.9259532122118043, 1.662264229846677], quaternion: [-0.1830439923242294, -0.2628891121588189, 0.7017464939114783, 0.636345872828058]} - solutions: [[100.000000, 11.583488, -23.587060, 142.288408, 82.256198, -177.696016], [100.000000, 70.438379, -136.137333, 120.395223, 44.643171, -133.147379], [-80.000000, -60.000000, -55.000000, -59.000000, 45.000000, -134.000000], [-80.000000, -34.074321, -104.724392, -44.417739, 59.998534, -157.540875], [100.000000, 11.583488, -23.587060, -37.711592, -82.256198, 2.303984], [100.000000, 70.438379, -136.137333, -59.604777, -44.643171, 46.852621], [-80.000000, -60.000000, -55.000000, 121.000000, -45.000000, 46.000000], [-80.000000, -34.074321, -104.724392, 135.582261, -59.998534, 22.459125]] + joints: [-80.000000, -59.000000, -55.000000, -59.000000, 45.000000, -134.000000] + pose: {translation: [-0.2123829821442759, 0.907796215380848, 1.680417916387051], quaternion: [-0.176504902274954, -0.2679455985156234, 0.6997378902515653, 0.6382930836655695]} + solutions: [[100.000000, 10.715981, -24.027953, 142.262339, 82.012265, -177.505524], [100.000000, 69.106167, -135.696440, 120.490005, 44.698237, -133.280657], [-80.000000, -59.000000, -55.000000, -59.000000, 45.000000, -134.000000], [-80.000000, -33.074321, -104.724392, -44.417739, 59.998534, -157.540875], [100.000000, 10.715981, -24.027953, -37.737661, -82.012265, 2.494476], [100.000000, 69.106167, -135.696440, -59.509995, -44.698237, 46.719343], [-80.000000, -59.000000, -55.000000, 121.000000, -45.000000, 46.000000], [-80.000000, -33.074321, -104.724392, 135.582261, -59.998534, 22.459125]] - id: 336 parameters: Irb2400_10 - joints: [54.000000, 158.000000, -107.000000, -50.000000, -115.000000, -64.000000] - pose: {translation: [0.5165459652013797, 0.8113636504232834, -0.4813718810441004], quaternion: [-0.3462768545602641, -0.180457152573276, 0.1822342602556365, 0.9023958280433683]} - solutions: [[54.000000, 129.697802, -52.724392, 116.001103, 129.425079, 90.258028], [54.000000, 158.000000, -107.000000, 130.000000, 115.000000, 116.000000], [54.000000, 129.697802, -52.724392, -63.998897, -129.425079, -89.741972], [54.000000, 158.000000, -107.000000, -50.000000, -115.000000, -64.000000]] + joints: [54.000000, 157.000000, -107.000000, -50.000000, -114.000000, -64.000000] + pose: {translation: [0.5280226734691519, 0.8279617601320752, -0.4669753165530737], quaternion: [-0.3485894868154794, -0.1843060189858527, 0.176404764433749, 0.9018858132448813]} + solutions: [[54.000000, 128.697802, -52.724392, 116.556224, 128.522992, 90.607195], [54.000000, 157.000000, -107.000000, 130.000000, 114.000000, 116.000000], [54.000000, 128.697802, -52.724392, -63.443776, -128.522992, -89.392805], [54.000000, 157.000000, -107.000000, -50.000000, -114.000000, -64.000000]] - id: 337 parameters: Irb2400_10 - joints: [25.000000, 113.000000, 80.000000, -72.000000, 114.000000, -96.000000] - pose: {translation: [0.05116986119025784, -0.05762448319787999, 0.393436081215678], quaternion: [0.06468224878136959, 0.6356345399341219, -0.3996564896274191, 0.657312428479799]} - solutions: [[-155.000000, 104.725778, 81.077981, 81.095112, 61.574098, 63.599581], [-155.000000, -66.176010, 119.197627, 73.527301, 115.038848, -169.559866], [25.000000, 113.000000, 80.000000, -72.000000, 114.000000, -96.000000], [25.000000, -60.459637, 120.275608, -119.410231, 85.842107, 128.051273], [-155.000000, 104.725778, 81.077981, -98.904888, -61.574098, -116.400419], [-155.000000, -66.176010, 119.197627, -106.472699, -115.038848, 10.440134], [25.000000, 113.000000, 80.000000, 108.000000, -114.000000, 84.000000], [25.000000, -60.459637, 120.275608, 60.589769, -85.842107, -51.948727]] + joints: [25.000000, 113.000000, 80.000000, -72.000000, 113.000000, -96.000000] + pose: {translation: [0.05024349104141205, -0.05867721290858831, 0.3939202335611912], quaternion: [0.07074897857981222, 0.6327414074651539, -0.40509877158632, 0.6561462326099144]} + solutions: [[-155.000000, 104.725778, 81.077981, 80.702190, 62.511941, 63.783793], [-155.000000, -66.176010, 119.197627, 74.583453, 114.752106, -169.115252], [25.000000, 113.000000, 80.000000, -72.000000, 113.000000, -96.000000], [25.000000, -60.459637, 120.275608, -118.713693, 86.561113, 128.005129], [-155.000000, 104.725778, 81.077981, -99.297810, -62.511941, -116.216207], [-155.000000, -66.176010, 119.197627, -105.416547, -114.752106, 10.884748], [25.000000, 113.000000, 80.000000, 108.000000, -113.000000, 84.000000], [25.000000, -60.459637, 120.275608, 61.286307, -86.561113, -51.994871]] - id: 338 parameters: Irb2400_10 - joints: [16.000000, 89.000000, 16.000000, 129.000000, -69.000000, -91.000000] - pose: {translation: [0.6742733375202107, 0.1291896040736428, -0.1534087138736274], quaternion: [0.09062832318503139, 0.7673552619647918, -0.5981248898908867, -0.2126006233872094]} - solutions: [[16.000000, 89.000000, 16.000000, -51.000000, 69.000000, 89.000000], [16.000000, -169.796300, -175.724392, -64.054239, 126.210509, 14.604158], [-164.000000, -173.925971, 0.260924, 99.395903, 132.659445, -11.148942], [-164.000000, -89.747342, -159.985316, 133.421359, 92.672941, 62.307191], [16.000000, 89.000000, 16.000000, 129.000000, -69.000000, -91.000000], [16.000000, -169.796300, -175.724392, 115.945761, -126.210509, -165.395842], [-164.000000, -173.925971, 0.260924, -80.604097, -132.659445, 168.851058], [-164.000000, -89.747342, -159.985316, -46.578641, -92.672941, -117.692809]] + joints: [16.000000, 89.000000, 16.000000, 129.000000, -68.000000, -91.000000] + pose: {translation: [0.6741311690478077, 0.1295884070358869, -0.1548305258558904], quaternion: [0.0923887628079104, 0.7725771854196011, -0.5914205846884315, -0.2116849099079686]} + solutions: [[16.000000, 89.000000, 16.000000, -51.000000, 68.000000, 89.000000], [16.000000, -169.796300, -175.724392, -62.864674, 125.935625, 15.304612], [-164.000000, -173.925971, 0.260924, 100.738135, 132.827831, -10.237919], [-164.000000, -89.747342, -159.985316, 133.870764, 91.779440, 62.324649], [16.000000, 89.000000, 16.000000, 129.000000, -68.000000, -91.000000], [16.000000, -169.796300, -175.724392, 117.135326, -125.935625, -164.695388], [-164.000000, -173.925971, 0.260924, -79.261865, -132.827831, 169.762081], [-164.000000, -89.747342, -159.985316, -46.129236, -91.779440, -117.675351]] - id: 339 parameters: Irb2400_10 joints: [79.000000, -21.000000, -77.000000, 159.000000, 8.000000, -170.000000] @@ -1706,19 +1706,19 @@ cases: solutions: [[138.000000, 76.000000, -37.000000, -104.000000, 103.000000, 112.000000], [138.000000, 120.755805, -122.724392, -108.996609, 90.876887, 72.487674], [138.000000, 76.000000, -37.000000, 76.000000, -103.000000, -68.000000], [138.000000, 120.755805, -122.724392, 71.003391, -90.876887, -107.512326]] - id: 341 parameters: Irb2400_10 - joints: [152.000000, 115.000000, 122.000000, -91.000000, -155.000000, -38.000000] - pose: {translation: [-0.2437854816495518, 0.08894442956799194, 0.8124576261568115], quaternion: [0.7509109583955544, -0.5605096049091078, -0.229336187377741, 0.2633754516372916]} - solutions: [[152.000000, -67.734011, 78.275608, 32.951699, 50.973137, 30.899656], [152.000000, 115.000000, 122.000000, 89.000000, 155.000000, 142.000000], [-28.000000, -132.645625, 68.212062, -106.425485, 153.862120, 124.924169], [-28.000000, 32.175187, 132.063545, -144.476723, 46.655938, 26.998065], [152.000000, -67.734011, 78.275608, -147.048301, -50.973137, -149.100344], [152.000000, 115.000000, 122.000000, -91.000000, -155.000000, -38.000000], [-28.000000, -132.645625, 68.212062, 73.574515, -153.862120, -55.075831], [-28.000000, 32.175187, 132.063545, 35.523277, -46.655938, -153.001935]] + joints: [152.000000, 115.000000, 122.000000, -91.000000, -154.000000, -38.000000] + pose: {translation: [-0.2441241830714858, 0.08760824538523659, 0.8130059856800086], quaternion: [0.7510444113375291, -0.5574450040842223, -0.2271751270596211, 0.2712541635913648]} + solutions: [[152.000000, -67.734011, 78.275608, 34.146502, 51.339249, 30.150256], [152.000000, 115.000000, 122.000000, 89.000000, 154.000000, 142.000000], [-28.000000, -132.645625, 68.212062, -105.780816, 152.904724, 125.500541], [-28.000000, 32.175187, 132.063545, -143.239206, 47.085287, 26.152016], [152.000000, -67.734011, 78.275608, -145.853498, -51.339249, -149.849744], [152.000000, 115.000000, 122.000000, -91.000000, -154.000000, -38.000000], [-28.000000, -132.645625, 68.212062, 74.219184, -152.904724, -54.499459], [-28.000000, 32.175187, 132.063545, 36.760794, -47.085287, -153.847984]] - id: 342 parameters: Irb2400_10 - joints: [142.000000, -132.000000, -31.000000, -60.000000, -146.000000, -62.000000] - pose: {translation: [0.8611352763768063, -0.7250297146275893, 0.1915722612101375], quaternion: [0.8603475451746234, -0.1211832247797584, -0.4937154381636236, 0.03690248857298429]} - solutions: [[-38.000000, 68.707970, -2.537076, -29.487139, 79.686544, 178.927128], [-38.000000, 149.891732, -157.187317, -49.381694, 140.357856, 131.227321], [142.000000, -132.000000, -31.000000, 120.000000, 146.000000, 118.000000], [142.000000, -80.946354, -128.724392, 148.649600, 111.437890, 160.593354], [-38.000000, 68.707970, -2.537076, 150.512861, -79.686544, -1.072872], [-38.000000, 149.891732, -157.187317, 130.618306, -140.357856, -48.772679], [142.000000, -132.000000, -31.000000, -60.000000, -146.000000, -62.000000], [142.000000, -80.946354, -128.724392, -31.350400, -111.437890, -19.406646]] + joints: [142.000000, -131.000000, -31.000000, -60.000000, -145.000000, -62.000000] + pose: {translation: [0.866938254511636, -0.7309071382192935, 0.2126934705747753], quaternion: [0.8651609102076964, -0.1201601124582658, -0.4845291503268676, 0.04785028010504264]} + solutions: [[-38.000000, 67.468452, -2.397272, -30.367310, 79.287886, 179.038810], [-38.000000, 148.801671, -157.327121, -49.938538, 139.532107, 130.688328], [142.000000, -131.000000, -31.000000, 120.000000, 145.000000, 118.000000], [142.000000, -79.946354, -128.724392, 147.926120, 110.700169, 160.333260], [-38.000000, 67.468452, -2.397272, 149.632690, -79.287886, -0.961190], [-38.000000, 148.801671, -157.327121, 130.061462, -139.532107, -49.311672], [142.000000, -131.000000, -31.000000, -60.000000, -145.000000, -62.000000], [142.000000, -79.946354, -128.724392, -32.073880, -110.700169, -19.666740]] - id: 343 parameters: Irb2400_10 - joints: [4.000000, 13.000000, -83.000000, 82.000000, 176.000000, -76.000000] - pose: {translation: [0.3604409940619583, 0.03109042417490971, 1.977610004972613], quaternion: [0.9719848374258598, -0.1600233371164843, -0.1720899969525015, 0.004800035543302302]} - solutions: [[4.000000, 9.730052, -76.724392, 48.089914, 174.674022, -110.014061], [4.000000, 13.000000, -83.000000, 82.000000, 176.000000, -76.000000], [4.000000, 9.730052, -76.724392, -131.910086, -174.674022, 69.985939], [4.000000, 13.000000, -83.000000, -98.000000, -176.000000, 104.000000]] + joints: [4.000000, 13.000000, -83.000000, 82.000000, 175.000000, -76.000000] + pose: {translation: [0.3605714892585854, 0.03256767050113119, 1.977648982985247], quaternion: [0.9716251645811617, -0.1614845185553085, -0.1727804715532059, -0.003768085646948503]} + solutions: [[4.000000, 9.730052, -76.724392, 53.292977, 173.819826, -104.837027], [4.000000, 13.000000, -83.000000, 82.000000, 175.000000, -76.000000], [4.000000, 9.730052, -76.724392, -126.707023, -173.819826, 75.162973], [4.000000, 13.000000, -83.000000, -98.000000, -175.000000, 104.000000]] - id: 344 parameters: Irb2400_10 joints: [123.000000, 143.000000, -61.000000, -86.000000, -54.000000, 82.000000] @@ -1726,24 +1726,24 @@ cases: solutions: [[123.000000, 143.000000, -61.000000, 94.000000, 54.000000, -98.000000], [123.000000, 162.663589, -98.724392, 80.947951, 54.807875, -75.762870], [123.000000, 143.000000, -61.000000, -86.000000, -54.000000, 82.000000], [123.000000, 162.663589, -98.724392, -99.052049, -54.807875, 104.237130]] - id: 345 parameters: Irb2400_10 - joints: [-136.000000, -107.000000, -10.000000, -69.000000, 136.000000, 113.000000] - pose: {translation: [0.6743078223684391, 0.7278030865768794, 0.9754260785348466], quaternion: [-0.2356420755107753, 0.8416840821874999, 0.1774514786586676, -0.4522739112120138]} - solutions: [[44.000000, 17.978565, 12.394442, 41.510763, 101.899105, 5.256192], [44.000000, 115.250515, -172.118834, 104.745268, 137.886262, 104.448366], [-136.000000, -107.000000, -10.000000, -69.000000, 136.000000, 113.000000], [-136.000000, -33.769157, -149.724392, -130.828689, 121.010498, 25.719852], [44.000000, 17.978565, 12.394442, -138.489237, -101.899105, -174.743808], [44.000000, 115.250515, -172.118834, -75.254732, -137.886262, -75.551634], [-136.000000, -107.000000, -10.000000, 111.000000, -136.000000, -67.000000], [-136.000000, -33.769157, -149.724392, 49.171311, -121.010498, -154.280148]] + joints: [-136.000000, -106.000000, -10.000000, -69.000000, 136.000000, 113.000000] + pose: {translation: [0.6696634691190994, 0.7233180867777533, 0.9944053186921085], quaternion: [-0.2394886937902103, 0.843415408566247, 0.1810677714306624, -0.4455446961740461]} + solutions: [[44.000000, 16.883284, 12.240756, 41.545825, 102.085490, 5.424937], [44.000000, 113.988120, -171.965148, 104.861472, 137.858487, 104.605049], [-136.000000, -106.000000, -10.000000, -69.000000, 136.000000, 113.000000], [-136.000000, -32.769157, -149.724392, -130.828689, 121.010498, 25.719852], [44.000000, 16.883284, 12.240756, -138.454175, -102.085490, -174.575063], [44.000000, 113.988120, -171.965148, -75.138528, -137.858487, -75.394951], [-136.000000, -106.000000, -10.000000, 111.000000, -136.000000, -67.000000], [-136.000000, -32.769157, -149.724392, 49.171311, -121.010498, -154.280148]] - id: 346 parameters: Irb2400_10 - joints: [-128.000000, 65.000000, -74.000000, 177.000000, 96.000000, 159.000000] - pose: {translation: [-0.8840214403451095, -1.138681915518448, 1.246381091766568], quaternion: [0.1204537298133881, 0.05657803938601675, 0.9552421944714263, -0.264201011229502]} - solutions: [[-128.000000, 65.000000, -74.000000, 177.000000, 96.000000, 159.000000], [-128.000000, 71.109227, -85.724392, 177.016379, 90.392476, 159.293413], [-128.000000, 65.000000, -74.000000, -3.000000, -96.000000, -21.000000], [-128.000000, 71.109227, -85.724392, -2.983621, -90.392476, -20.706587]] + joints: [-128.000000, 64.000000, -74.000000, 177.000000, 96.000000, 159.000000] + pose: {translation: [-0.8771115981137115, -1.129837720774596, 1.269698232075439], quaternion: [0.1273980752900986, 0.06172526302067546, 0.9541696083028631, -0.2636666093925578]} + solutions: [[-128.000000, 64.000000, -74.000000, 177.000000, 96.000000, 159.000000], [-128.000000, 70.109227, -85.724392, 177.016379, 90.392476, 159.293413], [-128.000000, 64.000000, -74.000000, -3.000000, -96.000000, -21.000000], [-128.000000, 70.109227, -85.724392, -2.983621, -90.392476, -20.706587]] - id: 347 parameters: Irb2400_10 - joints: [-113.000000, -60.000000, -163.000000, 137.000000, -75.000000, 155.000000] - pose: {translation: [0.3500077819019888, 0.9678738649621922, 0.3827702642153807], quaternion: [0.05753557721215341, 0.5715071198628686, 0.7279372698254617, -0.3744016566469305]} - solutions: [[67.000000, 51.689388, 23.997286, 138.105201, 99.420214, -46.922015], [67.000000, 161.702635, 176.278322, 95.525976, 41.440018, 44.077296], [-113.000000, -147.414662, 3.275608, -100.110434, 42.001566, 64.924165], [-113.000000, -60.000000, -163.000000, -43.000000, 75.000000, -25.000000], [67.000000, 51.689388, 23.997286, -41.894799, -99.420214, 133.077985], [67.000000, 161.702635, 176.278322, -84.474024, -41.440018, -135.922704], [-113.000000, -147.414662, 3.275608, 79.889566, -42.001566, -115.075835], [-113.000000, -60.000000, -163.000000, 137.000000, -75.000000, 155.000000]] + joints: [-113.000000, -60.000000, -163.000000, 137.000000, -74.000000, 155.000000] + pose: {translation: [0.350587916692059, 0.9685485946789095, 0.3815832560330688], quaternion: [0.06190979842914687, 0.5771311017697561, 0.7253467931122973, -0.3700795832658109]} + solutions: [[67.000000, 51.689388, 23.997286, 138.482668, 98.492327, -46.863249], [67.000000, 161.702635, 176.278322, 94.104766, 41.091610, 45.145588], [-113.000000, -147.414662, 3.275608, -101.604715, 42.009933, 66.034560], [-113.000000, -60.000000, -163.000000, -43.000000, 74.000000, -25.000000], [67.000000, 51.689388, 23.997286, -41.517332, -98.492327, 133.136751], [67.000000, 161.702635, 176.278322, -85.895234, -41.091610, -134.854412], [-113.000000, -147.414662, 3.275608, 78.395285, -42.009933, -113.965440], [-113.000000, -60.000000, -163.000000, 137.000000, -74.000000, 155.000000]] - id: 348 parameters: Irb2400_10 - joints: [76.000000, 64.000000, -137.000000, -5.000000, 27.000000, -143.000000] - pose: {translation: [0.2171694560789069, 0.8571168180731243, 1.746718745297289], quaternion: [-0.3540526529594589, -0.1213436126721185, -0.5474951679156572, 0.7484460486267893]} - solutions: [[76.000000, 4.235567, -22.724392, -175.114591, 27.685145, 28.214277], [76.000000, 64.000000, -137.000000, -5.000000, 27.000000, -143.000000], [-104.000000, -57.539049, -47.843777, 175.260340, 28.611341, -143.294295], [-104.000000, -24.136412, -111.880615, 47.147848, 3.093903, -14.563538], [76.000000, 4.235567, -22.724392, 4.885409, -27.685145, -151.785723], [76.000000, 64.000000, -137.000000, 175.000000, -27.000000, 37.000000], [-104.000000, -57.539049, -47.843777, -4.739660, -28.611341, 36.705705], [-104.000000, -24.136412, -111.880615, -132.852152, -3.093903, 165.436462]] + joints: [76.000000, 63.000000, -137.000000, -5.000000, 26.000000, -143.000000] + pose: {translation: [0.211986606084975, 0.8368078447959678, 1.761233318967655], quaternion: [-0.3387600025690853, -0.1159282011456684, -0.5510223122851521, 0.7537749824731829]} + solutions: [[76.000000, 3.235567, -22.724392, -175.432902, 28.673786, 28.494870], [76.000000, 63.000000, -137.000000, -5.000000, 26.000000, -143.000000], [-104.000000, -57.019442, -47.100255, 175.312485, 27.873596, -143.350466], [-104.000000, -22.839343, -112.624137, 31.698753, 4.169750, 0.872939], [76.000000, 3.235567, -22.724392, 4.567098, -28.673786, -151.505130], [76.000000, 63.000000, -137.000000, 175.000000, -26.000000, 37.000000], [-104.000000, -57.019442, -47.100255, -4.687515, -27.873596, 36.649534], [-104.000000, -22.839343, -112.624137, -148.301247, -4.169750, -179.127061]] - id: 349 parameters: Irb2400_10 joints: [139.000000, 69.000000, -37.000000, 145.000000, -21.000000, 53.000000] @@ -1756,14 +1756,14 @@ cases: solutions: [[-42.000000, 101.918378, -57.724392, -166.694137, 33.850349, -57.883273], [-42.000000, 125.000000, -102.000000, -148.000000, 14.000000, -78.000000], [-42.000000, 101.918378, -57.724392, 13.305863, -33.850349, 122.116727], [-42.000000, 125.000000, -102.000000, 32.000000, -14.000000, 102.000000]] - id: 351 parameters: Irb2400_10 - joints: [-13.000000, 126.000000, 114.000000, 87.000000, -30.000000, 118.000000] - pose: {translation: [0.1241471589785147, -0.07221977775825036, 0.8495984379208954], quaternion: [-0.3300312922538074, -0.1504039250274077, 0.9174224385445426, -0.1636889572470207]} - solutions: [[-13.000000, -78.344281, 86.275608, -143.181141, 123.573076, 47.025572], [-13.000000, 126.000000, 114.000000, -93.000000, 30.000000, -62.000000], [167.000000, -146.258680, 75.068632, 68.793679, 32.383411, -40.786428], [167.000000, 30.118774, 125.206975, 46.165262, 136.195169, 61.468074], [-13.000000, -78.344281, 86.275608, 36.818859, -123.573076, -132.974428], [-13.000000, 126.000000, 114.000000, 87.000000, -30.000000, 118.000000], [167.000000, -146.258680, 75.068632, -111.206321, -32.383411, 139.213572], [167.000000, 30.118774, 125.206975, -133.834738, -136.195169, -118.531926]] + joints: [-13.000000, 125.000000, 114.000000, 87.000000, -30.000000, 118.000000] + pose: {translation: [0.1201522663326003, -0.07129748411934729, 0.850212132262908], quaternion: [-0.3374981254320913, -0.1472054313438466, 0.9148765405251763, -0.1656094559781592]} + solutions: [[-13.000000, -79.344281, 86.275608, -143.181141, 123.573076, 47.025572], [-13.000000, 125.000000, 114.000000, -93.000000, 30.000000, -62.000000], [167.000000, -145.921985, 75.219742, 68.045396, 32.571805, -39.899424], [167.000000, 30.737726, 125.055865, 46.569429, 136.562379, 62.026375], [-13.000000, -79.344281, 86.275608, 36.818859, -123.573076, -132.974428], [-13.000000, 125.000000, 114.000000, 87.000000, -30.000000, 118.000000], [167.000000, -145.921985, 75.219742, -111.954604, -32.571805, 140.100576], [167.000000, 30.737726, 125.055865, -133.430571, -136.562379, -117.973625]] - id: 352 parameters: Irb2400_10 - joints: [64.000000, 46.000000, -177.000000, 157.000000, 150.000000, 24.000000] - pose: {translation: [-0.002347351344623122, 0.03306852573180284, 1.504750128852788], quaternion: [0.9721014907887378, 0.1810908781987182, -0.01286150484311979, -0.1485239614765947]} - solutions: [[64.000000, -56.600171, 17.275608, 12.529265, 115.768436, -130.297970], [64.000000, 46.000000, -177.000000, 157.000000, 150.000000, 24.000000], [-116.000000, -57.642968, 17.063695, -18.552524, 142.119152, 29.346999], [-116.000000, 44.725003, -176.788087, -166.343891, 124.158123, -128.048037], [64.000000, -56.600171, 17.275608, -167.470735, -115.768436, 49.702030], [64.000000, 46.000000, -177.000000, -23.000000, -150.000000, -156.000000], [-116.000000, -57.642968, 17.063695, 161.447476, -142.119152, -150.653001], [-116.000000, 44.725003, -176.788087, 13.656109, -124.158123, 51.951963]] + joints: [64.000000, 46.000000, -177.000000, 157.000000, 149.000000, 24.000000] + pose: {translation: [-0.003402071588935194, 0.03204535269431687, 1.504546444951247], quaternion: [0.9724891143182429, 0.182313679383322, -0.01996792836230718, -0.1436242551909413]} + solutions: [[64.000000, -56.600171, 17.275608, 13.014567, 116.668691, -130.083557], [64.000000, 46.000000, -177.000000, 157.000000, 149.000000, 24.000000], [-116.000000, -57.642968, 17.063695, -18.700988, 141.123408, 29.230610], [-116.000000, 44.725003, -176.788087, -165.771414, 125.040139, -127.722956], [64.000000, -56.600171, 17.275608, -166.985433, -116.668691, 49.916443], [64.000000, 46.000000, -177.000000, -23.000000, -149.000000, -156.000000], [-116.000000, -57.642968, 17.063695, 161.299012, -141.123408, -150.769390], [-116.000000, 44.725003, -176.788087, 14.228586, -125.040139, 52.277044]] - id: 353 parameters: Irb2400_10 joints: [-97.000000, 88.000000, 112.000000, 9.000000, 25.000000, -4.000000] @@ -1771,9 +1771,9 @@ cases: solutions: [[-97.000000, -124.260383, 88.275608, 176.159106, 99.265509, -176.450601], [-97.000000, 88.000000, 112.000000, 9.000000, 25.000000, -4.000000], [83.000000, -142.133894, 83.989842, -15.938863, 13.930670, -160.338376], [83.000000, 54.779646, 116.285766, -6.463072, 144.031894, 178.930222], [-97.000000, -124.260383, 88.275608, -3.840894, -99.265509, 3.549399], [-97.000000, 88.000000, 112.000000, -171.000000, -25.000000, 176.000000], [83.000000, -142.133894, 83.989842, 164.061137, -13.930670, 19.661624], [83.000000, 54.779646, 116.285766, 173.536928, -144.031894, -1.069778]] - id: 354 parameters: Irb2400_10 - joints: [150.000000, -169.000000, 26.000000, 49.000000, -28.000000, -46.000000] - pose: {translation: [0.7030538808321731, -0.3711325218579518, 0.2937655805575451], quaternion: [0.5977128941464144, -0.00663506033213234, 0.7945149158425655, 0.1069641091637156]} - solutions: [[-30.000000, 53.464766, 42.764945, 157.473777, 112.354693, -9.517607], [-30.000000, -175.108070, 157.510663, 90.454328, 20.752131, 88.960836], [150.000000, -169.000000, 26.000000, -131.000000, 28.000000, 134.000000], [150.000000, -56.757870, 174.275608, -21.029050, 80.889794, 2.930027], [-30.000000, 53.464766, 42.764945, -22.526223, -112.354693, 170.482393], [-30.000000, -175.108070, 157.510663, -89.545672, -20.752131, -91.039164], [150.000000, -169.000000, 26.000000, 49.000000, -28.000000, -46.000000], [150.000000, -56.757870, 174.275608, 158.970950, -80.889794, -177.069973]] + joints: [150.000000, -168.000000, 26.000000, 49.000000, -27.000000, -46.000000] + pose: {translation: [0.7073017402212595, -0.3747317751146533, 0.310526465562925], quaternion: [0.5856652673464873, -0.008328243858777026, 0.8025593296880987, 0.1132490940749023]} + solutions: [[-30.000000, 52.128687, 42.913658, 158.150158, 112.983553, -9.191621], [-30.000000, -176.268359, 157.361950, 91.671805, 20.046148, 87.927368], [150.000000, -168.000000, 26.000000, -131.000000, 27.000000, 134.000000], [150.000000, -55.757870, 174.275608, -20.266880, 81.547550, 2.813667], [-30.000000, 52.128687, 42.913658, -21.849842, -112.983553, 170.808379], [-30.000000, -176.268359, 157.361950, -88.328195, -20.046148, -92.072632], [150.000000, -168.000000, 26.000000, 49.000000, -27.000000, -46.000000], [150.000000, -55.757870, 174.275608, 159.733120, -81.547550, -177.186333]] - id: 355 parameters: Irb2400_10 joints: [-99.000000, -16.000000, -83.000000, -163.000000, 100.000000, 131.000000] @@ -1781,14 +1781,14 @@ cases: solutions: [[81.000000, -5.428773, -50.391512, 17.269604, 75.904467, 123.631306], [81.000000, 25.310764, -109.332880, 17.179833, 102.888735, 131.906036], [-99.000000, -19.269948, -76.724392, -162.821278, 102.873013, 131.901050], [-99.000000, -16.000000, -83.000000, -163.000000, 100.000000, 131.000000], [81.000000, -5.428773, -50.391512, -162.730396, -75.904467, -56.368694], [81.000000, 25.310764, -109.332880, -162.820167, -102.888735, -48.093964], [-99.000000, -19.269948, -76.724392, 17.178722, -102.873013, -48.098950], [-99.000000, -16.000000, -83.000000, 17.000000, -100.000000, -49.000000]] - id: 356 parameters: Irb2400_10 - joints: [-111.000000, 151.000000, 76.000000, 105.000000, 34.000000, 76.000000] - pose: {translation: [0.1248953141424714, 0.197249829429286, 0.5016425820817755], quaternion: [-0.01752349338599923, 0.4958687452015008, 0.4096545686021966, 0.7654999994351328]} - solutions: [[69.000000, 50.651941, 87.593558, -97.209902, 147.013339, -94.665447], [69.000000, -99.971321, 112.682050, -139.963001, 57.104328, 159.382829], [-111.000000, 151.000000, 76.000000, 105.000000, 34.000000, 76.000000], [-111.000000, -30.858120, 124.275608, 37.642214, 117.820140, -156.292379], [69.000000, 50.651941, 87.593558, 82.790098, -147.013339, 85.334553], [69.000000, -99.971321, 112.682050, 40.036999, -57.104328, -20.617171], [-111.000000, 151.000000, 76.000000, -75.000000, -34.000000, -104.000000], [-111.000000, -30.858120, 124.275608, -142.357786, -117.820140, 23.707621]] + joints: [-111.000000, 150.000000, 76.000000, 105.000000, 33.000000, 76.000000] + pose: {translation: [0.1231741187737106, 0.1961003183560918, 0.4967310414714005], quaternion: [-0.02808807751898873, 0.4965149028478746, 0.4099330247402918, 0.7646168493948641]} + solutions: [[69.000000, 52.656804, 87.325815, -95.729485, 148.080838, -93.023142], [69.000000, -99.042822, 112.949793, -141.227176, 57.147587, 160.173663], [-111.000000, 150.000000, 76.000000, 105.000000, 33.000000, 76.000000], [-111.000000, -31.858120, 124.275608, 36.742594, 118.428854, -156.716463], [69.000000, 52.656804, 87.325815, 84.270515, -148.080838, 86.976858], [69.000000, -99.042822, 112.949793, 38.772824, -57.147587, -19.826337], [-111.000000, 150.000000, 76.000000, -75.000000, -33.000000, -104.000000], [-111.000000, -31.858120, 124.275608, -143.257406, -118.428854, 23.283537]] - id: 357 parameters: Irb2400_10 - joints: [11.000000, 116.000000, 4.000000, 146.000000, 113.000000, -62.000000] - pose: {translation: [0.5274680244014363, 0.1471011884199428, -0.4190714334035918], quaternion: [0.5205640859637511, 0.5006044027493409, 0.6913030415941582, 0.02254704050126062]} - solutions: [[11.000000, 116.000000, 4.000000, 146.000000, 113.000000, -62.000000], [11.000000, -155.806227, -163.724392, 135.450316, 47.200975, -13.459479], [-169.000000, 170.462654, -6.235614, -69.622897, 33.305422, 18.802448], [-169.000000, -112.300913, -153.488778, -31.174909, 83.919170, -43.568224], [11.000000, 116.000000, 4.000000, -34.000000, -113.000000, 118.000000], [11.000000, -155.806227, -163.724392, -44.549684, -47.200975, 166.540521], [-169.000000, 170.462654, -6.235614, 110.377103, -33.305422, -161.197552], [-169.000000, -112.300913, -153.488778, 148.825091, -83.919170, 136.431776]] + joints: [11.000000, 115.000000, 4.000000, 146.000000, 112.000000, -62.000000] + pose: {translation: [0.5448080711719673, 0.1507951561679549, -0.4125597881898804], quaternion: [0.5176941985604308, 0.5044828329805661, 0.6905878317833138, 0.02404650905219191]} + solutions: [[11.000000, 115.000000, 4.000000, 146.000000, 112.000000, -62.000000], [11.000000, -156.806227, -163.724392, 134.417901, 46.543491, -12.753670], [-169.000000, 171.590286, -6.631979, -71.039082, 33.245042, 19.847623], [-169.000000, -111.595589, -153.092413, -31.500056, 82.883860, -43.478323], [11.000000, 115.000000, 4.000000, -34.000000, -112.000000, 118.000000], [11.000000, -156.806227, -163.724392, -45.582099, -46.543491, 167.246330], [-169.000000, 171.590286, -6.631979, 108.960918, -33.245042, -160.152377], [-169.000000, -111.595589, -153.092413, 148.499944, -82.883860, 136.521677]] - id: 358 parameters: Irb2400_10 joints: [-1.000000, -29.000000, -143.000000, -76.000000, 14.000000, 136.000000] @@ -1796,14 +1796,14 @@ cases: solutions: [[179.000000, 12.116200, 5.611180, 153.650465, 31.928970, 83.211376], [179.000000, 102.045112, -165.335573, 17.072934, 53.086135, -130.040440], [-1.000000, -95.101679, -16.724392, -163.888717, 57.766661, -128.347293], [-1.000000, -29.000000, -143.000000, -76.000000, 14.000000, 136.000000], [179.000000, 12.116200, 5.611180, -26.349535, -31.928970, -96.788624], [179.000000, 102.045112, -165.335573, -162.927066, -53.086135, 49.959560], [-1.000000, -95.101679, -16.724392, 16.111283, -57.766661, 51.652707], [-1.000000, -29.000000, -143.000000, 104.000000, -14.000000, -44.000000]] - id: 359 parameters: Irb2400_10 - joints: [117.000000, -76.000000, 137.000000, -11.000000, -28.000000, -7.000000] - pose: {translation: [0.006521121458886656, -0.02957024549875425, 0.1440165909932531], quaternion: [0.8173722787036273, -0.3260566543038286, -0.3885863662372226, -0.2731121604132353]} - solutions: [[-63.000000, 98.544821, 66.967855, -164.519964, 19.610597, -31.360360], [-63.000000, -98.532281, 133.307753, -5.532369, 111.694365, 161.210769], [117.000000, 126.461295, 63.275608, 167.387693, 155.779420, 151.728145], [117.000000, -76.000000, 137.000000, 169.000000, 28.000000, 173.000000], [-63.000000, 98.544821, 66.967855, 15.480036, -19.610597, 148.639640], [-63.000000, -98.532281, 133.307753, 174.467631, -111.694365, -18.789231], [117.000000, 126.461295, 63.275608, -12.612307, -155.779420, -28.271855], [117.000000, -76.000000, 137.000000, -11.000000, -28.000000, -7.000000]] + joints: [117.000000, -75.000000, 137.000000, -11.000000, -28.000000, -7.000000] + pose: {translation: [0.01024388880761783, -0.03687658780692563, 0.1463450564832903], quaternion: [0.8210041995399918, -0.3279836475389372, -0.3827981128872337, -0.2680381242560925]} + solutions: [[-63.000000, 97.324092, 67.254627, -164.569275, 19.674253, -31.308002], [-63.000000, -99.319742, 133.020981, -5.535222, 111.768253, 161.203063], [117.000000, 127.461295, 63.275608, 167.387693, 155.779420, 151.728145], [117.000000, -75.000000, 137.000000, 169.000000, 28.000000, 173.000000], [-63.000000, 97.324092, 67.254627, 15.430725, -19.674253, 148.691998], [-63.000000, -99.319742, 133.020981, 174.464778, -111.768253, -18.796937], [117.000000, 127.461295, 63.275608, -12.612307, -155.779420, -28.271855], [117.000000, -75.000000, 137.000000, -11.000000, -28.000000, -7.000000]] - id: 360 parameters: Irb2400_10 - joints: [36.000000, 70.000000, 64.000000, -71.000000, 150.000000, 47.000000] - pose: {translation: [0.3280603796362156, 0.1886789951385395, 0.2818076701209659], quaternion: [0.3573762513462871, 0.06526318670037848, 0.8827714865593649, 0.2978882910642109]} - solutions: [[36.000000, 70.000000, 64.000000, -71.000000, 150.000000, 47.000000], [36.000000, -131.430876, 136.275608, -148.594422, 65.127501, -79.084439], [-144.000000, 155.600647, 53.266895, 49.019843, 38.772061, -106.590662], [-144.000000, -60.174858, 147.008713, 46.854680, 139.612681, -25.583105], [36.000000, 70.000000, 64.000000, 109.000000, -150.000000, -133.000000], [36.000000, -131.430876, 136.275608, 31.405578, -65.127501, 100.915561], [-144.000000, 155.600647, 53.266895, -130.980157, -38.772061, 73.409338], [-144.000000, -60.174858, 147.008713, -133.145320, -139.612681, 154.416895]] + joints: [36.000000, 69.000000, 64.000000, -71.000000, 149.000000, 47.000000] + pose: {translation: [0.3327795078138648, 0.1906137353578954, 0.2864138277187391], quaternion: [0.3560231508882381, 0.05121070115422219, 0.8838373000587736, 0.2990929740795012]} + solutions: [[36.000000, 69.000000, 64.000000, -71.000000, 149.000000, 47.000000], [36.000000, -132.430876, 136.275608, -147.707856, 65.719088, -79.453183], [-144.000000, 156.473874, 53.067695, 49.418514, 39.881211, -106.742630], [-144.000000, -59.553150, 147.207913, 48.474131, 139.423004, -24.265353], [36.000000, 69.000000, 64.000000, 109.000000, -149.000000, -133.000000], [36.000000, -132.430876, 136.275608, 32.292144, -65.719088, 100.546817], [-144.000000, 156.473874, 53.067695, -130.581486, -39.881211, 73.257370], [-144.000000, -59.553150, 147.207913, -131.525869, -139.423004, 155.734647]] - id: 361 parameters: Irb2400_10 joints: [114.000000, 54.000000, -48.000000, -114.000000, 51.000000, -3.000000] @@ -1811,49 +1811,49 @@ cases: solutions: [[114.000000, 54.000000, -48.000000, -114.000000, 51.000000, -3.000000], [114.000000, 87.239299, -111.724392, -86.223264, 45.357363, -43.645253], [114.000000, 54.000000, -48.000000, 66.000000, -51.000000, 177.000000], [114.000000, 87.239299, -111.724392, 93.776736, -45.357363, 136.354747]] - id: 362 parameters: Irb2400_10 - joints: [-60.000000, 49.000000, -53.000000, 37.000000, 21.000000, -132.000000] - pose: {translation: [0.7442120332541251, -1.252348946505349, 1.24612618257029], quaternion: [-0.3101509619319539, 0.7169371211581242, -0.5889674798678964, 0.2071831382527156]} - solutions: [[-60.000000, 49.000000, -53.000000, 37.000000, 21.000000, -132.000000], [-60.000000, 77.014319, -106.724392, 18.022681, 44.193000, -110.004605], [-60.000000, 49.000000, -53.000000, -143.000000, -21.000000, 48.000000], [-60.000000, 77.014319, -106.724392, -161.977319, -44.193000, 69.995395]] + joints: [-60.000000, 49.000000, -53.000000, 37.000000, 20.000000, -132.000000] + pose: {translation: [0.7437082398553888, -1.253148871156573, 1.247269475076125], quaternion: [-0.3053564589791374, 0.7143001034629722, -0.5954054791739615, 0.205000269566006]} + solutions: [[-60.000000, 49.000000, -53.000000, 37.000000, 20.000000, -132.000000], [-60.000000, 77.014319, -106.724392, 17.476257, 43.267073, -109.609742], [-60.000000, 49.000000, -53.000000, -143.000000, -20.000000, 48.000000], [-60.000000, 77.014319, -106.724392, -162.523743, -43.267073, 70.390258]] - id: 363 parameters: Irb2400_10 - joints: [-87.000000, -56.000000, 45.000000, 112.000000, -37.000000, -90.000000] - pose: {translation: [-0.03160129826838105, -0.3032605315479037, 1.279953683444774], quaternion: [0.6975770356180324, 0.2187322062833617, -0.5103725203387808, 0.4528381518774804]} - solutions: [[-87.000000, -56.000000, 45.000000, -68.000000, 37.000000, 90.000000], [-87.000000, 78.083161, 155.275608, -41.875463, 123.287448, 0.636467], [93.000000, -89.897553, 39.228947, 136.885585, 125.271287, -1.562751], [93.000000, 37.385157, 161.046660, 120.360102, 40.291326, 79.312448], [-87.000000, -56.000000, 45.000000, 112.000000, -37.000000, -90.000000], [-87.000000, 78.083161, 155.275608, 138.124537, -123.287448, -179.363533], [93.000000, -89.897553, 39.228947, -43.114415, -125.271287, 178.437249], [93.000000, 37.385157, 161.046660, -59.639898, -40.291326, -100.687552]] + joints: [-87.000000, -55.000000, 45.000000, 112.000000, -37.000000, -90.000000] + pose: {translation: [-0.0309955409986509, -0.3148190688112097, 1.27634113998746], quaternion: [0.70126367351048, 0.2233783742190688, -0.5087655199733369, 0.4466419235048282]} + solutions: [[-87.000000, -55.000000, 45.000000, -68.000000, 37.000000, 90.000000], [-87.000000, 79.083161, 155.275608, -41.875463, 123.287448, 0.636467], [93.000000, -90.613172, 38.945894, 136.884943, 125.272256, -1.563863], [93.000000, 36.340524, 161.329713, 120.601941, 40.412266, 78.995109], [-87.000000, -55.000000, 45.000000, 112.000000, -37.000000, -90.000000], [-87.000000, 79.083161, 155.275608, 138.124537, -123.287448, -179.363533], [93.000000, -90.613172, 38.945894, -43.115057, -125.272256, 178.436137], [93.000000, 36.340524, 161.329713, -59.398059, -40.412266, -101.004891]] - id: 364 parameters: Irb2400_10 - joints: [177.000000, -138.000000, 113.000000, -168.000000, 27.000000, 13.000000] - pose: {translation: [-0.3073172208635696, 0.0241399678661693, 0.5987278920168093], quaternion: [-0.1195218404471971, -0.3101689760279936, 0.1542912005290536, 0.930432136915511]} - solutions: [[177.000000, 13.898201, 87.275608, -168.333588, 152.174248, 34.072608], [177.000000, -138.000000, 113.000000, -168.000000, 27.000000, 13.000000], [-3.000000, 171.610864, 71.830216, 155.396326, 13.103692, -132.239421], [-3.000000, -17.739869, 128.445391, 6.297965, 120.633449, 26.942877], [177.000000, 13.898201, 87.275608, 11.666412, -152.174248, -145.927392], [177.000000, -138.000000, 113.000000, 12.000000, -27.000000, -167.000000], [-3.000000, 171.610864, 71.830216, -24.603674, -13.103692, 47.760579], [-3.000000, -17.739869, 128.445391, -173.702035, -120.633449, -153.057123]] + joints: [177.000000, -137.000000, 113.000000, -168.000000, 27.000000, 13.000000] + pose: {translation: [-0.3070019623739842, 0.02412344586883001, 0.595097487159197], quaternion: [-0.1212868109592968, -0.3181950208146807, 0.1533854011836517, 0.9276391307614179]} + solutions: [[177.000000, 14.898201, 87.275608, -168.333588, 152.174248, 34.072608], [177.000000, -137.000000, 113.000000, -168.000000, 27.000000, 13.000000], [-3.000000, 171.089616, 71.895682, 156.333879, 13.600354, -133.203010], [-3.000000, -18.150706, 128.379926, 6.264385, 120.112895, 26.876466], [177.000000, 14.898201, 87.275608, 11.666412, -152.174248, -145.927392], [177.000000, -137.000000, 113.000000, 12.000000, -27.000000, -167.000000], [-3.000000, 171.089616, 71.895682, -23.666121, -13.600354, 46.796990], [-3.000000, -18.150706, 128.379926, -173.735615, -120.112895, -153.123534]] - id: 365 parameters: Irb2400_10 - joints: [-144.000000, -118.000000, 127.000000, 33.000000, 139.000000, -171.000000] - pose: {translation: [-0.1226487313406606, -0.12665113527421, 0.2630950919280889], quaternion: [-0.2902229088828831, 0.792755336190519, -0.06868305880252859, 0.5315940909514925]} - solutions: [[-144.000000, 68.864588, 73.275608, 63.974961, 23.430386, 100.909680], [-144.000000, -118.000000, 127.000000, 33.000000, 139.000000, -171.000000], [36.000000, 148.600453, 63.432240, -77.317372, 158.515379, -93.514451], [36.000000, -53.639010, 136.843367, -155.256677, 58.615330, 149.393606], [-144.000000, 68.864588, 73.275608, -116.025039, -23.430386, -79.090320], [-144.000000, -118.000000, 127.000000, -147.000000, -139.000000, 9.000000], [36.000000, 148.600453, 63.432240, 102.682628, -158.515379, 86.485549], [36.000000, -53.639010, 136.843367, 24.743323, -58.615330, -30.606394]] + joints: [-144.000000, -118.000000, 127.000000, 33.000000, 138.000000, -171.000000] + pose: {translation: [-0.1229605840061118, -0.1276257033763194, 0.2620209551027502], quaternion: [-0.2888941765862473, 0.7972132503585826, -0.07226411788683437, 0.5251372063121178]} + solutions: [[-144.000000, 68.864588, 73.275608, 66.490452, 23.417196, 98.601433], [-144.000000, -118.000000, 127.000000, 33.000000, 138.000000, -171.000000], [36.000000, 148.600453, 63.432240, -79.955898, 158.277785, -95.967697], [36.000000, -53.639010, 136.843367, -154.503697, 57.847086, 148.997154], [-144.000000, 68.864588, 73.275608, -113.509548, -23.417196, -81.398567], [-144.000000, -118.000000, 127.000000, -147.000000, -138.000000, 9.000000], [36.000000, 148.600453, 63.432240, 100.044102, -158.277785, 84.032303], [36.000000, -53.639010, 136.843367, 25.496303, -57.847086, -31.002846]] - id: 366 parameters: Irb2400_10 - joints: [-122.000000, 12.000000, 2.000000, 57.000000, -116.000000, 19.000000] - pose: {translation: [-0.5766894374526211, -0.8019864129524363, 1.30232042513038], quaternion: [-0.06308080685913864, 0.4533279767354715, 0.7855948539246859, -0.4163595595179428]} - solutions: [[-122.000000, 12.000000, 2.000000, -123.000000, 116.000000, -161.000000], [-122.000000, 98.044168, -161.724392, -125.249802, 67.374170, 136.417352], [58.000000, -90.991333, -20.913278, 56.362667, 64.875890, 132.435700], [58.000000, -29.316112, -138.811115, 50.033971, 100.417405, 177.154326], [-122.000000, 12.000000, 2.000000, 57.000000, -116.000000, 19.000000], [-122.000000, 98.044168, -161.724392, 54.750198, -67.374170, -43.582648], [58.000000, -90.991333, -20.913278, -123.637333, -64.875890, -47.564300], [58.000000, -29.316112, -138.811115, -129.966029, -100.417405, -2.845674]] + joints: [-122.000000, 12.000000, 2.000000, 57.000000, -115.000000, 19.000000] + pose: {translation: [-0.5778767548055267, -0.8028757374769042, 1.302334003930624], quaternion: [-0.0707433394194309, 0.452107229888345, 0.7837565127645085, -0.4199049431832059]} + solutions: [[-122.000000, 12.000000, 2.000000, -123.000000, 115.000000, -161.000000], [-122.000000, 98.044168, -161.724392, -124.284872, 66.916595, 136.042569], [58.000000, -90.991333, -20.913278, 57.379356, 64.481644, 132.000857], [58.000000, -29.316112, -138.811115, 50.411224, 99.489000, 177.219534], [-122.000000, 12.000000, 2.000000, 57.000000, -115.000000, 19.000000], [-122.000000, 98.044168, -161.724392, 55.715128, -66.916595, -43.957431], [58.000000, -90.991333, -20.913278, -122.620644, -64.481644, -47.999143], [58.000000, -29.316112, -138.811115, -129.588776, -99.489000, -2.780466]] - id: 367 parameters: Irb2400_10 - joints: [31.000000, -102.000000, -37.000000, -19.000000, 9.000000, -59.000000] - pose: {translation: [-1.114727919867898, -0.6748465302280522, 0.9264280706628426], quaternion: [0.2951083351353026, -0.1819476792784719, -0.3642804567304463, 0.8643528569878772]} - solutions: [[-149.000000, 38.911911, -5.609464, 177.057622, 82.828875, -77.414947], [-149.000000, 116.815753, -154.114928, 166.451778, 12.556659, -64.546865], [31.000000, -102.000000, -37.000000, -19.000000, 9.000000, -59.000000], [31.000000, -57.244195, -122.724392, -3.837587, 49.549157, -75.290605], [-149.000000, 38.911911, -5.609464, -2.942378, -82.828875, 102.585053], [-149.000000, 116.815753, -154.114928, -13.548222, -12.556659, 115.453135], [31.000000, -102.000000, -37.000000, 161.000000, -9.000000, 121.000000], [31.000000, -57.244195, -122.724392, 176.162413, -49.549157, 104.709395]] + joints: [31.000000, -101.000000, -37.000000, -19.000000, 9.000000, -59.000000] + pose: {translation: [-1.10988589738202, -0.6719371495998421, 0.9508677607321059], quaternion: [0.2884874115252601, -0.1771125625043727, -0.3656562626749351, 0.8670072959100107]} + solutions: [[-149.000000, 37.798811, -5.708874, 177.056229, 82.616646, -77.403947], [-149.000000, 115.596670, -154.015518, 166.324723, 12.440347, -64.416725], [31.000000, -101.000000, -37.000000, -19.000000, 9.000000, -59.000000], [31.000000, -56.244195, -122.724392, -3.837587, 49.549157, -75.290605], [-149.000000, 37.798811, -5.708874, -2.943771, -82.616646, 102.596053], [-149.000000, 115.596670, -154.015518, -13.675277, -12.440347, 115.583275], [31.000000, -101.000000, -37.000000, 161.000000, -9.000000, 121.000000], [31.000000, -56.244195, -122.724392, 176.162413, -49.549157, 104.709395]] - id: 368 parameters: Irb2400_10 - joints: [-16.000000, -87.000000, 113.000000, -77.000000, -155.000000, 28.000000] - pose: {translation: [0.07505066302597646, 0.0148919834346765, 0.4832972495240618], quaternion: [-0.5024168939574113, -0.078766783275975, 0.5186891423032868, 0.6872660563240583]} - solutions: [[-16.000000, 64.898201, 87.275608, 27.598901, 62.729366, 90.238615], [-16.000000, -87.000000, 113.000000, 103.000000, 155.000000, -152.000000], [164.000000, 142.590279, 77.872933, -25.357817, 105.947943, -83.710576], [164.000000, -35.520801, 122.402675, -152.705895, 116.103197, 116.500194], [-16.000000, 64.898201, 87.275608, -152.401099, -62.729366, -89.761385], [-16.000000, -87.000000, 113.000000, -77.000000, -155.000000, 28.000000], [164.000000, 142.590279, 77.872933, 154.642183, -105.947943, 96.289424], [164.000000, -35.520801, 122.402675, 27.294105, -116.103197, -63.499806]] + joints: [-16.000000, -86.000000, 113.000000, -77.000000, -154.000000, 28.000000] + pose: {translation: [0.07388393269518956, 0.01658379258335918, 0.4838535423209638], quaternion: [-0.4975789402560438, -0.06679242767228394, 0.5191539707611685, 0.69168860368104]} + solutions: [[-16.000000, 65.898201, 87.275608, 28.590295, 63.198646, 89.787963], [-16.000000, -86.000000, 113.000000, 103.000000, 154.000000, -152.000000], [164.000000, 141.967120, 78.042453, -26.255957, 105.086039, -83.721663], [164.000000, -35.790039, 122.233154, -151.459810, 116.618447, 117.288947], [-16.000000, 65.898201, 87.275608, -151.409705, -63.198646, -90.212037], [-16.000000, -86.000000, 113.000000, -77.000000, -154.000000, 28.000000], [164.000000, 141.967120, 78.042453, 153.744043, -105.086039, 96.278337], [164.000000, -35.790039, 122.233154, 28.540190, -116.618447, -62.711053]] - id: 369 parameters: Irb2400_10 - joints: [114.000000, -69.000000, 175.000000, -108.000000, -176.000000, 38.000000] - pose: {translation: [0.2449504823013073, -0.5640320438701171, 0.1866990281739944], quaternion: [-0.003799132610223096, -0.1324941531952237, -0.7563077482332727, 0.6406476847088476]} - solutions: [[-66.000000, 69.527764, 39.911354, -6.745956, 145.613481, -39.534172], [-66.000000, -162.394719, 160.364254, -176.100477, 102.703130, 146.899874], [114.000000, 179.565254, 25.275608, 3.863373, 79.943686, 145.365509], [114.000000, -69.000000, 175.000000, 72.000000, 176.000000, -142.000000], [-66.000000, 69.527764, 39.911354, 173.254044, -145.613481, 140.465828], [-66.000000, -162.394719, 160.364254, 3.899523, -102.703130, -33.100126], [114.000000, 179.565254, 25.275608, -176.136627, -79.943686, -34.634491], [114.000000, -69.000000, 175.000000, -108.000000, -176.000000, 38.000000]] + joints: [114.000000, -69.000000, 175.000000, -108.000000, -175.000000, 38.000000] + pose: {translation: [0.2438572656362718, -0.5650347820850538, 0.1867131131213154], quaternion: [0.004843779241430349, -0.1321469606569519, -0.7555932384911486, 0.6415548117957253]} + solutions: [[-66.000000, 69.527764, 39.911354, -8.484051, 145.817105, -40.970307], [-66.000000, -162.394719, 160.364254, -175.131880, 102.377471, 147.110188], [114.000000, 179.565254, 25.275608, 4.833587, 79.646645, 145.193614], [114.000000, -69.000000, 175.000000, 72.000000, 175.000000, -142.000000], [-66.000000, 69.527764, 39.911354, 171.515949, -145.817105, 139.029693], [-66.000000, -162.394719, 160.364254, 4.868120, -102.377471, -32.889812], [114.000000, 179.565254, 25.275608, -175.166413, -79.646645, -34.806386], [114.000000, -69.000000, 175.000000, -108.000000, -175.000000, 38.000000]] - id: 370 parameters: Irb2400_10 - joints: [9.000000, 17.000000, -153.000000, -178.000000, 9.000000, -119.000000] - pose: {translation: [-0.3953787295088917, -0.0630916794559829, 1.765310873440643], quaternion: [-0.2073637185810337, -0.4125261144024969, 0.5222484251631521, 0.7169930791624362]} - solutions: [[-171.000000, -30.376251, 0.481931, 176.493090, 5.120610, 66.468345], [-171.000000, 54.039277, -160.206323, 0.330511, 71.161944, -117.131325], [9.000000, -59.715681, -6.724392, -179.680846, 78.554706, -117.087935], [9.000000, 17.000000, -153.000000, -178.000000, 9.000000, -119.000000], [-171.000000, -30.376251, 0.481931, -3.506910, -5.120610, -113.531655], [-171.000000, 54.039277, -160.206323, -179.669489, -71.161944, 62.868675], [9.000000, -59.715681, -6.724392, 0.319154, -78.554706, 62.912065], [9.000000, 17.000000, -153.000000, 2.000000, -9.000000, 61.000000]] + joints: [9.000000, 16.000000, -153.000000, -178.000000, 9.000000, -119.000000] + pose: {translation: [-0.4151319851843314, -0.06622028780072489, 1.75640282862033], quaternion: [-0.2108783434152054, -0.4194031773009384, 0.5198780993119321, 0.7136932541394442]} + solutions: [[-171.000000, -29.558860, 0.893548, 176.642724, 5.349208, 66.318085], [-171.000000, 55.298020, -160.617940, 0.330212, 71.314816, -117.130394], [9.000000, -60.715681, -6.724392, -179.680846, 78.554706, -117.087935], [9.000000, 16.000000, -153.000000, -178.000000, 9.000000, -119.000000], [-171.000000, -29.558860, 0.893548, -3.357276, -5.349208, -113.681915], [-171.000000, 55.298020, -160.617940, -179.669788, -71.314816, 62.869606], [9.000000, -60.715681, -6.724392, 0.319154, -78.554706, 62.912065], [9.000000, 16.000000, -153.000000, 2.000000, -9.000000, 61.000000]] - id: 371 parameters: Irb2400_10 joints: [-53.000000, -52.000000, -55.000000, 73.000000, -11.000000, 70.000000] @@ -1861,9 +1861,9 @@ cases: solutions: [[127.000000, 4.868013, -27.410123, 165.806637, 48.089508, 152.289641], [127.000000, 59.696491, -132.314269, 74.899155, 10.894307, -111.934348], [-53.000000, -52.000000, -55.000000, -107.000000, 11.000000, -110.000000], [-53.000000, -26.074321, -104.724392, -27.869877, 22.975819, 168.659778], [127.000000, 4.868013, -27.410123, -14.193363, -48.089508, -27.710359], [127.000000, 59.696491, -132.314269, -105.100845, -10.894307, 68.065652], [-53.000000, -52.000000, -55.000000, 73.000000, -11.000000, 70.000000], [-53.000000, -26.074321, -104.724392, 152.130123, -22.975819, -11.340222]] - id: 372 parameters: Irb2400_10 - joints: [31.000000, 112.000000, 47.000000, -67.000000, -133.000000, 124.000000] - pose: {translation: [0.1076877257135434, 0.1314638607477975, -0.04760077374598243], quaternion: [0.5854605733449153, 0.4103948730036753, 0.5486837451056478, -0.4333106427584961]} - solutions: [[31.000000, 112.000000, 47.000000, 113.000000, 133.000000, -56.000000], [31.000000, -111.512822, 153.275608, 125.239230, 55.513569, 40.813740], [-149.000000, 129.894824, 44.466762, -85.722814, 42.461515, 86.313149], [-149.000000, -96.658478, 155.808845, -46.181340, 111.087597, -18.451412], [31.000000, 112.000000, 47.000000, -67.000000, -133.000000, 124.000000], [31.000000, -111.512822, 153.275608, -54.760770, -55.513569, -139.186260], [-149.000000, 129.894824, 44.466762, 94.277186, -42.461515, -93.686851], [-149.000000, -96.658478, 155.808845, 133.818660, -111.087597, 161.548588]] + joints: [31.000000, 111.000000, 47.000000, -67.000000, -132.000000, 124.000000] + pose: {translation: [0.1163734736935138, 0.1377590878139326, -0.04722526764907856], quaternion: [0.5789406921992769, 0.417265394174143, 0.5490636992155145, -0.435024504992873]} + solutions: [[31.000000, 111.000000, 47.000000, 113.000000, 132.000000, -56.000000], [31.000000, -112.512822, 153.275608, 124.036355, 55.638107, 41.493760], [-149.000000, 130.985763, 44.171360, -86.398085, 43.268834, 86.669342], [-149.000000, -95.919352, 156.104247, -46.821781, 110.269907, -18.654143], [31.000000, 111.000000, 47.000000, -67.000000, -132.000000, 124.000000], [31.000000, -112.512822, 153.275608, -55.963645, -55.638107, -138.506240], [-149.000000, 130.985763, 44.171360, 93.601915, -43.268834, -93.330658], [-149.000000, -95.919352, 156.104247, 133.178219, -110.269907, 161.345857]] - id: 373 parameters: Irb2400_10 joints: [-54.000000, -9.000000, 119.000000, -58.000000, 40.000000, 180.000000] @@ -1871,9 +1871,9 @@ cases: solutions: [[126.000000, -2.341255, 97.208525, 139.184639, 56.510708, 154.684238], [126.000000, -67.809529, 103.067082, 73.965898, 34.553779, -121.559352], [-54.000000, 161.415788, 81.275608, -145.529287, 105.607776, -40.330364], [-54.000000, -9.000000, 119.000000, -58.000000, 40.000000, -180.000000], [126.000000, -2.341255, 97.208525, -40.815361, -56.510708, -25.315762], [126.000000, -67.809529, 103.067082, -106.034102, -34.553779, 58.440648], [-54.000000, 161.415788, 81.275608, 34.470713, -105.607776, 139.669636], [-54.000000, -9.000000, 119.000000, 122.000000, -40.000000, 0.000000]] - id: 374 parameters: Irb2400_10 - joints: [-120.000000, -34.000000, -9.000000, 12.000000, 93.000000, 144.000000] - pose: {translation: [-0.09433773199117572, -0.1986942932416662, 1.749355816648357], quaternion: [0.7218311795458838, -0.5949806757551016, 0.1648367810271131, 0.3127084574072477]} - solutions: [[-120.000000, -34.000000, -9.000000, 12.000000, 93.000000, 144.000000], [-120.000000, 40.293813, -150.724392, 32.447138, 157.232848, 173.743089], [60.000000, -47.658667, -12.766531, -130.268646, 164.210075, -167.996112], [60.000000, 22.635330, -146.957862, -167.563848, 105.392661, 146.712620], [-120.000000, -34.000000, -9.000000, -168.000000, -93.000000, -36.000000], [-120.000000, 40.293813, -150.724392, -147.552862, -157.232848, -6.256911], [60.000000, -47.658667, -12.766531, 49.731354, -164.210075, 12.003888], [60.000000, 22.635330, -146.957862, 12.436152, -105.392661, -33.287380]] + joints: [-120.000000, -34.000000, -9.000000, 12.000000, 92.000000, 144.000000] + pose: {translation: [-0.09488963366892765, -0.199677122853842, 1.750320314176436], quaternion: [0.7190359761593762, -0.5935958274820302, 0.1668747201380449, 0.3205995732425516]} + solutions: [[-120.000000, -34.000000, -9.000000, 12.000000, 92.000000, 144.000000], [-120.000000, 40.293813, -150.724392, 31.209900, 156.359661, 172.605892], [60.000000, -47.658667, -12.766531, -132.889960, 163.524651, -170.514280], [60.000000, 22.635330, -146.957862, -167.612705, 104.393777, 146.700062], [-120.000000, -34.000000, -9.000000, -168.000000, -92.000000, -36.000000], [-120.000000, 40.293813, -150.724392, -148.790100, -156.359661, -7.394108], [60.000000, -47.658667, -12.766531, 47.110040, -163.524651, 9.485720], [60.000000, 22.635330, -146.957862, 12.387295, -104.393777, -33.299938]] - id: 375 parameters: Irb2400_10 joints: [-55.000000, 32.000000, 59.000000, -137.000000, -61.000000, -22.000000] @@ -1881,14 +1881,14 @@ cases: solutions: [[-55.000000, 32.000000, 59.000000, 43.000000, 61.000000, 158.000000], [-55.000000, -176.334390, 141.275608, 88.519607, 143.366914, -89.517203], [125.000000, -168.370467, 42.339743, -67.629926, 139.831996, -59.366623], [125.000000, -37.445228, 157.935865, -143.246567, 85.452868, 178.938949], [-55.000000, 32.000000, 59.000000, -137.000000, -61.000000, -22.000000], [-55.000000, -176.334390, 141.275608, -91.480393, -143.366914, 90.482797], [125.000000, -168.370467, 42.339743, 112.370074, -139.831996, 120.633377], [125.000000, -37.445228, 157.935865, 36.753433, -85.452868, -1.061051]] - id: 376 parameters: Irb2400_10 - joints: [-132.000000, -159.000000, 83.000000, 90.000000, -13.000000, -174.000000] - pose: {translation: [0.03995788961471808, 0.07295337869692851, 0.8024198328859575], quaternion: [-0.1518955251417201, -0.06491682837085679, 0.9336363271440188, 0.3178628060550912]} - solutions: [[48.000000, -121.366624, 93.331400, 166.614162, 76.331579, -80.781447], [48.000000, 122.424430, 106.944207, 27.250512, 29.425157, 71.838834], [-132.000000, -159.000000, 83.000000, -90.000000, 13.000000, 6.000000], [-132.000000, 35.084931, 117.275608, -17.166945, 130.346723, -95.309829], [48.000000, -121.366624, 93.331400, -13.385838, -76.331579, 99.218553], [48.000000, 122.424430, 106.944207, -152.749488, -29.425157, -108.161166], [-132.000000, -159.000000, 83.000000, 90.000000, -13.000000, -174.000000], [-132.000000, 35.084931, 117.275608, 162.833055, -130.346723, 84.690171]] + joints: [-132.000000, -158.000000, 83.000000, 90.000000, -13.000000, -174.000000] + pose: {translation: [0.03775077103520723, 0.07050212518081173, 0.8055493353123179], quaternion: [-0.1552800575571447, -0.07282512448011454, 0.9322928391940098, 0.3184566955758314]} + solutions: [[48.000000, -120.924001, 92.999854, 166.674021, 77.412608, -81.044989], [48.000000, 119.979982, 107.275754, 26.378185, 30.418428, 72.845275], [-132.000000, -158.000000, 83.000000, -90.000000, 13.000000, 6.000000], [-132.000000, 36.084931, 117.275608, -17.166945, 130.346723, -95.309829], [48.000000, -120.924001, 92.999854, -13.325979, -77.412608, 98.955011], [48.000000, 119.979982, 107.275754, -153.621815, -30.418428, -107.154725], [-132.000000, -158.000000, 83.000000, 90.000000, -13.000000, -174.000000], [-132.000000, 36.084931, 117.275608, 162.833055, -130.346723, 84.690171]] - id: 377 parameters: Irb2400_10 - joints: [-160.000000, -48.000000, 20.000000, -44.000000, 158.000000, -71.000000] - pose: {translation: [-0.1207954902033879, -0.02042740781345728, 1.503162856054015], quaternion: [0.8092393092903749, 0.4263081750478926, 0.3941360620383188, -0.08972092725501034]} - solutions: [[-160.000000, -48.000000, 20.000000, -44.000000, 158.000000, -71.000000], [-160.000000, 57.593186, -179.724392, -164.591481, 101.652434, 154.026443], [20.000000, -67.151084, 16.162019, 15.142684, 95.015198, 152.195573], [20.000000, 34.229821, -175.886411, 110.755165, 163.842228, -97.627720], [-160.000000, -48.000000, 20.000000, 136.000000, -158.000000, 109.000000], [-160.000000, 57.593186, -179.724392, 15.408519, -101.652434, -25.973557], [20.000000, -67.151084, 16.162019, -164.857316, -95.015198, -27.804427], [20.000000, 34.229821, -175.886411, -69.244835, -163.842228, 82.372280]] + joints: [-160.000000, -48.000000, 20.000000, -44.000000, 157.000000, -71.000000] + pose: {translation: [-0.1220271025303507, -0.0198624864331696, 1.502558869381717], quaternion: [0.8095879723612331, 0.4297989036743571, 0.3883044272772423, -0.0951834500595601]} + solutions: [[-160.000000, -48.000000, 20.000000, -44.000000, 157.000000, -71.000000], [-160.000000, 57.593186, -179.724392, -163.867285, 102.358294, 154.177083], [20.000000, -67.151084, 16.162019, 15.830610, 95.743843, 152.260069], [20.000000, 34.229821, -175.886411, 112.283211, 162.942558, -96.163365], [-160.000000, -48.000000, 20.000000, 136.000000, -157.000000, 109.000000], [-160.000000, 57.593186, -179.724392, 16.132715, -102.358294, -25.822917], [20.000000, -67.151084, 16.162019, -164.169390, -95.743843, -27.739931], [20.000000, 34.229821, -175.886411, -67.716789, -162.942558, 83.836635]] - id: 378 parameters: Irb2400_10 joints: [10.000000, -140.000000, -24.000000, 148.000000, 59.000000, -97.000000] @@ -1896,9 +1896,9 @@ cases: solutions: [[-170.000000, 71.626082, 1.606348, -138.044068, 42.798013, 31.749214], [-170.000000, 157.247685, -161.330740, -36.903474, 49.152946, -88.682740], [10.000000, -140.000000, -24.000000, 148.000000, 59.000000, -97.000000], [10.000000, -81.580354, -135.724392, 92.698170, 27.047794, -27.868743], [-170.000000, 71.626082, 1.606348, 41.955932, -42.798013, -148.250786], [-170.000000, 157.247685, -161.330740, 143.096526, -49.152946, 91.317260], [10.000000, -140.000000, -24.000000, -32.000000, -59.000000, 83.000000], [10.000000, -81.580354, -135.724392, -87.301830, -27.047794, 152.131257]] - id: 379 parameters: Irb2400_10 - joints: [141.000000, -143.000000, -149.000000, -153.000000, 24.000000, -85.000000] - pose: {translation: [-0.09998620687783939, 0.1011637469903472, -0.6579475047685394], quaternion: [-0.1348773301726118, 0.915117890461815, 0.3373755802549937, -0.1747714799669331]} - solutions: [[141.000000, 144.538688, -10.724392, -169.348721, 87.496440, -60.509903], [141.000000, -143.000000, -149.000000, -153.000000, 24.000000, -85.000000], [-39.000000, 153.399552, -12.635571, 123.433651, 12.783592, 175.862685], [-39.000000, -136.167553, -147.088821, 12.641982, 57.534798, -66.904536], [141.000000, 144.538688, -10.724392, 10.651279, -87.496440, 119.490097], [141.000000, -143.000000, -149.000000, 27.000000, -24.000000, 95.000000], [-39.000000, 153.399552, -12.635571, -56.566349, -12.783592, -4.137315], [-39.000000, -136.167553, -147.088821, -167.358018, -57.534798, 113.095464]] + joints: [141.000000, -142.000000, -149.000000, -153.000000, 23.000000, -85.000000] + pose: {translation: [-0.08239020445584236, 0.0861200311531144, -0.6594622718674031], quaternion: [-0.1374149177721194, 0.9210960722115999, 0.3235318335691303, -0.1674106292845272]} + solutions: [[141.000000, 145.538688, -10.724392, -169.763976, 86.586481, -60.488470], [141.000000, -142.000000, -149.000000, -153.000000, 23.000000, -85.000000], [-39.000000, 152.165150, -12.150118, 128.683619, 13.134829, 170.700779], [-39.000000, -136.886972, -147.574275, 12.241305, 56.785007, -66.650157], [141.000000, 145.538688, -10.724392, 10.236024, -86.586481, 119.511530], [141.000000, -142.000000, -149.000000, 27.000000, -23.000000, 95.000000], [-39.000000, 152.165150, -12.150118, -51.316381, -13.134829, -9.299221], [-39.000000, -136.886972, -147.574275, -167.758695, -56.785007, 113.349843]] - id: 380 parameters: Irb2400_10 joints: [111.000000, 6.000000, -27.000000, 98.000000, 35.000000, -170.000000] @@ -1906,19 +1906,19 @@ cases: solutions: [[111.000000, 6.000000, -27.000000, 98.000000, 35.000000, -170.000000], [111.000000, 61.260088, -132.724392, 44.354503, 54.337975, -99.948299], [-69.000000, -52.989644, -55.477682, -135.679753, 54.386876, -99.889505], [-69.000000, -27.562715, -104.246710, -118.102131, 40.083610, -125.351881], [111.000000, 6.000000, -27.000000, -82.000000, -35.000000, 10.000000], [111.000000, 61.260088, -132.724392, -135.645497, -54.337975, 80.051701], [-69.000000, -52.989644, -55.477682, 44.320247, -54.386876, 80.110495], [-69.000000, -27.562715, -104.246710, 61.897869, -40.083610, 54.648119]] - id: 381 parameters: Irb2400_10 - joints: [-153.000000, -111.000000, -111.000000, 176.000000, -60.000000, 170.000000] - pose: {translation: [0.9863614682822689, 0.5083393311635467, -0.2170343765490457], quaternion: [0.5460579898938307, 0.219308097321759, 0.7991040158324968, -0.1231154011592207]} - solutions: [[27.000000, 100.485797, -18.244434, 176.481337, 100.162025, -12.624003], [27.000000, 164.980037, -141.479958, 174.775081, 41.557927, -8.087938], [-153.000000, -143.481987, -48.724392, -6.871687, 30.325538, -6.063756], [-153.000000, -111.000000, -111.000000, -4.000000, 60.000000, -10.000000], [27.000000, 100.485797, -18.244434, -3.518663, -100.162025, 167.375997], [27.000000, 164.980037, -141.479958, -5.224919, -41.557927, 171.912062], [-153.000000, -143.481987, -48.724392, 173.128313, -30.325538, 173.936244], [-153.000000, -111.000000, -111.000000, 176.000000, -60.000000, 170.000000]] + joints: [-153.000000, -110.000000, -111.000000, 176.000000, -59.000000, 170.000000] + pose: {translation: [0.9995799585548797, 0.5150155411465223, -0.1972020636530653], quaternion: [0.5460394656565152, 0.2193634604312702, 0.7991936325605867, -0.1225157616300035]} + solutions: [[27.000000, 99.180298, -17.888403, 176.527213, 99.213509, -12.619320], [27.000000, 164.050915, -141.835989, 174.692887, 40.274557, -8.008682], [-153.000000, -142.481987, -48.724392, -7.011830, 29.327970, -5.942173], [-153.000000, -110.000000, -111.000000, -4.000000, 59.000000, -10.000000], [27.000000, 99.180298, -17.888403, -3.472787, -99.213509, 167.380680], [27.000000, 164.050915, -141.835989, -5.307113, -40.274557, 171.991318], [-153.000000, -142.481987, -48.724392, 172.988170, -29.327970, 174.057827], [-153.000000, -110.000000, -111.000000, 176.000000, -59.000000, 170.000000]] - id: 382 parameters: Irb2400_10 - joints: [135.000000, 10.000000, -75.000000, -35.000000, -153.000000, -56.000000] - pose: {translation: [-0.2691425600378543, 0.2378405670545951, 1.995324726594588], quaternion: [0.8820657449128276, -0.2171173104895711, 0.2618833337512876, 0.3259405078238441]} - solutions: [[135.000000, 10.000000, -75.000000, 145.000000, 153.000000, 124.000000], [135.000000, 15.067032, -84.724392, 149.553062, 149.078089, 129.199917], [135.000000, 10.000000, -75.000000, -35.000000, -153.000000, -56.000000], [135.000000, 15.067032, -84.724392, -30.446938, -149.078089, -50.800083]] + joints: [135.000000, 10.000000, -75.000000, -35.000000, -152.000000, -56.000000] + pose: {translation: [-0.2691901758879011, 0.2368207858398838, 1.996401101991507], quaternion: [0.878396158271409, -0.2174131413116484, 0.2646069187113497, 0.3333690052916081]} + solutions: [[135.000000, 10.000000, -75.000000, 145.000000, 152.000000, 124.000000], [135.000000, 15.067032, -84.724392, 149.381649, 148.082088, 129.053633], [135.000000, 10.000000, -75.000000, -35.000000, -152.000000, -56.000000], [135.000000, 15.067032, -84.724392, -30.618351, -148.082088, -50.946367]] - id: 383 parameters: Irb2400_10 - joints: [50.000000, 83.000000, 94.000000, 46.000000, -47.000000, -53.000000] - pose: {translation: [0.03246548667200024, -0.03087769463370905, 0.480431043818579], quaternion: [-0.581909679219987, 0.6579513678428857, -0.351305330179396, -0.324138377504598]} - solutions: [[50.000000, 83.000000, 94.000000, -134.000000, 47.000000, 127.000000], [50.000000, -26.852494, 106.275608, -35.299779, 65.563830, -1.443869], [-130.000000, 135.997087, 87.227573, 84.298298, 148.081830, -114.477886], [-130.000000, -16.090154, 113.048035, 143.671398, 62.628658, 0.910128], [50.000000, 83.000000, 94.000000, 46.000000, -47.000000, -53.000000], [50.000000, -26.852494, 106.275608, 144.700221, -65.563830, 178.556131], [-130.000000, 135.997087, 87.227573, -95.701702, -148.081830, 65.522114], [-130.000000, -16.090154, 113.048035, -36.328602, -62.628658, -179.089872]] + joints: [50.000000, 82.000000, 94.000000, 46.000000, -46.000000, -53.000000] + pose: {translation: [0.03270062459565878, -0.02945466988865107, 0.4792902683019184], quaternion: [-0.5780165643312731, 0.6628456840374857, -0.3485870094209575, -0.3240671957704175]} + solutions: [[50.000000, 82.000000, 94.000000, -134.000000, 46.000000, 127.000000], [50.000000, -27.852494, 106.275608, -34.443698, 66.187979, -1.793773], [-130.000000, 136.306268, 87.081349, 83.976049, 148.646086, -114.315487], [-130.000000, -16.350849, 113.194259, 144.242751, 62.314327, 1.227573], [50.000000, 82.000000, 94.000000, 46.000000, -46.000000, -53.000000], [50.000000, -27.852494, 106.275608, 145.556302, -66.187979, 178.206227], [-130.000000, 136.306268, 87.081349, -96.023951, -148.646086, 65.684513], [-130.000000, -16.350849, 113.194259, -35.757249, -62.314327, -178.772427]] - id: 384 parameters: Irb2400_10 joints: [-107.000000, 7.000000, 94.000000, 139.000000, 5.000000, 35.000000] @@ -1926,24 +1926,24 @@ cases: solutions: [[-107.000000, 7.000000, 94.000000, 139.000000, 5.000000, 35.000000], [-107.000000, -102.852494, 106.275608, 3.285125, 93.792989, 174.325684], [73.000000, 164.604274, 78.536682, -170.328156, 160.102229, -176.787453], [73.000000, -12.105509, 121.738926, -172.774502, 27.040284, 167.665430], [-107.000000, 7.000000, 94.000000, -41.000000, -5.000000, -145.000000], [-107.000000, -102.852494, 106.275608, -176.714875, -93.792989, -5.674316], [73.000000, 164.604274, 78.536682, 9.671844, -160.102229, 3.212547], [73.000000, -12.105509, 121.738926, 7.225498, -27.040284, -12.334570]] - id: 385 parameters: Irb2400_10 - joints: [99.000000, -139.000000, 138.000000, 55.000000, 90.000000, 97.000000] - pose: {translation: [-0.1299143809840437, 0.3751538741409549, 0.182339180029271], quaternion: [-0.01950873608348357, 0.8867716437489587, -0.05659533822783651, -0.4583147703817452]} - solutions: [[99.000000, 64.865487, 62.275608, 113.385986, 63.184857, -36.789813], [99.000000, -139.000000, 138.000000, 55.000000, 90.000000, 97.000000], [-81.000000, 161.649424, 50.320998, -120.979809, 107.167123, 123.179693], [-81.000000, -57.805883, 149.954610, -90.804241, 55.008063, 8.402245], [99.000000, 64.865487, 62.275608, -66.614014, -63.184857, 143.210187], [99.000000, -139.000000, 138.000000, -125.000000, -90.000000, -83.000000], [-81.000000, 161.649424, 50.320998, 59.020191, -107.167123, -56.820307], [-81.000000, -57.805883, 149.954610, 89.195759, -55.008063, -171.597755]] + joints: [99.000000, -138.000000, 138.000000, 55.000000, 90.000000, 97.000000] + pose: {translation: [-0.1287262187358104, 0.3676521129464918, 0.1773289009485985], quaternion: [-0.01548047357489984, 0.8868757371319952, -0.0642629863679295, -0.4572549074723554]} + solutions: [[99.000000, 65.865487, 62.275608, 113.385986, 63.184857, -36.789813], [99.000000, -138.000000, 138.000000, 55.000000, 90.000000, 97.000000], [-81.000000, 160.785669, 50.508343, -120.893624, 107.333478, 123.470320], [-81.000000, -58.438034, 149.767265, -90.930572, 55.010795, 8.622548], [99.000000, 65.865487, 62.275608, -66.614014, -63.184857, 143.210187], [99.000000, -138.000000, 138.000000, -125.000000, -90.000000, -83.000000], [-81.000000, 160.785669, 50.508343, 59.106376, -107.333478, -56.529680], [-81.000000, -58.438034, 149.767265, 89.069428, -55.010795, -171.377452]] - id: 386 parameters: Irb2400_10 - joints: [92.000000, 180.000000, -145.000000, 97.000000, 25.000000, -38.000000] - pose: {translation: [-0.06569926589140396, 0.8597388363128174, -0.4530646794654451], quaternion: [-0.3376046846005183, 0.7904723795394258, 0.5068066526634193, -0.06575341008010757]} - solutions: [[92.000000, 111.781134, -14.724392, 153.042881, 67.716259, -109.369102], [92.000000, 180.000000, -145.000000, 97.000000, 25.000000, -38.000000], [-88.000000, -162.082737, -35.490758, -117.919821, 28.341399, 0.766842], [-88.000000, -115.743992, -124.233634, -44.330423, 36.889477, -82.283564], [92.000000, 111.781134, -14.724392, -26.957119, -67.716259, 70.630898], [92.000000, 180.000000, -145.000000, -83.000000, -25.000000, 142.000000], [-88.000000, -162.082737, -35.490758, 62.080179, -28.341399, -179.233158], [-88.000000, -115.743992, -124.233634, 135.669577, -36.889477, 97.716436]] + joints: [92.000000, 179.000000, -145.000000, 97.000000, 25.000000, -38.000000] + pose: {translation: [-0.06634575525009256, 0.8782518693329342, -0.4396118613049456], quaternion: [-0.3380109307466352, 0.7860022833842431, 0.5137840562519497, -0.06304732152790382]} + solutions: [[92.000000, 110.781134, -14.724392, 153.042881, 67.716259, -109.369102], [92.000000, 179.000000, -145.000000, 97.000000, 25.000000, -38.000000], [-88.000000, -160.895209, -36.033605, -117.334153, 28.176631, 0.101930], [-88.000000, -115.125908, -123.690788, -44.480774, 36.774507, -82.095718], [92.000000, 110.781134, -14.724392, -26.957119, -67.716259, 70.630898], [92.000000, 179.000000, -145.000000, -83.000000, -25.000000, 142.000000], [-88.000000, -160.895209, -36.033605, 62.665847, -28.176631, -179.898070], [-88.000000, -115.125908, -123.690788, 135.519226, -36.774507, 97.904282]] - id: 387 parameters: Irb2400_10 - joints: [69.000000, 11.000000, 86.000000, -131.000000, -120.000000, 37.000000] - pose: {translation: [0.03190206069941634, 0.2381321806348314, 0.5892912184626059], quaternion: [-0.4533832260362882, 0.1081029079007545, 0.7662650422261492, -0.4422615704698823]} - solutions: [[69.000000, 11.000000, 86.000000, 49.000000, 120.000000, -143.000000], [69.000000, -145.630474, 114.275608, 138.725932, 97.774753, 0.321739], [-111.000000, 174.851987, 70.300127, -43.280028, 72.434269, 22.958482], [-111.000000, -17.025798, 129.975481, -110.369431, 135.797629, -110.287506], [69.000000, 11.000000, 86.000000, -131.000000, -120.000000, 37.000000], [69.000000, -145.630474, 114.275608, -41.274068, -97.774753, -179.678261], [-111.000000, 174.851987, 70.300127, 136.719972, -72.434269, -157.041518], [-111.000000, -17.025798, 129.975481, 69.630569, -135.797629, 69.712494]] + joints: [69.000000, 11.000000, 86.000000, -131.000000, -119.000000, 37.000000] + pose: {translation: [0.03116048943874529, 0.2377387605412615, 0.5880680677419388], quaternion: [-0.4610289614386632, 0.1090407689888401, 0.7625083613594839, -0.4406170744194838]} + solutions: [[69.000000, 11.000000, 86.000000, 49.000000, 119.000000, -143.000000], [69.000000, -145.630474, 114.275608, 138.121876, 98.576314, 0.235835], [-111.000000, 174.851987, 70.300127, -43.533186, 73.404548, 23.032842], [-111.000000, -17.025798, 129.975481, -111.133072, 134.953666, -110.831029], [69.000000, 11.000000, 86.000000, -131.000000, -119.000000, 37.000000], [69.000000, -145.630474, 114.275608, -41.878124, -98.576314, -179.764165], [-111.000000, 174.851987, 70.300127, 136.466814, -73.404548, -156.967158], [-111.000000, -17.025798, 129.975481, 68.866928, -134.953666, 69.168971]] - id: 388 parameters: Irb2400_10 - joints: [-69.000000, -162.000000, 90.000000, -18.000000, -17.000000, 70.000000] - pose: {translation: [0.00347775248955563, 0.01236941951711307, 0.7888813094713089], quaternion: [-0.008400749379425507, 0.04708023462781125, -0.1405697509553657, 0.9889150742271051]} - solutions: [[111.000000, -159.776117, 91.699384, -167.286722, 24.238577, 41.114385], [111.000000, 71.213502, 108.576224, -5.185571, 88.429421, -127.118665], [-69.000000, -162.000000, 90.000000, 162.000000, 17.000000, -110.000000], [-69.000000, 58.646274, 110.275608, 5.316344, 102.811910, 53.920951], [111.000000, -159.776117, 91.699384, 12.713278, -24.238577, -138.885615], [111.000000, 71.213502, 108.576224, 174.814429, -88.429421, 52.881335], [-69.000000, -162.000000, 90.000000, -18.000000, -17.000000, 70.000000], [-69.000000, 58.646274, 110.275608, -174.683656, -102.811910, -126.079049]] + joints: [-69.000000, -161.000000, 90.000000, -18.000000, -17.000000, 70.000000] + pose: {translation: [0.004571293201798218, 0.009520648565852422, 0.7907798536888315], quaternion: [-0.0007834200828490653, 0.05131629748323555, -0.1401545677033814, 0.9887986251090078]} + solutions: [[111.000000, -158.910499, 91.474867, -168.037409, 25.841816, 41.942864], [111.000000, 70.563198, 108.800740, -5.187253, 87.857559, -127.066732], [-69.000000, -161.000000, 90.000000, 162.000000, 17.000000, -110.000000], [-69.000000, 59.646274, 110.275608, 5.316344, 102.811910, 53.920951], [111.000000, -158.910499, 91.474867, 11.962591, -25.841816, -138.057136], [111.000000, 70.563198, 108.800740, 174.812747, -87.857559, 52.933268], [-69.000000, -161.000000, 90.000000, -18.000000, -17.000000, 70.000000], [-69.000000, 59.646274, 110.275608, -174.683656, -102.811910, -126.079049]] - id: 389 parameters: Irb2400_10 joints: [-112.000000, 91.000000, -31.000000, 159.000000, -140.000000, -73.000000] @@ -1956,14 +1956,14 @@ cases: solutions: [[9.000000, -56.000000, 29.000000, -151.000000, 2.000000, 57.000000], [9.000000, 59.601151, 171.275608, -0.985576, 100.372333, -94.192266], [-171.000000, -71.049112, 26.179514, 178.989522, 106.378584, -94.299767], [-171.000000, 41.393312, 174.096094, 171.795402, 6.809047, -85.867293], [9.000000, -56.000000, 29.000000, 29.000000, -2.000000, -123.000000], [9.000000, 59.601151, 171.275608, 179.014424, -100.372333, 85.807734], [-171.000000, -71.049112, 26.179514, -1.010478, -106.378584, 85.700233], [-171.000000, 41.393312, 174.096094, -8.204598, -6.809047, 94.132707]] - id: 391 parameters: Irb2400_10 - joints: [180.000000, 160.000000, 104.000000, -176.000000, 136.000000, -91.000000] - pose: {translation: [-0.07575657506247369, 0.004118838062305114, 0.6223035113931635], quaternion: [0.6961502673013483, -0.6397591289459631, 0.2217323492132791, -0.2385745744603232]} - solutions: [[180.000000, -118.761169, 96.275608, -5.612173, 150.297395, 81.241774], [180.000000, 160.000000, 104.000000, -176.000000, 136.000000, -91.000000], [0.000000, -167.683408, 82.017363, 4.125848, 137.661860, -90.827468], [0.000000, 23.776895, 118.258245, 177.222535, 89.965356, 86.122065], [180.000000, -118.761169, 96.275608, 174.387827, -150.297395, -98.758226], [180.000000, 160.000000, 104.000000, 4.000000, -136.000000, 89.000000], [0.000000, -167.683408, 82.017363, -175.874152, -137.661860, 89.172532], [0.000000, 23.776895, 118.258245, -2.777465, -89.965356, -93.877935]] + joints: [180.000000, 159.000000, 104.000000, -176.000000, 135.000000, -91.000000] + pose: {translation: [-0.0744584134718488, 0.004192648427371274, 0.6227827113450397], quaternion: [0.6959664708297533, -0.6399461615942604, 0.2213470118972215, -0.2389666965619317]} + solutions: [[180.000000, -119.761169, 96.275608, -5.893157, 151.287953, 80.996506], [180.000000, 159.000000, 104.000000, -176.000000, 135.000000, -91.000000], [0.000000, -167.593163, 82.106185, 4.185381, 137.480642, -90.743387], [0.000000, 24.097584, 118.169423, 177.172706, 90.196897, 86.159550], [180.000000, -119.761169, 96.275608, 174.106843, -151.287953, -99.003494], [180.000000, 159.000000, 104.000000, 4.000000, -135.000000, 89.000000], [0.000000, -167.593163, 82.106185, -175.814619, -137.480642, 89.256613], [0.000000, 24.097584, 118.169423, -2.827294, -90.196897, -93.840450]] - id: 392 parameters: Irb2400_10 - joints: [8.000000, 163.000000, -163.000000, -102.000000, -145.000000, -78.000000] - pose: {translation: [0.9752080042902767, 0.1852138154377148, 0.06566862107698759], quaternion: [-0.3059686685777623, -0.6826491025382199, -0.02622890755323053, 0.6630877928759348]} - solutions: [[8.000000, 75.585338, 3.275608, 34.160999, 92.363891, 28.149775], [8.000000, 163.000000, -163.000000, 78.000000, 145.000000, 102.000000], [-172.000000, -145.881668, -20.657254, -82.415058, 145.528605, 125.721842], [-172.000000, -83.936189, -139.067139, -139.022023, 121.179561, 50.759926], [8.000000, 75.585338, 3.275608, -145.839001, -92.363891, -151.850225], [8.000000, 163.000000, -163.000000, -102.000000, -145.000000, -78.000000], [-172.000000, -145.881668, -20.657254, 97.584942, -145.528605, -54.278158], [-172.000000, -83.936189, -139.067139, 40.977977, -121.179561, -129.240074]] + joints: [8.000000, 162.000000, -163.000000, -102.000000, -145.000000, -78.000000] + pose: {translation: [0.9845673997724101, 0.1865291926910837, 0.0813110047661855], quaternion: [-0.3049250387875995, -0.6883214001102641, -0.02970104723249184, 0.6575349562296442]} + solutions: [[8.000000, 74.585338, 3.275608, 34.160999, 92.363891, 28.149775], [8.000000, 162.000000, -163.000000, 78.000000, 145.000000, 102.000000], [-172.000000, -144.902994, -20.886076, -82.776597, 145.560841, 125.283384], [-172.000000, -83.199060, -138.838317, -139.035526, 121.153853, 50.733835], [8.000000, 74.585338, 3.275608, -145.839001, -92.363891, -151.850225], [8.000000, 162.000000, -163.000000, -102.000000, -145.000000, -78.000000], [-172.000000, -144.902994, -20.886076, 97.223403, -145.560841, -54.716616], [-172.000000, -83.199060, -138.838317, 40.964474, -121.153853, -129.266165]] - id: 393 parameters: Irb2400_10 joints: [-34.000000, 100.000000, -38.000000, -86.000000, 61.000000, -9.000000] @@ -1971,9 +1971,9 @@ cases: solutions: [[-34.000000, 100.000000, -38.000000, -86.000000, 61.000000, -9.000000], [-34.000000, 143.707393, -121.724392, -67.664542, 70.605982, -51.846421], [-34.000000, 100.000000, -38.000000, 94.000000, -61.000000, 171.000000], [-34.000000, 143.707393, -121.724392, 112.335458, -70.605982, 128.153579]] - id: 394 parameters: Irb2400_10 - joints: [34.000000, -146.000000, 29.000000, -16.000000, -135.000000, 105.000000] - pose: {translation: [-0.6571334208823042, -0.4232587623458866, 0.5621669554553265], quaternion: [0.6596357924210233, 0.7308837109620963, -0.1164534859550136, -0.1308747799092286]} - solutions: [[-146.000000, 19.256498, 47.251249, -59.865897, 13.024172, -4.324694], [-146.000000, 156.047660, 153.024359, -13.488312, 123.319911, -71.044166], [34.000000, -146.000000, 29.000000, 164.000000, 135.000000, -75.000000], [34.000000, -30.398849, 171.275608, 160.440595, 35.604120, -47.425786], [-146.000000, 19.256498, 47.251249, 120.134103, -13.024172, 175.675306], [-146.000000, 156.047660, 153.024359, 166.511688, -123.319911, 108.955834], [34.000000, -146.000000, 29.000000, -16.000000, -135.000000, 105.000000], [34.000000, -30.398849, 171.275608, -19.559405, -35.604120, 132.574214]] + joints: [34.000000, -145.000000, 29.000000, -16.000000, -135.000000, 105.000000] + pose: {translation: [-0.6577865461111857, -0.4236993008753318, 0.5775588026761527], quaternion: [0.6594068230561156, 0.7293407794216337, -0.124787848444779, -0.1329385649847609]} + solutions: [[-146.000000, 17.962598, 47.235281, -58.721288, 13.182411, -5.499898], [-146.000000, 154.734426, 153.040327, -13.534219, 123.608950, -71.127419], [34.000000, -145.000000, 29.000000, 164.000000, 135.000000, -75.000000], [34.000000, -29.398849, 171.275608, 160.440595, 35.604120, -47.425786], [-146.000000, 17.962598, 47.235281, 121.278712, -13.182411, 174.500102], [-146.000000, 154.734426, 153.040327, 166.465781, -123.608950, 108.872581], [34.000000, -145.000000, 29.000000, -16.000000, -135.000000, 105.000000], [34.000000, -29.398849, 171.275608, -19.559405, -35.604120, 132.574214]] - id: 395 parameters: Irb2400_10 joints: [-4.000000, -51.000000, -36.000000, -100.000000, -61.000000, -41.000000] @@ -1981,44 +1981,44 @@ cases: solutions: [[176.000000, -10.488190, -21.200757, -120.045487, 84.289431, -160.747515], [176.000000, 50.883614, -138.523635, -102.851201, 62.062860, 144.976968], [-4.000000, -51.000000, -36.000000, 80.000000, 61.000000, 139.000000], [-4.000000, -5.195450, -123.724392, 63.103925, 74.973232, -178.059737], [176.000000, -10.488190, -21.200757, 59.954513, -84.289431, 19.252485], [176.000000, 50.883614, -138.523635, 77.148799, -62.062860, -35.023032], [-4.000000, -51.000000, -36.000000, -100.000000, -61.000000, -41.000000], [-4.000000, -5.195450, -123.724392, -116.896075, -74.973232, 1.940263]] - id: 396 parameters: Irb2400_10 - joints: [-36.000000, 74.000000, -75.000000, -104.000000, -16.000000, -12.000000] - pose: {translation: [1.317507481915366, -0.9291254006669415, 0.9532391623721296], quaternion: [0.5353702470278751, -0.4881872708817183, 0.6395328660568632, -0.2570011680507814]} - solutions: [[-36.000000, 74.000000, -75.000000, 76.000000, 16.000000, 168.000000], [-36.000000, 79.067032, -84.724392, 61.615858, 17.697777, -176.979528], [-36.000000, 74.000000, -75.000000, -104.000000, -16.000000, -12.000000], [-36.000000, 79.067032, -84.724392, -118.384142, -17.697777, 3.020472]] + joints: [-36.000000, 73.000000, -75.000000, -104.000000, -16.000000, -12.000000] + pose: {translation: [1.312545478028376, -0.9255202938189159, 0.9795758975090001], quaternion: [0.5321530572733723, -0.4830739012784089, 0.6457922563832889, -0.2576918530602813]} + solutions: [[-36.000000, 73.000000, -75.000000, 76.000000, 16.000000, 168.000000], [-36.000000, 78.067032, -84.724392, 61.615858, 17.697777, -176.979528], [-36.000000, 73.000000, -75.000000, -104.000000, -16.000000, -12.000000], [-36.000000, 78.067032, -84.724392, -118.384142, -17.697777, 3.020472]] - id: 397 parameters: Irb2400_10 - joints: [52.000000, 56.000000, -30.000000, -23.000000, 140.000000, -97.000000] - pose: {translation: [0.8428372475717635, 1.044107004417193, 0.7829384132250576], quaternion: [0.733029683097763, -0.2463024966442657, -0.05070671984504101, 0.6320058483961611]} - solutions: [[52.000000, 56.000000, -30.000000, -23.000000, 140.000000, -97.000000], [52.000000, 108.104622, -129.724392, -123.627344, 162.444268, 156.114057], [52.000000, 56.000000, -30.000000, 157.000000, -140.000000, 83.000000], [52.000000, 108.104622, -129.724392, 56.372656, -162.444268, -23.885943]] + joints: [52.000000, 56.000000, -30.000000, -23.000000, 139.000000, -97.000000] + pose: {translation: [0.8434374656513642, 1.04415931561095, 0.7815827558988595], quaternion: [0.7385298098723685, -0.2460601774881036, -0.04779186768762671, 0.625894596851047]} + solutions: [[52.000000, 56.000000, -30.000000, -23.000000, 139.000000, -97.000000], [52.000000, 108.104622, -129.724392, -120.406401, 162.709073, 159.187299], [52.000000, 56.000000, -30.000000, 157.000000, -139.000000, 83.000000], [52.000000, 108.104622, -129.724392, 59.593599, -162.709073, -20.812701]] - id: 398 parameters: Irb2400_10 - joints: [121.000000, -130.000000, 115.000000, -39.000000, 133.000000, -47.000000] - pose: {translation: [-0.07502656878520536, 0.2008241123765666, 0.4259742364930381], quaternion: [0.8927143796120505, -0.2565522590169318, 0.3704061555042997, 0.00642298931227316]} - solutions: [[121.000000, 29.081681, 85.275608, -70.068975, 29.312969, 49.330430], [121.000000, -130.000000, 115.000000, -39.000000, 133.000000, -47.000000], [-59.000000, 165.686561, 70.887752, 86.596327, 152.543883, -111.923880], [-59.000000, -25.232461, 129.387856, 145.653946, 54.664731, 3.475138], [121.000000, 29.081681, 85.275608, 109.931025, -29.312969, -130.669570], [121.000000, -130.000000, 115.000000, 141.000000, -133.000000, 133.000000], [-59.000000, 165.686561, 70.887752, -93.403673, -152.543883, 68.076120], [-59.000000, -25.232461, 129.387856, -34.346054, -54.664731, -176.524862]] + joints: [121.000000, -129.000000, 115.000000, -39.000000, 132.000000, -47.000000] + pose: {translation: [-0.07342179082498554, 0.1993779481392117, 0.4235784735763891], quaternion: [0.8932495599908293, -0.2514603578444808, 0.3726262866522203, 0.004750000493998555]} + solutions: [[121.000000, 30.081681, 85.275608, -72.091518, 29.438522, 51.092963], [121.000000, -129.000000, 115.000000, -39.000000, 132.000000, -47.000000], [-59.000000, 165.106206, 70.985322, 87.556454, 152.088847, -111.313634], [-59.000000, -25.652245, 129.290286, 144.901332, 54.426446, 3.687758], [121.000000, 30.081681, 85.275608, 107.908482, -29.438522, -128.907037], [121.000000, -129.000000, 115.000000, 141.000000, -132.000000, 133.000000], [-59.000000, 165.106206, 70.985322, -92.443546, -152.088847, 68.686366], [-59.000000, -25.652245, 129.290286, -35.098668, -54.426446, -176.312242]] - id: 399 parameters: Irb2400_10 - joints: [-71.000000, 169.000000, -134.000000, -42.000000, -166.000000, 35.000000] - pose: {translation: [0.2967811326113318, -0.8196517252043988, -0.3396881354232181], quaternion: [-0.3832688113068741, -0.03465296304198107, 0.0106627868657913, 0.9229249673771327]} - solutions: [[-71.000000, 112.396981, -25.724392, 13.991107, 137.967855, 86.627490], [-71.000000, 169.000000, -134.000000, 138.000000, 166.000000, -145.000000], [109.000000, -145.798258, -58.293607, -24.202677, 156.743014, -126.295878], [109.000000, -123.310708, -101.430785, -85.403768, 170.653795, 170.800151], [-71.000000, 112.396981, -25.724392, -166.008893, -137.967855, -93.372510], [-71.000000, 169.000000, -134.000000, -42.000000, -166.000000, 35.000000], [109.000000, -145.798258, -58.293607, 155.797323, -156.743014, 53.704122], [109.000000, -123.310708, -101.430785, 94.596232, -170.653795, -9.199849]] + joints: [-71.000000, 168.000000, -134.000000, -42.000000, -165.000000, 35.000000] + pose: {translation: [0.3033706159897858, -0.8358370764892871, -0.3253989698458015], quaternion: [-0.3863522020301757, -0.0305611653495909, 0.007250868402157709, 0.9218163678663576]} + solutions: [[-71.000000, 111.396981, -25.724392, 15.176232, 138.582584, 87.512036], [-71.000000, 168.000000, -134.000000, 138.000000, 165.000000, -145.000000], [109.000000, -144.356291, -59.330832, -25.557222, 156.332119, -127.638178], [109.000000, -122.951141, -100.393560, -79.228723, 169.846276, 176.952806], [-71.000000, 111.396981, -25.724392, -164.823768, -138.582584, -92.487964], [-71.000000, 168.000000, -134.000000, -42.000000, -165.000000, 35.000000], [109.000000, -144.356291, -59.330832, 154.442778, -156.332119, 52.361822], [109.000000, -122.951141, -100.393560, 100.771277, -169.846276, -3.047194]] - id: 400 parameters: Irb2400_10 - joints: [-45.000000, 167.000000, -177.000000, -170.000000, -88.000000, -58.000000] - pose: {translation: [0.7147982205144374, -0.6939370096718476, 0.1102509269827922], quaternion: [0.9836805970487473, 0.1181952583668031, 0.1328655274318135, 0.0273699746015716]} - solutions: [[-45.000000, 64.399829, 17.275608, 110.144557, 10.652404, 11.883853], [-45.000000, 167.000000, -177.000000, 10.000000, 88.000000, 122.000000], [135.000000, -151.422752, -3.615175, -169.751552, 102.731711, 124.634386], [135.000000, -71.390900, -156.109218, -160.836815, 31.915903, 105.917535], [-45.000000, 64.399829, 17.275608, -69.855443, -10.652404, -168.116147], [-45.000000, 167.000000, -177.000000, -170.000000, -88.000000, -58.000000], [135.000000, -151.422752, -3.615175, 10.248448, -102.731711, -55.365614], [135.000000, -71.390900, -156.109218, 19.163185, -31.915903, -74.082465]] + joints: [-45.000000, 166.000000, -177.000000, -170.000000, -88.000000, -58.000000] + pose: {translation: [0.7209306759199972, -0.7000694650774073, 0.1259673619691116], quaternion: [0.9826543935303673, 0.1188417279129289, 0.138201025596345, 0.03416815924590849]} + solutions: [[-45.000000, 63.399829, 17.275608, 110.144557, 10.652404, 11.883853], [-45.000000, 166.000000, -177.000000, 10.000000, 88.000000, 122.000000], [135.000000, -150.499386, -3.773331, -169.760898, 102.500663, 124.591599], [135.000000, -70.636426, -155.951062, -160.790639, 31.833386, 105.863160], [-45.000000, 63.399829, 17.275608, -69.855443, -10.652404, -168.116147], [-45.000000, 166.000000, -177.000000, -170.000000, -88.000000, -58.000000], [135.000000, -150.499386, -3.773331, 10.239102, -102.500663, -55.408401], [135.000000, -70.636426, -155.951062, 19.209361, -31.833386, -74.136840]] - id: 401 parameters: Irb2400_10 - joints: [33.000000, 174.000000, 138.000000, -24.000000, -87.000000, -75.000000] - pose: {translation: [0.4205850826193677, 0.314297768049596, 0.6204626567783909], quaternion: [0.1925293302244417, -0.3718388310847545, -0.4074169163464727, 0.8115909049364604]} - solutions: [[33.000000, 17.865487, 62.275608, 37.872840, 138.576039, -46.085827], [33.000000, 174.000000, 138.000000, 156.000000, 87.000000, 105.000000], [-147.000000, -161.395815, 45.271850, -25.199920, 72.548172, 111.697902], [-147.000000, -26.987474, 155.003758, -104.707943, 155.169228, -2.466406], [33.000000, 17.865487, 62.275608, -142.127160, -138.576039, 133.914173], [33.000000, 174.000000, 138.000000, -24.000000, -87.000000, -75.000000], [-147.000000, -161.395815, 45.271850, 154.800080, -72.548172, -68.302098], [-147.000000, -26.987474, 155.003758, 75.292057, -155.169228, 177.533594]] + joints: [33.000000, 173.000000, 138.000000, -24.000000, -86.000000, -75.000000] + pose: {translation: [0.4213381409303638, 0.3147428872432513, 0.6289233464636681], quaternion: [0.1934643297972395, -0.3705519145771073, -0.4104617438245455, 0.8104221051747406]} + solutions: [[33.000000, 16.865487, 62.275608, 38.616525, 139.449021, -45.524434], [33.000000, 173.000000, 138.000000, 156.000000, 86.000000, 105.000000], [-147.000000, -160.676725, 45.251250, -25.280226, 71.827622, 111.600059], [-147.000000, -26.293042, 155.024358, -103.019170, 155.389285, -1.048068], [33.000000, 16.865487, 62.275608, -141.383475, -139.449021, 134.475566], [33.000000, 173.000000, 138.000000, -24.000000, -86.000000, -75.000000], [-147.000000, -160.676725, 45.251250, 154.719774, -71.827622, -68.399941], [-147.000000, -26.293042, 155.024358, 76.980830, -155.389285, 178.951932]] - id: 402 parameters: Irb2400_10 - joints: [52.000000, 46.000000, -58.000000, 97.000000, -136.000000, -160.000000] - pose: {translation: [0.8214576172120317, 0.9562261368359113, 1.374006230696236], quaternion: [0.1113803832611252, 0.7770313903948116, -0.5975675268446377, 0.1634921387299524]} - solutions: [[52.000000, 46.000000, -58.000000, -83.000000, 136.000000, 20.000000], [52.000000, 68.793973, -101.724392, -104.468012, 134.597073, -9.864460], [52.000000, 46.000000, -58.000000, 97.000000, -136.000000, -160.000000], [52.000000, 68.793973, -101.724392, 75.531988, -134.597073, 170.135540]] + joints: [52.000000, 46.000000, -58.000000, 97.000000, -135.000000, -160.000000] + pose: {translation: [0.8229278939762514, 0.9564021524249702, 1.374096284786373], quaternion: [0.1059879655819087, 0.7774446556791768, -0.5961389540630375, 0.1701902052302723]} + solutions: [[52.000000, 46.000000, -58.000000, -83.000000, 135.000000, 20.000000], [52.000000, 68.793973, -101.724392, -103.778953, 133.727776, -9.384379], [52.000000, 46.000000, -58.000000, 97.000000, -135.000000, -160.000000], [52.000000, 68.793973, -101.724392, 76.221047, -133.727776, 170.615621]] - id: 403 parameters: Irb2400_10 - joints: [39.000000, -22.000000, 109.000000, 16.000000, -30.000000, -13.000000] - pose: {translation: [0.05002291793472146, 0.02543390255397314, 0.4503915097844007], quaternion: [-0.2945966276247253, 0.9127184464616817, 0.03161116637115521, 0.281351379313073]} - solutions: [[39.000000, 109.829763, 91.275608, -166.941868, 142.411916, -168.639698], [39.000000, -22.000000, 109.000000, -164.000000, 30.000000, 167.000000], [-141.000000, 119.547832, 89.964334, 172.070803, 87.506600, 1.293256], [-141.000000, -19.998102, 110.311274, 14.825101, 32.590373, 168.374582], [39.000000, 109.829763, 91.275608, 13.058132, -142.411916, 11.360302], [39.000000, -22.000000, 109.000000, 16.000000, -30.000000, -13.000000], [-141.000000, 119.547832, 89.964334, -7.929197, -87.506600, -178.706744], [-141.000000, -19.998102, 110.311274, -165.174899, -32.590373, -11.625418]] + joints: [39.000000, -21.000000, 109.000000, 16.000000, -30.000000, -13.000000] + pose: {translation: [0.04779566232633955, 0.02363030652446144, 0.4512040124017698], quaternion: [-0.2959161517103601, 0.9147653612068285, 0.02859540065960145, 0.2735329379694311]} + solutions: [[39.000000, 110.829763, 91.275608, -166.941868, 142.411916, -168.639698], [39.000000, -21.000000, 109.000000, -164.000000, 30.000000, 167.000000], [-141.000000, 119.082146, 90.159786, 172.074549, 88.229392, 1.192540], [-141.000000, -19.399349, 110.115821, 15.412863, 31.235623, 167.682212], [39.000000, 110.829763, 91.275608, 13.058132, -142.411916, 11.360302], [39.000000, -21.000000, 109.000000, 16.000000, -30.000000, -13.000000], [-141.000000, 119.082146, 90.159786, -7.925451, -88.229392, -178.807460], [-141.000000, -19.399349, 110.115821, -164.587137, -31.235623, -12.317788]] - id: 404 parameters: Irb2400_10 joints: [93.000000, 13.000000, -180.000000, -13.000000, 81.000000, 3.000000] @@ -2031,9 +2031,9 @@ cases: solutions: [[35.000000, 54.195553, 27.842505, -91.717097, 94.695056, -39.927553], [35.000000, 168.497658, 172.433102, -94.280648, 87.416621, -140.867888], [-145.000000, -153.805557, 8.275608, 86.557967, 86.373209, -156.256256], [-145.000000, -61.000000, -168.000000, 86.000000, 93.000000, -73.000000], [35.000000, 54.195553, 27.842505, 88.282903, -94.695056, 140.072447], [35.000000, 168.497658, 172.433102, 85.719352, -87.416621, 39.132112], [-145.000000, -153.805557, 8.275608, -93.442033, -86.373209, 23.743744], [-145.000000, -61.000000, -168.000000, -94.000000, -93.000000, 107.000000]] - id: 406 parameters: Irb2400_10 - joints: [180.000000, -170.000000, 11.000000, -145.000000, 151.000000, -137.000000] - pose: {translation: [0.7183471655723739, 0.02363640681461574, 0.007088737339478096], quaternion: [0.9061445896785444, -0.1449052054816626, -0.3866691079213923, -0.09160493982255678]} - solutions: [[-0.000000, 72.055825, 27.712337, 26.890047, 37.939599, 169.717738], [-0.000000, -173.787912, 172.563270, 22.551650, 133.525472, -152.524102], [-180.000000, -170.000000, 11.000000, -145.000000, 151.000000, -137.000000], [-180.000000, -74.242978, -170.724392, -162.837147, 70.449212, -174.384590], [-0.000000, 72.055825, 27.712337, -153.109953, -37.939599, -10.282262], [-0.000000, -173.787912, 172.563270, -157.448350, -133.525472, 27.475898], [-180.000000, -170.000000, 11.000000, 35.000000, -151.000000, 43.000000], [-180.000000, -74.242978, -170.724392, 17.162853, -70.449212, 5.615410]] + joints: [180.000000, -169.000000, 11.000000, -145.000000, 150.000000, -137.000000] + pose: {translation: [0.7299055760907128, 0.02437699854491936, 0.02075644972365576], quaternion: [0.9113142798461272, -0.146941600594357, -0.3720703532425915, -0.09735554222146904]} + solutions: [[-0.000000, 70.758115, 27.922783, 28.157463, 37.425952, 168.739318], [-0.000000, -174.849810, 172.352824, 23.013012, 132.812134, -152.131531], [-180.000000, -169.000000, 11.000000, -145.000000, 150.000000, -137.000000], [-180.000000, -73.242978, -170.724392, -162.189610, 69.655797, -174.605510], [-0.000000, 70.758115, 27.922783, -151.842537, -37.425952, -11.260682], [-0.000000, -174.849810, 172.352824, -156.986988, -132.812134, 27.868469], [-180.000000, -169.000000, 11.000000, 35.000000, -150.000000, 43.000000], [-180.000000, -73.242978, -170.724392, 17.810390, -69.655797, 5.394490]] - id: 407 parameters: Irb2400_10 joints: [-7.000000, -38.000000, -40.000000, -178.000000, -33.000000, 54.000000] @@ -2041,9 +2041,9 @@ cases: solutions: [[173.000000, -16.723062, -30.649430, -178.909931, 87.611994, -124.367882], [173.000000, 34.698978, -129.074963, -178.326969, 40.620142, -125.592511], [-7.000000, -38.000000, -40.000000, 2.000000, 33.000000, -126.000000], [-7.000000, 3.611522, -119.724392, 1.151193, 71.100469, -124.695384], [173.000000, -16.723062, -30.649430, 1.090069, -87.611994, 55.632118], [173.000000, 34.698978, -129.074963, 1.673031, -40.620142, 54.407489], [-7.000000, -38.000000, -40.000000, -178.000000, -33.000000, 54.000000], [-7.000000, 3.611522, -119.724392, -178.848807, -71.100469, 55.304616]] - id: 408 parameters: Irb2400_10 - joints: [-56.000000, -26.000000, -44.000000, -23.000000, -64.000000, -75.000000] - pose: {translation: [-0.04852016060652777, 0.1253161739954469, 2.063357166725093], quaternion: [0.07098693478601717, 0.3840697648282799, 0.8882044831744351, -0.2419588124108528]} - solutions: [[124.000000, -21.056579, -41.278163, -56.422409, 24.930789, 148.253149], [124.000000, 19.216146, -118.446229, -25.664998, 54.179234, 110.166269], [-56.000000, -26.000000, -44.000000, 157.000000, 64.000000, 105.000000], [-56.000000, 11.423312, -115.724392, 141.176300, 34.067732, 128.146352], [124.000000, -21.056579, -41.278163, 123.577591, -24.930789, -31.746851], [124.000000, 19.216146, -118.446229, 154.335002, -54.179234, -69.833731], [-56.000000, -26.000000, -44.000000, -23.000000, -64.000000, -75.000000], [-56.000000, 11.423312, -115.724392, -38.823700, -34.067732, -51.853648]] + joints: [-56.000000, -26.000000, -44.000000, -23.000000, -63.000000, -75.000000] + pose: {translation: [-0.04816048588342543, 0.1243204099637405, 2.064396345764945], quaternion: [0.07101765471045079, 0.37602181320172, 0.891568389194122, -0.2422186947898876]} + solutions: [[124.000000, -21.056579, -41.278163, -58.093402, 24.211535, 149.772875], [124.000000, 19.216146, -118.446229, -25.777471, 53.183349, 110.232888], [-56.000000, -26.000000, -44.000000, 157.000000, 63.000000, 105.000000], [-56.000000, 11.423312, -115.724392, 140.457491, 33.150278, 128.745023], [124.000000, -21.056579, -41.278163, 121.906598, -24.211535, -30.227125], [124.000000, 19.216146, -118.446229, 154.222529, -53.183349, -69.767112], [-56.000000, -26.000000, -44.000000, -23.000000, -63.000000, -75.000000], [-56.000000, 11.423312, -115.724392, -39.542509, -33.150278, -51.254977]] - id: 409 parameters: Irb2400_10 joints: [77.000000, 25.000000, 95.000000, -80.000000, 48.000000, -177.000000] @@ -2051,9 +2051,9 @@ cases: solutions: [[77.000000, 25.000000, 95.000000, -80.000000, 48.000000, -177.000000], [77.000000, -73.776946, 105.275608, -47.429633, 96.401874, 100.841912], [-103.000000, 156.306313, 81.077580, 82.344679, 132.401628, 6.489889], [-103.000000, -14.596455, 119.198028, 127.507622, 67.305770, 134.449763], [77.000000, 25.000000, 95.000000, 100.000000, -48.000000, 3.000000], [77.000000, -73.776946, 105.275608, 132.570367, -96.401874, -79.158088], [-103.000000, 156.306313, 81.077580, -97.655321, -132.401628, -173.510111], [-103.000000, -14.596455, 119.198028, -52.492378, -67.305770, -45.550237]] - id: 410 parameters: Irb2400_10 - joints: [-174.000000, 22.000000, -84.000000, -100.000000, 51.000000, -59.000000] - pose: {translation: [-0.6177703489393719, 0.0004819009624605908, 2.051284739759657], quaternion: [-0.4268906449433599, -0.09087533246761392, 0.1089336680891211, 0.8931066605760994]} - solutions: [[-174.000000, 17.687906, -75.724392, -103.101886, 51.794246, -54.030405], [-174.000000, 22.000000, -84.000000, -100.000000, 51.000000, -59.000000], [-174.000000, 17.687906, -75.724392, 76.898114, -51.794246, 125.969595], [-174.000000, 22.000000, -84.000000, 80.000000, -51.000000, 121.000000]] + joints: [-174.000000, 22.000000, -84.000000, -100.000000, 50.000000, -59.000000] + pose: {translation: [-0.6183515645853577, -0.0005135992833532055, 2.05221853450348], quaternion: [-0.4197042601819593, -0.09407110352592478, 0.1115279360515559, 0.8958573998949882]} + solutions: [[-174.000000, 17.687906, -75.724392, -103.213668, 50.798057, -53.960506], [-174.000000, 22.000000, -84.000000, -100.000000, 50.000000, -59.000000], [-174.000000, 17.687906, -75.724392, 76.786332, -50.798057, 126.039494], [-174.000000, 22.000000, -84.000000, 80.000000, -50.000000, 121.000000]] - id: 411 parameters: Irb2400_10 joints: [18.000000, 73.000000, -28.000000, -105.000000, -59.000000, 4.000000] @@ -2061,9 +2061,9 @@ cases: solutions: [[18.000000, 73.000000, -28.000000, 75.000000, 59.000000, -176.000000], [18.000000, 127.207830, -131.724392, 57.093395, 80.465665, -127.843678], [18.000000, 73.000000, -28.000000, -105.000000, -59.000000, 4.000000], [18.000000, 127.207830, -131.724392, -122.906605, -80.465665, 52.156322]] - id: 412 parameters: Irb2400_10 - joints: [-50.000000, -149.000000, -103.000000, -136.000000, 153.000000, -164.000000] - pose: {translation: [-0.2250784122914843, 0.2265347981877618, -0.6856170413869829], quaternion: [0.2178972923193849, 0.2815676833114552, -0.6075811494031913, 0.7099898285217877]} - solutions: [[130.000000, 148.831710, -41.438876, 21.956453, 122.493518, 167.509965], [130.000000, -171.063869, -118.285516, 45.910552, 153.955058, -161.864854], [-50.000000, -173.125409, -56.724392, -83.941964, 161.509986, -108.324729], [-50.000000, -149.000000, -103.000000, -136.000000, 153.000000, -164.000000], [130.000000, 148.831710, -41.438876, -158.043547, -122.493518, -12.490035], [130.000000, -171.063869, -118.285516, -134.089448, -153.955058, 18.135146], [-50.000000, -173.125409, -56.724392, 96.058036, -161.509986, 71.675271], [-50.000000, -149.000000, -103.000000, 44.000000, -153.000000, 16.000000]] + joints: [-50.000000, -148.000000, -103.000000, -136.000000, 152.000000, -164.000000] + pose: {translation: [-0.2398963327272159, 0.2427720298932976, -0.6790759846479109], quaternion: [0.2260101258209769, 0.2940603513778179, -0.6057325148449001, 0.7039432173361807]} + solutions: [[130.000000, 147.382524, -40.636550, 22.433993, 121.287058, 167.648982], [130.000000, -171.672761, -119.087843, 46.412828, 153.240766, -161.283054], [-50.000000, -172.125409, -56.724392, -86.470199, 160.928840, -110.718428], [-50.000000, -148.000000, -103.000000, -136.000000, 152.000000, -164.000000], [130.000000, 147.382524, -40.636550, -157.566007, -121.287058, -12.351018], [130.000000, -171.672761, -119.087843, -133.587172, -153.240766, 18.716946], [-50.000000, -172.125409, -56.724392, 93.529801, -160.928840, 69.281572], [-50.000000, -148.000000, -103.000000, 44.000000, -152.000000, 16.000000]] - id: 413 parameters: Irb2400_10 joints: [-34.000000, -54.000000, -102.000000, 131.000000, 56.000000, -10.000000] @@ -2071,39 +2071,39 @@ cases: solutions: [[146.000000, 29.593842, -18.343989, -79.016284, 39.595102, 33.110507], [146.000000, 93.982852, -141.380404, -40.942183, 72.708999, -28.293640], [-34.000000, -77.081622, -57.724392, 138.582969, 71.050384, -26.767103], [-34.000000, -54.000000, -102.000000, 131.000000, 56.000000, -10.000000], [146.000000, 29.593842, -18.343989, 100.983716, -39.595102, -146.889493], [146.000000, 93.982852, -141.380404, 139.057817, -72.708999, 151.706360], [-34.000000, -77.081622, -57.724392, -41.417031, -71.050384, 153.232897], [-34.000000, -54.000000, -102.000000, -49.000000, -56.000000, 170.000000]] - id: 414 parameters: Irb2400_10 - joints: [90.000000, 88.000000, -16.000000, 175.000000, -159.000000, 58.000000] - pose: {translation: [0.002654875109664023, 1.112889001360621, 0.02936699584110759], quaternion: [0.3202556160909483, 0.0930196574262271, -0.2176646321269058, 0.9172817405876852]} - solutions: [[90.000000, 88.000000, -16.000000, -5.000000, 159.000000, -122.000000], [90.000000, 154.868221, -143.724392, -177.212658, 140.037462, 64.806517], [-90.000000, -132.524309, -50.543669, 2.407667, 131.969836, 64.280048], [-90.000000, -101.943774, -109.180724, 5.233261, 159.974641, 67.587888], [90.000000, 88.000000, -16.000000, 175.000000, -159.000000, 58.000000], [90.000000, 154.868221, -143.724392, 2.787342, -140.037462, -115.193483], [-90.000000, -132.524309, -50.543669, -177.592333, -131.969836, -115.719952], [-90.000000, -101.943774, -109.180724, -174.766739, -159.974641, -112.412112]] + joints: [90.000000, 87.000000, -16.000000, 175.000000, -158.000000, 58.000000] + pose: {translation: [0.002775174850423445, 1.121832334272379, 0.04617178777985176], quaternion: [0.3360058047366009, 0.09753595134519875, -0.2160208355712026, 0.9115491407365901]} + solutions: [[90.000000, 87.000000, -16.000000, -5.000000, 158.000000, -122.000000], [90.000000, 153.868221, -143.724392, -177.024219, 141.030264, 64.951997], [-90.000000, -131.394126, -51.032632, 2.572187, 133.322161, 64.402974], [-90.000000, -101.324524, -108.691760, 5.712603, 160.852299, 68.036050], [90.000000, 87.000000, -16.000000, 175.000000, -158.000000, 58.000000], [90.000000, 153.868221, -143.724392, 2.975781, -141.030264, -115.048003], [-90.000000, -131.394126, -51.032632, -177.427813, -133.322161, -115.597026], [-90.000000, -101.324524, -108.691760, -174.287397, -160.852299, -111.963950]] - id: 415 parameters: Irb2400_10 - joints: [-28.000000, 143.000000, 17.000000, -167.000000, -58.000000, -29.000000] - pose: {translation: [-0.1737135548293384, 0.1107302024373288, -0.2825266131906126], quaternion: [-0.4365191094558091, 0.1087779171436245, 0.7904443539212197, 0.415711625018916]} - solutions: [[152.000000, 124.859105, 19.978000, -79.000422, 168.793852, -100.817003], [152.000000, -129.571938, -179.702392, -168.996121, 88.089137, 157.603496], [-28.000000, 143.000000, 17.000000, 13.000000, 58.000000, 151.000000], [-28.000000, -114.701806, -176.724392, 20.538634, 147.060586, 175.429514], [152.000000, 124.859105, 19.978000, 100.999578, -168.793852, 79.182997], [152.000000, -129.571938, -179.702392, 11.003879, -88.089137, -22.396504], [-28.000000, 143.000000, 17.000000, -167.000000, -58.000000, -29.000000], [-28.000000, -114.701806, -176.724392, -159.461366, -147.060586, -4.570486]] + joints: [-28.000000, 142.000000, 17.000000, -167.000000, -58.000000, -29.000000] + pose: {translation: [-0.1598419998232555, 0.1033545658087835, -0.2877192634584268], quaternion: [-0.4442960324354078, 0.1088090266430123, 0.7866051964686963, 0.414745580050709]} + solutions: [[152.000000, 126.062151, 19.621498, -79.762723, 168.822130, -101.594083], [152.000000, -128.761379, -179.345891, -168.997139, 88.253127, 157.635399], [-28.000000, 142.000000, 17.000000, 13.000000, 58.000000, 151.000000], [-28.000000, -115.701806, -176.724392, 20.538634, 147.060586, 175.429514], [152.000000, 126.062151, 19.621498, 100.237277, -168.822130, 78.405917], [152.000000, -128.761379, -179.345891, 11.002861, -88.253127, -22.364601], [-28.000000, 142.000000, 17.000000, -167.000000, -58.000000, -29.000000], [-28.000000, -115.701806, -176.724392, -159.461366, -147.060586, -4.570486]] - id: 416 parameters: Irb2400_10 - joints: [71.000000, -92.000000, 112.000000, 138.000000, 10.000000, -124.000000] - pose: {translation: [0.06667598865746571, 0.2239771187970619, 0.4407064862613175], quaternion: [-0.4010482582733673, 0.6685362158773798, 0.4570931811723256, 0.4281184956551348]} - solutions: [[71.000000, 55.739617, 88.275608, 171.124851, 131.138315, -171.429553], [71.000000, -92.000000, 112.000000, 138.000000, 10.000000, -124.000000], [-109.000000, 147.619506, 77.471834, -172.113862, 57.871743, 10.222744], [-109.000000, -31.318613, 122.803773, -6.875389, 76.077027, -163.902345], [71.000000, 55.739617, 88.275608, -8.875149, -131.138315, 8.570447], [71.000000, -92.000000, 112.000000, -42.000000, -10.000000, 56.000000], [-109.000000, 147.619506, 77.471834, 7.886138, -57.871743, -169.777256], [-109.000000, -31.318613, 122.803773, 173.124611, -76.077027, 16.097655]] + joints: [71.000000, -91.000000, 112.000000, 138.000000, 10.000000, -124.000000] + pose: {translation: [0.06567904322725776, 0.2210817790342028, 0.4384034480607519], quaternion: [-0.4032667974741672, 0.6734986020367246, 0.4526990273588111, 0.4228937381162]} + solutions: [[71.000000, 56.739617, 88.275608, 171.124851, 131.138315, -171.429553], [71.000000, -91.000000, 112.000000, 138.000000, 10.000000, -124.000000], [-109.000000, 147.040326, 77.622434, -172.162410, 58.437792, 10.314755], [-109.000000, -31.588944, 122.653173, -6.892965, 75.502132, -163.830746], [71.000000, 56.739617, 88.275608, -8.875149, -131.138315, 8.570447], [71.000000, -91.000000, 112.000000, -42.000000, -10.000000, 56.000000], [-109.000000, 147.040326, 77.622434, 7.837590, -58.437792, -169.685245], [-109.000000, -31.588944, 122.653173, 173.107035, -75.502132, 16.169254]] - id: 417 parameters: Irb2400_10 - joints: [-60.000000, 153.000000, 41.000000, -7.000000, -149.000000, 140.000000] - pose: {translation: [-0.1378727634134038, 0.2494730810549885, -0.02128594447761797], quaternion: [0.9018409873983884, -0.1958921483205531, 0.283118443810416, 0.2610613844463153]} - solutions: [[120.000000, 86.900634, 49.977809, -115.117246, 3.975069, 81.178411], [120.000000, -132.978143, 150.297798, -4.069323, 117.809536, -35.892892], [-60.000000, 153.000000, 41.000000, 173.000000, 149.000000, -40.000000], [-60.000000, -77.649697, 159.275608, 174.008543, 36.965498, -29.198443], [120.000000, 86.900634, 49.977809, 64.882754, -3.975069, -98.821589], [120.000000, -132.978143, 150.297798, 175.930677, -117.809536, 144.107108], [-60.000000, 153.000000, 41.000000, -7.000000, -149.000000, 140.000000], [-60.000000, -77.649697, 159.275608, -5.991457, -36.965498, 150.801557]] + joints: [-60.000000, 152.000000, 41.000000, -7.000000, -148.000000, 140.000000] + pose: {translation: [-0.1326764280368049, 0.2407810695007747, -0.02895690248188979], quaternion: [0.9019906712703222, -0.1950432488989645, 0.283598199115659, 0.2606588219466305]} + solutions: [[120.000000, 88.194137, 49.698809, -126.056922, 4.581904, 92.088860], [120.000000, -132.028160, 150.576799, -4.141243, 116.583696, -35.911183], [-60.000000, 152.000000, 41.000000, 173.000000, 148.000000, -40.000000], [-60.000000, -78.649697, 159.275608, 173.689594, 35.983635, -28.941960], [120.000000, 88.194137, 49.698809, 53.943078, -4.581904, -87.911140], [120.000000, -132.028160, 150.576799, 175.858757, -116.583696, 144.088817], [-60.000000, 152.000000, 41.000000, -7.000000, -148.000000, 140.000000], [-60.000000, -78.649697, 159.275608, -6.310406, -35.983635, 151.058040]] - id: 418 parameters: Irb2400_10 - joints: [49.000000, -80.000000, 107.000000, -31.000000, 125.000000, 64.000000] - pose: {translation: [0.07244665075925537, 0.02867904980490776, 0.483901124333792], quaternion: [0.1262957829478215, 0.8164928160380527, -0.5610022924270216, -0.05162639305117272]} - solutions: [[49.000000, 36.706361, 93.275608, -46.441518, 35.604535, 123.547453], [49.000000, -80.000000, 107.000000, -31.000000, 125.000000, 64.000000], [-131.000000, 153.625696, 80.385237, 42.723681, 141.549500, -61.107105], [-131.000000, -18.937161, 119.890371, 154.489610, 78.410689, 88.492002], [49.000000, 36.706361, 93.275608, 133.558482, -35.604535, -56.452547], [49.000000, -80.000000, 107.000000, 149.000000, -125.000000, -116.000000], [-131.000000, 153.625696, 80.385237, -137.276319, -141.549500, 118.892895], [-131.000000, -18.937161, 119.890371, -25.510390, -78.410689, -91.507998]] + joints: [49.000000, -79.000000, 107.000000, -31.000000, 124.000000, 64.000000] + pose: {translation: [0.07176166243408527, 0.02723140835432776, 0.4832491648750318], quaternion: [0.1216801799962853, 0.8171004716944942, -0.5611594500513781, -0.05138895378134981]} + solutions: [[49.000000, 37.706361, 93.275608, -47.940558, 35.106898, 124.770068], [49.000000, -79.000000, 107.000000, -31.000000, 124.000000, 64.000000], [-131.000000, 153.207388, 80.495411, 43.446526, 141.617359, -60.834412], [-131.000000, -19.095554, 119.780197, 154.133901, 78.158951, 88.253766], [49.000000, 37.706361, 93.275608, 132.059442, -35.106898, -55.229932], [49.000000, -79.000000, 107.000000, 149.000000, -124.000000, -116.000000], [-131.000000, 153.207388, 80.495411, -136.553474, -141.617359, 119.165588], [-131.000000, -19.095554, 119.780197, -25.866099, -78.158951, -91.746234]] - id: 419 parameters: Irb2400_10 - joints: [71.000000, 178.000000, -170.000000, -51.000000, 3.000000, -27.000000] - pose: {translation: [0.3206042441099522, 0.9204834274218081, -0.07554585834629322], quaternion: [-0.7338598869002859, 0.2173674936582049, -0.05460336733671742, 0.6412639950714069]} - solutions: [[71.000000, 83.028796, 10.275608, -177.653523, 83.420873, 101.769438], [71.000000, 178.000000, -170.000000, -51.000000, 3.000000, -27.000000], [-109.000000, -161.465074, -8.959525, 173.035245, 19.598112, -71.396660], [-109.000000, -87.128221, -150.764867, 3.135089, 48.046753, 99.941395], [71.000000, 83.028796, 10.275608, 2.346477, -83.420873, -78.230562], [71.000000, 178.000000, -170.000000, 129.000000, -3.000000, 153.000000], [-109.000000, -161.465074, -8.959525, -6.964755, -19.598112, 108.603340], [-109.000000, -87.128221, -150.764867, -176.864911, -48.046753, -80.058605]] + joints: [71.000000, 177.000000, -170.000000, -51.000000, 3.000000, -27.000000] + pose: {translation: [0.3244845164386426, 0.9317525565271352, -0.06017484311518232], quaternion: [-0.7283856768605739, 0.2159878712613531, -0.05489272313048082, 0.6479122889401567]} + solutions: [[71.000000, 82.028796, 10.275608, -177.653523, 83.420873, 101.769438], [71.000000, 177.000000, -170.000000, -51.000000, 3.000000, -27.000000], [-109.000000, -160.464063, -9.221604, 172.945117, 19.338996, -71.301066], [-109.000000, -86.405874, -150.502789, 3.134323, 48.062304, 99.942541], [71.000000, 82.028796, 10.275608, 2.346477, -83.420873, -78.230562], [71.000000, 177.000000, -170.000000, 129.000000, -3.000000, 153.000000], [-109.000000, -160.464063, -9.221604, -7.054883, -19.338996, 108.698934], [-109.000000, -86.405874, -150.502789, -176.865677, -48.062304, -80.057459]] - id: 420 parameters: Irb2400_10 - joints: [55.000000, -64.000000, -50.000000, -80.000000, 134.000000, -3.000000] - pose: {translation: [-0.4843009667653681, -0.7966350569418268, 1.509246398294789], quaternion: [0.2476442425251634, 0.8547339794309061, 0.0823769422117144, 0.4486827308267984]} - solutions: [[-125.000000, 11.452965, -20.568533, 54.058747, 118.955817, -73.507992], [-125.000000, 73.492104, -139.155859, 99.679747, 134.057463, -3.460782], [55.000000, -64.000000, -50.000000, -80.000000, 134.000000, -3.000000], [55.000000, -32.851313, -109.724392, -107.441968, 132.050630, -42.373202], [-125.000000, 11.452965, -20.568533, -125.941253, -118.955817, 106.492008], [-125.000000, 73.492104, -139.155859, -80.320253, -134.057463, 176.539218], [55.000000, -64.000000, -50.000000, 100.000000, -134.000000, 177.000000], [55.000000, -32.851313, -109.724392, 72.558032, -132.050630, 137.626798]] + joints: [55.000000, -63.000000, -50.000000, -80.000000, 133.000000, -3.000000] + pose: {translation: [-0.4745830421793056, -0.7845097502093173, 1.52815211028194], quaternion: [0.2456880395271649, 0.8536496384026364, 0.07249613909432996, 0.4535019205083501]} + solutions: [[-125.000000, 10.565525, -20.979433, 55.266775, 118.788148, -72.711544], [-125.000000, 72.170920, -138.744959, 99.608087, 133.072533, -3.574261], [55.000000, -63.000000, -50.000000, -80.000000, 133.000000, -3.000000], [55.000000, -31.851313, -109.724392, -106.597909, 131.274486, -41.812102], [-125.000000, 10.565525, -20.979433, -124.733225, -118.788148, 107.288456], [-125.000000, 72.170920, -138.744959, -80.391913, -133.072533, 176.425739], [55.000000, -63.000000, -50.000000, 100.000000, -133.000000, 177.000000], [55.000000, -31.851313, -109.724392, 73.402091, -131.274486, 138.187898]] - id: 421 parameters: Irb2400_10 joints: [174.000000, 82.000000, -30.000000, 157.000000, 66.000000, -113.000000] @@ -2111,14 +2111,14 @@ cases: solutions: [[174.000000, 82.000000, -30.000000, 157.000000, 66.000000, -113.000000], [174.000000, 134.104622, -129.724392, 126.731749, 26.447922, -72.605739], [174.000000, 82.000000, -30.000000, -23.000000, -66.000000, 67.000000], [174.000000, 134.104622, -129.724392, -53.268251, -26.447922, 107.394261]] - id: 422 parameters: Irb2400_10 - joints: [65.000000, 145.000000, 143.000000, 21.000000, -106.000000, 133.000000] - pose: {translation: [0.2503140806030453, 0.467514920180967, 0.7985522070762], quaternion: [-0.2485476243280062, -0.6562310348115548, 0.6852027649556967, -0.1951462997039116]} - solutions: [[65.000000, -4.382404, 57.275608, -24.979312, 125.338059, 111.879538], [65.000000, 145.000000, 143.000000, -159.000000, 106.000000, -47.000000], [-115.000000, -140.055342, 40.643861, 20.355203, 97.962734, -50.097698], [-115.000000, -11.122086, 159.631747, 144.185301, 143.935393, 96.704364], [65.000000, -4.382404, 57.275608, 155.020688, -125.338059, -68.120462], [65.000000, 145.000000, 143.000000, 21.000000, -106.000000, 133.000000], [-115.000000, -140.055342, 40.643861, -159.644797, -97.962734, 129.902302], [-115.000000, -11.122086, 159.631747, -35.814699, -143.935393, -83.295636]] + joints: [65.000000, 145.000000, 143.000000, 21.000000, -105.000000, 133.000000] + pose: {translation: [0.2504807759368764, 0.4675362205348817, 0.8000261690671443], quaternion: [-0.2457056474573884, -0.6506715475290673, 0.690844088706042, -0.1974581402312717]} + solutions: [[65.000000, -4.382404, 57.275608, -25.426222, 126.270065, 111.618079], [65.000000, 145.000000, 143.000000, -159.000000, 105.000000, -47.000000], [-115.000000, -140.055342, 40.643861, 20.409640, 96.964191, -50.090626], [-115.000000, -11.122086, 159.631747, 143.159971, 144.737070, 95.871305], [65.000000, -4.382404, 57.275608, 154.573778, -126.270065, -68.381921], [65.000000, 145.000000, 143.000000, 21.000000, -105.000000, 133.000000], [-115.000000, -140.055342, 40.643861, -159.590360, -96.964191, 129.909374], [-115.000000, -11.122086, 159.631747, -36.840029, -144.737070, -84.128695]] - id: 423 parameters: Irb2400_10 - joints: [137.000000, -157.000000, 27.000000, -85.000000, -134.000000, -113.000000] - pose: {translation: [0.4925767638946802, -0.5426208363976098, 0.4089740336453656], quaternion: [0.8865160340521973, 0.0175661021206808, -0.4426603855192875, 0.1335385207217946]} - solutions: [[-43.000000, 36.241084, 45.078437, -56.167021, 59.619542, -173.142853], [-43.000000, 170.418019, 155.197171, -70.955739, 130.703413, 87.714801], [137.000000, -157.000000, 27.000000, 95.000000, 134.000000, 67.000000], [137.000000, -43.641004, 173.275608, 133.162031, 79.242193, 161.078424], [-43.000000, 36.241084, 45.078437, 123.832979, -59.619542, 6.857147], [-43.000000, 170.418019, 155.197171, 109.044261, -130.703413, -92.285199], [137.000000, -157.000000, 27.000000, -85.000000, -134.000000, -113.000000], [137.000000, -43.641004, 173.275608, -46.837969, -79.242193, -18.921576]] + joints: [137.000000, -156.000000, 27.000000, -85.000000, -134.000000, -113.000000] + pose: {translation: [0.495113967382056, -0.5449868169261889, 0.4234963960822613], quaternion: [0.8885126660628145, 0.01407868012734235, -0.437090166241679, 0.1389216310969718]} + solutions: [[-43.000000, 34.914629, 45.146065, -56.041437, 59.763885, -173.391705], [-43.000000, 169.172450, 155.129543, -71.211071, 130.804949, 87.323678], [137.000000, -156.000000, 27.000000, 95.000000, 134.000000, 67.000000], [137.000000, -42.641004, 173.275608, 133.162031, 79.242193, 161.078424], [-43.000000, 34.914629, 45.146065, 123.958563, -59.763885, 6.608295], [-43.000000, 169.172450, 155.129543, 108.788929, -130.804949, -92.676322], [137.000000, -156.000000, 27.000000, -85.000000, -134.000000, -113.000000], [137.000000, -42.641004, 173.275608, -46.837969, -79.242193, -18.921576]] - id: 424 parameters: Irb2400_10 joints: [34.000000, 14.000000, -73.000000, -27.000000, -80.000000, -150.000000] @@ -2126,14 +2126,14 @@ cases: solutions: [[34.000000, 14.000000, -73.000000, 153.000000, 80.000000, 30.000000], [34.000000, 21.151461, -86.724392, 152.306588, 74.160181, 33.096538], [34.000000, 14.000000, -73.000000, -27.000000, -80.000000, -150.000000], [34.000000, 21.151461, -86.724392, -27.693412, -74.160181, -146.903462]] - id: 425 parameters: Irb2400_10 - joints: [90.000000, 116.000000, 70.000000, 7.000000, -61.000000, -22.000000] - pose: {translation: [0.009060093002253841, -0.0800216446921953, 0.1815300550367533], quaternion: [0.7823864274532601, -0.5424073336556643, 0.2174344022642684, 0.2153788365774539]} - solutions: [[-90.000000, 105.750486, 71.349739, 172.773463, 122.076381, -22.445679], [-90.000000, -84.404649, 128.925869, 30.952724, 11.960595, 131.005715], [90.000000, 116.000000, 70.000000, -173.000000, 61.000000, 158.000000], [90.000000, -76.362151, 130.275608, -6.458132, 71.379316, -16.523399], [-90.000000, 105.750486, 71.349739, -7.226537, -122.076381, 157.554321], [-90.000000, -84.404649, 128.925869, -149.047276, -11.960595, -48.994285], [90.000000, 116.000000, 70.000000, 7.000000, -61.000000, -22.000000], [90.000000, -76.362151, 130.275608, 173.541868, -71.379316, 163.476601]] + joints: [90.000000, 116.000000, 70.000000, 7.000000, -60.000000, -22.000000] + pose: {translation: [0.008971065523167912, -0.08122996322078457, 0.1823861189546835], quaternion: [0.7798932752334624, -0.5413548250516234, 0.2219833528647788, 0.2223169442257163]} + solutions: [[-90.000000, 105.750486, 71.349739, 172.764180, 123.076350, -22.450677], [-90.000000, -84.404649, 128.925869, 33.315409, 11.078710, 128.690542], [90.000000, 116.000000, 70.000000, -173.000000, 60.000000, 158.000000], [90.000000, -76.362151, 130.275608, -6.357997, 72.374778, -16.554548], [-90.000000, 105.750486, 71.349739, -7.235820, -123.076350, 157.549323], [-90.000000, -84.404649, 128.925869, -146.684591, -11.078710, -51.309458], [90.000000, 116.000000, 70.000000, 7.000000, -60.000000, -22.000000], [90.000000, -76.362151, 130.275608, 173.642003, -72.374778, 163.445452]] - id: 426 parameters: Irb2400_10 - joints: [-155.000000, 120.000000, 90.000000, 45.000000, -176.000000, -99.000000] - pose: {translation: [-0.05663545771043758, -0.02178347195675635, 0.4770591583058175], quaternion: [0.09641894701322437, 0.872612668993487, -0.2243534423903593, -0.4229846917519827]} - solutions: [[25.000000, 109.665700, 91.395684, 176.502008, 53.942965, -141.869573], [25.000000, -21.383190, 108.879924, 3.274611, 59.713331, 34.417054], [-155.000000, 120.000000, 90.000000, -135.000000, 176.000000, 81.000000], [-155.000000, -19.353726, 110.275608, -176.670489, 58.134571, 34.310706], [25.000000, 109.665700, 91.395684, -3.497992, -53.942965, 38.130427], [25.000000, -21.383190, 108.879924, -176.725389, -59.713331, -145.582946], [-155.000000, 120.000000, 90.000000, 45.000000, -176.000000, -99.000000], [-155.000000, -19.353726, 110.275608, 3.329511, -58.134571, -145.689294]] + joints: [-155.000000, 119.000000, 90.000000, 45.000000, -175.000000, -99.000000] + pose: {translation: [-0.05871295103544761, -0.02159834679495857, 0.4755331934589871], quaternion: [0.09958751453865324, 0.8709279117553602, -0.2209634108985769, -0.4274834154882827]} + solutions: [[25.000000, 110.309777, 91.172487, 175.636762, 54.101312, -141.329128], [25.000000, -22.179701, 109.103121, 4.056487, 60.598063, 34.115229], [-155.000000, 119.000000, 90.000000, -135.000000, 175.000000, 81.000000], [-155.000000, -20.353726, 110.275608, -175.807275, 57.451529, 33.850617], [25.000000, 110.309777, 91.172487, -4.363238, -54.101312, 38.670872], [25.000000, -22.179701, 109.103121, -175.943513, -60.598063, -145.884771], [-155.000000, 119.000000, 90.000000, 45.000000, -175.000000, -99.000000], [-155.000000, -20.353726, 110.275608, 4.192725, -57.451529, -146.149383]] - id: 427 parameters: Irb2400_10 joints: [-142.000000, -9.000000, -47.000000, -132.000000, 13.000000, 157.000000] @@ -2141,9 +2141,9 @@ cases: solutions: [[-142.000000, -9.000000, -47.000000, -132.000000, 13.000000, 157.000000], [-142.000000, 25.284941, -112.724392, -23.756706, 24.517265, 46.083692], [38.000000, -25.363042, -61.839866, 160.151245, 29.495055, 41.702030], [38.000000, -6.575610, -97.884526, 137.749423, 14.396352, 65.601661], [-142.000000, -9.000000, -47.000000, 48.000000, -13.000000, -23.000000], [-142.000000, 25.284941, -112.724392, 156.243294, -24.517265, -133.916308], [38.000000, -25.363042, -61.839866, -19.848755, -29.495055, -138.297970], [38.000000, -6.575610, -97.884526, -42.250577, -14.396352, -114.398339]] - id: 428 parameters: Irb2400_10 - joints: [167.000000, 104.000000, -11.000000, -10.000000, -45.000000, 142.000000] - pose: {translation: [-0.9136995749498606, 0.200232669754846, -0.3797051105982031], quaternion: [-0.2790282769855675, 0.8907494163943068, 0.1216981541192047, -0.3374881584880358]} - solutions: [[167.000000, 104.000000, -11.000000, 170.000000, 45.000000, -38.000000], [167.000000, 176.168633, -148.724392, 19.051452, 22.096547, 117.149906], [-13.000000, -157.957077, -33.166200, -168.464503, 37.880438, 125.741600], [-13.000000, -109.178694, -126.558193, -44.243333, 10.136136, -1.314125], [167.000000, 104.000000, -11.000000, -10.000000, -45.000000, 142.000000], [167.000000, 176.168633, -148.724392, -160.948548, -22.096547, -62.850094], [-13.000000, -157.957077, -33.166200, 11.535497, -37.880438, -54.258400], [-13.000000, -109.178694, -126.558193, 135.756667, -10.136136, 178.685875]] + joints: [167.000000, 104.000000, -11.000000, -10.000000, -44.000000, 142.000000] + pose: {translation: [-0.9125912771137303, 0.2001653718739578, -0.3806889560595451], quaternion: [-0.2799939685386347, 0.893690106239018, 0.1188266542016682, -0.3298508721281723]} + solutions: [[167.000000, 104.000000, -11.000000, 170.000000, 44.000000, -38.000000], [167.000000, 176.168633, -148.724392, 17.976243, 23.007603, 118.142931], [-13.000000, -157.957077, -33.166200, -168.910889, 38.841304, 126.091632], [-13.000000, -109.178694, -126.558193, -47.921730, 9.353113, 2.311320], [167.000000, 104.000000, -11.000000, -10.000000, -44.000000, 142.000000], [167.000000, 176.168633, -148.724392, -162.023757, -23.007603, -61.857069], [-13.000000, -157.957077, -33.166200, 11.089111, -38.841304, -53.908368], [-13.000000, -109.178694, -126.558193, 132.078270, -9.353113, -177.688680]] - id: 429 parameters: Irb2400_10 joints: [-82.000000, 62.000000, 108.000000, -132.000000, -134.000000, -51.000000] @@ -2151,9 +2151,9 @@ cases: solutions: [[-82.000000, -173.128456, 92.275608, 47.008222, 46.956814, 55.140029], [-82.000000, 62.000000, 108.000000, 48.000000, 134.000000, 129.000000], [98.000000, -173.073010, 91.913508, -142.022453, 60.311083, 70.210904], [98.000000, 59.411422, 108.362099, -37.041515, 62.550316, -69.467810], [-82.000000, -173.128456, 92.275608, -132.991778, -46.956814, -124.859971], [-82.000000, 62.000000, 108.000000, -132.000000, -134.000000, -51.000000], [98.000000, -173.073010, 91.913508, 37.977547, -60.311083, -109.789096], [98.000000, 59.411422, 108.362099, 142.958485, -62.550316, 110.532190]] - id: 430 parameters: Irb2400_10 - joints: [-89.000000, -53.000000, -47.000000, -119.000000, 85.000000, 86.000000] - pose: {translation: [-0.08746601767260898, 0.767396601677528, 1.759534025227178], quaternion: [-0.3363853452150107, 0.6211779538215886, 0.5924490876058478, -0.3872814581226435]} - solutions: [[91.000000, -0.126945, -24.685120, 76.812399, 63.494474, 32.637164], [91.000000, 57.570762, -135.039272, 61.217811, 83.776765, 83.772948], [-89.000000, -53.000000, -47.000000, -119.000000, 85.000000, 86.000000], [-89.000000, -18.715059, -112.724392, -112.819232, 70.957243, 57.144004], [91.000000, -0.126945, -24.685120, -103.187601, -63.494474, -147.362836], [91.000000, 57.570762, -135.039272, -118.782189, -83.776765, -96.227052], [-89.000000, -53.000000, -47.000000, 61.000000, -85.000000, -94.000000], [-89.000000, -18.715059, -112.724392, 67.180768, -70.957243, -122.855996]] + joints: [-89.000000, -52.000000, -47.000000, -119.000000, 85.000000, 86.000000] + pose: {translation: [-0.08711509870899396, 0.7472924677165177, 1.774522466347423], quaternion: [-0.3396614179208168, 0.6159260780988861, 0.5978976659877259, -0.3844262848715927]} + solutions: [[91.000000, -0.925097, -25.205611, 76.657978, 63.567587, 32.983623], [91.000000, 56.224301, -134.518782, 61.234558, 83.692995, 83.619490], [-89.000000, -52.000000, -47.000000, -119.000000, 85.000000, 86.000000], [-89.000000, -17.715059, -112.724392, -112.819232, 70.957243, 57.144004], [91.000000, -0.925097, -25.205611, -103.342022, -63.567587, -147.016377], [91.000000, 56.224301, -134.518782, -118.765442, -83.692995, -96.380510], [-89.000000, -52.000000, -47.000000, 61.000000, -85.000000, -94.000000], [-89.000000, -17.715059, -112.724392, 67.180768, -70.957243, -122.855996]] - id: 431 parameters: Irb2400_10 joints: [-88.000000, 58.000000, -157.000000, 45.000000, 57.000000, 96.000000] @@ -2161,29 +2161,29 @@ cases: solutions: [[-88.000000, -22.983542, -2.724392, 120.631279, 43.566618, -4.681920], [-88.000000, 58.000000, -157.000000, 45.000000, 57.000000, 96.000000], [92.000000, -61.649067, -12.675606, -137.725754, 61.835069, 101.349804], [92.000000, 8.741364, -147.048786, -76.896194, 37.508885, 18.220410], [-88.000000, -22.983542, -2.724392, -59.368721, -43.566618, 175.318080], [-88.000000, 58.000000, -157.000000, -135.000000, -57.000000, -84.000000], [92.000000, -61.649067, -12.675606, 42.274246, -61.835069, -78.650196], [92.000000, 8.741364, -147.048786, 103.103806, -37.508885, -161.779590]] - id: 432 parameters: Irb2400_10 - joints: [-174.000000, -10.000000, 180.000000, -73.000000, -19.000000, -150.000000] - pose: {translation: [0.8185252620973773, 0.05942059821480646, 1.023312131861926], quaternion: [-0.2338596249251584, 0.7578085980120853, -0.3040940394564922, 0.5277903180012451]} - solutions: [[6.000000, -6.113834, 36.923521, -128.418675, 23.414391, 88.755032], [6.000000, 118.499851, 163.352087, -18.179420, 93.702800, -43.296454], [-174.000000, -115.896808, 20.275608, 161.591955, 99.619221, -45.264630], [-174.000000, -10.000000, -180.000000, 107.000000, 19.000000, 30.000000], [6.000000, -6.113834, 36.923521, 51.581325, -23.414391, -91.244968], [6.000000, 118.499851, 163.352087, 161.820580, -93.702800, 136.703546], [-174.000000, -115.896808, 20.275608, -18.408045, -99.619221, 134.735370], [-174.000000, -10.000000, -180.000000, -73.000000, -19.000000, -150.000000]] + joints: [-174.000000, -10.000000, 180.000000, -73.000000, -18.000000, -150.000000] + pose: {translation: [0.8189167002604912, 0.0608145267445787, 1.023635465139662], quaternion: [-0.2384517714683181, 0.7551178633945352, -0.2990085676079976, 0.5324768929851385]} + solutions: [[6.000000, -6.113834, 36.923521, -130.615260, 22.910753, 90.774614], [6.000000, 118.499851, 163.352087, -17.219915, 93.414875, -43.236892], [-174.000000, -115.896808, 20.275608, 162.572124, 99.363496, -45.102997], [-174.000000, -10.000000, -180.000000, 107.000000, 18.000000, 30.000000], [6.000000, -6.113834, 36.923521, 49.384740, -22.910753, -89.225386], [6.000000, 118.499851, 163.352087, 162.780085, -93.414875, 136.763108], [-174.000000, -115.896808, 20.275608, -17.427876, -99.363496, 134.897003], [-174.000000, -10.000000, -180.000000, -73.000000, -18.000000, -150.000000]] - id: 433 parameters: Irb2400_10 - joints: [99.000000, 96.000000, -148.000000, 111.000000, -13.000000, 116.000000] - pose: {translation: [-0.1725886360678454, 1.203792432324314, 1.280415354388157], quaternion: [-0.3690187092380486, -0.06880406236614439, -0.303708284178811, 0.8757011312972954]} - solutions: [[99.000000, 24.600361, -11.724392, -166.089719, 60.877034, 40.629518], [99.000000, 96.000000, -148.000000, -69.000000, 13.000000, -64.000000], [-81.000000, -83.542382, -43.114739, 116.219827, 13.538412, -69.362741], [-81.000000, -45.192538, -116.609653, 23.847884, 31.293901, 26.809010], [99.000000, 24.600361, -11.724392, 13.910281, -60.877034, -139.370482], [99.000000, 96.000000, -148.000000, 111.000000, -13.000000, 116.000000], [-81.000000, -83.542382, -43.114739, -63.780173, -13.538412, 110.637259], [-81.000000, -45.192538, -116.609653, -156.152116, -31.293901, -153.190990]] + joints: [99.000000, 95.000000, -148.000000, 111.000000, -13.000000, 116.000000] + pose: {translation: [-0.1707453582951579, 1.192154434495041, 1.299790380206821], quaternion: [-0.3618715063896451, -0.06498830456191321, -0.303785989963428, 0.8789423220185708]} + solutions: [[99.000000, 23.600361, -11.724392, -166.089719, 60.877034, 40.629518], [99.000000, 95.000000, -148.000000, -69.000000, 13.000000, -64.000000], [-81.000000, -82.868716, -42.737068, 116.410772, 13.561171, -69.559153], [-81.000000, -44.123530, -116.987325, 23.644538, 31.576432, 27.047335], [99.000000, 23.600361, -11.724392, 13.910281, -60.877034, -139.370482], [99.000000, 95.000000, -148.000000, 111.000000, -13.000000, 116.000000], [-81.000000, -82.868716, -42.737068, -63.589228, -13.561171, 110.440847], [-81.000000, -44.123530, -116.987325, -156.355462, -31.576432, -152.952665]] - id: 434 parameters: Irb2400_10 - joints: [101.000000, -165.000000, 27.000000, -74.000000, 117.000000, 34.000000] - pose: {translation: [0.2033567455527834, -0.6646375424096529, 0.3285836945406622], quaternion: [0.2478817885431288, 0.7065322918456225, 0.5780149532259734, 0.324446379753585]} - solutions: [[-79.000000, 46.914296, 44.298487, 59.772664, 82.423004, -101.028597], [-79.000000, -179.839483, 155.977120, 96.135147, 120.523131, 13.672855], [101.000000, -165.000000, 27.000000, -74.000000, 117.000000, 34.000000], [101.000000, -51.641004, 173.275608, -119.812766, 99.201230, -72.684607], [-79.000000, 46.914296, 44.298487, -120.227336, -82.423004, 78.971403], [-79.000000, -179.839483, 155.977120, -83.864853, -120.523131, -166.327145], [101.000000, -165.000000, 27.000000, 106.000000, -117.000000, -146.000000], [101.000000, -51.641004, 173.275608, 60.187234, -99.201230, 107.315393]] + joints: [101.000000, -164.000000, 27.000000, -74.000000, 116.000000, 34.000000] + pose: {translation: [0.2050736742564512, -0.6701356423028156, 0.3434750508225514], quaternion: [0.2466628079986536, 0.7057254662238558, 0.5740345477392843, 0.3340559286632946]} + solutions: [[-79.000000, 45.575955, 44.418735, 60.461830, 83.238508, -100.926982], [-79.000000, 178.965417, 155.856872, 96.712295, 119.548424, 14.233049], [101.000000, -164.000000, 27.000000, -74.000000, 116.000000, 34.000000], [101.000000, -50.641004, 173.275608, -118.841586, 99.487021, -72.526918], [-79.000000, 45.575955, 44.418735, -119.538170, -83.238508, 79.073018], [-79.000000, 178.965417, 155.856872, -83.287705, -119.548424, -165.766951], [101.000000, -164.000000, 27.000000, 106.000000, -116.000000, -146.000000], [101.000000, -50.641004, 173.275608, 61.158414, -99.487021, 107.473082]] - id: 435 parameters: Irb2400_10 - joints: [2.000000, 98.000000, 14.000000, -136.000000, -121.000000, 40.000000] - pose: {translation: [0.606149348714219, 0.07181031952998243, -0.1734889297562612], quaternion: [-0.1989646635100147, 0.3258149413843731, 0.9229518354508787, -0.04916905615220239]} - solutions: [[2.000000, 98.000000, 14.000000, 44.000000, 121.000000, -140.000000], [2.000000, -162.979943, -173.724392, 130.075130, 128.908815, -23.186646], [-178.000000, 178.952624, 0.376524, -40.223025, 112.769787, -4.569136], [-178.000000, -96.744841, -160.100916, -109.219631, 140.906708, -100.633083], [2.000000, 98.000000, 14.000000, -136.000000, -121.000000, 40.000000], [2.000000, -162.979943, -173.724392, -49.924870, -128.908815, 156.813354], [-178.000000, 178.952624, 0.376524, 139.776975, -112.769787, 175.430864], [-178.000000, -96.744841, -160.100916, 70.780369, -140.906708, 79.366917]] + joints: [2.000000, 98.000000, 14.000000, -136.000000, -120.000000, 40.000000] + pose: {translation: [0.6051506766617452, 0.07229879916003736, -0.1744711958977809], quaternion: [-0.2054027456395884, 0.3306509663758154, 0.9197590339547942, -0.05022917456022816]} + solutions: [[2.000000, 98.000000, 14.000000, 44.000000, 120.000000, -140.000000], [2.000000, -162.979943, -173.724392, 128.920902, 129.354236, -23.915103], [-178.000000, 178.952624, 0.376524, -40.988133, 113.480360, -4.869634], [-178.000000, -96.744841, -160.100916, -110.209066, 140.129373, -101.396778], [2.000000, 98.000000, 14.000000, -136.000000, -120.000000, 40.000000], [2.000000, -162.979943, -173.724392, -51.079098, -129.354236, 156.084897], [-178.000000, 178.952624, 0.376524, 139.011867, -113.480360, 175.130366], [-178.000000, -96.744841, -160.100916, 69.790934, -140.129373, 78.603222]] - id: 436 parameters: Irb2400_10 - joints: [-34.000000, -152.000000, 42.000000, -1.000000, -51.000000, 147.000000] - pose: {translation: [-0.5767143285201617, 0.3903893276528443, 0.6834938905255157], quaternion: [-0.5806383829249762, 0.007399308378678201, 0.6742122147783994, 0.4563356308172654]} - solutions: [[146.000000, 9.491990, 59.228425, -179.222257, 87.724892, 146.339765], [146.000000, 161.463375, 141.047183, -1.248658, 38.491802, -32.651978], [-34.000000, -152.000000, 42.000000, 179.000000, 51.000000, -33.000000], [-34.000000, -21.475075, 158.275608, 0.878484, 62.206514, 145.960991], [146.000000, 9.491990, 59.228425, 0.777743, -87.724892, -33.660235], [146.000000, 161.463375, 141.047183, 178.751342, -38.491802, 147.348022], [-34.000000, -152.000000, 42.000000, -1.000000, -51.000000, 147.000000], [-34.000000, -21.475075, 158.275608, -179.121516, -62.206514, -34.039009]] + joints: [-34.000000, -151.000000, 42.000000, -1.000000, -51.000000, 147.000000] + pose: {translation: [-0.5756227497045687, 0.3896530484449221, 0.6973829178717753], quaternion: [-0.5735117666641428, 0.007410412126531756, 0.6784233515412122, 0.4590981326181555]} + solutions: [[146.000000, 8.125175, 59.201849, -179.222026, 87.331538, 146.334419], [146.000000, 160.060944, 141.073759, -1.238469, 38.867570, -32.665030], [-34.000000, -151.000000, 42.000000, 179.000000, 51.000000, -33.000000], [-34.000000, -20.475075, 158.275608, 0.878484, 62.206514, 145.960991], [146.000000, 8.125175, 59.201849, 0.777974, -87.331538, -33.665581], [146.000000, 160.060944, 141.073759, 178.761531, -38.867570, 147.334970], [-34.000000, -151.000000, 42.000000, -1.000000, -51.000000, 147.000000], [-34.000000, -20.475075, 158.275608, -179.121516, -62.206514, -34.039009]] - id: 437 parameters: Irb2400_10 joints: [171.000000, -81.000000, -17.000000, -52.000000, 57.000000, -166.000000] @@ -2191,29 +2191,29 @@ cases: solutions: [[-9.000000, -1.627152, 1.670057, 132.748134, 115.847074, 133.867975], [-9.000000, 84.062827, -161.394449, 130.223430, 59.946509, -170.249320], [171.000000, -81.000000, -17.000000, -52.000000, 57.000000, -166.000000], [171.000000, -15.189879, -142.724392, -42.151151, 100.005887, 150.181342], [-9.000000, -1.627152, 1.670057, -47.251866, -115.847074, -46.132025], [-9.000000, 84.062827, -161.394449, -49.776570, -59.946509, 9.750680], [171.000000, -81.000000, -17.000000, 128.000000, -57.000000, 14.000000], [171.000000, -15.189879, -142.724392, 137.848849, -100.005887, -29.818658]] - id: 438 parameters: Irb2400_10 - joints: [-138.000000, -151.000000, 50.000000, -123.000000, 163.000000, -137.000000] - pose: {translation: [0.3696262200194556, 0.3608590260529813, 0.6313873342250482], quaternion: [0.8816195635098768, 0.4553089581880041, -0.04407672048046152, -0.1161806375524592]} - solutions: [[42.000000, -4.402321, 66.512634, 27.232627, 32.401021, 143.693320], [42.000000, 157.837694, 133.762974, 36.411696, 155.600880, -158.930874], [-138.000000, -151.000000, 50.000000, -123.000000, 163.000000, -137.000000], [-138.000000, -10.851426, 150.275608, -161.965286, 52.374555, 155.937412], [42.000000, -4.402321, 66.512634, -152.767373, -32.401021, -36.306680], [42.000000, 157.837694, 133.762974, -143.588304, -155.600880, 21.069126], [-138.000000, -151.000000, 50.000000, 57.000000, -163.000000, 43.000000], [-138.000000, -10.851426, 150.275608, 18.034714, -52.374555, -24.062588]] + joints: [-138.000000, -150.000000, 50.000000, -123.000000, 162.000000, -137.000000] + pose: {translation: [0.3691714795851937, 0.362046293947432, 0.6424436101351928], quaternion: [0.8806832331565633, 0.455317129419206, -0.03278941077373124, -0.1265235513075258]} + solutions: [[42.000000, -5.801418, 66.443128, 28.719039, 32.639079, 142.558131], [42.000000, 156.334845, 133.832479, 37.847222, 155.014155, -157.517291], [-138.000000, -150.000000, 50.000000, -123.000000, 162.000000, -137.000000], [-138.000000, -9.851426, 150.275608, -160.796435, 51.990581, 155.220715], [42.000000, -5.801418, 66.443128, -151.280961, -32.639079, -37.441869], [42.000000, 156.334845, 133.832479, -142.152778, -155.014155, 22.482709], [-138.000000, -150.000000, 50.000000, 57.000000, -162.000000, 43.000000], [-138.000000, -9.851426, 150.275608, 19.203565, -51.990581, -24.779285]] - id: 439 parameters: Irb2400_10 - joints: [111.000000, 24.000000, 103.000000, -152.000000, 166.000000, 30.000000] - pose: {translation: [-0.02837578178352178, 0.1008599898217834, 0.629775505961505], quaternion: [-0.2863152868230687, -0.3079649337910556, -0.515807116598485, 0.7464075123904179]} - solutions: [[111.000000, 88.229239, 97.275608, -9.016372, 133.554578, 176.470395], [111.000000, 24.000000, 103.000000, -152.000000, 166.000000, 30.000000], [-69.000000, 144.123304, 89.837890, 153.704827, 14.855402, -151.760286], [-69.000000, 3.903070, 110.437718, 6.790150, 106.135960, 4.605390], [111.000000, 88.229239, 97.275608, 170.983628, -133.554578, -3.529605], [111.000000, 24.000000, 103.000000, 28.000000, -166.000000, -150.000000], [-69.000000, 144.123304, 89.837890, -26.295173, -14.855402, 28.239714], [-69.000000, 3.903070, 110.437718, -173.209850, -106.135960, -175.394610]] + joints: [111.000000, 24.000000, 103.000000, -152.000000, 165.000000, 30.000000] + pose: {translation: [-0.02802912448600343, 0.1018384525537229, 0.6287156737151426], quaternion: [-0.2934593220807025, -0.3113435040738498, -0.5149674101498252, 0.7428024065917753]} + solutions: [[111.000000, 88.229239, 97.275608, -9.789278, 134.385599, 175.933761], [111.000000, 24.000000, 103.000000, -152.000000, 165.000000, 30.000000], [-69.000000, 144.123304, 89.837890, 153.592396, 15.854959, -151.651864], [-69.000000, 3.903070, 110.437718, 7.234596, 105.232130, 4.725542], [111.000000, 88.229239, 97.275608, 170.210722, -134.385599, -4.066239], [111.000000, 24.000000, 103.000000, 28.000000, -165.000000, -150.000000], [-69.000000, 144.123304, 89.837890, -26.407604, -15.854959, 28.348136], [-69.000000, 3.903070, 110.437718, -172.765404, -105.232130, -175.274458]] - id: 440 parameters: Irb2400_10 - joints: [-74.000000, 80.000000, 156.000000, 127.000000, 26.000000, 176.000000] - pose: {translation: [0.08342078284410834, -0.1829607168783366, 1.33865102919874], quaternion: [0.2311603711785464, 0.3843963291920318, 0.8336620270665838, -0.3221986491708528]} - solutions: [[-74.000000, -53.218978, 44.275608, 153.509381, 128.289997, 108.815164], [-74.000000, 80.000000, 156.000000, 127.000000, 26.000000, 176.000000], [106.000000, -90.998835, 37.844824, -57.988168, 24.386018, -178.488791], [106.000000, 34.678569, 162.430784, -24.080531, 120.902488, 113.049727], [-74.000000, -53.218978, 44.275608, -26.490619, -128.289997, -71.184836], [-74.000000, 80.000000, 156.000000, -53.000000, -26.000000, -4.000000], [106.000000, -90.998835, 37.844824, 122.011832, -24.386018, 1.511209], [106.000000, 34.678569, 162.430784, 155.919469, -120.902488, -66.950273]] + joints: [-74.000000, 79.000000, 156.000000, 127.000000, 26.000000, 176.000000] + pose: {translation: [0.07993548359577658, -0.1708060339385966, 1.340266280936025], quaternion: [0.231849071012448, 0.3921498568693388, 0.8309618049123431, -0.3193226844507653]} + solutions: [[-74.000000, -54.218978, 44.275608, 153.509381, 128.289997, 108.815164], [-74.000000, 79.000000, 156.000000, 127.000000, 26.000000, 176.000000], [106.000000, -90.284180, 38.126867, -57.981993, 24.387769, -178.495571], [106.000000, 35.719620, 162.148741, -24.139711, 121.122456, 112.934864], [-74.000000, -54.218978, 44.275608, -26.490619, -128.289997, -71.184836], [-74.000000, 79.000000, 156.000000, -53.000000, -26.000000, -4.000000], [106.000000, -90.284180, 38.126867, 122.018007, -24.387769, 1.504429], [106.000000, 35.719620, 162.148741, 155.860289, -121.122456, -67.065136]] - id: 441 parameters: Irb2400_10 - joints: [94.000000, 172.000000, -30.000000, -20.000000, 118.000000, -104.000000] - pose: {translation: [0.04832527950172884, -0.3231064021437058, -0.574202811877044], quaternion: [0.06199280434452434, 0.1572676527466101, 0.00871065146570787, 0.985569836267383]} - solutions: [[-86.000000, 140.058619, -21.772491, 43.096641, 153.768649, 125.703921], [-86.000000, -159.172877, -137.951901, 151.459162, 140.798184, -117.157034], [94.000000, 172.000000, -30.000000, -20.000000, 118.000000, -104.000000], [94.000000, -135.895378, -129.724392, -54.871488, 158.331401, -147.175676], [-86.000000, 140.058619, -21.772491, -136.903359, -153.768649, -54.296079], [-86.000000, -159.172877, -137.951901, -28.540838, -140.798184, 62.842966], [94.000000, 172.000000, -30.000000, 160.000000, -118.000000, 76.000000], [94.000000, -135.895378, -129.724392, 125.128512, -158.331401, 32.824324]] + joints: [94.000000, 171.000000, -30.000000, -20.000000, 117.000000, -104.000000] + pose: {translation: [0.04720630927297374, -0.3037457416467245, -0.5817788805150266], quaternion: [0.07889095660995687, 0.1599440571356895, 0.008854230885557592, 0.9839287159889005]} + solutions: [[-86.000000, 141.376449, -22.328816, 45.215962, 154.573352, 127.683964], [-86.000000, -158.441920, -137.395577, 151.650106, 140.076913, -117.096983], [94.000000, 171.000000, -30.000000, -20.000000, 117.000000, -104.000000], [94.000000, -136.895378, -129.724392, -53.076312, 157.592196, -145.511612], [-86.000000, 141.376449, -22.328816, -134.784038, -154.573352, -52.316036], [-86.000000, -158.441920, -137.395577, -28.349894, -140.076913, 62.903017], [94.000000, 171.000000, -30.000000, 160.000000, -117.000000, 76.000000], [94.000000, -136.895378, -129.724392, 126.923688, -157.592196, 34.488388]] - id: 442 parameters: Irb2400_10 - joints: [44.000000, -171.000000, -77.000000, -47.000000, -136.000000, -144.000000] - pose: {translation: [-0.1074725029777003, -0.04375288462027002, -0.7903094854301127], quaternion: [-0.4929426231774669, -0.1107406069527314, -0.3375716258533932, 0.7942225668195001]} - solutions: [[-136.000000, 166.621948, -59.355844, -31.715981, 104.896428, 64.619349], [-136.000000, -171.999002, -100.368548, -36.447210, 121.221487, 52.698730], [44.000000, -171.000000, -77.000000, 133.000000, 136.000000, 36.000000], [44.000000, -168.017272, -82.724392, 134.976344, 134.095416, 38.791987], [-136.000000, 166.621948, -59.355844, 148.284019, -104.896428, -115.380651], [-136.000000, -171.999002, -100.368548, 143.552790, -121.221487, -127.301270], [44.000000, -171.000000, -77.000000, -47.000000, -136.000000, -144.000000], [44.000000, -168.017272, -82.724392, -45.023656, -134.095416, -141.208013]] + joints: [44.000000, -170.000000, -77.000000, -47.000000, -135.000000, -144.000000] + pose: {translation: [-0.1254442878393699, -0.06003224873055577, -0.7877096519382771], quaternion: [-0.5062568828010335, -0.1116716306815957, -0.3308043620718539, 0.7885441582763312]} + solutions: [[-136.000000, 164.844806, -57.881223, -32.118981, 103.427651, 64.878307], [-136.000000, -172.237256, -101.843169, -37.032523, 120.833263, 52.031595], [44.000000, -170.000000, -77.000000, 133.000000, 135.000000, 36.000000], [44.000000, -167.017272, -82.724392, 134.909640, 133.096583, 38.745988], [-136.000000, 164.844806, -57.881223, 147.881019, -103.427651, -115.121693], [-136.000000, -172.237256, -101.843169, 142.967477, -120.833263, -127.968405], [44.000000, -170.000000, -77.000000, -47.000000, -135.000000, -144.000000], [44.000000, -167.017272, -82.724392, -45.090360, -133.096583, -141.254012]] - id: 443 parameters: Irb2400_10 joints: [103.000000, 74.000000, -51.000000, -5.000000, -140.000000, 129.000000] @@ -2221,9 +2221,9 @@ cases: solutions: [[103.000000, 74.000000, -51.000000, 175.000000, 140.000000, -51.000000], [103.000000, 104.103699, -108.724392, 176.524806, 112.449590, -48.494225], [103.000000, 74.000000, -51.000000, -5.000000, -140.000000, 129.000000], [103.000000, 104.103699, -108.724392, -3.475194, -112.449590, 131.505775]] - id: 444 parameters: Irb2400_10 - joints: [-107.000000, -92.000000, 91.000000, 112.000000, 102.000000, 54.000000] - pose: {translation: [0.03578625266855816, -0.1466142653996626, 0.7693844352882313], quaternion: [0.5334951313094687, 0.1844311743221408, 0.7610794866254724, 0.3195717475703326]} - solutions: [[-107.000000, -92.000000, 91.000000, 112.000000, 102.000000, 54.000000], [-107.000000, 134.428854, 109.275608, 91.983525, 65.157541, 166.517818], [73.000000, -155.637899, 78.978830, -82.165270, 66.272305, 152.351800], [73.000000, 28.609899, 121.296777, -77.178642, 111.547492, 23.015450], [-107.000000, -92.000000, 91.000000, -68.000000, -102.000000, -126.000000], [-107.000000, 134.428854, 109.275608, -88.016475, -65.157541, -13.482182], [73.000000, -155.637899, 78.978830, 97.834730, -66.272305, -27.648200], [73.000000, 28.609899, 121.296777, 102.821358, -111.547492, -156.984550]] + joints: [-107.000000, -91.000000, 91.000000, 112.000000, 102.000000, 54.000000] + pose: {translation: [0.03499981675560067, -0.1491865813648295, 0.7688417994100667], quaternion: [0.5341999041945424, 0.1772574175433073, 0.7639507823821619, 0.3155779973035227]} + solutions: [[-107.000000, -91.000000, 91.000000, 112.000000, 102.000000, 54.000000], [-107.000000, 135.428854, 109.275608, 91.983525, 65.157541, 166.517818], [73.000000, -155.855289, 78.853017, -82.451964, 66.184400, 153.063028], [73.000000, 28.117980, 121.422591, -76.935578, 111.405510, 23.679335], [-107.000000, -91.000000, 91.000000, -68.000000, -102.000000, -126.000000], [-107.000000, 135.428854, 109.275608, -88.016475, -65.157541, -13.482182], [73.000000, -155.855289, 78.853017, 97.548036, -66.184400, -26.936972], [73.000000, 28.117980, 121.422591, 103.064422, -111.405510, -156.320665]] - id: 445 parameters: Irb2400_10 joints: [-135.000000, 44.000000, 43.000000, -21.000000, 39.000000, -73.000000] @@ -2236,19 +2236,19 @@ cases: solutions: [[-106.000000, -40.999816, 21.275608, 54.246783, 99.337170, 70.096763], [-106.000000, 66.000000, 179.000000, 105.000000, 124.000000, 173.000000], [74.000000, -73.719613, 14.797424, -71.202523, 122.230806, 179.944125], [74.000000, 26.170257, -174.521816, -123.527831, 106.133087, 80.149417], [-106.000000, -40.999816, 21.275608, -125.753217, -99.337170, -109.903237], [-106.000000, 66.000000, 179.000000, -75.000000, -124.000000, -7.000000], [74.000000, -73.719613, 14.797424, 108.797477, -122.230806, -0.055875], [74.000000, 26.170257, -174.521816, 56.472169, -106.133087, -99.850583]] - id: 447 parameters: Irb2400_10 - joints: [131.000000, 67.000000, 45.000000, -12.000000, -58.000000, 100.000000] - pose: {translation: [-0.431056837855849, 0.4730299969725244, 0.07169338490921449], quaternion: [-0.3299277038838976, 0.8900478212609561, 0.2484604017699475, -0.1929508093552366]} - solutions: [[131.000000, 67.000000, 45.000000, 168.000000, 58.000000, -80.000000], [131.000000, -158.916839, 155.275608, 11.900003, 58.767497, 87.337578], [-49.000000, 176.683178, 30.802346, -169.748274, 82.182381, 92.164184], [-49.000000, -65.684807, 169.473262, -25.907459, 23.800365, -62.464954], [131.000000, 67.000000, 45.000000, -12.000000, -58.000000, 100.000000], [131.000000, -158.916839, 155.275608, -168.099997, -58.767497, -92.662422], [-49.000000, 176.683178, 30.802346, 10.251726, -82.182381, -87.835816], [-49.000000, -65.684807, 169.473262, 154.092541, -23.800365, 117.535046]] + joints: [131.000000, 67.000000, 45.000000, -12.000000, -57.000000, 100.000000] + pose: {translation: [-0.4301500046110986, 0.4722394104457872, 0.07082538064649234], quaternion: [-0.33119684902878, 0.8924415771033195, 0.2413018609010632, -0.1887593456664629]} + solutions: [[131.000000, 67.000000, 45.000000, 168.000000, 57.000000, -80.000000], [131.000000, -158.916839, 155.275608, 11.646239, 59.743425, 87.467310], [-49.000000, 176.683178, 30.802346, -169.885576, 83.173065, 92.181684], [-49.000000, -65.684807, 169.473262, -26.683364, 22.848704, -61.752432], [131.000000, 67.000000, 45.000000, -12.000000, -57.000000, 100.000000], [131.000000, -158.916839, 155.275608, -168.353761, -59.743425, -92.532690], [-49.000000, 176.683178, 30.802346, 10.114424, -83.173065, -87.818316], [-49.000000, -65.684807, 169.473262, 153.316636, -22.848704, 118.247568]] - id: 448 parameters: Irb2400_10 - joints: [50.000000, 165.000000, 172.000000, 107.000000, 43.000000, 83.000000] - pose: {translation: [0.584444131145601, 0.7827578266829459, 0.3931836793938765], quaternion: [-0.2986352927404353, -0.4197173686708965, -0.6264118628967008, 0.5850320250961467]} - solutions: [[50.000000, 50.212288, 28.275608, 136.068555, 109.941440, -2.502369], [50.000000, 165.000000, 172.000000, 107.000000, 43.000000, 83.000000], [-130.000000, -150.784733, 8.377186, -89.235193, 40.711940, 104.677646], [-130.000000, -57.869320, -168.101578, -40.851915, 85.622720, 19.462719], [50.000000, 50.212288, 28.275608, -43.931445, -109.941440, 177.497631], [50.000000, 165.000000, 172.000000, -73.000000, -43.000000, -97.000000], [-130.000000, -150.784733, 8.377186, 90.764807, -40.711940, -75.322354], [-130.000000, -57.869320, -168.101578, 139.148085, -85.622720, -160.537281]] + joints: [50.000000, 164.000000, 172.000000, 107.000000, 43.000000, 83.000000] + pose: {translation: [0.5868468172627557, 0.7856212364949414, 0.4084935671798551], quaternion: [-0.2911992951994541, -0.4187955030126767, -0.6308689231808516, 0.5846517757574444]} + solutions: [[50.000000, 49.212288, 28.275608, 136.068555, 109.941440, -2.502369], [50.000000, 164.000000, 172.000000, 107.000000, 43.000000, 83.000000], [-130.000000, -149.917287, 8.283006, -88.971750, 40.715488, 104.330087], [-130.000000, -57.103729, -168.007398, -40.844980, 85.728795, 19.370739], [50.000000, 49.212288, 28.275608, -43.931445, -109.941440, 177.497631], [50.000000, 164.000000, 172.000000, -73.000000, -43.000000, -97.000000], [-130.000000, -149.917287, 8.283006, 91.028250, -40.715488, -75.669913], [-130.000000, -57.103729, -168.007398, 139.155020, -85.728795, -160.629261]] - id: 449 parameters: Irb2400_10 - joints: [-82.000000, 138.000000, -81.000000, 88.000000, -93.000000, -8.000000] - pose: {translation: [0.06855834734752884, -1.097359639782831, -0.463242803603319], quaternion: [-0.6769893702633752, 0.1012338383196436, 0.6988093359685038, -0.20761169160895]} - solutions: [[-82.000000, 136.814290, -78.724392, -91.942556, 93.037492, 173.090766], [-82.000000, 138.000000, -81.000000, -92.000000, 93.000000, 172.000000], [-82.000000, 136.814290, -78.724392, 88.057444, -93.037492, -6.909234], [-82.000000, 138.000000, -81.000000, 88.000000, -93.000000, -8.000000]] + joints: [-82.000000, 137.000000, -81.000000, 88.000000, -92.000000, -8.000000] + pose: {translation: [0.07120774389281395, -1.116675751909973, -0.4469195691432255], quaternion: [-0.6817573079264364, 0.104826737056281, 0.6913478572165774, -0.2150731703608763]} + solutions: [[-82.000000, 135.814290, -78.724392, -91.961603, 92.037673, 173.089923], [-82.000000, 137.000000, -81.000000, -92.000000, 92.000000, 172.000000], [-82.000000, 135.814290, -78.724392, 88.038397, -92.037673, -6.910077], [-82.000000, 137.000000, -81.000000, 88.000000, -92.000000, -8.000000]] - id: 450 parameters: Irb2400_10 joints: [-49.000000, -110.000000, 131.000000, -85.000000, -39.000000, -92.000000] @@ -2256,9 +2256,9 @@ cases: solutions: [[-49.000000, 83.517162, 69.275608, 130.889326, 123.973752, -28.413214], [-49.000000, -110.000000, 131.000000, 95.000000, 39.000000, 88.000000], [131.000000, 139.051945, 62.122776, -127.503760, 52.210027, 145.816915], [131.000000, -65.026371, 138.152832, -38.823698, 89.930372, 4.479166], [-49.000000, 83.517162, 69.275608, -49.110674, -123.973752, 151.586786], [-49.000000, -110.000000, 131.000000, -85.000000, -39.000000, -92.000000], [131.000000, 139.051945, 62.122776, 52.496240, -52.210027, -34.183085], [131.000000, -65.026371, 138.152832, 141.176302, -89.930372, -175.520834]] - id: 451 parameters: Irb2400_10 - joints: [-22.000000, 178.000000, 138.000000, -42.000000, 110.000000, -136.000000] - pose: {translation: [0.5309557273118631, -0.2721634635209975, 0.4691140337474581], quaternion: [0.6624264673137603, -0.6566218168631661, 0.2485254626267116, 0.261293052811791]} - solutions: [[-22.000000, 21.865487, 62.275608, -104.472519, 40.495143, -10.135872], [-22.000000, 178.000000, 138.000000, -42.000000, 110.000000, -136.000000], [158.000000, -164.296635, 45.392044, 132.039140, 122.153649, -149.434565], [158.000000, -29.744366, 154.883563, 110.121856, 42.040095, -55.141718], [-22.000000, 21.865487, 62.275608, 75.527481, -40.495143, 169.864128], [-22.000000, 178.000000, 138.000000, 138.000000, -110.000000, 44.000000], [158.000000, -164.296635, 45.392044, -47.960860, -122.153649, 30.565435], [158.000000, -29.744366, 154.883563, -69.878144, -42.040095, 124.858282]] + joints: [-22.000000, 177.000000, 138.000000, -42.000000, 109.000000, -136.000000] + pose: {translation: [0.5342805729828767, -0.2738641690501361, 0.4784906757776637], quaternion: [0.6594687834910833, -0.654701074530442, 0.2641408111791782, 0.2582577365328694]} + solutions: [[-22.000000, 20.865487, 62.275608, -105.705652, 41.087620, -9.202248], [-22.000000, 177.000000, 138.000000, -42.000000, 109.000000, -136.000000], [158.000000, -163.567711, 45.356336, 132.447278, 120.973939, -149.027398], [158.000000, -29.058212, 154.919272, 108.348608, 41.802453, -53.646813], [-22.000000, 20.865487, 62.275608, 74.294348, -41.087620, 170.797752], [-22.000000, 177.000000, 138.000000, 138.000000, -109.000000, 44.000000], [158.000000, -163.567711, 45.356336, -47.552722, -120.973939, 30.972602], [158.000000, -29.058212, 154.919272, -71.651392, -41.802453, 126.353187]] - id: 452 parameters: Irb2400_10 joints: [119.000000, 70.000000, 98.000000, 121.000000, -90.000000, 152.000000] @@ -2266,39 +2266,39 @@ cases: solutions: [[119.000000, 70.000000, 98.000000, -59.000000, 90.000000, -28.000000], [119.000000, 20.060986, 102.275608, -67.221257, 111.615693, -69.258870], [-61.000000, 145.489607, 88.674390, 65.993059, 69.774133, 114.179565], [-61.000000, -0.460739, 111.601218, 84.547631, 120.563836, -128.631271], [119.000000, 70.000000, 98.000000, 121.000000, -90.000000, 152.000000], [119.000000, 20.060986, 102.275608, 112.778743, -111.615693, 110.741130], [-61.000000, 145.489607, 88.674390, -114.006941, -69.774133, -65.820435], [-61.000000, -0.460739, 111.601218, -95.452369, -120.563836, 51.368729]] - id: 453 parameters: Irb2400_10 - joints: [-125.000000, 138.000000, -150.000000, 39.000000, -104.000000, -99.000000] - pose: {translation: [-0.7587589519514341, -0.993129468386958, 0.4385253726312276], quaternion: [-0.2775014081400909, 0.2816921840604545, 0.8494189993009938, 0.3494708078595634]} - solutions: [[-125.000000, 64.476271, -9.724392, -97.035492, 142.029221, 151.018353], [-125.000000, 138.000000, -150.000000, -141.000000, 104.000000, 81.000000], [55.000000, -118.172752, -44.351515, 38.281343, 99.721675, 77.506959], [55.000000, -81.117285, -115.372877, 48.128030, 124.912035, 102.473581], [-125.000000, 64.476271, -9.724392, 82.964508, -142.029221, -28.981647], [-125.000000, 138.000000, -150.000000, 39.000000, -104.000000, -99.000000], [55.000000, -118.172752, -44.351515, -141.718657, -99.721675, -102.493041], [55.000000, -81.117285, -115.372877, -131.871970, -124.912035, -77.526419]] + joints: [-125.000000, 137.000000, -150.000000, 39.000000, -103.000000, -99.000000] + pose: {translation: [-0.7613751571168125, -0.9964858202550971, 0.4591870974024218], quaternion: [-0.2775509455053856, 0.2817036206623731, 0.8516013572863707, 0.3440692823005093]} + solutions: [[-125.000000, 63.476271, -9.724392, -98.551196, 141.677718, 149.826320], [-125.000000, 137.000000, -150.000000, -141.000000, 103.000000, 81.000000], [55.000000, -117.238587, -44.494766, 38.363078, 98.887493, 77.648124], [55.000000, -80.333017, -115.229626, 47.722755, 124.029424, 102.288549], [-125.000000, 63.476271, -9.724392, 81.448804, -141.677718, -30.173680], [-125.000000, 137.000000, -150.000000, 39.000000, -103.000000, -99.000000], [55.000000, -117.238587, -44.494766, -141.636922, -98.887493, -102.351876], [55.000000, -80.333017, -115.229626, -132.277245, -124.029424, -77.711451]] - id: 454 parameters: Irb2400_10 - joints: [60.000000, 139.000000, -98.000000, -63.000000, 39.000000, -105.000000] - pose: {translation: [0.6686849931938792, 1.062872524851517, -0.3721746819972106], quaternion: [0.8911877070843333, 0.261770155227133, 0.3637676263014605, 0.07024222824720409]} - solutions: [[60.000000, 120.092109, -61.724392, -85.848585, 34.208334, -76.765485], [60.000000, 139.000000, -98.000000, -63.000000, 39.000000, -105.000000], [60.000000, 120.092109, -61.724392, 94.151415, -34.208334, 103.234515], [60.000000, 139.000000, -98.000000, 117.000000, -39.000000, 75.000000]] + joints: [60.000000, 138.000000, -98.000000, -63.000000, 38.000000, -105.000000] + pose: {translation: [0.6768385906852583, 1.079063901085061, -0.3520598404153019], quaternion: [0.8897736104791228, 0.2619563245770388, 0.3694361932506425, 0.05655709703926941]} + solutions: [[60.000000, 119.092109, -61.724392, -86.709561, 33.330265, -76.049746], [60.000000, 138.000000, -98.000000, -63.000000, 38.000000, -105.000000], [60.000000, 119.092109, -61.724392, 93.290439, -33.330265, 103.950254], [60.000000, 138.000000, -98.000000, 117.000000, -38.000000, 75.000000]] - id: 455 parameters: Irb2400_10 - joints: [-163.000000, -136.000000, 179.000000, 97.000000, -78.000000, 63.000000] - pose: {translation: [-0.2732659057001661, 0.002747654890688012, -0.3277736445944346], quaternion: [0.000355874158838754, 0.783893193869722, 0.5788972648998777, -0.2244755903205303]} - solutions: [[-163.000000, 117.000184, 21.275608, -102.655056, 84.284799, -20.353309], [-163.000000, -136.000000, 179.000000, -83.000000, 78.000000, -117.000000], [17.000000, 150.500305, 15.821252, 101.965479, 82.940583, -146.325673], [17.000000, -108.491441, -175.545644, 82.710774, 78.171827, -54.470190], [-163.000000, 117.000184, 21.275608, 77.344944, -84.284799, 159.646691], [-163.000000, -136.000000, 179.000000, 97.000000, -78.000000, 63.000000], [17.000000, 150.500305, 15.821252, -78.034521, -82.940583, 33.674327], [17.000000, -108.491441, -175.545644, -97.289226, -78.171827, 125.529810]] + joints: [-163.000000, -135.000000, 179.000000, 97.000000, -77.000000, 63.000000] + pose: {translation: [-0.2584369497043473, 0.006948062682651163, -0.3314095104319307], quaternion: [-0.009043467511577873, 0.7878829776977633, 0.5747381618154104, -0.2209856884563253]} + solutions: [[-163.000000, 118.000184, 21.275608, -103.653096, 84.401401, -20.254928], [-163.000000, -135.000000, 179.000000, -83.000000, 77.000000, -117.000000], [17.000000, 149.383394, 16.165041, 102.490728, 82.118014, -146.613824], [17.000000, -109.232395, -175.889433, 81.784468, 77.724096, -54.194651], [-163.000000, 118.000184, 21.275608, 76.346904, -84.401401, 159.745072], [-163.000000, -135.000000, 179.000000, 97.000000, -77.000000, 63.000000], [17.000000, 149.383394, 16.165041, -77.509272, -82.118014, 33.386176], [17.000000, -109.232395, -175.889433, -98.215532, -77.724096, 125.805349]] - id: 456 parameters: Irb2400_10 - joints: [172.000000, 10.000000, -95.000000, -55.000000, 155.000000, 157.000000] - pose: {translation: [-0.1618241490128602, 0.05245811955176179, 1.994643686517915], quaternion: [0.3281799750707586, 0.9242785592320335, 0.1563249778832488, -0.1164884122834304]} - solutions: [[172.000000, -5.778878, -64.724392, -36.871527, 144.763052, 177.818253], [172.000000, 10.000000, -95.000000, -55.000000, 155.000000, 157.000000], [172.000000, -5.778878, -64.724392, 143.128473, -144.763052, -2.181747], [172.000000, 10.000000, -95.000000, 125.000000, -155.000000, -23.000000]] + joints: [172.000000, 10.000000, -95.000000, -55.000000, 154.000000, 157.000000] + pose: {translation: [-0.1624842679013063, 0.05365851317188362, 1.995212987141518], quaternion: [0.3273089427678091, 0.9227746094686641, 0.1621067750757979, -0.1227895336691944]} + solutions: [[172.000000, -5.778878, -64.724392, -37.473656, 143.826820, 177.329288], [172.000000, 10.000000, -95.000000, -55.000000, 154.000000, 157.000000], [172.000000, -5.778878, -64.724392, 142.526344, -143.826820, -2.670712], [172.000000, 10.000000, -95.000000, 125.000000, -154.000000, -23.000000]] - id: 457 parameters: Irb2400_10 - joints: [117.000000, 55.000000, 47.000000, -52.000000, 26.000000, -30.000000] - pose: {translation: [-0.2527040568290618, 0.5606361004856744, 0.1828434434141899], quaternion: [0.9384064846518694, 0.1758221565479871, 0.2401778372549869, 0.1754834616756037]} - solutions: [[117.000000, 55.000000, 47.000000, -52.000000, 26.000000, -30.000000], [117.000000, -168.512822, 153.275608, -27.080647, 130.641112, -97.419621], [-63.000000, -174.711148, 31.146960, 138.784492, 148.380550, -115.719471], [-63.000000, -56.689645, 169.128647, 154.702780, 53.940025, -63.453776], [117.000000, 55.000000, 47.000000, 128.000000, -26.000000, 150.000000], [117.000000, -168.512822, 153.275608, 152.919353, -130.641112, 82.580379], [-63.000000, -174.711148, 31.146960, -41.215508, -148.380550, 64.280529], [-63.000000, -56.689645, 169.128647, -25.297220, -53.940025, 116.546224]] + joints: [117.000000, 54.000000, 47.000000, -52.000000, 25.000000, -30.000000] + pose: {translation: [-0.2573447661034169, 0.5674198538957352, 0.1911000311955948], quaternion: [0.9431789793209242, 0.1744084792223784, 0.2299378166679632, 0.1646927314985302]} + solutions: [[117.000000, 54.000000, 47.000000, -52.000000, 25.000000, -30.000000], [117.000000, -169.512822, 153.275608, -25.870826, 130.250800, -96.634752], [-63.000000, -173.847431, 31.005435, 140.964920, 148.076493, -113.771451], [-63.000000, -55.985929, 169.270172, 155.343505, 52.966983, -63.782823], [117.000000, 54.000000, 47.000000, 128.000000, -25.000000, 150.000000], [117.000000, -169.512822, 153.275608, 154.129174, -130.250800, 83.365248], [-63.000000, -173.847431, 31.005435, -39.035080, -148.076493, 66.228549], [-63.000000, -55.985929, 169.270172, -24.656495, -52.966983, 116.217177]] - id: 458 parameters: Irb2400_10 - joints: [-146.000000, -17.000000, -122.000000, 17.000000, -173.000000, -71.000000] - pose: {translation: [0.5847034938298942, 0.3980406954541593, 1.619807923871354], quaternion: [0.4585462358354062, 0.8119718630033247, -0.3140973533805023, -0.1782691669679701]} - solutions: [[34.000000, -0.917280, -17.169463, 4.127280, 150.325814, 95.707010], [34.000000, 64.713593, -142.554929, 175.938931, 149.793046, -91.391635], [-146.000000, -60.996311, -37.724392, -3.688053, 146.362920, -90.952353], [-146.000000, -17.000000, -122.000000, -163.000000, 173.000000, 109.000000], [34.000000, -0.917280, -17.169463, -175.872720, -150.325814, -84.292990], [34.000000, 64.713593, -142.554929, -4.061069, -149.793046, 88.608365], [-146.000000, -60.996311, -37.724392, 176.311947, -146.362920, 89.047647], [-146.000000, -17.000000, -122.000000, 17.000000, -173.000000, -71.000000]] + joints: [-146.000000, -17.000000, -122.000000, 17.000000, -172.000000, -71.000000] + pose: {translation: [0.5853492016951177, 0.3989949359556333, 1.618873423251621], quaternion: [0.460892069130356, 0.8140261173879297, -0.3060829638455615, -0.1767857462200738]} + solutions: [[34.000000, -0.917280, -17.169463, 4.578314, 149.351823, 96.096996], [34.000000, 64.713593, -142.554929, 175.226327, 150.728500, -92.010405], [-146.000000, -60.996311, -37.724392, -4.319698, 147.301325, -91.481105], [-146.000000, -17.000000, -122.000000, -163.000000, 172.000000, 109.000000], [34.000000, -0.917280, -17.169463, -175.421686, -149.351823, -83.903004], [34.000000, 64.713593, -142.554929, -4.773673, -150.728500, 87.989595], [-146.000000, -60.996311, -37.724392, 175.680302, -147.301325, 88.518895], [-146.000000, -17.000000, -122.000000, 17.000000, -172.000000, -71.000000]] - id: 459 parameters: Irb2400_10 - joints: [-100.000000, -120.000000, -85.000000, -59.000000, -48.000000, -51.000000] - pose: {translation: [0.257455317418844, 1.148293305349373, -0.2324506457042413], quaternion: [0.1096506750796854, 0.8959987882323165, 0.2273613554143787, 0.365335072234964]} - solutions: [[80.000000, 98.719956, -24.972306, -111.481712, 43.200401, -160.714004], [80.000000, 156.115112, -134.752086, -56.325083, 49.946432, 124.926506], [-100.000000, -125.354266, -74.724392, 124.557548, 50.666842, 123.544608], [-100.000000, -120.000000, -85.000000, 121.000000, 48.000000, 129.000000], [80.000000, 98.719956, -24.972306, 68.518288, -43.200401, 19.285996], [80.000000, 156.115112, -134.752086, 123.674917, -49.946432, -55.073494], [-100.000000, -125.354266, -74.724392, -55.442452, -50.666842, -56.455392], [-100.000000, -120.000000, -85.000000, -59.000000, -48.000000, -51.000000]] + joints: [-100.000000, -119.000000, -85.000000, -59.000000, -48.000000, -51.000000] + pose: {translation: [0.2599898480054146, 1.162667342586255, -0.2100600741239298], quaternion: [0.1124416435032275, 0.8934571275910477, 0.2352190345917191, 0.3657365769632389]} + solutions: [[80.000000, 97.411276, -24.618999, -111.525914, 43.216760, -160.653358], [80.000000, 155.178648, -135.105394, -56.123168, 50.107529, 124.612205], [-100.000000, -124.354266, -74.724392, 124.557548, 50.666842, 123.544608], [-100.000000, -119.000000, -85.000000, 121.000000, 48.000000, 129.000000], [80.000000, 97.411276, -24.618999, 68.474086, -43.216760, 19.346642], [80.000000, 155.178648, -135.105394, 123.876832, -50.107529, -55.387795], [-100.000000, -124.354266, -74.724392, -55.442452, -50.666842, -56.455392], [-100.000000, -119.000000, -85.000000, -59.000000, -48.000000, -51.000000]] - id: 460 parameters: Irb2400_10 joints: [61.000000, -28.000000, 93.000000, -153.000000, -14.000000, -73.000000] @@ -2306,59 +2306,59 @@ cases: solutions: [[61.000000, -28.000000, 93.000000, 27.000000, 14.000000, 107.000000], [61.000000, -147.094783, 107.275608, 7.091088, 117.165099, 136.557967], [-119.000000, 179.804534, 76.259707, -166.048899, 152.899671, 145.777464], [-119.000000, -1.550623, 124.015901, -162.087767, 20.922332, 116.507487], [61.000000, -28.000000, 93.000000, -153.000000, -14.000000, -73.000000], [61.000000, -147.094783, 107.275608, -172.908912, -117.165099, -43.442033], [-119.000000, 179.804534, 76.259707, 13.951101, -152.899671, -34.222536], [-119.000000, -1.550623, 124.015901, 17.912233, -20.922332, -63.492513]] - id: 461 parameters: Irb2400_10 - joints: [-110.000000, -77.000000, -126.000000, 130.000000, 84.000000, -41.000000] - pose: {translation: [0.4767860565671213, 1.120621895964439, 0.3008306602478846], quaternion: [0.7986421667472454, -0.4204947579788964, 0.4296653717589241, 0.02724915258866115]} - solutions: [[70.000000, 63.000936, -3.647496, -59.270171, 62.411435, -10.180243], [70.000000, 142.998270, -156.076896, -52.802700, 106.976520, -69.142953], [-110.000000, -125.192377, -33.724392, 124.922878, 111.694239, -75.999189], [-110.000000, -77.000000, -126.000000, 130.000000, 84.000000, -41.000000], [70.000000, 63.000936, -3.647496, 120.729829, -62.411435, 169.819757], [70.000000, 142.998270, -156.076896, 127.197300, -106.976520, 110.857047], [-110.000000, -125.192377, -33.724392, -55.077122, -111.694239, 104.000811], [-110.000000, -77.000000, -126.000000, -50.000000, -84.000000, 139.000000]] + joints: [-110.000000, -76.000000, -126.000000, 130.000000, 83.000000, -41.000000] + pose: {translation: [0.4789531601691625, 1.126952106167921, 0.3233957337204266], quaternion: [0.8004564144671875, -0.421741655890999, 0.4257434404366821, 0.01208416938765456]} + solutions: [[70.000000, 61.781694, -3.552658, -59.794656, 61.616403, -10.028807], [70.000000, 141.880313, -156.171734, -52.360615, 106.224190, -69.178616], [-110.000000, -124.192377, -33.724392, 125.536713, 110.873956, -75.776364], [-110.000000, -76.000000, -126.000000, 130.000000, 83.000000, -41.000000], [70.000000, 61.781694, -3.552658, 120.205344, -61.616403, 169.971193], [70.000000, 141.880313, -156.171734, 127.639385, -106.224190, 110.821384], [-110.000000, -124.192377, -33.724392, -54.463287, -110.873956, 104.223636], [-110.000000, -76.000000, -126.000000, -50.000000, -83.000000, 139.000000]] - id: 462 parameters: Irb2400_10 - joints: [-61.000000, 162.000000, -164.000000, -96.000000, -106.000000, 141.000000] - pose: {translation: [0.5774882827920369, -0.8742049904755345, 0.09641884135994469], quaternion: [0.03798985918026546, 0.7440265938947545, 0.4941915283646862, 0.4480579554805487]} - solutions: [[-61.000000, 73.509638, 4.275608, 73.175004, 87.133696, -117.517260], [-61.000000, 162.000000, -164.000000, 84.000000, 106.000000, -39.000000], [119.000000, -145.057442, -19.667277, -92.066773, 106.938485, -25.188498], [119.000000, -82.066611, -140.057115, -105.439221, 97.348740, -83.277218], [-61.000000, 73.509638, 4.275608, -106.824996, -87.133696, 62.482740], [-61.000000, 162.000000, -164.000000, -96.000000, -106.000000, 141.000000], [119.000000, -145.057442, -19.667277, 87.933227, -106.938485, 154.811502], [119.000000, -82.066611, -140.057115, 74.560779, -97.348740, 96.722782]] + joints: [-61.000000, 161.000000, -164.000000, -96.000000, -106.000000, 141.000000] + pose: {translation: [0.5818063011242812, -0.8819949017550406, 0.1129828221753322], quaternion: [0.03247787490740163, 0.7458745284859138, 0.4886547265632863, 0.4514786081363932]} + solutions: [[-61.000000, 72.509638, 4.275608, 73.175004, 87.133696, -117.517260], [-61.000000, 161.000000, -164.000000, 84.000000, 106.000000, -39.000000], [119.000000, -144.088895, -19.880961, -92.141360, 106.929485, -25.444573], [119.000000, -81.323748, -139.843431, -105.444619, 97.337170, -83.319448], [-61.000000, 72.509638, 4.275608, -106.824996, -87.133696, 62.482740], [-61.000000, 161.000000, -164.000000, -96.000000, -106.000000, 141.000000], [119.000000, -144.088895, -19.880961, 87.858640, -106.929485, 154.555427], [119.000000, -81.323748, -139.843431, 74.555381, -97.337170, 96.680552]] - id: 463 parameters: Irb2400_10 - joints: [89.000000, -20.000000, -118.000000, 93.000000, -34.000000, 164.000000] - pose: {translation: [0.0327425522785507, -0.84393469125999, 1.731353427060507], quaternion: [0.345050560840564, 0.3044642907088335, 0.01064319533983614, 0.8877659199021651]} - solutions: [[-91.000000, 1.353716, -19.425635, 123.025485, 41.762143, -53.453871], [-91.000000, 64.599789, -140.298757, 52.042352, 45.092273, 35.472853], [89.000000, -59.805439, -41.724392, -130.040511, 46.836705, 38.468629], [89.000000, -20.000000, -118.000000, -87.000000, 34.000000, -16.000000], [-91.000000, 1.353716, -19.425635, -56.974515, -41.762143, 126.546129], [-91.000000, 64.599789, -140.298757, -127.957648, -45.092273, -144.527147], [89.000000, -59.805439, -41.724392, 49.959489, -46.836705, -141.531371], [89.000000, -20.000000, -118.000000, 93.000000, -34.000000, 164.000000]] + joints: [89.000000, -20.000000, -118.000000, 93.000000, -33.000000, 164.000000] + pose: {translation: [0.03149598129328347, -0.8445648439726574, 1.731853200336658], quaternion: [0.3472620985460889, 0.2970312878565181, 0.007015992889165408, 0.8894561398919252]} + solutions: [[-91.000000, 1.353716, -19.425635, 123.952933, 40.971987, -54.149936], [-91.000000, 64.599789, -140.298757, 50.925697, 44.474789, 36.265448], [89.000000, -59.805439, -41.724392, -131.166894, 46.261048, 39.243305], [89.000000, -20.000000, -118.000000, -87.000000, 33.000000, -16.000000], [-91.000000, 1.353716, -19.425635, -56.047067, -40.971987, 125.850064], [-91.000000, 64.599789, -140.298757, -129.074303, -44.474789, -143.734552], [89.000000, -59.805439, -41.724392, 48.833106, -46.261048, -140.756695], [89.000000, -20.000000, -118.000000, 93.000000, -33.000000, 164.000000]] - id: 464 parameters: Irb2400_10 - joints: [-161.000000, 100.000000, 92.000000, 170.000000, 157.000000, 52.000000] - pose: {translation: [-0.09026578608121109, -0.03718054294014631, 0.4692409792449085], quaternion: [0.304120961606921, 0.831501939756388, -0.3218689363986265, -0.33543308225973]} - solutions: [[-161.000000, 100.000000, 92.000000, 170.000000, 157.000000, 52.000000], [-161.000000, -26.897609, 108.275608, 174.660803, 46.816131, 64.878736], [19.000000, 125.862880, 88.566959, -175.836877, 69.166408, -120.263645], [19.000000, -20.577496, 111.708648, -4.793995, 54.277878, 64.022579], [-161.000000, 100.000000, 92.000000, -10.000000, -157.000000, -128.000000], [-161.000000, -26.897609, 108.275608, -5.339197, -46.816131, -115.121264], [19.000000, 125.862880, 88.566959, 4.163123, -69.166408, 59.736355], [19.000000, -20.577496, 111.708648, 175.206005, -54.277878, -115.977421]] + joints: [-161.000000, 99.000000, 92.000000, 170.000000, 156.000000, 52.000000] + pose: {translation: [-0.09180373115279039, -0.03795995529129131, 0.4680164124424253], quaternion: [0.302987498412291, 0.8318376868506803, -0.3226482741259301, -0.3348771860612936]} + solutions: [[-161.000000, 99.000000, 92.000000, 170.000000, 156.000000, 52.000000], [-161.000000, -27.897609, 108.275608, 174.350135, 45.841703, 65.093265], [19.000000, 126.282779, 88.387387, -175.672709, 69.399846, -120.374320], [19.000000, -20.963409, 111.888221, -4.976874, 54.501813, 64.045535], [-161.000000, 99.000000, 92.000000, -10.000000, -156.000000, -128.000000], [-161.000000, -27.897609, 108.275608, -5.649865, -45.841703, -114.906735], [19.000000, 126.282779, 88.387387, 4.327291, -69.399846, 59.625680], [19.000000, -20.963409, 111.888221, 175.023126, -54.501813, -115.954465]] - id: 465 parameters: Irb2400_10 - joints: [61.000000, 73.000000, -125.000000, -37.000000, -165.000000, 49.000000] - pose: {translation: [0.506315574098256, 0.9407265475135247, 1.445302848360553], quaternion: [0.2205193467112805, 0.8765397498601775, -0.3829006075906327, -0.1908832348526498]} - solutions: [[61.000000, 25.857164, -34.724392, 16.997550, 147.803466, 99.553241], [61.000000, 73.000000, -125.000000, 143.000000, 165.000000, -131.000000], [61.000000, 25.857164, -34.724392, -163.002450, -147.803466, -80.446759], [61.000000, 73.000000, -125.000000, -37.000000, -165.000000, 49.000000]] + joints: [61.000000, 72.000000, -125.000000, -37.000000, -164.000000, 49.000000] + pose: {translation: [0.4981399713442345, 0.9277519395451573, 1.463078297000433], quaternion: [0.2215702469595472, 0.8766502039271121, -0.3797825353093288, -0.1953363035660719]} + solutions: [[61.000000, 24.857164, -34.724392, 18.472643, 148.430395, 100.805822], [61.000000, 72.000000, -125.000000, 143.000000, 164.000000, -131.000000], [61.000000, 24.857164, -34.724392, -161.527357, -148.430395, -79.194178], [61.000000, 72.000000, -125.000000, -37.000000, -164.000000, 49.000000]] - id: 466 parameters: Irb2400_10 - joints: [61.000000, 2.000000, -73.000000, 62.000000, 26.000000, -96.000000] - pose: {translation: [0.1089962106974403, 0.2644960458198475, 2.143928767261406], quaternion: [-0.327707142424061, 0.03458630407104431, 0.2521496205116959, 0.9098529470473617]} - solutions: [[61.000000, 2.000000, -73.000000, 62.000000, 26.000000, -96.000000], [61.000000, 9.151461, -86.724392, 51.549662, 29.619307, -84.199997], [61.000000, 2.000000, -73.000000, -118.000000, -26.000000, 84.000000], [61.000000, 9.151461, -86.724392, -128.450338, -29.619307, 95.800003]] + joints: [61.000000, 2.000000, -73.000000, 62.000000, 25.000000, -96.000000] + pose: {translation: [0.109842890026462, 0.2635848836457559, 2.144737298396526], quaternion: [-0.3200282993640541, 0.03760326755061789, 0.2515409291455018, 0.9126308360121773]} + solutions: [[61.000000, 2.000000, -73.000000, 62.000000, 25.000000, -96.000000], [61.000000, 9.151461, -86.724392, 51.123043, 28.641104, -83.827324], [61.000000, 2.000000, -73.000000, -118.000000, -25.000000, 84.000000], [61.000000, 9.151461, -86.724392, -128.876957, -28.641104, 96.172676]] - id: 467 parameters: Irb2400_10 - joints: [-171.000000, 53.000000, -110.000000, -114.000000, 150.000000, 97.000000] - pose: {translation: [-0.9013444190856109, -0.103449282397399, 1.693680586125595], quaternion: [0.1050929513791042, 0.8925969510347017, 0.3413853397496175, 0.2751039882990099]} - solutions: [[-171.000000, 21.563270, -49.724392, -62.322795, 148.949711, 155.684068], [-171.000000, 53.000000, -110.000000, -114.000000, 150.000000, 97.000000], [-171.000000, 21.563270, -49.724392, 117.677205, -148.949711, -24.315932], [-171.000000, 53.000000, -110.000000, 66.000000, -150.000000, -83.000000]] + joints: [-171.000000, 52.000000, -110.000000, -114.000000, 150.000000, 97.000000] + pose: {translation: [-0.8826293100122948, -0.1004851003212092, 1.707590449069466], quaternion: [0.1076558302854704, 0.8954001474189849, 0.339248022771455, 0.2675435987895518]} + solutions: [[-171.000000, 20.563270, -49.724392, -62.322795, 148.949711, 155.684068], [-171.000000, 52.000000, -110.000000, -114.000000, 150.000000, 97.000000], [-171.000000, 20.563270, -49.724392, 117.677205, -148.949711, -24.315932], [-171.000000, 52.000000, -110.000000, 66.000000, -150.000000, -83.000000]] - id: 468 parameters: Irb2400_10 - joints: [102.000000, 61.000000, 121.000000, -32.000000, -43.000000, -75.000000] - pose: {translation: [-0.007908056117100718, -0.1105474140095588, 0.8012603878769964], quaternion: [0.877172365816453, 0.08254844102406038, -0.1545615250015119, 0.4470627814095814]} - solutions: [[-78.000000, -109.500871, 81.982057, -23.353547, 65.742344, 90.498707], [-78.000000, 81.868188, 118.293551, -125.706377, 153.572264, -48.311585], [102.000000, -123.902040, 79.275608, 110.402055, 157.319473, 12.394448], [102.000000, 61.000000, 121.000000, 148.000000, 43.000000, 105.000000], [-78.000000, -109.500871, 81.982057, 156.646453, -65.742344, -89.501293], [-78.000000, 81.868188, 118.293551, 54.293623, -153.572264, 131.688415], [102.000000, -123.902040, 79.275608, -69.597945, -157.319473, -167.605552], [102.000000, 61.000000, 121.000000, -32.000000, -43.000000, -75.000000]] + joints: [102.000000, 61.000000, 121.000000, -32.000000, -42.000000, -75.000000] + pose: {translation: [-0.007139596622370278, -0.1113749904266555, 0.8022223609893913], quaternion: [0.8737196821058832, 0.0848578588069594, -0.1518786477297116, 0.454253164285387]} + solutions: [[-78.000000, -109.500871, 81.982057, -23.076761, 64.774454, 90.382860], [-78.000000, 81.868188, 118.293551, -124.664551, 154.462060, -47.375028], [102.000000, -123.902040, 79.275608, 112.996203, 157.344062, 14.788264], [102.000000, 61.000000, 121.000000, 148.000000, 42.000000, 105.000000], [-78.000000, -109.500871, 81.982057, 156.923239, -64.774454, -89.617140], [-78.000000, 81.868188, 118.293551, 55.335449, -154.462060, 132.624972], [102.000000, -123.902040, 79.275608, -67.003797, -157.344062, -165.211736], [102.000000, 61.000000, 121.000000, -32.000000, -42.000000, -75.000000]] - id: 469 parameters: Irb2400_10 - joints: [-52.000000, 163.000000, 25.000000, 10.000000, 42.000000, -174.000000] - pose: {translation: [-0.309329661519589, 0.411965895605391, -0.02354724000028005], quaternion: [-0.2606912320147083, 0.2324891250421701, 0.8776876652941965, 0.3281055477711436]} - solutions: [[128.000000, 91.425247, 35.399758, -118.295519, 172.417091, -105.040773], [128.000000, -145.712437, 164.875850, -172.844569, 68.878631, -169.124841], [-52.000000, 163.000000, 25.000000, 10.000000, 42.000000, -174.000000], [-52.000000, -85.872080, 175.275608, 10.348670, 139.697765, -158.606389], [128.000000, 91.425247, 35.399758, 61.704481, -172.417091, 74.959227], [128.000000, -145.712437, 164.875850, 7.155431, -68.878631, 10.875159], [-52.000000, 163.000000, 25.000000, -170.000000, -42.000000, 6.000000], [-52.000000, -85.872080, 175.275608, -169.651330, -139.697765, 21.393611]] + joints: [-52.000000, 162.000000, 25.000000, 10.000000, 42.000000, -174.000000] + pose: {translation: [-0.3024109409726892, 0.4031103371359043, -0.03418454096229463], quaternion: [-0.2676530150355294, 0.2367530057666845, 0.8746549224787593, 0.3275494533448448]} + solutions: [[128.000000, 92.703956, 35.110673, -118.364099, 172.412167, -105.109958], [128.000000, -144.764924, 165.164934, -172.855876, 69.113388, -169.093298], [-52.000000, 162.000000, 25.000000, 10.000000, 42.000000, -174.000000], [-52.000000, -86.872080, 175.275608, 10.348670, 139.697765, -158.606389], [128.000000, 92.703956, 35.110673, 61.635901, -172.412167, 74.890042], [128.000000, -144.764924, 165.164934, 7.144124, -69.113388, 10.906702], [-52.000000, 162.000000, 25.000000, -170.000000, -42.000000, 6.000000], [-52.000000, -86.872080, 175.275608, -169.651330, -139.697765, 21.393611]] - id: 470 parameters: Irb2400_10 - joints: [-128.000000, -152.000000, -171.000000, 164.000000, -54.000000, 46.000000] - pose: {translation: [-0.2940509329861942, -0.3455806557519693, -0.4368921741861046], quaternion: [-0.1344945329901416, 0.984540741242956, 0.07991867465245482, -0.0787639185816047]} - solutions: [[-128.000000, 111.943794, 11.275608, -157.381674, 35.438246, 17.683248], [-128.000000, -152.000000, -171.000000, -16.000000, 54.000000, -134.000000], [52.000000, 166.894379, 1.639162, 166.857856, 78.745425, -140.957907], [52.000000, -107.448800, -161.363554, 94.818197, 12.931508, -58.509947], [-128.000000, 111.943794, 11.275608, 22.618326, -35.438246, -162.316752], [-128.000000, -152.000000, -171.000000, 164.000000, -54.000000, 46.000000], [52.000000, 166.894379, 1.639162, -13.142144, -78.745425, 39.042093], [52.000000, -107.448800, -161.363554, -85.181803, -12.931508, 121.490053]] + joints: [-128.000000, -151.000000, -171.000000, 164.000000, -53.000000, 46.000000] + pose: {translation: [-0.283423858429289, -0.3323736909823925, -0.4429646686224313], quaternion: [-0.1364317585125813, 0.9844392155553545, 0.07895964264686896, -0.07766067846086482]} + solutions: [[-128.000000, 112.943794, 11.275608, -158.182496, 36.321276, 18.332136], [-128.000000, -151.000000, -171.000000, -16.000000, 53.000000, -134.000000], [52.000000, 165.787090, 2.002531, 166.994196, 78.002320, -141.042125], [52.000000, -108.166024, -161.726924, 90.059286, 12.716898, -53.851746], [-128.000000, 112.943794, 11.275608, 21.817504, -36.321276, -161.667864], [-128.000000, -151.000000, -171.000000, 164.000000, -53.000000, 46.000000], [52.000000, 165.787090, 2.002531, -13.005804, -78.002320, 38.957875], [52.000000, -108.166024, -161.726924, -89.940714, -12.716898, 126.148254]] - id: 471 parameters: Irb2400_10 - joints: [-179.000000, -173.000000, -110.000000, -60.000000, -12.000000, -140.000000] - pose: {translation: [-0.3424535834379181, -0.02128470939771498, -0.8690499284292226], quaternion: [-0.1890700530402555, 0.9638977627718863, -0.0615566918649393, -0.177099948202568]} - solutions: [[-179.000000, 155.563270, -49.724392, 162.261043, 36.225787, -4.979126], [-179.000000, -173.000000, -110.000000, 120.000000, 12.000000, 40.000000], [1.000000, -169.279046, -68.824810, -140.499615, 16.443581, 122.220182], [1.000000, -157.775513, -90.899582, -102.148998, 10.613434, 82.905188], [-179.000000, 155.563270, -49.724392, -17.738957, -36.225787, 175.020874], [-179.000000, -173.000000, -110.000000, -60.000000, -12.000000, -140.000000], [1.000000, -169.279046, -68.824810, 39.500385, -16.443581, -57.779818], [1.000000, -157.775513, -90.899582, 77.851002, -10.613434, -97.094812]] + joints: [-179.000000, -172.000000, -110.000000, -60.000000, -12.000000, -140.000000] + pose: {translation: [-0.3165203157898018, -0.02083204252711628, -0.8730608716811485], quaternion: [-0.1885527311427217, 0.9654156691263074, -0.06305722250438668, -0.168654202657559]} + solutions: [[-179.000000, 156.563270, -49.724392, 162.261043, 36.225787, -4.979126], [-179.000000, -172.000000, -110.000000, 120.000000, 12.000000, 40.000000], [1.000000, -171.518672, -66.374614, -142.964697, 17.394263, 124.796660], [1.000000, -157.460590, -93.349778, -96.111890, 10.433030, 76.765008], [-179.000000, 156.563270, -49.724392, -17.738957, -36.225787, 175.020874], [-179.000000, -172.000000, -110.000000, -60.000000, -12.000000, -140.000000], [1.000000, -171.518672, -66.374614, 37.035303, -17.394263, -55.203340], [1.000000, -157.460590, -93.349778, 83.888110, -10.433030, -103.234992]] - id: 472 parameters: Irb2400_10 joints: [100.000000, 56.000000, -132.000000, 104.000000, 62.000000, 164.000000] @@ -2366,39 +2366,39 @@ cases: solutions: [[100.000000, 1.502204, -27.724392, 120.088761, 81.948328, 115.561721], [100.000000, 56.000000, -132.000000, 104.000000, 62.000000, 164.000000], [-80.000000, -50.199552, -52.242537, -76.811424, 61.633790, 165.717950], [-80.000000, -21.394010, -107.481855, -65.453421, 70.362922, 138.318839], [100.000000, 1.502204, -27.724392, -59.911239, -81.948328, -64.438279], [100.000000, 56.000000, -132.000000, -76.000000, -62.000000, -16.000000], [-80.000000, -50.199552, -52.242537, 103.188576, -61.633790, -14.282050], [-80.000000, -21.394010, -107.481855, 114.546579, -70.362922, -41.681161]] - id: 473 parameters: Irb2400_10 - joints: [17.000000, -123.000000, 38.000000, -158.000000, 33.000000, -61.000000] - pose: {translation: [-0.5653591055103326, -0.1909821749513953, 1.069679248313123], quaternion: [-0.1454601549435231, -0.1977265297521613, 0.9506976320943484, 0.1895246028519067]} - solutions: [[-163.000000, -21.217796, 52.549968, 168.178808, 95.167825, 136.638672], [-163.000000, 122.103386, 147.725640, 25.250469, 28.573514, -64.780491], [17.000000, -123.000000, 38.000000, -158.000000, 33.000000, -61.000000], [17.000000, 2.856938, 162.275608, -11.993868, 79.052677, 140.029011], [-163.000000, -21.217796, 52.549968, -11.821192, -95.167825, -43.361328], [-163.000000, 122.103386, 147.725640, -154.749531, -28.573514, 115.219509], [17.000000, -123.000000, 38.000000, 22.000000, -33.000000, 119.000000], [17.000000, 2.856938, 162.275608, 168.006132, -79.052677, -39.970989]] + joints: [17.000000, -122.000000, 38.000000, -158.000000, 32.000000, -61.000000] + pose: {translation: [-0.5566231963549274, -0.1878212232733476, 1.082436946670228], quaternion: [-0.1325136499831284, -0.1872426567495537, 0.9544058867077392, 0.1910228349677908]} + solutions: [[-163.000000, -22.352343, 52.357055, 168.490368, 95.799864, 136.734358], [-163.000000, 120.726663, 147.918552, 25.242911, 27.741917, -64.736830], [17.000000, -122.000000, 38.000000, -158.000000, 32.000000, -61.000000], [17.000000, 3.856938, 162.275608, -11.629492, 79.986286, 139.962729], [-163.000000, -22.352343, 52.357055, -11.509632, -95.799864, -43.265642], [-163.000000, 120.726663, 147.918552, -154.757089, -27.741917, 115.263170], [17.000000, -122.000000, 38.000000, 22.000000, -32.000000, 119.000000], [17.000000, 3.856938, 162.275608, 168.370508, -79.986286, -40.037271]] - id: 474 parameters: Irb2400_10 - joints: [133.000000, -4.000000, 55.000000, -179.000000, -157.000000, 51.000000] - pose: {translation: [-0.379496794525025, 0.4061105858580475, 0.856403973497513], quaternion: [0.3878925856118491, 0.3387991073329144, 0.02127722310416347, 0.8569141069411511]} - solutions: [[133.000000, -4.000000, 55.000000, 1.000000, 157.000000, -129.000000], [133.000000, 142.430965, 145.275608, 179.602891, 79.703676, 50.150461], [-47.000000, -137.692391, 38.305717, -0.412286, 71.383984, 50.211095], [-47.000000, -11.481428, 161.969890, -165.476253, 178.441831, -115.401916], [133.000000, -4.000000, 55.000000, -179.000000, -157.000000, 51.000000], [133.000000, 142.430965, 145.275608, -0.397109, -79.703676, -129.849539], [-47.000000, -137.692391, 38.305717, 179.587714, -71.383984, -129.788905], [-47.000000, -11.481428, 161.969890, 14.523747, -178.441831, 64.598084]] + joints: [133.000000, -4.000000, 55.000000, -179.000000, -156.000000, 51.000000] + pose: {translation: [-0.3790470940834692, 0.4055935266441332, 0.8550882135375213], quaternion: [0.3935723789601717, 0.3436364941219077, 0.02110897127318551, 0.8523902590709393]} + solutions: [[133.000000, -4.000000, 55.000000, 1.000000, 156.000000, -129.000000], [133.000000, 142.430965, 145.275608, 179.587867, 80.703567, 50.153017], [-47.000000, -137.692391, 38.305717, -0.426731, 72.383890, 50.215586], [-47.000000, -11.481428, 161.969890, -170.786622, 177.458965, -120.709087], [133.000000, -4.000000, 55.000000, -179.000000, -156.000000, 51.000000], [133.000000, 142.430965, 145.275608, -0.412133, -80.703567, -129.846983], [-47.000000, -137.692391, 38.305717, 179.573269, -72.383890, -129.784414], [-47.000000, -11.481428, 161.969890, 9.213378, -177.458965, 59.290913]] - id: 475 parameters: Irb2400_10 - joints: [83.000000, -154.000000, 106.000000, -86.000000, -120.000000, -147.000000] - pose: {translation: [-0.05295212791131326, 0.1712933904329965, 0.604609452620841], quaternion: [0.7018098471842523, -0.4159780774717919, -0.3916660539108303, 0.4254678362367794]} - solutions: [[83.000000, -46.998228, 94.275608, 59.768999, 90.811683, -63.568829], [83.000000, -154.000000, 106.000000, 94.000000, 120.000000, 33.000000], [-97.000000, -177.031252, 77.408655, -69.747031, 112.949518, 68.457955], [-97.000000, 3.901650, 122.866953, -120.169257, 87.814667, -68.714513], [83.000000, -46.998228, 94.275608, -120.231001, -90.811683, 116.431171], [83.000000, -154.000000, 106.000000, -86.000000, -120.000000, -147.000000], [-97.000000, -177.031252, 77.408655, 110.252969, -112.949518, -111.542045], [-97.000000, 3.901650, 122.866953, 59.830743, -87.814667, 111.285487]] + joints: [83.000000, -153.000000, 106.000000, -86.000000, -119.000000, -147.000000] + pose: {translation: [-0.05359593758479964, 0.1720296336022702, 0.6044807660073863], quaternion: [0.6927562868371538, -0.4201998219952123, -0.3958767955406494, 0.4322064314598497]} + solutions: [[83.000000, -45.998228, 94.275608, 60.762563, 90.925952, -63.553763], [83.000000, -153.000000, 106.000000, 94.000000, 119.000000, 33.000000], [-97.000000, -177.341205, 77.392462, -70.116777, 111.905990, 68.901974], [-97.000000, 3.558697, 122.883145, -119.208153, 88.346449, -68.162149], [83.000000, -45.998228, 94.275608, -119.237437, -90.925952, 116.446237], [83.000000, -153.000000, 106.000000, -86.000000, -119.000000, -147.000000], [-97.000000, -177.341205, 77.392462, 109.883223, -111.905990, -111.098026], [-97.000000, 3.558697, 122.883145, 60.791847, -88.346449, 111.837851]] - id: 476 parameters: Irb2400_10 - joints: [-46.000000, -137.000000, 130.000000, -164.000000, -55.000000, -13.000000] - pose: {translation: [0.2976836764561975, -0.2806324200193184, 0.2649105775930621], quaternion: [0.8768614230104274, -0.2948532549275129, 0.3753685401187106, 0.05721941963990564]} - solutions: [[-46.000000, 54.917488, 70.275608, 166.681924, 78.570864, -0.974492], [-46.000000, -137.000000, 130.000000, 16.000000, 55.000000, 167.000000], [134.000000, 162.445450, 57.613176, -166.933295, 87.065925, 175.659189], [134.000000, -47.728544, 142.662432, -20.572064, 39.983580, 12.384025], [-46.000000, 54.917488, 70.275608, -13.318076, -78.570864, 179.025508], [-46.000000, -137.000000, 130.000000, -164.000000, -55.000000, -13.000000], [134.000000, 162.445450, 57.613176, 13.066705, -87.065925, -4.340811], [134.000000, -47.728544, 142.662432, 159.427936, -39.983580, -167.615975]] + joints: [-46.000000, -136.000000, 130.000000, -164.000000, -55.000000, -13.000000] + pose: {translation: [0.2934067252504738, -0.2762035073951884, 0.2595770638515044], quaternion: [0.8794626902363882, -0.2968514834996637, 0.3681878521483589, 0.05350026875261311]} + solutions: [[-46.000000, 55.917488, 70.275608, 166.681924, 78.570864, -0.974492], [-46.000000, -136.000000, 130.000000, 16.000000, 55.000000, 167.000000], [134.000000, 161.653108, 57.773094, -166.937294, 87.423986, 175.742376], [134.000000, -48.310182, 142.502514, -20.681095, 39.741703, 12.526070], [-46.000000, 55.917488, 70.275608, -13.318076, -78.570864, 179.025508], [-46.000000, -136.000000, 130.000000, -164.000000, -55.000000, -13.000000], [134.000000, 161.653108, 57.773094, 13.062706, -87.423986, -4.257624], [134.000000, -48.310182, 142.502514, 159.318905, -39.741703, -167.473930]] - id: 477 parameters: Irb2400_10 - joints: [98.000000, -133.000000, 63.000000, -158.000000, 85.000000, 20.000000] - pose: {translation: [0.08088492488919249, -0.3476057107081494, 0.9236455218295789], quaternion: [0.3146226009572701, 0.449564675665483, -0.3268318298957139, 0.7694707118062978]} - solutions: [[-82.000000, -53.921444, 74.602435, 150.816350, 49.936017, -138.210834], [-82.000000, 121.594487, 125.673173, 21.933302, 87.534045, 21.024168], [98.000000, -133.000000, 63.000000, -158.000000, 85.000000, 20.000000], [98.000000, 24.149639, 137.275608, -30.088476, 48.105202, -136.831293], [-82.000000, -53.921444, 74.602435, -29.183650, -49.936017, 41.789166], [-82.000000, 121.594487, 125.673173, -158.066698, -87.534045, -158.975832], [98.000000, -133.000000, 63.000000, 22.000000, -85.000000, -160.000000], [98.000000, 24.149639, 137.275608, 149.911524, -48.105202, 43.168707]] + joints: [98.000000, -132.000000, 63.000000, -158.000000, 85.000000, 20.000000] + pose: {translation: [0.08012559938995946, -0.3422028290414724, 0.931547732942011], quaternion: [0.3083580926468821, 0.4457886831742331, -0.3303222386567548, 0.7727062542142065]} + solutions: [[-82.000000, -55.033743, 74.364780, 150.671736, 49.630702, -137.986863], [-82.000000, 120.048233, 125.910827, 21.928627, 87.820313, 21.139521], [98.000000, -132.000000, 63.000000, -158.000000, 85.000000, 20.000000], [98.000000, 25.149639, 137.275608, -30.088476, 48.105202, -136.831293], [-82.000000, -55.033743, 74.364780, -29.328264, -49.630702, 42.013137], [-82.000000, 120.048233, 125.910827, -158.071373, -87.820313, -158.860479], [98.000000, -132.000000, 63.000000, 22.000000, -85.000000, -160.000000], [98.000000, 25.149639, 137.275608, 149.911524, -48.105202, 43.168707]] - id: 478 parameters: Irb2400_10 - joints: [150.000000, -140.000000, -17.000000, -164.000000, 52.000000, -121.000000] - pose: {translation: [1.026139005329497, -0.5711230391886998, 0.2068521554842445], quaternion: [-0.5958440235536783, 0.6110032340407826, -0.4520420214690816, 0.2594281372812418]} - solutions: [[-30.000000, 64.360531, 7.332974, 162.176887, 45.205376, 81.775279], [-30.000000, 156.147307, -167.057367, 19.548124, 40.477680, -126.102259], [150.000000, -140.000000, -17.000000, -164.000000, 52.000000, -121.000000], [150.000000, -74.189879, -142.724392, -54.840093, 15.407292, 122.858643], [-30.000000, 64.360531, 7.332974, -17.823113, -45.205376, -98.224721], [-30.000000, 156.147307, -167.057367, -160.451876, -40.477680, 53.897741], [150.000000, -140.000000, -17.000000, 16.000000, -52.000000, 59.000000], [150.000000, -74.189879, -142.724392, 125.159907, -15.407292, -57.141357]] + joints: [150.000000, -139.000000, -17.000000, -164.000000, 52.000000, -121.000000] + pose: {translation: [1.032139774669094, -0.574587584982261, 0.2291525929250471], quaternion: [-0.5935370270448143, 0.6070469859609826, -0.4591938122746156, 0.261436028755019]} + solutions: [[-30.000000, 63.112136, 7.465850, 162.141680, 45.095411, 81.825200], [-30.000000, 155.042449, -167.190242, 19.455494, 40.701775, -125.980281], [150.000000, -139.000000, -17.000000, -164.000000, 52.000000, -121.000000], [150.000000, -73.189879, -142.724392, -54.840093, 15.407292, 122.858643], [-30.000000, 63.112136, 7.465850, -17.858320, -45.095411, -98.174800], [-30.000000, 155.042449, -167.190242, -160.544506, -40.701775, 54.019719], [150.000000, -139.000000, -17.000000, 16.000000, -52.000000, 59.000000], [150.000000, -73.189879, -142.724392, 125.159907, -15.407292, -57.141357]] - id: 479 parameters: Irb2400_10 - joints: [0.000000, -149.000000, 50.000000, 173.000000, -169.000000, -122.000000] - pose: {translation: [-0.4855954815428319, -0.001976570193498506, 0.6553903128986033], quaternion: [0.5299398665079765, 0.8301332987072613, 0.08309742438526521, 0.1521093761851785]} - solutions: [[180.000000, -7.191432, 66.366589, 1.720575, 50.757489, -116.216007], [180.000000, 154.830735, 133.909019, 131.525840, 178.220070, 16.412197], [0.000000, -149.000000, 50.000000, -7.000000, 169.000000, 58.000000], [0.000000, -8.851426, 150.275608, -178.593672, 71.349398, -115.577188], [180.000000, -7.191432, 66.366589, -178.279425, -50.757489, 63.783993], [180.000000, 154.830735, 133.909019, -48.474160, -178.220070, -163.587803], [0.000000, -149.000000, 50.000000, 173.000000, -169.000000, -122.000000], [0.000000, -8.851426, 150.275608, 1.406328, -71.349398, 64.422812]] + joints: [0.000000, -148.000000, 50.000000, 173.000000, -168.000000, -122.000000] + pose: {translation: [-0.4834136957262939, -0.002153735205928221, 0.6660979097066613], quaternion: [0.529915472373801, 0.8301468205966371, 0.08216584998521477, 0.1526257563072282]} + solutions: [[180.000000, -8.572085, 66.283079, 1.837223, 52.216391, -116.277370], [180.000000, 153.325781, 133.992528, 150.757335, 177.026843, 35.638721], [0.000000, -148.000000, 50.000000, -7.000000, 168.000000, 58.000000], [0.000000, -7.851426, 150.275608, -178.476283, 72.343158, -115.613764], [180.000000, -8.572085, 66.283079, -178.162777, -52.216391, 63.722630], [180.000000, 153.325781, 133.992528, -29.242665, -177.026843, -144.361279], [0.000000, -148.000000, 50.000000, 173.000000, -168.000000, -122.000000], [0.000000, -7.851426, 150.275608, 1.523717, -72.343158, 64.386236]] - id: 480 parameters: Irb2400_10 joints: [-145.000000, -99.000000, 64.000000, 40.000000, 1.000000, -125.000000] @@ -2406,69 +2406,69 @@ cases: solutions: [[35.000000, -86.656478, 66.037034, -179.213930, 125.144094, -84.551789], [35.000000, 74.876261, 134.238574, -7.166509, 5.159178, 102.133478], [-145.000000, -99.000000, 64.000000, 40.000000, 1.000000, -125.000000], [-145.000000, 59.569124, 136.275608, 0.838085, 129.918328, -84.466479], [35.000000, -86.656478, 66.037034, 0.786070, -125.144094, 95.448211], [35.000000, 74.876261, 134.238574, 172.833491, -5.159178, -77.866522], [-145.000000, -99.000000, 64.000000, -140.000000, -1.000000, 55.000000], [-145.000000, 59.569124, 136.275608, -179.161915, -129.918328, 95.533521]] - id: 481 parameters: Irb2400_10 - joints: [78.000000, 38.000000, -119.000000, 37.000000, 140.000000, -93.000000] - pose: {translation: [0.08254690045529664, 0.5465031215844944, 1.866232793406555], quaternion: [0.9336703927417082, 0.2161463206464114, -0.09737932302382532, -0.2684355290120607]} - solutions: [[78.000000, -2.852707, -40.724392, 23.893724, 107.242088, -115.515130], [78.000000, 38.000000, -119.000000, 37.000000, 140.000000, -93.000000], [-102.000000, -32.708030, -65.220999, -142.213079, 140.850899, -91.979120], [-102.000000, -17.447024, -94.503393, -150.071931, 129.161854, -103.017310], [78.000000, -2.852707, -40.724392, -156.106276, -107.242088, 64.484870], [78.000000, 38.000000, -119.000000, -143.000000, -140.000000, 87.000000], [-102.000000, -32.708030, -65.220999, 37.786921, -140.850899, 88.020880], [-102.000000, -17.447024, -94.503393, 29.928069, -129.161854, 76.982690]] + joints: [78.000000, 37.000000, -119.000000, 37.000000, 139.000000, -93.000000] + pose: {translation: [0.07754173612727386, 0.5262209546543168, 1.874754584712023], quaternion: [0.9291223382282106, 0.2165042602993551, -0.0953026518002501, -0.2842094129993097]} + solutions: [[78.000000, -3.852707, -40.724392, 24.292707, 106.317921, -115.399940], [78.000000, 37.000000, -119.000000, 37.000000, 139.000000, -93.000000], [-102.000000, -32.718801, -63.392093, -141.635889, 140.495223, -91.212869], [-102.000000, -15.550451, -96.332299, -150.211580, 127.369202, -103.468247], [78.000000, -3.852707, -40.724392, -155.707293, -106.317921, 64.600060], [78.000000, 37.000000, -119.000000, -143.000000, -139.000000, 87.000000], [-102.000000, -32.718801, -63.392093, 38.364111, -140.495223, 88.787131], [-102.000000, -15.550451, -96.332299, 29.788420, -127.369202, 76.531753]] - id: 482 parameters: Irb2400_10 - joints: [46.000000, 76.000000, 47.000000, -62.000000, 118.000000, -146.000000] - pose: {translation: [0.3798952889089928, 0.2979998682504915, 0.1314894708576629], quaternion: [0.1737496900047376, 0.4000793649370441, -0.4120521314383124, 0.7999753670907453]} - solutions: [[46.000000, 76.000000, 47.000000, -62.000000, 118.000000, -146.000000], [46.000000, -147.512822, 153.275608, -127.910617, 98.840887, 86.606645], [-134.000000, 166.356283, 34.978885, 51.935858, 81.967425, 65.325337], [-134.000000, -71.263474, 165.296722, 93.534403, 128.640242, 171.091853], [46.000000, 76.000000, 47.000000, 118.000000, -118.000000, 34.000000], [46.000000, -147.512822, 153.275608, 52.089383, -98.840887, -93.393355], [-134.000000, 166.356283, 34.978885, -128.064142, -81.967425, -114.674663], [-134.000000, -71.263474, 165.296722, -86.465597, -128.640242, -8.908147]] + joints: [46.000000, 75.000000, 47.000000, -62.000000, 118.000000, -146.000000] + pose: {translation: [0.3857170896634962, 0.3040285194126286, 0.1381646697243831], quaternion: [0.1812626388836392, 0.3978013048210733, -0.408471742001247, 0.8012794853320893]} + solutions: [[46.000000, 75.000000, 47.000000, -62.000000, 118.000000, -146.000000], [46.000000, -148.512822, 153.275608, -127.910617, 98.840887, 86.606645], [-134.000000, 167.293706, 34.761922, 51.905143, 82.139833, 65.547512], [-134.000000, -70.574290, 165.513685, 93.609280, 128.634394, 171.211774], [46.000000, 75.000000, 47.000000, 118.000000, -118.000000, 34.000000], [46.000000, -148.512822, 153.275608, 52.089383, -98.840887, -93.393355], [-134.000000, 167.293706, 34.761922, -128.094857, -82.139833, -114.452488], [-134.000000, -70.574290, 165.513685, -86.390720, -128.634394, -8.788226]] - id: 483 parameters: Irb2400_10 - joints: [-36.000000, 140.000000, -72.000000, -153.000000, -35.000000, 158.000000] - pose: {translation: [0.7791240917228747, -0.5387078421684802, -0.6553440981519532], quaternion: [0.3213669157982975, 0.9339158785314745, 0.1507899396962615, -0.04227092787569159]} - solutions: [[-36.000000, 140.000000, -72.000000, 27.000000, 35.000000, -22.000000], [-36.000000, 148.193738, -87.724392, 22.981610, 41.831545, -16.881797], [-36.000000, 140.000000, -72.000000, -153.000000, -35.000000, 158.000000], [-36.000000, 148.193738, -87.724392, -157.018390, -41.831545, 163.118203]] + joints: [-36.000000, 139.000000, -72.000000, -153.000000, -35.000000, 158.000000] + pose: {translation: [0.7969560915906427, -0.5516635484317998, -0.6403689686449884], quaternion: [0.3205069363860108, 0.934952198247183, 0.1482626596764441, -0.03402755452395449]} + solutions: [[-36.000000, 139.000000, -72.000000, 27.000000, 35.000000, -22.000000], [-36.000000, 147.193738, -87.724392, 22.981610, 41.831545, -16.881797], [-36.000000, 139.000000, -72.000000, -153.000000, -35.000000, 158.000000], [-36.000000, 147.193738, -87.724392, -157.018390, -41.831545, 163.118203]] - id: 484 parameters: Irb2400_10 - joints: [16.000000, 32.000000, 145.000000, 74.000000, 58.000000, -147.000000] - pose: {translation: [-0.3260572804143883, -0.02141133247859536, 1.056029735558002], quaternion: [-0.1513959097928819, 0.6117430036218431, 0.6306052314515396, -0.4529755159869697]} - solutions: [[-164.000000, -57.191287, 64.223570, -108.353068, 59.191501, -142.486132], [-164.000000, 101.698221, 136.052038, -55.148452, 96.600440, 85.208563], [16.000000, -114.785000, 55.275608, 125.005611, 95.593185, 86.659002], [16.000000, 32.000000, 145.000000, 74.000000, 58.000000, -147.000000], [-164.000000, -57.191287, 64.223570, 71.646932, -59.191501, 37.513868], [-164.000000, 101.698221, 136.052038, 124.851548, -96.600440, -94.791437], [16.000000, -114.785000, 55.275608, -54.994389, -95.593185, -93.340998], [16.000000, 32.000000, 145.000000, -106.000000, -58.000000, 33.000000]] + joints: [16.000000, 31.000000, 145.000000, 74.000000, 58.000000, -147.000000] + pose: {translation: [-0.3333947490569379, -0.02351531775499639, 1.048644279508378], quaternion: [-0.1577695360034237, 0.6140026562564471, 0.6307826993658604, -0.447462509937995]} + solutions: [[-164.000000, -56.212308, 64.489432, -108.491378, 59.268875, -142.215780], [-164.000000, 103.059691, 135.786175, -55.139412, 96.545798, 85.287536], [16.000000, -115.785000, 55.275608, 125.005611, 95.593185, 86.659002], [16.000000, 31.000000, 145.000000, 74.000000, 58.000000, -147.000000], [-164.000000, -56.212308, 64.489432, 71.508622, -59.268875, 37.784220], [-164.000000, 103.059691, 135.786175, 124.860588, -96.545798, -94.712464], [16.000000, -115.785000, 55.275608, -54.994389, -95.593185, -93.340998], [16.000000, 31.000000, 145.000000, -106.000000, -58.000000, 33.000000]] - id: 485 parameters: Irb2400_10 - joints: [-147.000000, 11.000000, 9.000000, -22.000000, -129.000000, 160.000000] - pose: {translation: [-0.7923529918760914, -0.5440657230969684, 1.251529574368993], quaternion: [0.07633243192439354, 0.2190938118845064, 0.2029542257501295, 0.951304811130791]} - solutions: [[-147.000000, 11.000000, 9.000000, 158.000000, 129.000000, -20.000000], [-147.000000, 104.589293, -168.724392, 157.407978, 49.271188, 9.455191], [33.000000, -98.031866, -12.574061, -24.564739, 44.450012, 12.337350], [33.000000, -27.533729, -147.150331, -17.551159, 105.115504, -10.448970], [-147.000000, 11.000000, 9.000000, -22.000000, -129.000000, 160.000000], [-147.000000, 104.589293, -168.724392, -22.592022, -49.271188, -170.544809], [33.000000, -98.031866, -12.574061, 155.435261, -44.450012, -167.662650], [33.000000, -27.533729, -147.150331, 162.448841, -105.115504, 169.551030]] + joints: [-147.000000, 11.000000, 9.000000, -22.000000, -128.000000, 160.000000] + pose: {translation: [-0.7933251664052775, -0.5451095610075976, 1.251937108528643], quaternion: [0.08083311582563331, 0.2118902692264268, 0.2016666334619524, 0.9528373891389835]} + solutions: [[-147.000000, 11.000000, 9.000000, 158.000000, 128.000000, -20.000000], [-147.000000, 104.589293, -168.724392, 156.750433, 48.402299, 9.888007], [33.000000, -98.031866, -12.574061, -25.340264, 43.607696, 12.894964], [33.000000, -27.533729, -147.150331, -17.722253, 104.129302, -10.492164], [-147.000000, 11.000000, 9.000000, -22.000000, -128.000000, 160.000000], [-147.000000, 104.589293, -168.724392, -23.249567, -48.402299, -170.111993], [33.000000, -98.031866, -12.574061, 154.659736, -43.607696, -167.105036], [33.000000, -27.533729, -147.150331, 162.277747, -104.129302, 169.507836]] - id: 486 parameters: Irb2400_10 - joints: [145.000000, -85.000000, 75.000000, 5.000000, 6.000000, -54.000000] - pose: {translation: [-0.1663692736162128, 0.1155476861607956, 0.9464608158543507], quaternion: [0.6763375857765058, 0.08656427360977988, -0.5455587413380756, -0.4872779046396763]} - solutions: [[145.000000, -85.000000, 75.000000, 5.000000, 6.000000, -54.000000], [145.000000, 91.249750, 125.275608, 0.802920, 139.449197, -48.417153], [-35.000000, -117.321808, 69.648965, -179.334830, 128.302612, -48.614959], [-35.000000, 49.753898, 130.626643, -8.161690, 3.679290, 139.117841], [145.000000, -85.000000, 75.000000, -175.000000, -6.000000, 126.000000], [145.000000, 91.249750, 125.275608, -179.197080, -139.449197, 131.582847], [-35.000000, -117.321808, 69.648965, 0.665170, -128.302612, 131.385041], [-35.000000, 49.753898, 130.626643, 171.838310, -3.679290, -40.882159]] + joints: [145.000000, -84.000000, 75.000000, 5.000000, 6.000000, -54.000000] + pose: {translation: [-0.1710951001341647, 0.1188567455129368, 0.9446204635159762], quaternion: [0.6826506720823139, 0.08731351075909512, -0.5411365471986788, -0.4832552617720564]} + solutions: [[145.000000, -84.000000, 75.000000, 5.000000, 6.000000, -54.000000], [145.000000, 92.249750, 125.275608, 0.802920, 139.449197, -48.417153], [-35.000000, -117.848308, 69.412625, -179.332643, 128.539757, -48.611439], [-35.000000, 48.851516, 130.862983, -8.971760, 3.349051, 139.929434], [145.000000, -84.000000, 75.000000, -175.000000, -6.000000, 126.000000], [145.000000, 92.249750, 125.275608, -179.197080, -139.449197, 131.582847], [-35.000000, -117.848308, 69.412625, 0.667357, -128.539757, 131.388561], [-35.000000, 48.851516, 130.862983, 171.028240, -3.349051, -40.070566]] - id: 487 parameters: Irb2400_10 - joints: [58.000000, -178.000000, -146.000000, -155.000000, 128.000000, 4.000000] - pose: {translation: [0.4261614854802005, 0.6285826944417301, -0.3442599430037623], quaternion: [0.06329353994905694, -0.1617515604292813, 0.9038086712656236, -0.3911013247797529]} - solutions: [[58.000000, 112.721563, -13.724392, -56.041164, 156.327417, 114.310374], [58.000000, -178.000000, -146.000000, -155.000000, 128.000000, 4.000000], [-122.000000, -164.520444, -33.310596, 20.934334, 111.239635, -4.127981], [-122.000000, -115.893663, -126.413796, 42.193822, 150.274706, 26.193752], [58.000000, 112.721563, -13.724392, 123.958836, -156.327417, -65.689626], [58.000000, -178.000000, -146.000000, 25.000000, -128.000000, -176.000000], [-122.000000, -164.520444, -33.310596, -159.065666, -111.239635, 175.872019], [-122.000000, -115.893663, -126.413796, -137.806178, -150.274706, -153.806248]] + joints: [58.000000, -177.000000, -146.000000, -155.000000, 128.000000, 4.000000] + pose: {translation: [0.417236718774069, 0.6143000821182718, -0.3556132256089177], quaternion: [0.07036501981889576, -0.1568653386738023, 0.9046786108842515, -0.3898700302885319]} + solutions: [[58.000000, 113.721563, -13.724392, -56.041164, 156.327417, 114.310374], [58.000000, -177.000000, -146.000000, -155.000000, 128.000000, 4.000000], [-122.000000, -165.704865, -32.780562, 20.886790, 110.916785, -4.260178], [-122.000000, -116.521562, -126.943830, 42.380373, 150.391541, 26.408445], [58.000000, 113.721563, -13.724392, 123.958836, -156.327417, -65.689626], [58.000000, -177.000000, -146.000000, 25.000000, -128.000000, -176.000000], [-122.000000, -165.704865, -32.780562, -159.113210, -110.916785, 175.739822], [-122.000000, -116.521562, -126.943830, -137.619627, -150.391541, -153.591555]] - id: 488 parameters: Irb2400_10 - joints: [149.000000, -47.000000, 109.000000, -167.000000, -89.000000, -28.000000] - pose: {translation: [0.002475175542290028, -0.02379084812545033, 0.4523758634065596], quaternion: [0.08153808433802434, 0.8542487953529353, -0.3323254312692063, 0.3913698304318823]} - solutions: [[149.000000, 84.829763, 91.275608, 151.475216, 28.098683, -2.153483], [149.000000, -47.000000, 109.000000, 13.000000, 89.000000, 152.000000], [-31.000000, 131.758595, 85.286046, -58.855639, 164.764080, -85.709877], [-31.000000, -27.288837, 114.989561, -164.878554, 59.563738, 144.436134], [149.000000, 84.829763, 91.275608, -28.524784, -28.098683, 177.846517], [149.000000, -47.000000, 109.000000, -167.000000, -89.000000, -28.000000], [-31.000000, 131.758595, 85.286046, 121.144361, -164.764080, 94.290123], [-31.000000, -27.288837, 114.989561, 15.121446, -59.563738, -35.563866]] + joints: [149.000000, -46.000000, 109.000000, -167.000000, -88.000000, -28.000000] + pose: {translation: [0.004291537195734836, -0.02487203695077204, 0.45309256116294], quaternion: [0.08321303588334607, 0.8542049352031373, -0.3314141822049864, 0.3918853903465671]} + solutions: [[149.000000, 85.829763, 91.275608, 152.374404, 29.001657, -2.943356], [149.000000, -46.000000, 109.000000, 13.000000, 88.000000, 152.000000], [-31.000000, 131.259601, 85.463226, -59.950568, 164.946413, -86.614276], [-31.000000, -27.201879, 114.812382, -164.867601, 59.450466, 144.635160], [149.000000, 85.829763, 91.275608, -27.625596, -29.001657, 177.056644], [149.000000, -46.000000, 109.000000, -167.000000, -88.000000, -28.000000], [-31.000000, 131.259601, 85.463226, 120.049432, -164.946413, 93.385724], [-31.000000, -27.201879, 114.812382, 15.132399, -59.450466, -35.364840]] - id: 489 parameters: Irb2400_10 - joints: [115.000000, 124.000000, 32.000000, -60.000000, -142.000000, 20.000000] - pose: {translation: [-0.09241653765860124, 0.09095124513253658, -0.2063056837470837], quaternion: [-0.4214255461600664, 0.5502297436400537, 0.678250732251392, -0.2441796110610817]} - solutions: [[115.000000, 124.000000, 32.000000, 120.000000, 142.000000, -160.000000], [115.000000, -117.012683, 168.275608, 142.054650, 60.121573, -85.000798], [-65.000000, 131.431376, 30.870554, -61.098894, 37.519399, -51.068145], [-65.000000, -110.859549, 169.405053, -37.280047, 118.327252, -126.089589], [115.000000, 124.000000, 32.000000, -60.000000, -142.000000, 20.000000], [115.000000, -117.012683, 168.275608, -37.945350, -60.121573, 94.999202], [-65.000000, 131.431376, 30.870554, 118.901106, -37.519399, 128.931855], [-65.000000, -110.859549, 169.405053, 142.719953, -118.327252, 53.910411]] + joints: [115.000000, 123.000000, 32.000000, -60.000000, -141.000000, 20.000000] + pose: {translation: [-0.09913407967592149, 0.1029779340376936, -0.2067220059103913], quaternion: [-0.4271582132437764, 0.5439736353178009, 0.6790303231740585, -0.2460617100396858]} + solutions: [[115.000000, 123.000000, 32.000000, 120.000000, 141.000000, -160.000000], [115.000000, -118.012683, 168.275608, 140.937791, 59.867442, -84.442261], [-65.000000, 132.570955, 30.544607, -62.427999, 37.939877, -50.117399], [-65.000000, -110.088076, 169.731001, -37.877874, 117.419021, -126.316570], [115.000000, 123.000000, 32.000000, -60.000000, -141.000000, 20.000000], [115.000000, -118.012683, 168.275608, -39.062209, -59.867442, 95.557739], [-65.000000, 132.570955, 30.544607, 117.572001, -37.939877, 129.882601], [-65.000000, -110.088076, 169.731001, 142.122126, -117.419021, 53.683430]] - id: 490 parameters: Irb2400_10 - joints: [63.000000, 179.000000, -109.000000, 79.000000, 151.000000, 69.000000] - pose: {translation: [0.1748686181313741, 0.4323015028201385, -0.686017880093111], quaternion: [-0.06658457919907222, -0.3169370842338349, 0.3835257764914954, 0.8648845918484346]} - solutions: [[63.000000, 148.608315, -50.724392, 44.116538, 136.870490, 26.814982], [63.000000, 179.000000, -109.000000, 79.000000, 151.000000, 69.000000], [63.000000, 148.608315, -50.724392, -135.883462, -136.870490, -153.185018], [63.000000, 179.000000, -109.000000, -101.000000, -151.000000, -111.000000]] + joints: [63.000000, 178.000000, -109.000000, 79.000000, 150.000000, 69.000000] + pose: {translation: [0.1840367860885756, 0.4530868652760652, -0.6802273534785082], quaternion: [-0.06722336284080684, -0.3291258022156607, 0.3783263393428449, 0.8625696532823964]} + solutions: [[63.000000, 147.608315, -50.724392, 45.085434, 136.125382, 27.517793], [63.000000, 178.000000, -109.000000, 79.000000, 150.000000, 69.000000], [63.000000, 147.608315, -50.724392, -134.914566, -136.125382, -152.482207], [63.000000, 178.000000, -109.000000, -101.000000, -150.000000, -111.000000]] - id: 491 parameters: Irb2400_10 - joints: [-12.000000, -158.000000, 118.000000, 123.000000, -136.000000, 112.000000] - pose: {translation: [0.2844414678548142, -0.1110863191769214, 0.4861184766283062], quaternion: [-0.1246840942082579, 0.9276621788359646, -0.2377637254787482, -0.259548009923489]} - solutions: [[-12.000000, 9.866085, 82.275608, -64.368059, 40.254133, 37.767761], [-12.000000, -158.000000, 118.000000, -57.000000, 136.000000, -68.000000], [168.000000, -179.603496, 66.304956, 91.451548, 144.353932, -108.289147], [168.000000, -17.673085, 133.970652, 136.281268, 57.454650, 7.147424], [-12.000000, 9.866085, 82.275608, 115.631941, -40.254133, -142.232239], [-12.000000, -158.000000, 118.000000, 123.000000, -136.000000, 112.000000], [168.000000, -179.603496, 66.304956, -88.548452, -144.353932, 71.710853], [168.000000, -17.673085, 133.970652, -43.718732, -57.454650, -172.852576]] + joints: [-12.000000, -157.000000, 118.000000, 123.000000, -135.000000, 112.000000] + pose: {translation: [0.2831720016756651, -0.111723720908373, 0.4828310641037549], quaternion: [-0.1301053583506565, 0.9247796415599232, -0.2420736738666843, -0.2631644860261991]} + solutions: [[-12.000000, 10.866085, 82.275608, -65.848909, 40.535351, 38.895602], [-12.000000, -157.000000, 118.000000, -57.000000, 135.000000, -68.000000], [168.000000, 179.820635, 66.349443, 91.905861, 143.604343, -108.197164], [168.000000, -18.182734, 133.926165, 135.332474, 57.520095, 7.395297], [-12.000000, 10.866085, 82.275608, 114.151091, -40.535351, -141.104398], [-12.000000, -157.000000, 118.000000, 123.000000, -135.000000, 112.000000], [168.000000, 179.820635, 66.349443, -88.094139, -143.604343, 71.802836], [168.000000, -18.182734, 133.926165, -44.667526, -57.520095, -172.604703]] - id: 492 parameters: Irb2400_10 - joints: [-119.000000, -174.000000, -50.000000, -144.000000, -87.000000, -127.000000] - pose: {translation: [0.2733981226850588, 0.390310139248809, -0.661407457398826], quaternion: [-0.3984999537110936, 0.2622885949126875, -0.5657820289943101, 0.6725274533712853]} - solutions: [[61.000000, 142.933246, -35.159056, -124.536528, 134.556632, 100.729726], [61.000000, -170.380004, -124.565336, -142.780571, 103.969534, 65.568259], [-119.000000, -174.000000, -50.000000, 36.000000, 87.000000, 53.000000], [-119.000000, -142.851313, -109.724392, 38.629268, 109.905975, 70.398421], [61.000000, 142.933246, -35.159056, 55.463472, -134.556632, -79.270274], [61.000000, -170.380004, -124.565336, 37.219429, -103.969534, -114.431741], [-119.000000, -174.000000, -50.000000, -144.000000, -87.000000, -127.000000], [-119.000000, -142.851313, -109.724392, -141.370732, -109.905975, -109.601579]] + joints: [-119.000000, -173.000000, -50.000000, -144.000000, -86.000000, -127.000000] + pose: {translation: [0.284609787897553, 0.410646321533836, -0.652260238014586], quaternion: [-0.398628627598735, 0.2641287172357994, -0.5615316129902188, 0.6752877057985903]} + solutions: [[61.000000, 141.535621, -34.470150, -125.334281, 134.048307, 100.343424], [61.000000, -171.054740, -125.254243, -143.053761, 102.702869, 65.291881], [-119.000000, -173.000000, -50.000000, 36.000000, 86.000000, 53.000000], [-119.000000, -141.851313, -109.724392, 38.313130, 108.951450, 70.293259], [61.000000, 141.535621, -34.470150, 54.665719, -134.048307, -79.656576], [61.000000, -171.054740, -125.254243, 36.946239, -102.702869, -114.708119], [-119.000000, -173.000000, -50.000000, -144.000000, -86.000000, -127.000000], [-119.000000, -141.851313, -109.724392, -141.686870, -108.951450, -109.706741]] - id: 493 parameters: Irb2400_10 - joints: [65.000000, -163.000000, -114.000000, -124.000000, -25.000000, 8.000000] - pose: {translation: [0.01921543834213412, 0.1116758341725099, -0.8710248491580561], quaternion: [0.9817308345358899, 0.0195221929912473, -0.1880038588442214, -0.02186324683023465]} - solutions: [[65.000000, 161.380888, -45.724392, 129.622269, 27.056217, 108.429322], [65.000000, -163.000000, -114.000000, 56.000000, 25.000000, -172.000000], [-115.000000, 173.598670, -50.557889, -150.136809, 44.720173, -140.852406], [-115.000000, -155.835656, -109.166503, -120.273106, 23.934333, -176.094118], [65.000000, 161.380888, -45.724392, -50.377731, -27.056217, -71.570678], [65.000000, -163.000000, -114.000000, -124.000000, -25.000000, 8.000000], [-115.000000, 173.598670, -50.557889, 29.863191, -44.720173, 39.147594], [-115.000000, -155.835656, -109.166503, 59.726894, -23.934333, 3.905882]] + joints: [65.000000, -162.000000, -114.000000, -124.000000, -25.000000, 8.000000] + pose: {translation: [0.008254355668001243, 0.08816971652155452, -0.8709614119450494], quaternion: [0.9811730110938282, 0.01795390932932202, -0.1917717165382674, -0.01416997448239284]} + solutions: [[65.000000, 162.380888, -45.724392, 129.622269, 27.056217, 108.429322], [65.000000, -162.000000, -114.000000, 56.000000, 25.000000, -172.000000], [-115.000000, 172.072362, -49.511414, -150.395286, 45.171855, -140.487210], [-115.000000, -156.268309, -110.212978, -119.331110, 23.696194, -177.123782], [65.000000, 162.380888, -45.724392, -50.377731, -27.056217, -71.570678], [65.000000, -162.000000, -114.000000, -124.000000, -25.000000, 8.000000], [-115.000000, 172.072362, -49.511414, 29.604714, -45.171855, 39.512790], [-115.000000, -156.268309, -110.212978, 60.668890, -23.696194, 2.876218]] - id: 494 parameters: Irb2400_10 joints: [-78.000000, 9.000000, -136.000000, 106.000000, 26.000000, -93.000000] @@ -2481,9 +2481,9 @@ cases: solutions: [[-90.000000, 51.000000, 77.000000, 30.000000, 45.000000, 175.000000], [-90.000000, -128.893154, 123.275608, 75.797727, 158.610865, -87.998079], [90.000000, 159.329453, 64.478988, -34.976171, 141.919508, -11.632919], [90.000000, -41.413604, 135.796619, -159.164080, 83.712470, -165.179084], [-90.000000, 51.000000, 77.000000, -150.000000, -45.000000, -5.000000], [-90.000000, -128.893154, 123.275608, -104.202273, -158.610865, 92.001921], [90.000000, 159.329453, 64.478988, 145.023829, -141.919508, 168.367081], [90.000000, -41.413604, 135.796619, 20.835920, -83.712470, 14.820916]] - id: 496 parameters: Irb2400_10 - joints: [174.000000, 124.000000, -78.000000, -165.000000, -30.000000, -62.000000] - pose: {translation: [-1.321531269040403, 0.1278381339699002, -0.3100228317497], quaternion: [-0.369944760908704, 0.9178078554457937, 0.002442376142375832, -0.1440959720359112]} - solutions: [[174.000000, 124.000000, -78.000000, 15.000000, 30.000000, 118.000000], [174.000000, 125.940607, -81.724392, 14.246374, 31.726049, 118.877843], [174.000000, 124.000000, -78.000000, -165.000000, -30.000000, -62.000000], [174.000000, 125.940607, -81.724392, -165.753626, -31.726049, -61.122157]] + joints: [174.000000, 123.000000, -78.000000, -165.000000, -29.000000, -62.000000] + pose: {translation: [-1.338756606322604, 0.12998461320765, -0.2880910796542167], quaternion: [-0.3688844154487768, 0.9158136356768988, 0.01203573386484571, -0.1583187097522253]} + solutions: [[174.000000, 123.000000, -78.000000, 15.000000, 29.000000, 118.000000], [174.000000, 124.940607, -81.724392, 14.216390, 30.726170, 118.903484], [174.000000, 123.000000, -78.000000, -165.000000, -29.000000, -62.000000], [174.000000, 124.940607, -81.724392, -165.783610, -30.726170, -61.096516]] - id: 497 parameters: Irb2400_10 joints: [-86.000000, -79.000000, 59.000000, 28.000000, 157.000000, 79.000000] @@ -2496,9 +2496,9 @@ cases: solutions: [[176.000000, 18.396981, -25.724392, -84.154780, 47.690239, 159.712029], [176.000000, 75.000000, -134.000000, -52.000000, 69.000000, 103.000000], [-4.000000, -58.669686, -67.213906, 126.389440, 66.046317, 107.209689], [-4.000000, -45.486695, -92.510487, 121.163793, 59.287304, 118.541478], [176.000000, 18.396981, -25.724392, 95.845220, -47.690239, -20.287971], [176.000000, 75.000000, -134.000000, 128.000000, -69.000000, -77.000000], [-4.000000, -58.669686, -67.213906, -53.610560, -66.046317, -72.790311], [-4.000000, -45.486695, -92.510487, -58.836207, -59.287304, -61.458522]] - id: 499 parameters: Irb2400_10 - joints: [-88.000000, 61.000000, -146.000000, -114.000000, 157.000000, -86.000000] - pose: {translation: [-0.00841776888699124, -0.6283232168798849, 1.643915981747304], quaternion: [0.8230227647295774, 0.5236496512983787, -0.09570213933065796, -0.1981556760718819]} - solutions: [[-88.000000, -8.278437, -13.724392, -25.510854, 124.024013, 14.861906], [-88.000000, 61.000000, -146.000000, -114.000000, 157.000000, -86.000000], [92.000000, -60.145300, -29.967287, 56.442940, 154.637771, -96.469203], [92.000000, -8.006290, -129.757106, 144.922875, 141.601230, 0.986716], [-88.000000, -8.278437, -13.724392, 154.489146, -124.024013, -165.138094], [-88.000000, 61.000000, -146.000000, 66.000000, -157.000000, 94.000000], [92.000000, -60.145300, -29.967287, -123.557060, -154.637771, 83.530797], [92.000000, -8.006290, -129.757106, -35.077125, -141.601230, -179.013284]] + joints: [-88.000000, 60.000000, -146.000000, -114.000000, 156.000000, -86.000000] + pose: {translation: [-0.01030718337609829, -0.6098297275097294, 1.653596684813955], quaternion: [0.8229953839904617, 0.5220810098050259, -0.1050645506969202, -0.1976650128834418]} + solutions: [[-88.000000, -9.278437, -13.724392, -26.698384, 124.206752, 14.195849], [-88.000000, 60.000000, -146.000000, -114.000000, 156.000000, -86.000000], [92.000000, -59.509504, -29.432401, 56.564864, 153.560146, -96.421698], [92.000000, -6.808165, -130.291991, 143.568539, 141.267191, 0.050424], [-88.000000, -9.278437, -13.724392, 153.301616, -124.206752, -165.804151], [-88.000000, 60.000000, -146.000000, 66.000000, -156.000000, 94.000000], [92.000000, -59.509504, -29.432401, -123.435136, -153.560146, 83.578302], [92.000000, -6.808165, -130.291991, -36.431461, -141.267191, -179.949576]] - id: 500 parameters: Irb2400_10 joints: [-114.000000, 72.000000, 108.000000, -148.000000, 71.000000, -140.000000] @@ -2506,19 +2506,19 @@ cases: solutions: [[-114.000000, -163.128456, 92.275608, -95.081682, 149.799620, -44.375334], [-114.000000, 72.000000, 108.000000, -148.000000, 71.000000, -140.000000], [66.000000, -165.098177, 90.157938, 43.786931, 133.607548, -95.031685], [66.000000, 56.410133, 110.117670, 149.647171, 97.458084, 47.152488], [-114.000000, -163.128456, 92.275608, 84.918318, -149.799620, 135.624666], [-114.000000, 72.000000, 108.000000, 32.000000, -71.000000, 40.000000], [66.000000, -165.098177, 90.157938, -136.213069, -133.607548, 84.968315], [66.000000, 56.410133, 110.117670, -30.352829, -97.458084, -132.847512]] - id: 501 parameters: Irb2400_10 - joints: [11.000000, 165.000000, 154.000000, 26.000000, 146.000000, -78.000000] - pose: {translation: [0.7210046181790106, 0.1613754819031545, 0.4527594579559681], quaternion: [0.7972695955993243, -0.5709362659224886, -0.1944923796921846, 0.0237841634085863]} - solutions: [[11.000000, 29.386724, 46.275608, 25.438760, 34.797763, -121.351589], [11.000000, 165.000000, 154.000000, 26.000000, 146.000000, -78.000000], [-169.000000, -152.796496, 28.031425, -139.131824, 157.998006, -61.277913], [-169.000000, -38.282635, 172.244183, -163.982464, 62.671265, -107.523933], [11.000000, 29.386724, 46.275608, -154.561240, -34.797763, 58.648411], [11.000000, 165.000000, 154.000000, -154.000000, -146.000000, 102.000000], [-169.000000, -152.796496, 28.031425, 40.868176, -157.998006, 118.722087], [-169.000000, -38.282635, 172.244183, 16.017536, -62.671265, 72.476067]] + joints: [11.000000, 164.000000, 154.000000, 26.000000, 145.000000, -78.000000] + pose: {translation: [0.7249210966880076, 0.1626827521628429, 0.4636740294099884], quaternion: [0.7987222157346319, -0.5724144629113574, -0.1851762399331228, 0.009709011591960658]} + solutions: [[11.000000, 28.386724, 46.275608, 26.663977, 34.076653, -122.362115], [11.000000, 164.000000, 154.000000, 26.000000, 145.000000, -78.000000], [-169.000000, -152.009012, 28.001122, -140.235700, 156.852426, -62.357559], [-169.000000, -37.529124, 172.274486, -163.390093, 61.595047, -107.854512], [11.000000, 28.386724, 46.275608, -153.336023, -34.076653, 57.637885], [11.000000, 164.000000, 154.000000, -154.000000, -145.000000, 102.000000], [-169.000000, -152.009012, 28.001122, 39.764300, -156.852426, 117.642441], [-169.000000, -37.529124, 172.274486, 16.609907, -61.595047, 72.145488]] - id: 502 parameters: Irb2400_10 - joints: [164.000000, 55.000000, -135.000000, 44.000000, -79.000000, 3.000000] - pose: {translation: [-0.5793958176127942, 0.2264359985718255, 1.812738560311246], quaternion: [0.5612961901198487, 0.1722874582881204, 0.7894512217180043, -0.1789703528563112]} - solutions: [[164.000000, -2.656331, -24.724392, -130.398804, 116.439803, -138.941205], [164.000000, 55.000000, -135.000000, -136.000000, 79.000000, -177.000000], [-16.000000, -51.648958, -45.099064, 44.489252, 76.670064, -179.320948], [-16.000000, -15.375664, -114.625328, 43.967638, 100.826089, -156.290274], [164.000000, -2.656331, -24.724392, 49.601196, -116.439803, 41.058795], [164.000000, 55.000000, -135.000000, 44.000000, -79.000000, 3.000000], [-16.000000, -51.648958, -45.099064, -135.510748, -76.670064, 0.679052], [-16.000000, -15.375664, -114.625328, -136.032362, -100.826089, 23.709726]] + joints: [164.000000, 54.000000, -135.000000, 44.000000, -78.000000, 3.000000] + pose: {translation: [-0.5597033533401722, 0.220575540267547, 1.823022860992727], quaternion: [0.5605199598197238, 0.1676488889220413, 0.7899653568746605, -0.1834828592124903]} + solutions: [[164.000000, -3.656331, -24.724392, -131.082651, 115.650802, -139.241479], [164.000000, 54.000000, -135.000000, -136.000000, 78.000000, -177.000000], [-16.000000, -51.122140, -44.343155, 44.582089, 75.469428, -179.535765], [-16.000000, -14.057926, -115.381237, 43.662268, 100.207627, -156.047739], [164.000000, -3.656331, -24.724392, 48.917349, -115.650802, 40.758521], [164.000000, 54.000000, -135.000000, 44.000000, -78.000000, 3.000000], [-16.000000, -51.122140, -44.343155, -135.417911, -75.469428, 0.464235], [-16.000000, -14.057926, -115.381237, -136.337732, -100.207627, 23.952261]] - id: 503 parameters: Irb2400_10 - joints: [24.000000, 15.000000, 124.000000, -31.000000, -104.000000, -89.000000] - pose: {translation: [-0.1423150675569839, -0.0168649704918311, 0.6589039395740273], quaternion: [-0.7471973472989586, 0.419746063668307, -0.01991504912812297, 0.5148910147231019]} - solutions: [[-156.000000, -64.362945, 91.268304, -33.755641, 115.924051, 82.983558], [-156.000000, 163.760239, 109.007304, -144.658924, 120.238199, -61.077275], [24.000000, -163.675800, 76.275608, 33.720315, 115.814973, -64.523196], [24.000000, 15.000000, 124.000000, 149.000000, 104.000000, 91.000000], [-156.000000, -64.362945, 91.268304, 146.244359, -115.924051, -97.016442], [-156.000000, 163.760239, 109.007304, 35.341076, -120.238199, 118.922725], [24.000000, -163.675800, 76.275608, -146.279685, -115.814973, 115.476804], [24.000000, 15.000000, 124.000000, -31.000000, -104.000000, -89.000000]] + joints: [24.000000, 15.000000, 124.000000, -31.000000, -103.000000, -89.000000] + pose: {translation: [-0.1432042632721492, -0.01706561855416028, 0.6577335224153347], quaternion: [-0.7516583936499746, 0.4199822613480446, -0.01636571722289059, 0.5082880312463626]} + solutions: [[-156.000000, -64.362945, 91.268304, -33.601858, 114.933742, 83.049594], [-156.000000, 163.760239, 109.007304, -144.111939, 121.120643, -60.798175], [24.000000, -163.675800, 76.275608, 34.184173, 116.724364, -64.317886], [24.000000, 15.000000, 124.000000, 149.000000, 103.000000, 91.000000], [-156.000000, -64.362945, 91.268304, 146.398142, -114.933742, -96.950406], [-156.000000, 163.760239, 109.007304, 35.888061, -121.120643, 119.201825], [24.000000, -163.675800, 76.275608, -145.815827, -116.724364, 115.682114], [24.000000, 15.000000, 124.000000, -31.000000, -103.000000, -89.000000]] - id: 504 parameters: Irb2400_10 joints: [-171.000000, 4.000000, -83.000000, -25.000000, -90.000000, 130.000000] @@ -2526,9 +2526,9 @@ cases: solutions: [[-171.000000, 0.730052, -76.724392, 154.969777, 92.723830, -51.271205], [-171.000000, 4.000000, -83.000000, 155.000000, 90.000000, -50.000000], [-171.000000, 0.730052, -76.724392, -25.030223, -92.723830, 128.728795], [-171.000000, 4.000000, -83.000000, -25.000000, -90.000000, 130.000000]] - id: 505 parameters: Irb2400_10 - joints: [169.000000, 179.000000, 36.000000, -61.000000, -180.000000, 55.000000] - pose: {translation: [0.5045178356140774, -0.09806833285215709, 0.1838180612909311], quaternion: [-0.395782293968832, 0.7938164737244322, 0.2810947456357543, -0.3663298046848598]} - solutions: [[-11.000000, 57.746756, 50.835315, -0.000000, 36.417929, -64.000000], [-11.000000, -161.071982, 149.440293, -0.000000, 156.631690, -64.000000], [169.000000, 179.000000, 36.000000, -153.434949, 180.000000, -48.814075], [169.000000, -57.448930, 164.275608, -180.000000, 71.826678, -64.000000], [-11.000000, 57.746756, 50.835315, 180.000000, -36.417929, 116.000000], [-11.000000, -161.071982, 149.440293, 180.000000, -156.631690, 116.000000], [169.000000, 179.000000, 36.000000, 26.565051, -180.000000, 131.185925], [169.000000, -57.448930, 164.275608, 0.000000, -71.826678, 116.000000]] + joints: [169.000000, 178.000000, 36.000000, -61.000000, -179.000000, 55.000000] + pose: {translation: [0.4971968878121054, -0.09796702747331711, 0.1725796411954759], quaternion: [-0.3980472448359911, 0.7903287552393324, 0.2781648572656899, -0.3735815328715841]} + solutions: [[-11.000000, 59.115764, 50.646110, -1.496635, 35.762548, -62.789167], [-11.000000, -159.937426, 149.629497, -2.134686, 155.808216, -65.951067], [169.000000, 178.000000, 36.000000, 119.000000, 179.000000, -125.000000], [169.000000, -58.448930, 164.275608, 179.076883, 71.344085, -63.708387], [-11.000000, 59.115764, 50.646110, 178.503365, -35.762548, 117.210833], [-11.000000, -159.937426, 149.629497, 177.865314, -155.808216, 114.048933], [169.000000, 178.000000, 36.000000, -61.000000, -179.000000, 55.000000], [169.000000, -58.448930, 164.275608, -0.923117, -71.344085, 116.291613]] - id: 506 parameters: Irb2400_10 joints: [52.000000, 33.000000, -118.000000, 80.000000, 45.000000, 131.000000] @@ -2541,14 +2541,14 @@ cases: solutions: [[174.000000, -12.000000, 40.000000, 119.000000, 32.000000, 43.000000], [174.000000, 116.180933, 160.275608, 27.690740, 94.154548, 168.347177], [-6.000000, -115.078745, 24.327347, -151.997017, 99.199959, 171.029442], [-6.000000, -4.698860, 175.948260, -94.569028, 27.707337, 81.327590], [174.000000, -12.000000, 40.000000, -61.000000, -32.000000, -137.000000], [174.000000, 116.180933, 160.275608, -152.309260, -94.154548, -11.652823], [-6.000000, -115.078745, 24.327347, 28.002983, -99.199959, -8.970558], [-6.000000, -4.698860, 175.948260, 85.430972, -27.707337, -98.672410]] - id: 508 parameters: Irb2400_10 - joints: [172.000000, 121.000000, 160.000000, 57.000000, 143.000000, 179.000000] - pose: {translation: [-0.7291040275267642, 0.05914568364329554, 0.9468330411712043], quaternion: [-0.382817722668719, 0.8813073657652434, -0.1779690305736782, -0.2123086018401716]} - solutions: [[172.000000, -7.502711, 40.275608, 39.144356, 53.085262, 102.062707], [172.000000, 121.000000, 160.000000, 57.000000, 143.000000, 179.000000], [-8.000000, -118.601197, 23.865374, -115.308476, 146.060880, -171.566406], [-8.000000, -8.734405, 176.410233, -147.453696, 69.748589, 115.659070], [172.000000, -7.502711, 40.275608, -140.855644, -53.085262, -77.937293], [172.000000, 121.000000, 160.000000, -123.000000, -143.000000, -1.000000], [-8.000000, -118.601197, 23.865374, 64.691524, -146.060880, 8.433594], [-8.000000, -8.734405, 176.410233, 32.546304, -69.748589, -64.340930]] + joints: [172.000000, 120.000000, 160.000000, 57.000000, 142.000000, 179.000000] + pose: {translation: [-0.7241918486104051, 0.05745854938418173, 0.9585597782616152], quaternion: [-0.3830363129719867, 0.8777334458983418, -0.1767988707724801, -0.2271768918482358]} + solutions: [[172.000000, -8.502711, 40.275608, 40.366286, 52.865495, 101.326893], [172.000000, 120.000000, 160.000000, 57.000000, 142.000000, 179.000000], [-8.000000, -117.884096, 24.021208, -115.758581, 145.019010, -172.002419], [-8.000000, -7.844284, 176.254399, -146.442572, 69.081006, 115.167878], [172.000000, -8.502711, 40.275608, -139.633714, -52.865495, -78.673107], [172.000000, 120.000000, 160.000000, -123.000000, -142.000000, -1.000000], [-8.000000, -117.884096, 24.021208, 64.241419, -145.019010, 7.997581], [-8.000000, -7.844284, 176.254399, 33.557428, -69.081006, -64.832122]] - id: 509 parameters: Irb2400_10 - joints: [-36.000000, 79.000000, 144.000000, 139.000000, -65.000000, -120.000000] - pose: {translation: [0.1006942441651403, -0.1356298595035271, 1.232716328175921], quaternion: [0.3031634721905726, -0.1177147660569068, 0.0007934123862593584, 0.9456397376793707]} - solutions: [[-36.000000, -69.077309, 56.275608, -140.989882, 70.840591, -155.060674], [-36.000000, 79.000000, 144.000000, -41.000000, 65.000000, 60.000000], [144.000000, -95.494706, 51.922885, 138.823030, 64.569019, 60.415396], [144.000000, 47.040603, 148.352722, 39.613088, 68.835256, -156.809664], [-36.000000, -69.077309, 56.275608, 39.010118, -70.840591, 24.939326], [-36.000000, 79.000000, 144.000000, 139.000000, -65.000000, -120.000000], [144.000000, -95.494706, 51.922885, -41.176970, -64.569019, -119.584604], [144.000000, 47.040603, 148.352722, -140.386912, -68.835256, 23.190336]] + joints: [-36.000000, 78.000000, 144.000000, 139.000000, -65.000000, -120.000000] + pose: {translation: [0.09196498709556367, -0.1292876830045882, 1.233690065248895], quaternion: [0.2982958300234033, -0.1243823508268164, 0.003537488425931134, 0.9463276994620204]} + solutions: [[-36.000000, -70.077309, 56.275608, -140.989882, 70.840591, -155.060674], [-36.000000, 78.000000, 144.000000, -41.000000, 65.000000, 60.000000], [144.000000, -94.800101, 52.196837, 138.813180, 64.545355, 60.438323], [144.000000, 48.078055, 148.078770, 39.555018, 69.017524, -156.648163], [-36.000000, -70.077309, 56.275608, 39.010118, -70.840591, 24.939326], [-36.000000, 78.000000, 144.000000, 139.000000, -65.000000, -120.000000], [144.000000, -94.800101, 52.196837, -41.186820, -64.545355, -119.561677], [144.000000, 48.078055, 148.078770, -140.444982, -69.017524, 23.351837]] - id: 510 parameters: Irb2400_10 joints: [-34.000000, -4.000000, 1.000000, -23.000000, -101.000000, -172.000000] @@ -2556,14 +2556,14 @@ cases: solutions: [[-34.000000, -4.000000, 1.000000, 157.000000, 101.000000, 8.000000], [-34.000000, 80.971051, -160.724392, 135.681334, 33.297878, 51.851184], [146.000000, -78.631038, -16.854459, -49.981164, 30.054937, 58.500186], [146.000000, -12.666959, -142.869934, -22.837880, 81.196317, 16.318390], [-34.000000, -4.000000, 1.000000, -23.000000, -101.000000, -172.000000], [-34.000000, 80.971051, -160.724392, -44.318666, -33.297878, -128.148816], [146.000000, -78.631038, -16.854459, 130.018836, -30.054937, -121.499814], [146.000000, -12.666959, -142.869934, 157.162120, -81.196317, -163.681610]] - id: 511 parameters: Irb2400_10 - joints: [-47.000000, 32.000000, -5.000000, -61.000000, -75.000000, 163.000000] - pose: {translation: [0.9017864748607434, -0.8617548090944483, 1.01587555622204], quaternion: [0.4288998301235918, 0.4076405863784542, 0.7102833750483536, 0.3812762976988001]} - solutions: [[-47.000000, 32.000000, -5.000000, 119.000000, 75.000000, -17.000000], [-47.000000, 110.553794, -154.724392, 83.662617, 58.212981, 59.876833], [133.000000, -97.451178, -34.918762, -98.445793, 58.658249, 63.903461], [133.000000, -50.512299, -124.805630, -72.734699, 62.212272, 14.280778], [-47.000000, 32.000000, -5.000000, -61.000000, -75.000000, 163.000000], [-47.000000, 110.553794, -154.724392, -96.337383, -58.212981, -120.123167], [133.000000, -97.451178, -34.918762, 81.554207, -58.658249, -116.096539], [133.000000, -50.512299, -124.805630, 107.265301, -62.212272, -165.719222]] + joints: [-47.000000, 31.000000, -5.000000, -61.000000, -75.000000, 163.000000] + pose: {translation: [0.8968960880001455, -0.8565105112452274, 1.035802121880695], quaternion: [0.4222228840706568, 0.4098890645279222, 0.7102072823941389, 0.3864251634945807]} + solutions: [[-47.000000, 31.000000, -5.000000, 119.000000, 75.000000, -17.000000], [-47.000000, 109.553794, -154.724392, 83.662617, 58.212981, 59.876833], [133.000000, -96.697818, -34.717505, -98.418450, 58.651595, 63.850897], [133.000000, -49.547755, -125.006887, -72.615796, 62.282762, 14.025431], [-47.000000, 31.000000, -5.000000, -61.000000, -75.000000, 163.000000], [-47.000000, 109.553794, -154.724392, -96.337383, -58.212981, -120.123167], [133.000000, -96.697818, -34.717505, 81.581550, -58.651595, -116.149103], [133.000000, -49.547755, -125.006887, 107.384204, -62.282762, -165.974569]] - id: 512 parameters: Irb2400_10 - joints: [87.000000, -124.000000, 37.000000, -4.000000, 176.000000, -152.000000] - pose: {translation: [-0.02985304202372336, -0.5775328992812271, 0.8968133577105348], quaternion: [0.8869456587756569, 0.4617865301294035, 0.006482806702610222, -0.006210651118689536]} - solutions: [[-93.000000, -18.664351, 51.919333, 0.329710, 57.735734, 31.814279], [-93.000000, 123.866517, 148.356275, 12.747213, 178.736361, 44.734502], [87.000000, -124.000000, 37.000000, -4.000000, 176.000000, -152.000000], [87.000000, 0.701846, 163.275608, -179.711321, 74.967924, 31.915415], [-93.000000, -18.664351, 51.919333, -179.670290, -57.735734, -148.185721], [-93.000000, 123.866517, 148.356275, -167.252787, -178.736361, -135.265498], [87.000000, -124.000000, 37.000000, 176.000000, -176.000000, 28.000000], [87.000000, 0.701846, 163.275608, 0.288679, -74.967924, -148.084585]] + joints: [87.000000, -123.000000, 37.000000, -4.000000, 175.000000, -152.000000] + pose: {translation: [-0.02940975617393933, -0.5710457176964083, 0.9086216669597416], quaternion: [0.8869247362378461, 0.4618235105897889, 0.006995267916417313, -0.005884177319555723]} + solutions: [[-93.000000, -19.809435, 51.734725, 0.406119, 59.063226, 31.776043], [-93.000000, 122.490814, 148.540883, 82.830929, 179.648913, 114.815624], [87.000000, -123.000000, 37.000000, -4.000000, 175.000000, -152.000000], [87.000000, 1.701846, 163.275608, -179.640940, 75.965600, 31.897753], [-93.000000, -19.809435, 51.734725, -179.593881, -59.063226, -148.223957], [-93.000000, 122.490814, 148.540883, -97.169071, -179.648913, -65.184376], [87.000000, -123.000000, 37.000000, 176.000000, -175.000000, 28.000000], [87.000000, 1.701846, 163.275608, 0.359060, -75.965600, -148.102247]] - id: 513 parameters: Irb2400_10 joints: [-111.000000, 24.000000, 104.000000, 16.000000, -7.000000, 129.000000] @@ -2576,19 +2576,19 @@ cases: solutions: [[6.000000, -22.186153, 7.658105, -141.685822, 6.586234, 57.273655], [6.000000, 69.951883, -167.382497, -4.172798, 77.757656, -83.710248], [-174.000000, -72.915218, -3.724392, 175.897217, 83.672004, -84.143601], [-174.000000, 7.000000, -156.000000, 160.000000, 12.000000, -65.000000], [6.000000, -22.186153, 7.658105, 38.314178, -6.586234, -122.726345], [6.000000, 69.951883, -167.382497, 175.827202, -77.757656, 96.289752], [-174.000000, -72.915218, -3.724392, -4.102783, -83.672004, 95.856399], [-174.000000, 7.000000, -156.000000, -20.000000, -12.000000, 115.000000]] - id: 515 parameters: Irb2400_10 - joints: [162.000000, 9.000000, 152.000000, 44.000000, -164.000000, 64.000000] - pose: {translation: [0.3634690636260492, -0.100985423313884, 0.9485372590109568], quaternion: [-0.5951604415643874, 0.28817218181277, 0.7489226958148066, 0.04307711828376985]} - solutions: [[-18.000000, -29.859478, 62.096060, 24.867326, 152.913966, -136.446061], [-18.000000, 126.025049, 138.179548, 168.671950, 77.106753, 23.689518], [162.000000, -129.035384, 48.275608, -11.505486, 73.730051, 24.393992], [162.000000, 9.000000, 152.000000, -136.000000, 164.000000, -116.000000], [-18.000000, -29.859478, 62.096060, -155.132674, -152.913966, 43.553939], [-18.000000, 126.025049, 138.179548, -11.328050, -77.106753, -156.310482], [162.000000, -129.035384, 48.275608, 168.494514, -73.730051, -155.606008], [162.000000, 9.000000, 152.000000, 44.000000, -164.000000, 64.000000]] + joints: [162.000000, 9.000000, 152.000000, 44.000000, -163.000000, 64.000000] + pose: {translation: [0.3638364701927543, -0.1000658556193353, 0.94743262664676], quaternion: [-0.5976648852565341, 0.2942000678816956, 0.7443571782218464, 0.04664114298889099]} + solutions: [[-18.000000, -29.859478, 62.096060, 25.610780, 151.974953, -135.786918], [-18.000000, 126.025049, 138.179548, 168.010266, 77.870120, 23.832867], [162.000000, -129.035384, 48.275608, -12.167028, 74.501513, 24.575059], [162.000000, 9.000000, 152.000000, -136.000000, 163.000000, -116.000000], [-18.000000, -29.859478, 62.096060, -154.389220, -151.974953, 44.213082], [-18.000000, 126.025049, 138.179548, -11.989734, -77.870120, -156.167133], [162.000000, -129.035384, 48.275608, 167.832972, -74.501513, -155.424941], [162.000000, 9.000000, 152.000000, 44.000000, -163.000000, 64.000000]] - id: 516 parameters: Irb2400_10 - joints: [-56.000000, 39.000000, -145.000000, -41.000000, 147.000000, -65.000000] - pose: {translation: [0.1196678106181194, -0.2317284710210834, 1.792534408243877], quaternion: [0.2784194752486099, 0.8768830939178237, -0.363563466414547, 0.1462198389139875]} - solutions: [[-56.000000, -29.218866, -14.724392, -20.945204, 91.712077, -29.561461], [-56.000000, 39.000000, -145.000000, -41.000000, 147.000000, -65.000000], [124.000000, -45.404319, -19.634623, 127.622485, 153.183973, -78.092337], [124.000000, 17.621001, -140.089769, 158.353893, 104.380296, -34.535304], [-56.000000, -29.218866, -14.724392, 159.054796, -91.712077, 150.438539], [-56.000000, 39.000000, -145.000000, 139.000000, -147.000000, 115.000000], [124.000000, -45.404319, -19.634623, -52.377515, -153.183973, 101.907663], [124.000000, 17.621001, -140.089769, -21.646107, -104.380296, 145.464696]] + joints: [-56.000000, 38.000000, -145.000000, -41.000000, 146.000000, -65.000000] + pose: {translation: [0.1078549572234146, -0.2156665673042389, 1.796186498052494], quaternion: [0.2789615398394963, 0.8699955102457902, -0.3764587818045422, 0.1535156573277926]} + solutions: [[-56.000000, -30.218866, -14.724392, -21.525085, 90.897266, -29.574664], [-56.000000, 38.000000, -145.000000, -41.000000, 146.000000, -65.000000], [124.000000, -44.718543, -19.108755, 127.790770, 152.339267, -78.019349], [124.000000, 18.862295, -140.615637, 157.857998, 103.254229, -34.550692], [-56.000000, -30.218866, -14.724392, 158.474915, -90.897266, 150.425336], [-56.000000, 38.000000, -145.000000, 139.000000, -146.000000, 115.000000], [124.000000, -44.718543, -19.108755, -52.209230, -152.339267, 101.980651], [124.000000, 18.862295, -140.615637, -22.142002, -103.254229, 145.449308]] - id: 517 parameters: Irb2400_10 - joints: [-67.000000, -65.000000, 126.000000, -27.000000, 138.000000, -155.000000] - pose: {translation: [-0.074481256458242, 0.1093825016314532, 0.3487359824501581], quaternion: [-0.4112542906227823, 0.3878234616237174, 0.8221638453277114, 0.06715268047144646]} - solutions: [[113.000000, 98.510323, 77.083004, 46.121769, 155.074565, 89.061329], [113.000000, -81.216177, 123.192603, 160.504166, 65.537283, -125.920225], [-67.000000, 120.079969, 74.275608, -66.666177, 19.319599, -68.826326], [-67.000000, -65.000000, 126.000000, -27.000000, 138.000000, -155.000000], [113.000000, 98.510323, 77.083004, -133.878231, -155.074565, -90.938671], [113.000000, -81.216177, 123.192603, -19.495834, -65.537283, 54.079775], [-67.000000, 120.079969, 74.275608, 113.333823, -19.319599, 111.173674], [-67.000000, -65.000000, 126.000000, 153.000000, -138.000000, 25.000000]] + joints: [-67.000000, -64.000000, 126.000000, -27.000000, 137.000000, -155.000000] + pose: {translation: [-0.07689273593316398, 0.1137927525958487, 0.3514444593404265], quaternion: [-0.4141632784814495, 0.3850142847025522, 0.8219859023958659, 0.06761623765733707]} + solutions: [[113.000000, 97.321767, 77.363796, 48.139712, 155.435061, 90.865733], [113.000000, -81.836700, 122.911812, 159.982402, 64.757014, -125.731196], [-67.000000, 121.079969, 74.275608, -69.689626, 19.277718, -65.972696], [-67.000000, -64.000000, 126.000000, -27.000000, 137.000000, -155.000000], [113.000000, 97.321767, 77.363796, -131.860288, -155.435061, -89.134267], [113.000000, -81.836700, 122.911812, -20.017598, -64.757014, 54.268804], [-67.000000, 121.079969, 74.275608, 110.310374, -19.277718, 114.027304], [-67.000000, -64.000000, 126.000000, 153.000000, -137.000000, 25.000000]] - id: 518 parameters: Irb2400_10 joints: [84.000000, 116.000000, -80.000000, 70.000000, 115.000000, 94.000000] @@ -2596,24 +2596,24 @@ cases: solutions: [[84.000000, 115.856394, -79.724392, 69.942229, 114.954790, 93.863186], [84.000000, 116.000000, -80.000000, 70.000000, 115.000000, 94.000000], [84.000000, 115.856394, -79.724392, -110.057771, -114.954790, -86.136814], [84.000000, 116.000000, -80.000000, -110.000000, -115.000000, -86.000000]] - id: 519 parameters: Irb2400_10 - joints: [95.000000, -168.000000, 170.000000, -46.000000, 36.000000, -141.000000] - pose: {translation: [-0.03219507264650405, 0.7803505683412856, -0.003110534386783499], quaternion: [0.6443831150084797, 0.5503800061148921, 0.4752385791810568, -0.2366443382354846]} - solutions: [[95.000000, 74.962565, 30.275608, -154.362849, 77.748967, -6.769721], [95.000000, -168.000000, 170.000000, -46.000000, 36.000000, -141.000000], [-85.000000, -175.490439, 14.765229, 147.900007, 52.718496, -160.149464], [-85.000000, -75.635707, -174.489621, 35.233359, 47.130279, -26.620016], [95.000000, 74.962565, 30.275608, 25.637151, -77.748967, 173.230279], [95.000000, -168.000000, 170.000000, 134.000000, -36.000000, 39.000000], [-85.000000, -175.490439, 14.765229, -32.099993, -52.718496, 19.850536], [-85.000000, -75.635707, -174.489621, -144.766641, -47.130279, 153.379984]] + joints: [95.000000, -167.000000, 170.000000, -46.000000, 35.000000, -141.000000] + pose: {translation: [-0.03219013272691157, 0.7703259471968497, -0.0140945575318502], quaternion: [0.6415695454073945, 0.5556715609257468, 0.4722432893556915, -0.2379157633336011]} + solutions: [[95.000000, 75.962565, 30.275608, -155.094190, 78.447463, -6.618888], [95.000000, -167.000000, 170.000000, -46.000000, 35.000000, -141.000000], [-85.000000, -176.447050, 14.982848, 148.424937, 51.996798, -160.579094], [-85.000000, -76.354767, -174.707240, 34.031346, 47.497237, -25.831502], [95.000000, 75.962565, 30.275608, 24.905810, -78.447463, 173.381112], [95.000000, -167.000000, 170.000000, 134.000000, -35.000000, 39.000000], [-85.000000, -176.447050, 14.982848, -31.575063, -51.996798, 19.420906], [-85.000000, -76.354767, -174.707240, -145.968654, -47.497237, 154.168498]] - id: 520 parameters: Irb2400_10 - joints: [103.000000, 93.000000, -148.000000, -156.000000, 140.000000, 138.000000] - pose: {translation: [-0.2141548513883643, 1.026396277330863, 1.249286791689042], quaternion: [0.8025609945394477, -0.03525253538798123, 0.3100321462611746, 0.5084615787621141]} - solutions: [[103.000000, 21.600361, -11.724392, -30.477208, 148.970970, -87.594397], [103.000000, 93.000000, -148.000000, -156.000000, 140.000000, 138.000000], [-77.000000, -81.531112, -41.958446, 23.295379, 138.616352, 137.070776], [-77.000000, -41.970748, -117.765946, 80.007403, 164.604973, -161.189293], [103.000000, 21.600361, -11.724392, 149.522792, -148.970970, 92.405603], [103.000000, 93.000000, -148.000000, 24.000000, -140.000000, -42.000000], [-77.000000, -81.531112, -41.958446, -156.704621, -138.616352, -42.929224], [-77.000000, -41.970748, -117.765946, -99.992597, -164.604973, 18.810707]] + joints: [103.000000, 92.000000, -148.000000, -156.000000, 139.000000, 138.000000] + pose: {translation: [-0.2111141306808319, 1.015265146718966, 1.267114698487161], quaternion: [0.8025038870940208, -0.03543365706507366, 0.3131544529572693, 0.5066223995630427]} + solutions: [[103.000000, 20.600361, -11.724392, -31.891709, 149.663128, -88.810912], [103.000000, 92.000000, -148.000000, -156.000000, 139.000000, 138.000000], [-77.000000, -80.866805, -41.558099, 23.291436, 137.557102, 137.050762], [-77.000000, -40.887232, -118.166293, 77.907841, 164.163192, -163.127693], [103.000000, 20.600361, -11.724392, 148.108291, -149.663128, 91.189088], [103.000000, 92.000000, -148.000000, 24.000000, -139.000000, -42.000000], [-77.000000, -80.866805, -41.558099, -156.708564, -137.557102, -42.949238], [-77.000000, -40.887232, -118.166293, -102.092159, -164.163192, 16.872307]] - id: 521 parameters: Irb2400_10 - joints: [-147.000000, 153.000000, -178.000000, -165.000000, -78.000000, -111.000000] - pose: {translation: [-0.9084938256540208, -0.6156411046657494, 0.3629523032051167], quaternion: [0.8987594622658757, -0.2764882620010785, -0.09719210088736216, 0.3260971718495546]} - solutions: [[-147.000000, 49.302937, 18.275608, 134.663571, 20.851250, -64.414565], [-147.000000, 153.000000, -178.000000, 15.000000, 78.000000, 69.000000], [33.000000, -139.005881, -4.091891, -165.334673, 89.508373, 72.059982], [33.000000, -59.483037, -155.632501, -138.927910, 22.664068, 33.382363], [-147.000000, 49.302937, 18.275608, -45.336429, -20.851250, 115.585435], [-147.000000, 153.000000, -178.000000, -165.000000, -78.000000, -111.000000], [33.000000, -139.005881, -4.091891, 14.665327, -89.508373, -107.940018], [33.000000, -59.483037, -155.632501, 41.072090, -22.664068, -146.617637]] + joints: [-147.000000, 152.000000, -178.000000, -165.000000, -77.000000, -111.000000] + pose: {translation: [-0.9130786100448248, -0.6185194078847046, 0.3813084144935203], quaternion: [0.8934016355342402, -0.2747473985669669, -0.1074884270322651, 0.3388120757286527]} + solutions: [[-147.000000, 48.302937, 18.275608, 136.641449, 21.550221, -66.258637], [-147.000000, 152.000000, -178.000000, 15.000000, 77.000000, 69.000000], [33.000000, -138.139512, -4.159998, -165.386659, 88.314587, 72.009991], [33.000000, -58.689371, -155.564395, -137.129090, 21.757000, 31.682012], [-147.000000, 48.302937, 18.275608, -43.358551, -21.550221, 113.741363], [-147.000000, 152.000000, -178.000000, -165.000000, -77.000000, -111.000000], [33.000000, -138.139512, -4.159998, 14.613341, -88.314587, -107.990009], [33.000000, -58.689371, -155.564395, 42.870910, -21.757000, -148.317988]] - id: 522 parameters: Irb2400_10 - joints: [-103.000000, 29.000000, -11.000000, 44.000000, 123.000000, -85.000000] - pose: {translation: [-0.2085714258387723, -1.123559364951437, 1.09222764942016], quaternion: [0.08262015630909603, 0.8342083521696135, 0.3722829186568495, 0.3983412650206556]} - solutions: [[-103.000000, 29.000000, -11.000000, 44.000000, 123.000000, -85.000000], [-103.000000, 101.168633, -148.724392, 112.906591, 140.767754, 5.871058], [77.000000, -87.523852, -43.476583, -65.490891, 140.187155, 7.948423], [77.000000, -49.552746, -116.247810, -110.711984, 141.475892, -48.536665], [-103.000000, 29.000000, -11.000000, -136.000000, -123.000000, 95.000000], [-103.000000, 101.168633, -148.724392, -67.093409, -140.767754, -174.128942], [77.000000, -87.523852, -43.476583, 114.509109, -140.187155, -172.051577], [77.000000, -49.552746, -116.247810, 69.288016, -141.475892, 131.463335]] + joints: [-103.000000, 28.000000, -11.000000, 44.000000, 122.000000, -85.000000] + pose: {translation: [-0.2063541025722282, -1.116416530035859, 1.109420670707238], quaternion: [0.08368999528672692, 0.8409630496350888, 0.3576525854557415, 0.3973182124622307]} + solutions: [[-103.000000, 28.000000, -11.000000, 44.000000, 122.000000, -85.000000], [-103.000000, 100.168633, -148.724392, 111.325387, 140.772268, 4.646204], [77.000000, -86.826054, -43.152798, -67.028217, 140.219719, 6.779877], [77.000000, -48.516048, -116.571595, -111.974299, 140.561193, -49.686176], [-103.000000, 28.000000, -11.000000, -136.000000, -122.000000, 95.000000], [-103.000000, 100.168633, -148.724392, -68.674613, -140.772268, -175.353796], [77.000000, -86.826054, -43.152798, 112.971783, -140.219719, -173.220123], [77.000000, -48.516048, -116.571595, 68.025701, -140.561193, 130.313824]] - id: 523 parameters: Irb2400_10 joints: [-11.000000, -106.000000, 107.000000, 156.000000, -118.000000, 165.000000] @@ -2621,9 +2621,9 @@ cases: solutions: [[-11.000000, 10.706361, 93.275608, -52.429447, 26.942643, 46.013584], [-11.000000, -106.000000, 107.000000, -24.000000, 118.000000, -15.000000], [169.000000, 164.357012, 78.021874, 80.784044, 158.664804, -103.074982], [169.000000, -13.443254, 122.253734, 153.332558, 53.146728, 13.569720], [-11.000000, 10.706361, 93.275608, 127.570553, -26.942643, -133.986416], [-11.000000, -106.000000, 107.000000, 156.000000, -118.000000, 165.000000], [169.000000, 164.357012, 78.021874, -99.215956, -158.664804, 76.925018], [169.000000, -13.443254, 122.253734, -26.667442, -53.146728, -166.430280]] - id: 524 parameters: Irb2400_10 - joints: [-19.000000, 8.000000, -133.000000, 120.000000, -160.000000, -126.000000] - pose: {translation: [-0.2803149925655942, 0.06989264433292836, 1.797074541367583], quaternion: [0.8554172256782888, 0.3226348740149385, 0.1824905691467666, 0.3617530929442254]} - solutions: [[161.000000, -21.152199, -18.032393, 72.821574, 161.939045, 4.420806], [161.000000, 43.566190, -141.691999, 158.889300, 124.676055, 100.044670], [-19.000000, -47.550178, -26.724392, -19.516091, 117.547124, 103.124259], [-19.000000, 8.000000, -133.000000, -60.000000, 160.000000, 54.000000], [161.000000, -21.152199, -18.032393, -107.178426, -161.939045, -175.579194], [161.000000, 43.566190, -141.691999, -21.110700, -124.676055, -79.955330], [-19.000000, -47.550178, -26.724392, 160.483909, -117.547124, -76.875741], [-19.000000, 8.000000, -133.000000, 120.000000, -160.000000, -126.000000]] + joints: [-19.000000, 8.000000, -133.000000, 120.000000, -159.000000, -126.000000] + pose: {translation: [-0.2804504143932683, 0.06866653591855319, 1.79789863121398], quaternion: [0.8537667618808678, 0.3194786704828469, 0.1803736791483092, 0.3694333922163415]} + solutions: [[161.000000, -21.152199, -18.032393, 75.193680, 161.275682, 6.671807], [161.000000, 43.566190, -141.691999, 158.021193, 123.978873, 99.555110], [-19.000000, -47.550178, -26.724392, -20.363877, 116.890136, 102.736481], [-19.000000, 8.000000, -133.000000, -60.000000, 159.000000, 54.000000], [161.000000, -21.152199, -18.032393, -104.806320, -161.275682, -173.328193], [161.000000, 43.566190, -141.691999, -21.978807, -123.978873, -80.444890], [-19.000000, -47.550178, -26.724392, 159.636123, -116.890136, -77.263519], [-19.000000, 8.000000, -133.000000, 120.000000, -159.000000, -126.000000]] - id: 525 parameters: Irb2400_10 joints: [85.000000, -52.000000, -53.000000, 127.000000, -120.000000, 34.000000] @@ -2631,14 +2631,14 @@ cases: solutions: [[-95.000000, 3.470735, -26.953616, 84.461004, 135.982087, 149.884976], [-95.000000, 58.779643, -132.770776, 126.527669, 120.603840, -146.936102], [85.000000, -52.000000, -53.000000, -53.000000, 120.000000, -146.000000], [85.000000, -23.985681, -106.724392, -69.930878, 132.578559, -174.067571], [-95.000000, 3.470735, -26.953616, -95.538996, -135.982087, -30.115024], [-95.000000, 58.779643, -132.770776, -53.472331, -120.603840, 33.063898], [85.000000, -52.000000, -53.000000, 127.000000, -120.000000, 34.000000], [85.000000, -23.985681, -106.724392, 110.069122, -132.578559, 5.932429]] - id: 526 parameters: Irb2400_10 - joints: [-6.000000, 32.000000, -139.000000, 67.000000, -144.000000, -132.000000] - pose: {translation: [0.119694996256628, -0.05882380707900219, 1.823944574189046], quaternion: [0.9570553562504365, 0.06672603681146379, -0.04023309836133237, 0.2792382117118513]} - solutions: [[-6.000000, -29.874604, -20.724392, -44.699560, 129.716344, 133.379063], [-6.000000, 32.000000, -139.000000, -113.000000, 144.000000, 48.000000], [174.000000, -39.210945, -23.831455, 55.916239, 139.210629, 33.897807], [174.000000, 19.386340, -135.892937, 125.811027, 138.149384, 119.771982], [-6.000000, -29.874604, -20.724392, 135.300440, -129.716344, -46.620937], [-6.000000, 32.000000, -139.000000, 67.000000, -144.000000, -132.000000], [174.000000, -39.210945, -23.831455, -124.083761, -139.210629, -146.102193], [174.000000, 19.386340, -135.892937, -54.188973, -138.149384, -60.228018]] + joints: [-6.000000, 32.000000, -139.000000, 67.000000, -143.000000, -132.000000] + pose: {translation: [0.118880511523265, -0.05984197802280238, 1.824652209362328], quaternion: [0.9549731036711642, 0.06535388540891857, -0.04538727271111018, 0.2858237855785786]} + solutions: [[-6.000000, -29.874604, -20.724392, -45.993756, 129.628592, 132.552829], [-6.000000, 32.000000, -139.000000, -113.000000, 143.000000, 48.000000], [174.000000, -39.210945, -23.831455, 56.282062, 138.240180, 34.172754], [174.000000, 19.386340, -135.892937, 124.396186, 137.827863, 118.720711], [-6.000000, -29.874604, -20.724392, 134.006244, -129.628592, -47.447171], [-6.000000, 32.000000, -139.000000, 67.000000, -143.000000, -132.000000], [174.000000, -39.210945, -23.831455, -123.717938, -138.240180, -145.827246], [174.000000, 19.386340, -135.892937, -55.603814, -137.827863, -61.279289]] - id: 527 parameters: Irb2400_10 - joints: [88.000000, -162.000000, 106.000000, -48.000000, -10.000000, 142.000000] - pose: {translation: [-0.0028992030759369, 0.2312770126005613, 0.7208400190660071], quaternion: [-0.04952980945762469, 0.2384077309406099, 0.9692382449576616, -0.03585772321596842]} - solutions: [[88.000000, -54.998228, 94.275608, 172.421631, 101.904492, -87.135563], [88.000000, -162.000000, 106.000000, 132.000000, 10.000000, -38.000000], [-92.000000, -174.622296, 77.596084, -159.390000, 21.506206, 75.151993], [-92.000000, 6.694252, 122.679523, -8.067813, 113.148496, -88.752918], [88.000000, -54.998228, 94.275608, -7.578369, -101.904492, 92.864437], [88.000000, -162.000000, 106.000000, -48.000000, -10.000000, 142.000000], [-92.000000, -174.622296, 77.596084, 20.610000, -21.506206, -104.848007], [-92.000000, 6.694252, 122.679523, 171.932187, -113.148496, 91.247082]] + joints: [88.000000, -161.000000, 106.000000, -48.000000, -10.000000, 142.000000] + pose: {translation: [-0.002835434514073636, 0.233103105289565, 0.718537024015398], quaternion: [-0.04892001728612787, 0.2468406720842053, 0.9671372175638409, -0.0363609256842388]} + solutions: [[88.000000, -53.998228, 94.275608, 172.421631, 101.904492, -87.135563], [88.000000, -161.000000, 106.000000, 132.000000, 10.000000, -38.000000], [-92.000000, -174.916295, 77.567049, -159.976965, 22.141065, 75.784261], [-92.000000, 6.340620, 122.708559, -8.028037, 112.479744, -88.650336], [88.000000, -53.998228, 94.275608, -7.578369, -101.904492, 92.864437], [88.000000, -161.000000, 106.000000, -48.000000, -10.000000, 142.000000], [-92.000000, -174.916295, 77.567049, 20.023035, -22.141065, -104.215739], [-92.000000, 6.340620, 122.708559, 171.971963, -112.479744, 91.349664]] - id: 528 parameters: Irb2400_10 joints: [-115.000000, -98.000000, -8.000000, 151.000000, -7.000000, 88.000000] @@ -2646,9 +2646,9 @@ cases: solutions: [[65.000000, 6.272118, 12.138358, 176.574909, 98.524937, -121.326920], [65.000000, 103.265630, -171.862750, 163.508599, 12.013049, -104.669330], [-115.000000, -98.000000, -8.000000, -29.000000, 7.000000, -92.000000], [-115.000000, -22.642431, -151.724392, -3.514792, 74.524078, -119.879635], [65.000000, 6.272118, 12.138358, -3.425091, -98.524937, 58.673080], [65.000000, 103.265630, -171.862750, -16.491401, -12.013049, 75.330670], [-115.000000, -98.000000, -8.000000, 151.000000, -7.000000, 88.000000], [-115.000000, -22.642431, -151.724392, 176.485208, -74.524078, 60.120365]] - id: 529 parameters: Irb2400_10 - joints: [172.000000, 2.000000, 100.000000, -162.000000, 135.000000, 106.000000] - pose: {translation: [-0.1638695926922124, 0.04178607966194225, 0.5999069486307984], quaternion: [-0.4194503379549219, -0.2194177855070452, 0.5566820626231525, 0.6826582824124517]} - solutions: [[172.000000, 2.000000, 100.000000, -162.000000, 135.000000, 106.000000], [172.000000, -1.409932, 100.275608, -162.897361, 132.011428, 104.696978], [-8.000000, 153.477221, 84.530286, 150.752516, 26.565980, -60.335427], [-8.000000, -7.975371, 115.745322, 13.156058, 106.252977, 96.803557], [172.000000, 2.000000, 100.000000, 18.000000, -135.000000, -74.000000], [172.000000, -1.409932, 100.275608, 17.102639, -132.011428, -75.303022], [-8.000000, 153.477221, 84.530286, -29.247484, -26.565980, 119.664573], [-8.000000, -7.975371, 115.745322, -166.843942, -106.252977, -83.196443]] + joints: [172.000000, 2.000000, 100.000000, -162.000000, 134.000000, 106.000000] + pose: {translation: [-0.1645649113553175, 0.04220827602128236, 0.598666349105954], quaternion: [-0.4264998551685872, -0.2224371111399325, 0.5538113545074449, 0.6796415148793697]} + solutions: [[172.000000, 2.000000, 100.000000, -162.000000, 134.000000, 106.000000], [172.000000, -1.409932, 100.275608, -162.867226, 131.011683, 104.716952], [-8.000000, 153.477221, 84.530286, 151.263450, 27.538615, -60.790478], [-8.000000, -7.975371, 115.745322, 13.321716, 105.265768, 96.848551], [172.000000, 2.000000, 100.000000, 18.000000, -134.000000, -74.000000], [172.000000, -1.409932, 100.275608, 17.132774, -131.011683, -75.283048], [-8.000000, 153.477221, 84.530286, -28.736550, -27.538615, 119.209522], [-8.000000, -7.975371, 115.745322, -166.678284, -105.265768, -83.151449]] - id: 530 parameters: Irb2400_10 joints: [-116.000000, 114.000000, -151.000000, 26.000000, 30.000000, -67.000000] @@ -2661,14 +2661,14 @@ cases: solutions: [[-149.000000, 119.861877, -28.603031, 42.023968, 86.154451, 142.581726], [-149.000000, 173.435376, -131.121361, 51.182017, 120.988614, 178.657789], [31.000000, -151.037984, -58.724392, -121.707435, 128.268345, -168.887673], [31.000000, -129.000000, -101.000000, -132.000000, 116.000000, 172.000000], [-149.000000, 119.861877, -28.603031, -137.976032, -86.154451, -37.418274], [-149.000000, 173.435376, -131.121361, -128.817983, -120.988614, -1.342211], [31.000000, -151.037984, -58.724392, 58.292565, -128.268345, 11.112327], [31.000000, -129.000000, -101.000000, 48.000000, -116.000000, -8.000000]] - id: 532 parameters: Irb2400_10 - joints: [-70.000000, 26.000000, -2.000000, 111.000000, 145.000000, -31.000000] - pose: {translation: [0.4180305880375821, -1.015450371045644, 1.109173849323677], quaternion: [-0.06171433133140613, 0.4855012727866724, 0.7831433653162529, 0.3836226333155704]} - solutions: [[-70.000000, 26.000000, -2.000000, 111.000000, 145.000000, -31.000000], [-70.000000, 107.758022, -157.724392, 147.608581, 91.644365, 32.848732], [110.000000, -96.611231, -29.429845, -32.392969, 88.272657, 34.987282], [110.000000, -43.907205, -130.294547, -42.447531, 127.495279, 4.785125], [-70.000000, 26.000000, -2.000000, -69.000000, -145.000000, 149.000000], [-70.000000, 107.758022, -157.724392, -32.391419, -91.644365, -147.151268], [110.000000, -96.611231, -29.429845, 147.607031, -88.272657, -145.012718], [110.000000, -43.907205, -130.294547, 137.552469, -127.495279, -175.214875]] + joints: [-70.000000, 26.000000, -2.000000, 111.000000, 144.000000, -31.000000] + pose: {translation: [0.4194195010763002, -1.015969697696137, 1.109218853669181], quaternion: [-0.05412979888960368, 0.4861330867130878, 0.7813930905197793, 0.387516999579276]} + solutions: [[-70.000000, 26.000000, -2.000000, 111.000000, 144.000000, -31.000000], [-70.000000, 107.758022, -157.724392, 146.710758, 91.203438, 32.826421], [110.000000, -96.611231, -29.429845, -33.307050, 87.865954, 35.018079], [110.000000, -43.907205, -130.294547, -43.176657, 126.681812, 4.345412], [-70.000000, 26.000000, -2.000000, -69.000000, -144.000000, 149.000000], [-70.000000, 107.758022, -157.724392, -33.289242, -91.203438, -147.173579], [110.000000, -96.611231, -29.429845, 146.692950, -87.865954, -144.981921], [110.000000, -43.907205, -130.294547, 136.823343, -126.681812, -175.654588]] - id: 533 parameters: Irb2400_10 - joints: [55.000000, 103.000000, 179.000000, -94.000000, 78.000000, 9.000000] - pose: {translation: [0.5324545841180067, 0.615822449610243, 1.241471162676166], quaternion: [0.1782305745364551, 0.5995469731727301, -0.2646116034416339, 0.734001354619915]} - solutions: [[55.000000, -3.999816, 21.275608, -101.625984, 94.994524, 103.346418], [55.000000, 103.000000, 179.000000, -94.000000, 78.000000, 9.000000], [-125.000000, -100.397351, 3.988560, 87.204232, 77.668331, 3.290296], [-125.000000, -12.215888, -163.712952, 77.368368, 90.458894, 82.457463], [55.000000, -3.999816, 21.275608, 78.374016, -94.994524, -76.653582], [55.000000, 103.000000, 179.000000, 86.000000, -78.000000, -171.000000], [-125.000000, -100.397351, 3.988560, -92.795768, -77.668331, -176.709704], [-125.000000, -12.215888, -163.712952, -102.631632, -90.458894, -97.542537]] + joints: [55.000000, 102.000000, 179.000000, -94.000000, 78.000000, 9.000000] + pose: {translation: [0.5261214147724349, 0.6067777464330043, 1.253764436900076], quaternion: [0.1847951632953827, 0.597741760334242, -0.259423646848859, 0.7357002834244343]} + solutions: [[55.000000, -4.999816, 21.275608, -101.625984, 94.994524, 103.346418], [55.000000, 102.000000, 179.000000, -94.000000, 78.000000, 9.000000], [-125.000000, -99.671471, 4.216991, 87.194256, 77.670564, 3.337007], [-125.000000, -11.244196, -163.941383, 77.370497, 90.515033, 82.707998], [55.000000, -4.999816, 21.275608, 78.374016, -94.994524, -76.653582], [55.000000, 102.000000, 179.000000, 86.000000, -78.000000, -171.000000], [-125.000000, -99.671471, 4.216991, -92.805744, -77.670564, -176.662993], [-125.000000, -11.244196, -163.941383, -102.629503, -90.515033, -97.292002]] - id: 534 parameters: Irb2400_10 joints: [-104.000000, 6.000000, -14.000000, -137.000000, -33.000000, 156.000000] @@ -2681,29 +2681,29 @@ cases: solutions: [[138.000000, 1.000000, -79.000000, -130.000000, 45.000000, 169.000000], [138.000000, 1.898498, -80.724392, -129.358474, 44.472662, 168.096911], [138.000000, 1.000000, -79.000000, 50.000000, -45.000000, -11.000000], [138.000000, 1.898498, -80.724392, 50.641526, -44.472662, -11.903089]] - id: 536 parameters: Irb2400_10 - joints: [-86.000000, -88.000000, 67.000000, -72.000000, -28.000000, 117.000000] - pose: {translation: [0.04605938382354757, -0.1146158339881118, 1.074613320557093], quaternion: [0.3654026898757354, 0.3749018124111824, -0.1728042526879406, 0.8343070151541039]} - solutions: [[-86.000000, -88.000000, 67.000000, 108.000000, 28.000000, -63.000000], [-86.000000, 74.971344, 133.275608, 30.316949, 117.806680, 62.461246], [94.000000, -99.865161, 65.038865, -151.194517, 112.081748, 58.882756], [94.000000, 60.202609, 135.236742, -62.751063, 30.147545, -73.573439], [-86.000000, -88.000000, 67.000000, -72.000000, -28.000000, 117.000000], [-86.000000, 74.971344, 133.275608, -149.683051, -117.806680, -117.538754], [94.000000, -99.865161, 65.038865, 28.805483, -112.081748, -121.117244], [94.000000, 60.202609, 135.236742, 117.248937, -30.147545, 106.426561]] + joints: [-86.000000, -88.000000, 67.000000, -72.000000, -27.000000, 117.000000] + pose: {translation: [0.04486572151851811, -0.1154864556478911, 1.074479181758748], quaternion: [0.3711912375748652, 0.3702385874273836, -0.1771603237068779, 0.8329193677850755]} + solutions: [[-86.000000, -88.000000, 67.000000, 108.000000, 27.000000, -63.000000], [-86.000000, 74.971344, 133.275608, 29.391150, 118.383743, 62.025239], [94.000000, -99.865161, 65.038865, -152.114318, 112.607349, 58.533060], [94.000000, 60.202609, 135.236742, -62.374544, 29.165047, -73.900650], [-86.000000, -88.000000, 67.000000, -72.000000, -27.000000, 117.000000], [-86.000000, 74.971344, 133.275608, -150.608850, -118.383743, -117.974761], [94.000000, -99.865161, 65.038865, 27.885682, -112.607349, -121.466940], [94.000000, 60.202609, 135.236742, 117.625456, -29.165047, 106.099350]] - id: 537 parameters: Irb2400_10 - joints: [-103.000000, 13.000000, -122.000000, -90.000000, -93.000000, -6.000000] - pose: {translation: [0.1082196872643971, 0.09140883245329182, 1.967639526801405], quaternion: [0.7210276859889705, 0.06972363614384135, 0.6498435923272426, 0.230132562040873]} - solutions: [[77.000000, -23.212354, -34.212997, -89.295255, 92.916121, -172.407413], [77.000000, 24.467167, -125.511396, -91.503034, 92.596620, 143.921705], [-103.000000, -30.996311, -37.724392, 88.059426, 92.288269, 133.681943], [-103.000000, 13.000000, -122.000000, 90.000000, 93.000000, 174.000000], [77.000000, -23.212354, -34.212997, 90.704745, -92.916121, 7.592587], [77.000000, 24.467167, -125.511396, 88.496966, -92.596620, -36.078295], [-103.000000, -30.996311, -37.724392, -91.940574, -92.288269, -46.318057], [-103.000000, 13.000000, -122.000000, -90.000000, -93.000000, -6.000000]] + joints: [-103.000000, 13.000000, -122.000000, -90.000000, -92.000000, -6.000000] + pose: {translation: [0.1083912829379427, 0.09186443309657005, 1.9690408789944], quaternion: [0.7151504936498897, 0.07112547109130445, 0.6561400532364892, 0.2301763874361929]} + solutions: [[77.000000, -23.212354, -34.212997, -89.530396, 91.944108, -172.417383], [77.000000, 24.467167, -125.511396, -91.001642, 91.731190, 143.940638], [-103.000000, -30.996311, -37.724392, 88.706666, 91.525674, 133.703482], [-103.000000, 13.000000, -122.000000, 90.000000, 92.000000, 174.000000], [77.000000, -23.212354, -34.212997, 90.469604, -91.944108, 7.582617], [77.000000, 24.467167, -125.511396, 88.998358, -91.731190, -36.059362], [-103.000000, -30.996311, -37.724392, -91.293334, -91.525674, -46.296518], [-103.000000, 13.000000, -122.000000, -90.000000, -92.000000, -6.000000]] - id: 538 parameters: Irb2400_10 - joints: [103.000000, -81.000000, -118.000000, 1.000000, -75.000000, -161.000000] - pose: {translation: [0.2849042168665816, -1.22768588034481, 0.2670562127718827], quaternion: [0.7443710568047106, 0.6668014733432477, 0.02421786784091018, -0.02647677880620439]} - solutions: [[-77.000000, 65.257746, -8.414710, 1.599024, 37.165525, 17.984471], [-77.000000, 140.174067, -151.309682, 1.000617, 105.131231, 19.520060], [103.000000, -120.805439, -41.724392, -178.962083, 111.464785, 19.638684], [103.000000, -81.000000, -118.000000, -179.000000, 75.000000, 19.000000], [-77.000000, 65.257746, -8.414710, -178.400976, -37.165525, -162.015529], [-77.000000, 140.174067, -151.309682, -178.999383, -105.131231, -160.479940], [103.000000, -120.805439, -41.724392, 1.037917, -111.464785, -160.361316], [103.000000, -81.000000, -118.000000, 1.000000, -75.000000, -161.000000]] + joints: [103.000000, -80.000000, -118.000000, 1.000000, -75.000000, -161.000000] + pose: {translation: [0.2862236165739602, -1.233400828345858, 0.2908498871105703], quaternion: [0.7445203014505659, 0.6670339801532186, 0.02000844880973831, -0.01883751642712407]} + solutions: [[-77.000000, 64.042025, -8.316721, 1.594706, 37.283211, 17.989894], [-77.000000, 139.062594, -151.407671, 1.001614, 105.340661, 19.523853], [103.000000, -119.805439, -41.724392, -178.962083, 111.464785, 19.638684], [103.000000, -80.000000, -118.000000, -179.000000, 75.000000, 19.000000], [-77.000000, 64.042025, -8.316721, -178.405294, -37.283211, -162.010106], [-77.000000, 139.062594, -151.407671, -178.998386, -105.340661, -160.476147], [103.000000, -119.805439, -41.724392, 1.037917, -111.464785, -160.361316], [103.000000, -80.000000, -118.000000, 1.000000, -75.000000, -161.000000]] - id: 539 parameters: Irb2400_10 - joints: [89.000000, 68.000000, -173.000000, 6.000000, -17.000000, 158.000000] - pose: {translation: [0.009280608450089824, 0.3828409547809147, 1.645550399821804], quaternion: [0.1551560094218707, 0.2273659975311571, -0.7716022081706357, 0.5734643391294189]} - solutions: [[89.000000, -30.230829, 13.275608, -178.187327, 104.949831, -15.792615], [89.000000, 68.000000, -173.000000, -174.000000, 17.000000, -22.000000], [-91.000000, -73.046157, 4.196044, 9.298921, 10.902215, -25.394325], [-91.000000, 15.358575, -163.920437, 1.751358, 90.473841, -16.245893], [89.000000, -30.230829, 13.275608, 1.812673, -104.949831, 164.207385], [89.000000, 68.000000, -173.000000, 6.000000, -17.000000, 158.000000], [-91.000000, -73.046157, 4.196044, -170.701079, -10.902215, 154.605675], [-91.000000, 15.358575, -163.920437, -178.248642, -90.473841, 163.754107]] + joints: [89.000000, 67.000000, -173.000000, 6.000000, -17.000000, 158.000000] + pose: {translation: [0.008965964629444271, 0.3648150223687755, 1.650331506428037], quaternion: [0.1602712105600136, 0.2340023905885153, -0.7695653825530353, 0.5721233627815667]} + solutions: [[89.000000, -31.230829, 13.275608, -178.187327, 104.949831, -15.792615], [89.000000, 67.000000, -173.000000, -174.000000, 17.000000, -22.000000], [-91.000000, -72.325507, 4.553395, 9.364825, 10.825247, -25.461431], [-91.000000, 16.463881, -164.277787, 1.751439, 90.725769, -16.238190], [89.000000, -31.230829, 13.275608, 1.812673, -104.949831, 164.207385], [89.000000, 67.000000, -173.000000, 6.000000, -17.000000, 158.000000], [-91.000000, -72.325507, 4.553395, -170.635175, -10.825247, 154.538569], [-91.000000, 16.463881, -164.277787, -178.248561, -90.725769, 163.761810]] - id: 540 parameters: Irb2400_10 - joints: [126.000000, 161.000000, -23.000000, 118.000000, -9.000000, 30.000000] - pose: {translation: [0.1316299502299736, -0.1611989658054536, -0.7086455133080665], quaternion: [0.1432575648315475, 0.8846664183225922, -0.2532032043533231, 0.3643222964848854]} - solutions: [[-54.000000, 146.557248, -19.493817, 172.060169, 89.322504, 148.389723], [-54.000000, -150.268702, -140.230576, 165.157699, 32.629790, 160.876151], [126.000000, 161.000000, -23.000000, -62.000000, 9.000000, -150.000000], [126.000000, -139.526192, -136.724392, -9.288897, 58.838995, 153.132756], [-54.000000, 146.557248, -19.493817, -7.939831, -89.322504, -31.610277], [-54.000000, -150.268702, -140.230576, -14.842301, -32.629790, -19.123849], [126.000000, 161.000000, -23.000000, 118.000000, -9.000000, 30.000000], [126.000000, -139.526192, -136.724392, 170.711103, -58.838995, -26.867244]] + joints: [126.000000, 160.000000, -23.000000, 118.000000, -9.000000, 30.000000] + pose: {translation: [0.1180240874786896, -0.1424721023021741, -0.7138154670135249], quaternion: [0.144525432151801, 0.8882890550415115, -0.2476827081373152, 0.3587592929034164]} + solutions: [[-54.000000, 147.848053, -20.037479, 172.059680, 89.072070, 148.424656], [-54.000000, -149.552091, -139.686913, 165.260976, 32.881439, 160.753346], [126.000000, 160.000000, -23.000000, -62.000000, 9.000000, -150.000000], [126.000000, -140.526192, -136.724392, -9.288897, 58.838995, 153.132756], [-54.000000, 147.848053, -20.037479, -7.940320, -89.072070, -31.575344], [-54.000000, -149.552091, -139.686913, -14.739024, -32.881439, -19.246654], [126.000000, 160.000000, -23.000000, 118.000000, -9.000000, 30.000000], [126.000000, -140.526192, -136.724392, 170.711103, -58.838995, -26.867244]] - id: 541 parameters: Irb2400_10 joints: [-26.000000, 16.000000, -104.000000, 87.000000, -116.000000, -98.000000] @@ -2711,19 +2711,19 @@ cases: solutions: [[-26.000000, -9.169353, -55.724392, -81.835843, 114.939712, 107.607364], [-26.000000, 16.000000, -104.000000, -93.000000, 116.000000, 82.000000], [154.000000, -17.034980, -68.755968, 84.010205, 115.512755, 75.126475], [154.000000, -5.459678, -90.968425, 89.166819, 116.148196, 86.927364], [-26.000000, -9.169353, -55.724392, 98.164157, -114.939712, -72.392636], [-26.000000, 16.000000, -104.000000, 87.000000, -116.000000, -98.000000], [154.000000, -17.034980, -68.755968, -95.989795, -115.512755, -104.873525], [154.000000, -5.459678, -90.968425, -90.833181, -116.148196, -93.072636]] - id: 542 parameters: Irb2400_10 - joints: [130.000000, 111.000000, -154.000000, -86.000000, -158.000000, 157.000000] - pose: {translation: [-0.7694026627189348, 0.8675223820341658, 0.9238678382443162], quaternion: [0.7881392732646472, 0.4306388653634621, -0.1277428666663655, 0.4207949780976514]} - solutions: [[130.000000, 33.218685, -5.724392, 23.359202, 109.525048, -109.099258], [130.000000, 111.000000, -154.000000, 94.000000, 158.000000, -23.000000], [-50.000000, -97.460631, -36.242913, -78.004099, 157.540095, -14.364474], [-50.000000, -51.910866, -123.481479, -146.062982, 137.981906, -90.751263], [130.000000, 33.218685, -5.724392, -156.640798, -109.525048, 70.900742], [130.000000, 111.000000, -154.000000, -86.000000, -158.000000, 157.000000], [-50.000000, -97.460631, -36.242913, 101.995901, -157.540095, 165.635526], [-50.000000, -51.910866, -123.481479, 33.937018, -137.981906, 89.248737]] + joints: [130.000000, 110.000000, -154.000000, -86.000000, -157.000000, 157.000000] + pose: {translation: [-0.7671012197666889, 0.8626525706976674, 0.9427681868178256], quaternion: [0.7905456610348961, 0.4300611427737153, -0.1371020574941013, 0.4138695411913633]} + solutions: [[130.000000, 32.218685, -5.724392, 24.417298, 109.453944, -108.746232], [130.000000, 110.000000, -154.000000, 94.000000, 157.000000, -23.000000], [-50.000000, -96.705568, -36.044500, -78.486510, 156.560304, -14.826479], [-50.000000, -50.947695, -123.679892, -144.838556, 137.402915, -89.935529], [130.000000, 32.218685, -5.724392, -155.582702, -109.453944, 71.253768], [130.000000, 110.000000, -154.000000, -86.000000, -157.000000, 157.000000], [-50.000000, -96.705568, -36.044500, 101.513490, -156.560304, 165.173521], [-50.000000, -50.947695, -123.679892, 35.161444, -137.402915, 90.064471]] - id: 543 parameters: Irb2400_10 - joints: [67.000000, 152.000000, 91.000000, -70.000000, 81.000000, 41.000000] - pose: {translation: [0.06772565839860102, -0.04235315382923238, 0.628826594693279], quaternion: [0.3684835186123371, 0.4667405315554851, 0.3923112996613938, 0.7017585174918526]} - solutions: [[-113.000000, 107.722291, 97.805669, 79.915743, 70.507762, 135.798593], [-113.000000, 53.787657, 102.469939, 68.769617, 84.684506, -175.670568], [67.000000, 152.000000, 91.000000, -70.000000, 81.000000, 41.000000], [67.000000, 18.428854, 109.275608, -90.179445, 111.855141, -72.740072], [-113.000000, 107.722291, 97.805669, -100.084257, -70.507762, -44.201407], [-113.000000, 53.787657, 102.469939, -111.230383, -84.684506, 4.329432], [67.000000, 152.000000, 91.000000, 110.000000, -81.000000, -139.000000], [67.000000, 18.428854, 109.275608, 89.820555, -111.855141, 107.259928]] + joints: [67.000000, 151.000000, 91.000000, -70.000000, 80.000000, 41.000000] + pose: {translation: [0.06712898520711609, -0.04316997352780175, 0.6281132617058552], quaternion: [0.3713616829734923, 0.4542738320629169, 0.3974721522788285, 0.7055080963991865]} + solutions: [[-113.000000, 106.963827, 97.697215, 78.221276, 70.965432, 138.088100], [-113.000000, 50.850380, 102.578393, 67.934761, 86.918363, -172.060184], [67.000000, 151.000000, 91.000000, -70.000000, 80.000000, 41.000000], [67.000000, 17.428854, 109.275608, -89.190389, 112.254771, -72.368676], [-113.000000, 106.963827, 97.697215, -101.778724, -70.965432, -41.911900], [-113.000000, 50.850380, 102.578393, -112.065239, -86.918363, 7.939816], [67.000000, 151.000000, 91.000000, 110.000000, -80.000000, -139.000000], [67.000000, 17.428854, 109.275608, 90.809611, -112.254771, 107.631324]] - id: 544 parameters: Irb2400_10 - joints: [-77.000000, -39.000000, -29.000000, 17.000000, 133.000000, 113.000000] - pose: {translation: [-0.01662001208354583, 0.1527858950167048, 1.837464991747084], quaternion: [0.9725146998604474, 0.03719490347452631, 0.1457714767010116, 0.1777143052521976]} - solutions: [[103.000000, -25.376233, -24.083126, -37.107067, 159.241764, -114.052695], [103.000000, 32.955807, -135.641266, -159.756004, 141.832392, 117.391818], [-77.000000, -39.000000, -29.000000, 17.000000, 133.000000, 113.000000], [-77.000000, 14.156012, -130.724392, 102.783743, 167.334300, -155.686144], [103.000000, -25.376233, -24.083126, 142.892933, -159.241764, 65.947305], [103.000000, 32.955807, -135.641266, 20.243996, -141.832392, -62.608182], [-77.000000, -39.000000, -29.000000, -163.000000, -133.000000, -67.000000], [-77.000000, 14.156012, -130.724392, -77.216257, -167.334300, 24.313856]] + joints: [-77.000000, -39.000000, -29.000000, 17.000000, 132.000000, 113.000000] + pose: {translation: [-0.01604241978095183, 0.1515866989670236, 1.838120064992271], quaternion: [0.9705530815200912, 0.03662848905535941, 0.1493807177067916, 0.1853927477513088]} + solutions: [[103.000000, -25.376233, -24.083126, -39.238459, 159.910339, -116.050162], [103.000000, 32.955807, -135.641266, -159.877250, 140.835265, 117.297146], [-77.000000, -39.000000, -29.000000, 17.000000, 132.000000, 113.000000], [-77.000000, 14.156012, -130.724392, 98.225236, 167.318407, -160.133699], [103.000000, -25.376233, -24.083126, 140.761541, -159.910339, 63.949838], [103.000000, 32.955807, -135.641266, 20.122750, -140.835265, -62.702854], [-77.000000, -39.000000, -29.000000, -163.000000, -132.000000, -67.000000], [-77.000000, 14.156012, -130.724392, -81.774764, -167.318407, 19.866301]] - id: 545 parameters: Irb2400_10 joints: [-107.000000, -21.000000, -171.000000, 96.000000, -11.000000, -45.000000] @@ -2741,9 +2741,9 @@ cases: solutions: [[97.000000, 123.001772, 94.275608, -115.430063, 150.190080, 34.114068], [97.000000, 16.000000, 106.000000, -152.000000, 73.000000, -36.000000], [-83.000000, 133.433190, 92.681632, 153.140060, 96.442478, 149.583865], [-83.000000, 11.714440, 107.593976, 71.651225, 28.229637, -96.535523], [97.000000, 123.001772, 94.275608, 64.569937, -150.190080, -145.885932], [97.000000, 16.000000, 106.000000, 28.000000, -73.000000, 144.000000], [-83.000000, 133.433190, 92.681632, -26.859940, -96.442478, -30.416135], [-83.000000, 11.714440, 107.593976, -108.348775, -28.229637, 83.464477]] - id: 548 parameters: Irb2400_10 - joints: [85.000000, 43.000000, 6.000000, 179.000000, -103.000000, -89.000000] - pose: {translation: [0.09757081578697632, 1.098655035841732, 0.6094697882502296], quaternion: [0.04216601007659774, 0.8561011207720892, -0.514994374381327, -0.009679512517612227]} - solutions: [[85.000000, 43.000000, 6.000000, -1.000000, 103.000000, 91.000000], [85.000000, 133.348128, -165.724392, -167.440242, 175.514916, -76.252516], [-95.000000, -119.576143, -20.384940, 4.660933, 167.920390, -84.216858], [-95.000000, -57.343173, -139.339453, 178.614429, 135.310910, 90.239829], [85.000000, 43.000000, 6.000000, 179.000000, -103.000000, -89.000000], [85.000000, 133.348128, -165.724392, 12.559758, -175.514916, 103.747484], [-95.000000, -119.576143, -20.384940, -175.339067, -167.920390, 95.783142], [-95.000000, -57.343173, -139.339453, -1.385571, -135.310910, -89.760171]] + joints: [85.000000, 43.000000, 6.000000, 179.000000, -102.000000, -89.000000] + pose: {translation: [0.09763809644300239, 1.099359760831743, 0.6081660854497707], quaternion: [0.04232729341979317, 0.8605604810979067, -0.5074986841484707, -0.009441620192775918]} + solutions: [[85.000000, 43.000000, 6.000000, -1.000000, 102.000000, 91.000000], [85.000000, 133.348128, -165.724392, -163.840734, 176.483352, -72.661646], [-95.000000, -119.576143, -20.384940, 5.094673, 168.916599, -83.791933], [-95.000000, -57.343173, -139.339453, 178.632969, 134.310997, 90.252896], [85.000000, 43.000000, 6.000000, 179.000000, -102.000000, -89.000000], [85.000000, 133.348128, -165.724392, 16.159266, -176.483352, 107.338354], [-95.000000, -119.576143, -20.384940, -174.905327, -168.916599, 96.208067], [-95.000000, -57.343173, -139.339453, -1.367031, -134.310997, -89.747104]] - id: 549 parameters: Irb2400_10 joints: [-24.000000, 2.000000, 8.000000, -30.000000, -3.000000, -101.000000] @@ -2751,39 +2751,39 @@ cases: solutions: [[-24.000000, 2.000000, 8.000000, 150.000000, 3.000000, 79.000000], [-24.000000, 94.507561, -167.724392, 1.519806, 80.621403, -131.213708], [156.000000, -90.406479, -11.397759, -178.496078, 85.598603, -131.081430], [156.000000, -18.660143, -148.326633, -175.708203, 20.467206, -134.987772], [-24.000000, 2.000000, 8.000000, -30.000000, -3.000000, -101.000000], [-24.000000, 94.507561, -167.724392, -178.480194, -80.621403, 48.786292], [156.000000, -90.406479, -11.397759, 1.503922, -85.598603, 48.918570], [156.000000, -18.660143, -148.326633, 4.291797, -20.467206, 45.012228]] - id: 550 parameters: Irb2400_10 - joints: [-39.000000, -171.000000, -49.000000, 94.000000, -58.000000, -116.000000] - pose: {translation: [-0.4646097736883089, 0.2837046326436722, -0.6951421702779172], quaternion: [0.08709301992249201, -0.8000432415654672, 0.1745085772503382, 0.5673555974627047]} - solutions: [[141.000000, 137.707682, -32.143488, 120.930587, 80.482105, -3.055729], [141.000000, -172.439959, -127.580904, 105.628636, 61.457233, 41.169685], [-39.000000, -171.000000, -49.000000, -86.000000, 58.000000, 64.000000], [-39.000000, -138.806116, -110.724392, -69.716450, 64.410428, 30.964372], [141.000000, 137.707682, -32.143488, -59.069413, -80.482105, 176.944271], [141.000000, -172.439959, -127.580904, -74.371364, -61.457233, -138.830315], [-39.000000, -171.000000, -49.000000, 94.000000, -58.000000, -116.000000], [-39.000000, -138.806116, -110.724392, 110.283550, -64.410428, -149.035628]] + joints: [-39.000000, -170.000000, -49.000000, 94.000000, -58.000000, -116.000000] + pose: {translation: [-0.4823036136559077, 0.2980328217353413, -0.6837798830388847], quaternion: [0.09138898047155851, -0.7971234547095775, 0.1695176189090119, 0.5722814247200904]} + solutions: [[141.000000, 136.327652, -31.506909, 120.967216, 80.614041, -3.278780], [141.000000, -173.151297, -128.217483, 105.445958, 61.364038, 41.551434], [-39.000000, -170.000000, -49.000000, -86.000000, 58.000000, 64.000000], [-39.000000, -137.806116, -110.724392, -69.716450, 64.410428, 30.964372], [141.000000, 136.327652, -31.506909, -59.032784, -80.614041, 176.721220], [141.000000, -173.151297, -128.217483, -74.554042, -61.364038, -138.448566], [-39.000000, -170.000000, -49.000000, 94.000000, -58.000000, -116.000000], [-39.000000, -137.806116, -110.724392, 110.283550, -64.410428, -149.035628]] - id: 551 parameters: Irb2400_10 - joints: [-172.000000, -12.000000, -126.000000, 105.000000, 112.000000, -152.000000] - pose: {translation: [0.6918698468067783, 0.0203626190277179, 1.672998513426356], quaternion: [0.713412878748462, -0.453364886199378, 0.290554489493061, 0.4484199293437838]} - solutions: [[8.000000, -4.977906, -15.631979, -68.097627, 105.146101, -130.594467], [8.000000, 62.279877, -144.092413, -93.547292, 116.193297, 164.430120], [-172.000000, -60.192377, -33.724392, 84.373283, 115.851544, 159.692598], [-172.000000, -12.000000, -126.000000, 105.000000, 112.000000, -152.000000], [8.000000, -4.977906, -15.631979, 111.902373, -105.146101, 49.405533], [8.000000, 62.279877, -144.092413, 86.452708, -116.193297, -15.569880], [-172.000000, -60.192377, -33.724392, -95.626717, -115.851544, -20.307402], [-172.000000, -12.000000, -126.000000, -75.000000, -112.000000, 28.000000]] + joints: [-172.000000, -12.000000, -126.000000, 105.000000, 111.000000, -152.000000] + pose: {translation: [0.6930519520730238, 0.01999840963014086, 1.673817527250646], quaternion: [0.7129840842586707, -0.4487021537929058, 0.2978976973284801, 0.4489733117923844]} + solutions: [[8.000000, -4.977906, -15.631979, -68.474105, 104.214773, -130.689880], [8.000000, 62.279877, -144.092413, -92.783892, 115.466753, 164.762746], [-172.000000, -60.192377, -33.724392, 85.198429, 115.184084, 160.048075], [-172.000000, -12.000000, -126.000000, 105.000000, 111.000000, -152.000000], [8.000000, -4.977906, -15.631979, 111.525895, -104.214773, 49.310120], [8.000000, 62.279877, -144.092413, 87.216108, -115.466753, -15.237254], [-172.000000, -60.192377, -33.724392, -94.801571, -115.184084, -19.951925], [-172.000000, -12.000000, -126.000000, -75.000000, -111.000000, 28.000000]] - id: 552 parameters: Irb2400_10 - joints: [-82.000000, -89.000000, 122.000000, -54.000000, -28.000000, 18.000000] - pose: {translation: [0.05667953514616015, -0.1713265240550184, 0.3081180826160744], quaternion: [0.2207047566230143, 0.7589587252482393, -0.4153854489915428, 0.4502510328024114]} - solutions: [[-82.000000, 88.265989, 78.275608, 139.830493, 143.927620, 113.143604], [-82.000000, -89.000000, 122.000000, 126.000000, 28.000000, -162.000000], [98.000000, 128.858972, 73.063545, -146.042762, 42.840866, -58.829824], [98.000000, -58.376984, 127.212062, -22.415687, 95.105732, 145.347272], [-82.000000, 88.265989, 78.275608, -40.169507, -143.927620, -66.856396], [-82.000000, -89.000000, 122.000000, -54.000000, -28.000000, 18.000000], [98.000000, 128.858972, 73.063545, 33.957238, -42.840866, 121.170176], [98.000000, -58.376984, 127.212062, 157.584313, -95.105732, -34.652728]] + joints: [-82.000000, -88.000000, 122.000000, -54.000000, -28.000000, 18.000000] + pose: {translation: [0.0559325042090987, -0.166011122743767, 0.3068114325546345], quaternion: [0.2240827612293637, 0.7630662546807097, -0.4090790531980911, 0.4474048896938116]} + solutions: [[-82.000000, 89.265989, 78.275608, 139.830493, 143.927620, 113.143604], [-82.000000, -88.000000, 122.000000, 126.000000, 28.000000, -162.000000], [98.000000, 127.983340, 73.296635, -146.256366, 43.137734, -58.537810], [98.000000, -58.844295, 126.978973, -22.405760, 94.828760, 145.461923], [-82.000000, 89.265989, 78.275608, -40.169507, -143.927620, -66.856396], [-82.000000, -88.000000, 122.000000, -54.000000, -28.000000, 18.000000], [98.000000, 127.983340, 73.296635, 33.743634, -43.137734, 121.462190], [98.000000, -58.844295, 126.978973, 157.594240, -94.828760, -34.538077]] - id: 553 parameters: Irb2400_10 - joints: [-142.000000, -155.000000, 58.000000, 18.000000, 18.000000, 82.000000] - pose: {translation: [0.3273000342756291, 0.2454144735361363, 0.7922546321315531], quaternion: [0.1004561990373365, -0.004069246105163361, -0.3593057163198551, 0.9277884433053596]} - solutions: [[38.000000, -13.458958, 74.079040, -163.744200, 160.054205, 114.499957], [38.000000, 161.105760, 126.196567, -168.253740, 27.973704, 88.766291], [-142.000000, -155.000000, 58.000000, 18.000000, 18.000000, 82.000000], [-142.000000, -4.663702, 142.275608, 8.967217, 142.219489, 106.281131], [38.000000, -13.458958, 74.079040, 16.255800, -160.054205, -65.500043], [38.000000, 161.105760, 126.196567, 11.746260, -27.973704, -91.233709], [-142.000000, -155.000000, 58.000000, -162.000000, -18.000000, -98.000000], [-142.000000, -4.663702, 142.275608, -171.032783, -142.219489, -73.718869]] + joints: [-142.000000, -154.000000, 58.000000, 18.000000, 18.000000, 82.000000] + pose: {translation: [0.3248012172712929, 0.2434621837273778, 0.8011110530910224], quaternion: [0.107907805540358, -0.008518721792739282, -0.3586230999755955, 0.9271854232279411]} + solutions: [[38.000000, -14.950708, 73.996193, -164.175217, 159.501974, 114.040633], [38.000000, 159.464935, 126.279415, -168.035401, 27.427627, 88.519692], [-142.000000, -154.000000, 58.000000, 18.000000, 18.000000, 82.000000], [-142.000000, -3.663702, 142.275608, 8.967217, 142.219489, 106.281131], [38.000000, -14.950708, 73.996193, 15.824783, -159.501974, -65.959367], [38.000000, 159.464935, 126.279415, 11.964599, -27.427627, -91.480308], [-142.000000, -154.000000, 58.000000, -162.000000, -18.000000, -98.000000], [-142.000000, -3.663702, 142.275608, -171.032783, -142.219489, -73.718869]] - id: 554 parameters: Irb2400_10 - joints: [-168.000000, -19.000000, 21.000000, -79.000000, 170.000000, 14.000000] - pose: {translation: [-0.5370516615244486, -0.09934125314936848, 1.390265984235402], quaternion: [-0.5752776244763904, 0.4103994790686006, -0.3820575307210072, 0.5955333454781429]} - solutions: [[-168.000000, -19.000000, 21.000000, -79.000000, 170.000000, 14.000000], [-168.000000, 87.695602, 179.275608, -170.171445, 86.943625, -87.694691], [12.000000, -89.302273, 7.588732, 9.917748, 81.763716, -88.600296], [12.000000, 2.760803, -167.313124, 32.881880, 161.701281, -55.624291], [-168.000000, -19.000000, 21.000000, 101.000000, -170.000000, -166.000000], [-168.000000, 87.695602, 179.275608, 9.828555, -86.943625, 92.305309], [12.000000, -89.302273, 7.588732, -170.082252, -81.763716, 91.399704], [12.000000, 2.760803, -167.313124, -147.118120, -161.701281, 124.375709]] + joints: [-168.000000, -19.000000, 21.000000, -79.000000, 169.000000, 14.000000] + pose: {translation: [-0.5376041423048383, -0.0979948281068673, 1.389978391498407], quaternion: [-0.5797479773489499, 0.4061478577871652, -0.3763055125882826, 0.5977711615412441]} + solutions: [[-168.000000, -19.000000, 21.000000, -79.000000, 169.000000, 14.000000], [-168.000000, 87.695602, 179.275608, -169.190990, 87.146758, -87.745233], [12.000000, -89.302273, 7.588732, 10.903294, 81.983056, -88.739618], [12.000000, 2.760803, -167.313124, 35.811460, 161.330364, -52.845769], [-168.000000, -19.000000, 21.000000, 101.000000, -169.000000, -166.000000], [-168.000000, 87.695602, 179.275608, 10.809010, -87.146758, 92.254767], [12.000000, -89.302273, 7.588732, -169.096706, -81.983056, 91.260382], [12.000000, 2.760803, -167.313124, -144.188540, -161.330364, 127.154231]] - id: 555 parameters: Irb2400_10 - joints: [11.000000, 26.000000, -144.000000, 40.000000, 156.000000, -117.000000] - pose: {translation: [-0.008910964866460237, 0.020906670506779, 1.795768049112923], quaternion: [0.9089530111017688, -0.06302553982403944, 0.3361686886938782, -0.238375371380423]} - solutions: [[-169.000000, -36.020049, -14.212537, -114.422787, 163.313272, -89.836073], [-169.000000, 32.741081, -145.511856, -163.881504, 109.657274, -148.919753], [11.000000, -41.159953, -15.724392, 15.380984, 99.698581, -151.818823], [11.000000, 26.000000, -144.000000, 40.000000, 156.000000, -117.000000], [-169.000000, -36.020049, -14.212537, 65.577213, -163.313272, 90.163927], [-169.000000, 32.741081, -145.511856, 16.118496, -109.657274, 31.080247], [11.000000, -41.159953, -15.724392, -164.619016, -99.698581, 28.181177], [11.000000, 26.000000, -144.000000, -140.000000, -156.000000, 63.000000]] + joints: [11.000000, 26.000000, -144.000000, 40.000000, 155.000000, -117.000000] + pose: {translation: [-0.008463756404902788, 0.0218775630898361, 1.796796726503665], quaternion: [0.9057331159987079, -0.06135368097681898, 0.3402469947162684, -0.2451840757480256]} + solutions: [[-169.000000, -36.020049, -14.212537, -115.934232, 162.417809, -91.280485], [-169.000000, 32.741081, -145.511856, -163.322970, 108.807629, -148.735764], [11.000000, -41.159953, -15.724392, 15.958870, 98.877148, -151.725552], [11.000000, 26.000000, -144.000000, 40.000000, 155.000000, -117.000000], [-169.000000, -36.020049, -14.212537, 64.065768, -162.417809, 88.719515], [-169.000000, 32.741081, -145.511856, 16.677030, -108.807629, 31.264236], [11.000000, -41.159953, -15.724392, -164.041130, -98.877148, 28.274448], [11.000000, 26.000000, -144.000000, -140.000000, -155.000000, 63.000000]] - id: 556 parameters: Irb2400_10 - joints: [170.000000, -54.000000, -67.000000, 51.000000, 175.000000, -37.000000] - pose: {translation: [0.9122325967026487, -0.1666973171877053, 1.536838993055312], quaternion: [0.7367667000241812, 0.6082786841143982, -0.2171646444431106, -0.2000284714520201]} - solutions: [[-10.000000, 14.182871, -27.763458, -5.763617, 137.587453, 87.845020], [-10.000000, 68.639564, -131.960934, -152.435565, 171.583301, -60.582415], [170.000000, -54.000000, -67.000000, 51.000000, 175.000000, -37.000000], [170.000000, -40.593985, -92.724392, 156.919338, 170.050748, 69.337688], [-10.000000, 14.182871, -27.763458, 174.236383, -137.587453, -92.154980], [-10.000000, 68.639564, -131.960934, 27.564435, -171.583301, 119.417585], [170.000000, -54.000000, -67.000000, -129.000000, -175.000000, 143.000000], [170.000000, -40.593985, -92.724392, -23.080662, -170.050748, -110.662312]] + joints: [170.000000, -54.000000, -67.000000, 51.000000, 174.000000, -37.000000] + pose: {translation: [0.9113209696932484, -0.1677018731463365, 1.537439499934421], quaternion: [0.7341746545030662, 0.6085090887499109, -0.2254856729695021, -0.1996508875000241]} + solutions: [[-10.000000, 14.182871, -27.763458, -6.993802, 138.152287, 86.932660], [-10.000000, 68.639564, -131.960934, -149.970273, 170.658307, -58.146579], [170.000000, -54.000000, -67.000000, 51.000000, 174.000000, -37.000000], [170.000000, -40.593985, -92.724392, 151.223515, 170.285015, 63.725376], [-10.000000, 14.182871, -27.763458, 173.006198, -138.152287, -93.067340], [-10.000000, 68.639564, -131.960934, 30.029727, -170.658307, 121.853421], [170.000000, -54.000000, -67.000000, -129.000000, -174.000000, 143.000000], [170.000000, -40.593985, -92.724392, -28.776485, -170.285015, -116.274624]] - id: 557 parameters: Irb2400_10 joints: [122.000000, -63.000000, -97.000000, -114.000000, 5.000000, -116.000000] @@ -2796,9 +2796,9 @@ cases: solutions: [[-54.000000, -46.000000, 29.000000, 157.000000, 60.000000, -67.000000], [-54.000000, 69.601151, 171.275608, 27.276373, 47.592862, 81.843462], [126.000000, -78.506276, 22.930630, -154.697354, 52.347037, 84.909050], [126.000000, 30.323918, 177.344977, -26.096471, 50.287082, -61.604194], [-54.000000, -46.000000, 29.000000, -23.000000, -60.000000, 113.000000], [-54.000000, 69.601151, 171.275608, -152.723627, -47.592862, -98.156538], [126.000000, -78.506276, 22.930630, 25.302646, -52.347037, -95.090950], [126.000000, 30.323918, 177.344977, 153.903529, -50.287082, 118.395806]] - id: 559 parameters: Irb2400_10 - joints: [33.000000, 4.000000, -10.000000, 122.000000, 34.000000, -8.000000] - pose: {translation: [0.7776182096839963, 0.5530540353029952, 1.563877854466561], quaternion: [0.2006891714340587, 0.5186935069630648, 0.8279290758882111, 0.07221043970480233]} - solutions: [[33.000000, 4.000000, -10.000000, 122.000000, 34.000000, -8.000000], [33.000000, 77.230843, -149.724392, 36.449856, 52.958021, 95.020318], [-147.000000, -72.050191, -32.081233, -144.965782, 55.697859, 97.446977], [-147.000000, -22.132443, -127.643159, -98.388450, 28.643003, 38.544313], [33.000000, 4.000000, -10.000000, -58.000000, -34.000000, 172.000000], [33.000000, 77.230843, -149.724392, -143.550144, -52.958021, -84.979682], [-147.000000, -72.050191, -32.081233, 35.034218, -55.697859, -82.553023], [-147.000000, -22.132443, -127.643159, 81.611550, -28.643003, -141.455687]] + joints: [33.000000, 4.000000, -10.000000, 122.000000, 33.000000, -8.000000] + pose: {translation: [0.7789300061611258, 0.5526550147788762, 1.563311482138433], quaternion: [0.2079238690426794, 0.5190552613248592, 0.8255333206959836, 0.07644630006721741]} + solutions: [[33.000000, 4.000000, -10.000000, 122.000000, 33.000000, -8.000000], [33.000000, 77.230843, -149.724392, 35.232910, 53.189540, 95.751462], [-147.000000, -72.050191, -32.081233, -146.128864, 55.969706, 98.100176], [-147.000000, -22.132443, -127.643159, -99.936618, 27.963836, 39.907439], [33.000000, 4.000000, -10.000000, -58.000000, -33.000000, 172.000000], [33.000000, 77.230843, -149.724392, -144.767090, -53.189540, -84.248538], [-147.000000, -72.050191, -32.081233, 33.871136, -55.969706, -81.899824], [-147.000000, -22.132443, -127.643159, 80.063382, -27.963836, -140.092561]] - id: 560 parameters: Irb2400_10 joints: [51.000000, -98.000000, -160.000000, 121.000000, -55.000000, 103.000000] @@ -2806,9 +2806,9 @@ cases: solutions: [[-129.000000, 99.575396, 13.530478, 133.870803, 76.902391, -107.405325], [-129.000000, -161.916192, -173.254870, 73.633226, 47.037918, -7.356426], [51.000000, 177.805632, 0.275608, -122.957979, 56.805823, 19.153172], [51.000000, -98.000000, -160.000000, -59.000000, 55.000000, -77.000000], [-129.000000, 99.575396, 13.530478, -46.129197, -76.902391, 72.594675], [-129.000000, -161.916192, -173.254870, -106.366774, -47.037918, 172.643574], [51.000000, 177.805632, 0.275608, 57.042021, -56.805823, -160.846828], [51.000000, -98.000000, -160.000000, 121.000000, -55.000000, 103.000000]] - id: 561 parameters: Irb2400_10 - joints: [-39.000000, 78.000000, 95.000000, -18.000000, 124.000000, -83.000000] - pose: {translation: [0.0606561170677705, -0.07713866338097991, 0.6078849609681568], quaternion: [0.04948470654909086, 0.268672238160791, -0.813423341569795, 0.5135260067891891]} - solutions: [[-39.000000, 78.000000, 95.000000, -18.000000, 124.000000, -83.000000], [-39.000000, -20.776946, 105.275608, -154.552704, 143.399934, 128.205642], [141.000000, 139.009281, 87.304299, 45.049968, 21.222284, 64.258220], [141.000000, -12.775566, 112.971308, 23.043103, 139.118248, 125.125720], [-39.000000, 78.000000, 95.000000, 162.000000, -124.000000, 97.000000], [-39.000000, -20.776946, 105.275608, 25.447296, -143.399934, -51.794358], [141.000000, 139.009281, 87.304299, -134.950032, -21.222284, -115.741780], [141.000000, -12.775566, 112.971308, -156.956897, -139.118248, -54.874280]] + joints: [-39.000000, 77.000000, 95.000000, -18.000000, 123.000000, -83.000000] + pose: {translation: [0.05955763592781756, -0.07657471263904531, 0.6084096957065414], quaternion: [0.05577674158608307, 0.2530989049594969, -0.8168148982088956, 0.5154059773327572]} + solutions: [[-39.000000, 77.000000, 95.000000, -18.000000, 123.000000, -83.000000], [-39.000000, -21.776946, 105.275608, -153.665873, 144.252016, 128.921542], [141.000000, 139.258159, 87.172081, 42.151526, 22.717065, 67.174143], [141.000000, -13.046331, 113.103527, 24.339860, 141.037534, 126.413814], [-39.000000, 77.000000, 95.000000, 162.000000, -123.000000, 97.000000], [-39.000000, -21.776946, 105.275608, 26.334127, -144.252016, -51.078458], [141.000000, 139.258159, 87.172081, -137.848474, -22.717065, -112.825857], [141.000000, -13.046331, 113.103527, -155.660140, -141.037534, -53.586186]] - id: 562 parameters: Irb2400_10 joints: [168.000000, -20.000000, 11.000000, -79.000000, -55.000000, 159.000000] @@ -2821,14 +2821,14 @@ cases: solutions: [[80.000000, 97.000000, -8.000000, 114.000000, 83.000000, 26.000000], [80.000000, 172.357569, -151.724392, 92.244952, 65.152918, 95.361877], [-100.000000, -154.028978, -31.308083, -94.826611, 65.500219, 112.201146], [-100.000000, -103.299038, -128.416310, -74.739884, 70.030611, 62.072256], [80.000000, 97.000000, -8.000000, -66.000000, -83.000000, -154.000000], [80.000000, 172.357569, -151.724392, -87.755048, -65.152918, -84.638123], [-100.000000, -154.028978, -31.308083, 85.173389, -65.500219, -67.798854], [-100.000000, -103.299038, -128.416310, 105.260116, -70.030611, -117.927744]] - id: 564 parameters: Irb2400_10 - joints: [-116.000000, 152.000000, 126.000000, 10.000000, -30.000000, 88.000000] - pose: {translation: [-0.1693410731197758, -0.3303654946816182, 0.8376834752368646], quaternion: [-0.1918286640622932, 0.01176538956612686, -0.1566139143441339, 0.9687803781488565]} - solutions: [[-116.000000, -22.920031, 74.275608, -163.421549, 162.284197, -67.485221], [-116.000000, 152.000000, 126.000000, -170.000000, 30.000000, -92.000000], [64.000000, -149.719623, 58.816495, 12.816909, 23.040903, -95.142217], [64.000000, 1.700927, 141.459113, 9.459650, 148.110809, -75.265530], [-116.000000, -22.920031, 74.275608, 16.578451, -162.284197, 112.514779], [-116.000000, 152.000000, 126.000000, 10.000000, -30.000000, 88.000000], [64.000000, -149.719623, 58.816495, -167.183091, -23.040903, 84.857783], [64.000000, 1.700927, 141.459113, -170.540350, -148.110809, 104.734470]] + joints: [-116.000000, 152.000000, 126.000000, 10.000000, -29.000000, 88.000000] + pose: {translation: [-0.1697361148177833, -0.3316869150813112, 0.8382299138649437], quaternion: [-0.1833247164282342, 0.01069412095593422, -0.1567689812565594, 0.9704128866823997]} + solutions: [[-116.000000, -22.920031, 74.275608, -164.720446, 161.369870, -68.719372], [-116.000000, 152.000000, 126.000000, -170.000000, 29.000000, -92.000000], [64.000000, -149.719623, 58.816495, 12.962959, 22.042471, -95.277114], [64.000000, 1.700927, 141.459113, 8.928824, 147.152031, -75.713893], [-116.000000, -22.920031, 74.275608, 15.279554, -161.369870, 111.280628], [-116.000000, 152.000000, 126.000000, 10.000000, -29.000000, 88.000000], [64.000000, -149.719623, 58.816495, -167.037041, -22.042471, 84.722886], [64.000000, 1.700927, 141.459113, -171.071176, -147.152031, 104.286107]] - id: 565 parameters: Irb2400_10 - joints: [62.000000, -65.000000, -143.000000, -169.000000, -162.000000, -29.000000] - pose: {translation: [-0.512825948151695, -0.9538097684289845, 0.5000147022033821], quaternion: [0.217414170242079, 0.3091401808694498, 0.905762392709982, -0.1917235382060334]} - solutions: [[-118.000000, 53.069894, 8.454642, -12.214408, 163.817790, -51.218013], [-118.000000, 146.069085, -168.179035, -176.349759, 112.159292, 141.904577], [62.000000, -131.101679, -16.724392, 3.457391, 102.114553, 141.252604], [62.000000, -65.000000, -143.000000, 11.000000, 162.000000, 151.000000], [-118.000000, 53.069894, 8.454642, 167.785592, -163.817790, 128.781987], [-118.000000, 146.069085, -168.179035, 3.650241, -112.159292, -38.095423], [62.000000, -131.101679, -16.724392, -176.542609, -102.114553, -38.747396], [62.000000, -65.000000, -143.000000, -169.000000, -162.000000, -29.000000]] + joints: [62.000000, -65.000000, -143.000000, -169.000000, -161.000000, -29.000000] + pose: {translation: [-0.5135624678697495, -0.954623170076865, 0.5010130615847116], quaternion: [0.2113038773373594, 0.3038330825126379, 0.9086951778973963, -0.1931559035056553]} + solutions: [[-118.000000, 53.069894, 8.454642, -13.651065, 164.738982, -52.600975], [-118.000000, 146.069085, -168.179035, -176.180245, 111.171779, 141.967162], [62.000000, -131.101679, -16.724392, 3.629932, 101.128937, 141.287364], [62.000000, -65.000000, -143.000000, 11.000000, 161.000000, 151.000000], [-118.000000, 53.069894, 8.454642, 166.348935, -164.738982, 127.399025], [-118.000000, 146.069085, -168.179035, 3.819755, -111.171779, -38.032838], [62.000000, -131.101679, -16.724392, -176.370068, -101.128937, -38.712636], [62.000000, -65.000000, -143.000000, -169.000000, -161.000000, -29.000000]] - id: 566 parameters: Irb2400_10 joints: [-17.000000, -43.000000, 159.000000, -102.000000, 113.000000, -164.000000] @@ -2836,29 +2836,29 @@ cases: solutions: [[163.000000, 39.540393, 57.486470, 67.474669, 102.902027, 162.843341], [163.000000, -170.800293, 142.789138, 113.804674, 100.227290, -67.377678], [-17.000000, -172.673502, 41.275608, -64.251062, 91.519393, -48.600582], [-17.000000, -43.000000, 159.000000, -102.000000, 113.000000, -164.000000], [163.000000, 39.540393, 57.486470, -112.525331, -102.902027, -17.156659], [163.000000, -170.800293, 142.789138, -66.195326, -100.227290, 112.622322], [-17.000000, -172.673502, 41.275608, 115.748938, -91.519393, 131.399418], [-17.000000, -43.000000, 159.000000, 78.000000, -113.000000, 16.000000]] - id: 567 parameters: Irb2400_10 - joints: [176.000000, -90.000000, -13.000000, 80.000000, 157.000000, -126.000000] - pose: {translation: [0.8787248708962985, -0.09423387616891006, 1.245340798970219], quaternion: [-0.2068465854879457, 0.9476493236935037, -0.150816259687208, -0.1908656731557135]} - solutions: [[-4.000000, 3.204112, 6.830370, -22.791714, 96.625610, -27.931735], [-4.000000, 94.448168, -166.554762, -88.374649, 157.359368, -113.395106], [176.000000, -90.000000, -13.000000, 80.000000, 157.000000, -126.000000], [176.000000, -19.953594, -146.724392, 154.171510, 117.968174, -37.945605], [-4.000000, 3.204112, 6.830370, 157.208286, -96.625610, 152.068265], [-4.000000, 94.448168, -166.554762, 91.625351, -157.359368, 66.604894], [176.000000, -90.000000, -13.000000, -100.000000, -157.000000, 54.000000], [176.000000, -19.953594, -146.724392, -25.828490, -117.968174, 142.054395]] + joints: [176.000000, -89.000000, -13.000000, 80.000000, 156.000000, -126.000000] + pose: {translation: [0.8674000429466178, -0.0947850388727664, 1.26303100345702], quaternion: [-0.2059061446443688, 0.9471280288215532, -0.1609369710997588, -0.1861463079180645]} + solutions: [[-4.000000, 2.207751, 6.565789, -23.801468, 97.003722, -28.154028], [-4.000000, 93.166241, -166.290181, -88.959004, 156.382836, -113.939324], [176.000000, -89.000000, -13.000000, 80.000000, 156.000000, -126.000000], [176.000000, -18.953594, -146.724392, 153.040315, 117.929598, -38.475791], [-4.000000, 2.207751, 6.565789, 156.198532, -97.003722, 151.845972], [-4.000000, 93.166241, -166.290181, 91.040996, -156.382836, 66.060676], [176.000000, -89.000000, -13.000000, -100.000000, -156.000000, 54.000000], [176.000000, -18.953594, -146.724392, -26.959685, -117.929598, 141.524209]] - id: 568 parameters: Irb2400_10 - joints: [-41.000000, -178.000000, -171.000000, 37.000000, 4.000000, 33.000000] - pose: {translation: [0.7001569203115184, -0.6039090257312117, -0.1219392593356966], quaternion: [0.6425724297933079, 0.4578383921351706, 0.1694696503413934, 0.5905630506303049]} - solutions: [[-41.000000, 85.943794, 11.275608, 177.576060, 83.029161, -109.772788], [-41.000000, -178.000000, -171.000000, 37.000000, 4.000000, 33.000000], [139.000000, -165.540238, -6.821121, -173.554633, 21.960779, 63.951646], [139.000000, -88.927589, -152.903271, -3.254792, 47.680488, -107.874516], [-41.000000, 85.943794, 11.275608, -2.423940, -83.029161, 70.227212], [-41.000000, -178.000000, -171.000000, -143.000000, -4.000000, -147.000000], [139.000000, -165.540238, -6.821121, 6.445367, -21.960779, -116.048354], [139.000000, -88.927589, -152.903271, 176.745208, -47.680488, 72.125484]] + joints: [-41.000000, -177.000000, -171.000000, 37.000000, 4.000000, 33.000000] + pose: {translation: [0.6903555399377207, -0.5953888157599772, -0.1362185378740318], quaternion: [0.6470451354646166, 0.4607401727775265, 0.1678523963074615, 0.5838464343595445]} + solutions: [[-41.000000, 86.943794, 11.275608, 177.576060, 83.029161, -109.772788], [-41.000000, -177.000000, -171.000000, 37.000000, 4.000000, 33.000000], [139.000000, -166.555061, -6.541920, -173.627339, 22.223505, 64.030113], [139.000000, -89.644995, -153.182472, -3.254967, 47.677100, -107.874255], [-41.000000, 86.943794, 11.275608, -2.423940, -83.029161, 70.227212], [-41.000000, -177.000000, -171.000000, -143.000000, -4.000000, -147.000000], [139.000000, -166.555061, -6.541920, 6.372661, -22.223505, -115.969887], [139.000000, -89.644995, -153.182472, 176.745033, -47.677100, 72.125745]] - id: 569 parameters: Irb2400_10 - joints: [-43.000000, 122.000000, 90.000000, -115.000000, -146.000000, 10.000000] - pose: {translation: [0.07067413992129634, -0.007002866697417728, 0.5067022986039761], quaternion: [0.7588172088177805, 0.2089267679032578, 0.5499739824133277, 0.2794184459263844]} - solutions: [[137.000000, 108.363583, 91.845008, -135.198630, 45.990315, 94.751517], [137.000000, -19.635557, 108.430600, -31.312308, 77.206558, -42.971994], [-43.000000, 122.000000, 90.000000, 65.000000, 146.000000, -170.000000], [-43.000000, -17.353726, 110.275608, 148.877813, 78.674917, -43.881905], [137.000000, 108.363583, 91.845008, 44.801370, -45.990315, -85.248483], [137.000000, -19.635557, 108.430600, 148.687692, -77.206558, 137.028006], [-43.000000, 122.000000, 90.000000, -115.000000, -146.000000, 10.000000], [-43.000000, -17.353726, 110.275608, -31.122187, -78.674917, 136.118095]] + joints: [-43.000000, 121.000000, 90.000000, -115.000000, -145.000000, 10.000000] + pose: {translation: [0.07248484475263101, -0.007176306112044417, 0.5068346438379117], quaternion: [0.7492616863588496, 0.2136909756566222, 0.5596891481774442, 0.2822962091315093]} + solutions: [[137.000000, 109.017081, 91.619854, -133.415160, 45.695789, 93.215578], [137.000000, -20.536162, 108.655754, -31.948532, 79.230296, -43.702265], [-43.000000, 121.000000, 90.000000, 65.000000, 145.000000, -170.000000], [-43.000000, -18.353726, 110.275608, 148.055635, 79.265488, -43.724602], [137.000000, 109.017081, 91.619854, 46.584840, -45.695789, -86.784422], [137.000000, -20.536162, 108.655754, 148.051468, -79.230296, 136.297735], [-43.000000, 121.000000, 90.000000, -115.000000, -145.000000, 10.000000], [-43.000000, -18.353726, 110.275608, -31.944365, -79.265488, 136.275398]] - id: 570 parameters: Irb2400_10 - joints: [107.000000, 134.000000, -88.000000, -131.000000, 40.000000, -134.000000] - pose: {translation: [-0.3405707637068409, 1.254993087051592, -0.3459956796898458], quaternion: [0.01387993102960455, 0.7930065957370533, 0.5954380109058121, 0.1280681919942396]} - solutions: [[107.000000, 125.518994, -71.724392, -137.081049, 45.430503, -125.739331], [107.000000, 134.000000, -88.000000, -131.000000, 40.000000, -134.000000], [107.000000, 125.518994, -71.724392, 42.918951, -45.430503, 54.260669], [107.000000, 134.000000, -88.000000, 49.000000, -40.000000, 46.000000]] + joints: [107.000000, 133.000000, -88.000000, -131.000000, 40.000000, -134.000000] + pose: {translation: [-0.3454209069910095, 1.270857190912638, -0.3249111553051979], quaternion: [0.01646735652251988, 0.788334087040269, 0.6019977456763234, 0.1259242136372928]} + solutions: [[107.000000, 124.518994, -71.724392, -137.081049, 45.430503, -125.739331], [107.000000, 133.000000, -88.000000, -131.000000, 40.000000, -134.000000], [107.000000, 124.518994, -71.724392, 42.918951, -45.430503, 54.260669], [107.000000, 133.000000, -88.000000, 49.000000, -40.000000, 46.000000]] - id: 571 parameters: Irb2400_10 - joints: [30.000000, -73.000000, -120.000000, 19.000000, -34.000000, 157.000000] - pose: {translation: [-1.151029099600239, -0.6824156154668014, 0.4601021898958927], quaternion: [0.8629555382207138, 0.3257947097864806, -0.3524968336758558, 0.1578338632164755]} - solutions: [[-150.000000, 56.296856, -6.794687, 110.521753, 11.209188, -117.954742], [-150.000000, 132.937660, -152.929705, 11.499165, 65.955368, -11.806466], [30.000000, -114.900268, -39.724392, -168.914358, 71.234629, -10.674631], [30.000000, -73.000000, -120.000000, -161.000000, 34.000000, -23.000000], [-150.000000, 56.296856, -6.794687, -69.478247, -11.209188, 62.045258], [-150.000000, 132.937660, -152.929705, -168.500835, -65.955368, 168.193534], [30.000000, -114.900268, -39.724392, 11.085642, -71.234629, 169.325369], [30.000000, -73.000000, -120.000000, 19.000000, -34.000000, 157.000000]] + joints: [30.000000, -72.000000, -120.000000, 19.000000, -34.000000, 157.000000] + pose: {translation: [-1.15318058458541, -0.6836577759021474, 0.4852228350434446], quaternion: [0.8595700480385545, 0.325437080319511, -0.3604266426439906, 0.1591309980503182]} + solutions: [[-150.000000, 55.111109, -6.762516, 109.792483, 11.156265, -117.211358], [-150.000000, 131.786181, -152.961876, 11.482910, 66.135337, -11.766432], [30.000000, -113.900268, -39.724392, -168.914358, 71.234629, -10.674631], [30.000000, -72.000000, -120.000000, -161.000000, 34.000000, -23.000000], [-150.000000, 55.111109, -6.762516, -70.207517, -11.156265, 62.788642], [-150.000000, 131.786181, -152.961876, -168.517090, -66.135337, 168.233568], [30.000000, -113.900268, -39.724392, 11.085642, -71.234629, 169.325369], [30.000000, -72.000000, -120.000000, 19.000000, -34.000000, 157.000000]] - id: 572 parameters: Irb2400_10 joints: [-165.000000, -64.000000, -19.000000, -114.000000, 73.000000, -156.000000] @@ -2866,39 +2866,39 @@ cases: solutions: [[15.000000, -14.999932, -5.764472, 102.359307, 63.425695, 121.195999], [15.000000, 62.738657, -153.959920, 67.742198, 70.728215, -161.591920], [-165.000000, -64.000000, -19.000000, -114.000000, 73.000000, -156.000000], [-165.000000, -0.304255, -140.724392, -87.243151, 61.002414, 141.619335], [15.000000, -14.999932, -5.764472, -77.640693, -63.425695, -58.804001], [15.000000, 62.738657, -153.959920, -112.257802, -70.728215, 18.408080], [-165.000000, -64.000000, -19.000000, 66.000000, -73.000000, 24.000000], [-165.000000, -0.304255, -140.724392, 92.756849, -61.002414, -38.380665]] - id: 573 parameters: Irb2400_10 - joints: [40.000000, -81.000000, -135.000000, 125.000000, -33.000000, -175.000000] - pose: {translation: [-0.8956873096001033, -0.8010746575944283, 0.1518717870345779], quaternion: [0.6264819173215532, -0.477110298834055, 0.1559163795329899, 0.5963021487542318]} - solutions: [[-140.000000, 70.682915, 1.252132, 149.089090, 60.282478, -28.609857], [-140.000000, 155.924431, -160.976524, 54.757568, 33.110971, 85.006379], [40.000000, -138.656331, -24.724392, -136.900579, 40.764765, 99.531649], [40.000000, -81.000000, -135.000000, -55.000000, 33.000000, 5.000000], [-140.000000, 70.682915, 1.252132, -30.910910, -60.282478, 151.390143], [-140.000000, 155.924431, -160.976524, -125.242432, -33.110971, -94.993621], [40.000000, -138.656331, -24.724392, 43.099421, -40.764765, -80.468351], [40.000000, -81.000000, -135.000000, 125.000000, -33.000000, -175.000000]] + joints: [40.000000, -80.000000, -135.000000, 125.000000, -33.000000, -175.000000] + pose: {translation: [-0.9017272211003876, -0.8061427451066603, 0.1746489018954996], quaternion: [0.6241555074558197, -0.4722313202033463, 0.1543987240013367, 0.6029830153149689]} + solutions: [[-140.000000, 69.431230, 1.413815, 149.062648, 60.205270, -28.556580], [-140.000000, 154.846221, -161.138207, 54.458493, 33.249910, 85.363717], [40.000000, -137.656331, -24.724392, -136.900579, 40.764765, 99.531649], [40.000000, -80.000000, -135.000000, -55.000000, 33.000000, 5.000000], [-140.000000, 69.431230, 1.413815, -30.937352, -60.205270, 151.443420], [-140.000000, 154.846221, -161.138207, -125.541507, -33.249910, -94.636283], [40.000000, -137.656331, -24.724392, 43.099421, -40.764765, -80.468351], [40.000000, -80.000000, -135.000000, 125.000000, -33.000000, -175.000000]] - id: 574 parameters: Irb2400_10 - joints: [143.000000, 106.000000, -17.000000, 179.000000, -115.000000, -159.000000] - pose: {translation: [-0.6765982064414768, 0.5115367730866787, -0.2972804513948375], quaternion: [0.4785758291375861, -0.2599916339141258, 0.8315070139736362, 0.1093874388244936]} - solutions: [[143.000000, 106.000000, -17.000000, -1.000000, 115.000000, 21.000000], [143.000000, 171.810121, -142.724392, -10.124629, 174.837649, 11.338249], [-37.000000, -152.016654, -42.857213, 5.693656, 170.826029, -152.956050], [-37.000000, -113.397238, -116.867179, 177.952391, 153.724401, 19.586460], [143.000000, 106.000000, -17.000000, 179.000000, -115.000000, -159.000000], [143.000000, 171.810121, -142.724392, 169.875371, -174.837649, -168.661751], [-37.000000, -152.016654, -42.857213, -174.306344, -170.826029, 27.043950], [-37.000000, -113.397238, -116.867179, -2.047609, -153.724401, -160.413540]] + joints: [143.000000, 105.000000, -17.000000, 179.000000, -114.000000, -159.000000] + pose: {translation: [-0.6887628801063909, 0.5207169560693066, -0.2854540959563654], quaternion: [0.4913044446189427, -0.2670472206879037, 0.8219681294575301, 0.1080468360324703]} + solutions: [[143.000000, 105.000000, -17.000000, -1.000000, 114.000000, 21.000000], [143.000000, 170.810121, -142.724392, -8.558039, 173.849549, 12.897269], [-37.000000, -150.818340, -43.438552, 6.746816, 172.200295, -151.908263], [-37.000000, -112.807430, -116.285840, 177.994593, 152.895738, 19.621449], [143.000000, 105.000000, -17.000000, 179.000000, -114.000000, -159.000000], [143.000000, 170.810121, -142.724392, 171.441961, -173.849549, -167.102731], [-37.000000, -150.818340, -43.438552, -173.253184, -172.200295, 28.091737], [-37.000000, -112.807430, -116.285840, -2.005407, -152.895738, -160.378551]] - id: 575 parameters: Irb2400_10 - joints: [-123.000000, -90.000000, 97.000000, -2.000000, -143.000000, 36.000000] - pose: {translation: [-0.05279075501452992, -0.08456850877277575, 0.7159974081616776], quaternion: [-0.3868841350464191, -0.056333109447814, -0.6272074581654269, 0.6736156554378685]} - solutions: [[-123.000000, -90.000000, 97.000000, 178.000000, 143.000000, -144.000000], [-123.000000, -159.228362, 103.275608, 178.778206, 80.066239, -142.191692], [57.000000, -174.154639, 80.024605, -1.567498, 50.157363, -141.398080], [57.000000, 12.442452, 120.251003, -160.080188, 176.465710, 57.482404], [-123.000000, -90.000000, 97.000000, -2.000000, -143.000000, 36.000000], [-123.000000, -159.228362, 103.275608, -1.221794, -80.066239, 37.808308], [57.000000, -174.154639, 80.024605, 178.432502, -50.157363, 38.601920], [57.000000, 12.442452, 120.251003, 19.919812, -176.465710, -122.517596]] + joints: [-123.000000, -89.000000, 97.000000, -2.000000, -143.000000, 36.000000] + pose: {translation: [-0.05375078861143727, -0.08604683087273829, 0.7159876624555461], quaternion: [-0.3789584214909577, -0.05494219694024226, -0.6294346480170662, 0.6761537500096362]} + solutions: [[-123.000000, -89.000000, 97.000000, 178.000000, 143.000000, -144.000000], [-123.000000, -158.228362, 103.275608, 178.778206, 80.066239, -142.191692], [57.000000, -174.356404, 79.980068, -1.585030, 49.403950, -141.370928], [57.000000, 12.138057, 120.295540, -155.009084, 177.150404, 62.561287], [-123.000000, -89.000000, 97.000000, -2.000000, -143.000000, 36.000000], [-123.000000, -158.228362, 103.275608, -1.221794, -80.066239, 37.808308], [57.000000, -174.356404, 79.980068, 178.414970, -49.403950, 38.629072], [57.000000, 12.138057, 120.295540, 24.990916, -177.150404, -117.438713]] - id: 576 parameters: Irb2400_10 - joints: [-125.000000, 64.000000, 150.000000, 174.000000, -11.000000, 77.000000] - pose: {translation: [0.0146245900854426, 0.0238417838306723, 1.294352646308182], quaternion: [0.04456394069140539, 0.3806493784690587, 0.8250983827500845, 0.4151298166168836]} - solutions: [[-125.000000, -76.488626, 50.275608, -178.792444, 108.841893, 71.499496], [-125.000000, 64.000000, 150.000000, -6.000000, 11.000000, -103.000000], [55.000000, -81.750362, 49.387778, 174.766212, 12.629592, -103.782716], [55.000000, 57.645158, 150.887829, 1.192067, 106.522432, 71.448512], [-125.000000, -76.488626, 50.275608, 1.207556, -108.841893, -108.500504], [-125.000000, 64.000000, 150.000000, 174.000000, -11.000000, 77.000000], [55.000000, -81.750362, 49.387778, -5.233788, -12.629592, 76.217284], [55.000000, 57.645158, 150.887829, -178.807933, -106.522432, -108.551488]] + joints: [-125.000000, 64.000000, 150.000000, 174.000000, -10.000000, 77.000000] + pose: {translation: [0.01534333386048382, 0.02460242866053031, 1.293301156023493], quaternion: [0.04647233685296505, 0.3884655107149333, 0.8219178324115262, 0.4139878568947994]} + solutions: [[-125.000000, -76.488626, 50.275608, -178.894340, 109.837260, 71.465750], [-125.000000, 64.000000, 150.000000, -6.000000, 10.000000, -103.000000], [55.000000, -81.750362, 49.387778, 174.833974, 11.629694, -103.848968], [55.000000, 57.645158, 150.887829, 1.090628, 107.517717, 71.418819], [-125.000000, -76.488626, 50.275608, 1.105660, -109.837260, -108.534250], [-125.000000, 64.000000, 150.000000, 174.000000, -10.000000, 77.000000], [55.000000, -81.750362, 49.387778, -5.166026, -11.629694, 76.151032], [55.000000, 57.645158, 150.887829, -178.909372, -107.517717, -108.581181]] - id: 577 parameters: Irb2400_10 - joints: [-173.000000, -45.000000, 37.000000, 116.000000, -127.000000, -70.000000] - pose: {translation: [-0.2891588775719373, 0.02596770834623019, 1.315684073568232], quaternion: [-0.3524006363572858, 0.7687898520608335, 0.3064925440344685, 0.4368504038163882]} - solutions: [[-173.000000, -45.000000, 37.000000, -64.000000, 127.000000, 110.000000], [-173.000000, 79.701846, 163.275608, -133.579116, 97.748460, -10.958401], [7.000000, -88.289999, 29.385654, 46.093795, 94.931598, -13.918843], [7.000000, 27.744855, 170.889954, 107.984909, 131.002206, 97.303379], [-173.000000, -45.000000, 37.000000, 116.000000, -127.000000, -70.000000], [-173.000000, 79.701846, 163.275608, 46.420884, -97.748460, 169.041599], [7.000000, -88.289999, 29.385654, -133.906205, -94.931598, 166.081157], [7.000000, 27.744855, 170.889954, -72.015091, -131.002206, -82.696621]] + joints: [-173.000000, -45.000000, 37.000000, 116.000000, -126.000000, -70.000000] + pose: {translation: [-0.2904810920400662, 0.02660443639746088, 1.315466976172593], quaternion: [-0.3568842786098367, 0.7675511059998751, 0.3117333583042866, 0.4316494233516781]} + solutions: [[-173.000000, -45.000000, 37.000000, -64.000000, 126.000000, 110.000000], [-173.000000, 79.701846, 163.275608, -132.712593, 98.261982, -10.837723], [7.000000, -88.289999, 29.385654, 46.927434, 95.489078, -13.843136], [7.000000, 27.744855, 170.889954, 108.271920, 130.026300, 97.489839], [-173.000000, -45.000000, 37.000000, 116.000000, -126.000000, -70.000000], [-173.000000, 79.701846, 163.275608, 47.287407, -98.261982, 169.162277], [7.000000, -88.289999, 29.385654, -133.072566, -95.489078, 166.156864], [7.000000, 27.744855, 170.889954, -71.728080, -130.026300, -82.510161]] - id: 578 parameters: Irb2400_10 - joints: [-39.000000, 53.000000, -18.000000, -50.000000, 156.000000, -106.000000] - pose: {translation: [0.9800816371215446, -0.8277332063511007, 0.7431500087928237], quaternion: [0.2240031797747967, -0.5430563663192475, -0.5445004895402813, 0.5986915527559324]} - solutions: [[-39.000000, 53.000000, -18.000000, -50.000000, 156.000000, -106.000000], [-39.000000, 117.752635, -141.724392, -154.322549, 134.021844, 139.907325], [141.000000, -92.800844, -66.827583, 27.320275, 137.244346, 142.204318], [141.000000, -79.215059, -92.896810, 35.916099, 147.916144, 152.969076], [-39.000000, 53.000000, -18.000000, 130.000000, -156.000000, 74.000000], [-39.000000, 117.752635, -141.724392, 25.677451, -134.021844, -40.092675], [141.000000, -92.800844, -66.827583, -152.679725, -137.244346, -37.795682], [141.000000, -79.215059, -92.896810, -144.083901, -147.916144, -27.030924]] + joints: [-39.000000, 53.000000, -18.000000, -50.000000, 155.000000, -106.000000] + pose: {translation: [0.9794356974006738, -0.8285407884271868, 0.7420863462253088], quaternion: [0.2303264843643159, -0.5461631539951225, -0.5393855287176007, 0.598095954867201]} + solutions: [[-39.000000, 53.000000, -18.000000, -50.000000, 155.000000, -106.000000], [-39.000000, 117.752635, -141.724392, -153.044300, 134.422963, 140.798858], [141.000000, -92.800844, -66.827583, 28.697533, 137.607434, 143.218562], [141.000000, -79.215059, -92.896810, 37.773423, 148.093994, 154.544303], [-39.000000, 53.000000, -18.000000, 130.000000, -155.000000, 74.000000], [-39.000000, 117.752635, -141.724392, 26.955700, -134.422963, -39.201142], [141.000000, -92.800844, -66.827583, -151.302467, -137.607434, -36.781438], [141.000000, -79.215059, -92.896810, -142.226577, -148.093994, -25.455697]] - id: 579 parameters: Irb2400_10 - joints: [-4.000000, -120.000000, -40.000000, 13.000000, -10.000000, -102.000000] - pose: {translation: [-1.34671147615113, 0.09084283334799877, 0.4089822854891753], quaternion: [0.4448655635210744, -0.4617135990456718, -0.5488575637236842, 0.5363492869321925]} - solutions: [[176.000000, 62.672249, -7.274842, 177.542965, 65.668516, -88.178086], [176.000000, 138.801713, -152.449550, 33.418080, 4.067202, 57.457366], [-4.000000, -120.000000, -40.000000, -167.000000, 10.000000, 78.000000], [-4.000000, -78.388478, -119.724392, -4.704068, 28.445080, -85.052664], [176.000000, 62.672249, -7.274842, -2.457035, -65.668516, 91.821914], [176.000000, 138.801713, -152.449550, -146.581920, -4.067202, -122.542634], [-4.000000, -120.000000, -40.000000, 13.000000, -10.000000, -102.000000], [-4.000000, -78.388478, -119.724392, 175.295932, -28.445080, 94.947336]] + joints: [-4.000000, -119.000000, -40.000000, 13.000000, -10.000000, -102.000000] + pose: {translation: [-1.350077953780113, 0.09107824039607267, 0.4343156004008036], quaternion: [0.4403971598348163, -0.4566928413554984, -0.5529904033570301, 0.5400774056180264]} + solutions: [[176.000000, 61.463186, -7.193765, 177.540476, 65.540648, -88.172058], [176.000000, 137.678980, -152.530627, 31.903260, 4.238802, 58.976172], [-4.000000, -119.000000, -40.000000, -167.000000, 10.000000, 78.000000], [-4.000000, -77.388478, -119.724392, -4.704068, 28.445080, -85.052664], [176.000000, 61.463186, -7.193765, -2.459524, -65.540648, 91.827942], [176.000000, 137.678980, -152.530627, -148.096740, -4.238802, -121.023828], [-4.000000, -119.000000, -40.000000, 13.000000, -10.000000, -102.000000], [-4.000000, -77.388478, -119.724392, 175.295932, -28.445080, 94.947336]] - id: 580 parameters: Irb2400_10 joints: [130.000000, -27.000000, 131.000000, -101.000000, 77.000000, -7.000000] @@ -2906,9 +2906,9 @@ cases: solutions: [[-50.000000, 30.629261, 83.655773, 89.606993, 73.036466, -46.483532], [-50.000000, -133.434423, 116.619834, 77.299948, 101.346406, 83.290709], [130.000000, 166.517162, 69.275608, -92.622614, 106.769939, 123.149028], [130.000000, -27.000000, 131.000000, -101.000000, 77.000000, -7.000000], [-50.000000, 30.629261, 83.655773, -90.393007, -73.036466, 133.516468], [-50.000000, -133.434423, 116.619834, -102.700052, -101.346406, -96.709291], [130.000000, 166.517162, 69.275608, 87.377386, -106.769939, -56.850972], [130.000000, -27.000000, 131.000000, 79.000000, -77.000000, 173.000000]] - id: 581 parameters: Irb2400_10 - joints: [109.000000, 145.000000, 96.000000, 47.000000, 29.000000, 119.000000] - pose: {translation: [-0.03136288706385115, -0.001486721196888655, 0.7110332150259823], quaternion: [0.1925817536664104, -0.01684872024775306, -0.6959251179549758, 0.6916043803939765]} - solutions: [[109.000000, 145.000000, 96.000000, 47.000000, 29.000000, 119.000000], [109.000000, 59.602287, 104.275608, 20.945511, 97.318962, 164.956715], [-71.000000, 161.723090, 91.986562, -42.351166, 31.757134, 19.943961], [-71.000000, 34.728923, 108.289046, -28.318193, 131.629825, -37.530763], [109.000000, 145.000000, 96.000000, -133.000000, -29.000000, -61.000000], [109.000000, 59.602287, 104.275608, -159.054489, -97.318962, -15.043285], [-71.000000, 161.723090, 91.986562, 137.648834, -31.757134, -160.056039], [-71.000000, 34.728923, 108.289046, 151.681807, -131.629825, 142.469237]] + joints: [109.000000, 144.000000, 96.000000, 47.000000, 29.000000, 119.000000] + pose: {translation: [-0.03082175331105853, -0.00305828772802649, 0.7094270171036346], quaternion: [0.1963037382589216, -0.009141025179393457, -0.6965847803232331, 0.690036903235092]} + solutions: [[109.000000, 144.000000, 96.000000, 47.000000, 29.000000, 119.000000], [109.000000, 58.602287, 104.275608, 20.945511, 97.318962, 164.956715], [-71.000000, 160.932410, 92.030217, -40.529830, 33.066991, 17.786743], [-71.000000, 34.252662, 108.245391, -28.981252, 132.963693, -38.515955], [109.000000, 144.000000, 96.000000, -133.000000, -29.000000, -61.000000], [109.000000, 58.602287, 104.275608, -159.054489, -97.318962, -15.043285], [-71.000000, 160.932410, 92.030217, 139.470170, -33.066991, -162.213257], [-71.000000, 34.252662, 108.245391, 151.018748, -132.963693, 141.484045]] - id: 582 parameters: Irb2400_10 joints: [25.000000, 22.000000, -9.000000, -110.000000, -95.000000, -103.000000] @@ -2921,14 +2921,14 @@ cases: solutions: [[-105.000000, 116.000000, -41.000000, 42.000000, 50.000000, 25.000000], [-105.000000, 156.564043, -118.724392, 31.332904, 80.305492, 49.207498], [-105.000000, 116.000000, -41.000000, -138.000000, -50.000000, -155.000000], [-105.000000, 156.564043, -118.724392, -148.667096, -80.305492, -130.792502]] - id: 584 parameters: Irb2400_10 - joints: [-115.000000, -135.000000, 123.000000, 101.000000, -122.000000, -57.000000] - pose: {translation: [-0.1785429403924363, -0.2154548560634779, 0.3826942489041422], quaternion: [-0.5491051551833945, 0.5768113305542879, 0.5976715806338623, 0.09252512738620208]} - solutions: [[-115.000000, 44.337586, 77.275608, -71.902589, 61.138935, -111.243314], [-115.000000, -135.000000, 123.000000, -79.000000, 122.000000, 123.000000], [65.000000, 163.865640, 63.851337, 77.932098, 121.648846, 80.687800], [65.000000, -37.777649, 136.424271, 121.968484, 78.899223, -149.998696], [-115.000000, 44.337586, 77.275608, 108.097411, -61.138935, 68.756686], [-115.000000, -135.000000, 123.000000, 101.000000, -122.000000, -57.000000], [65.000000, 163.865640, 63.851337, -102.067902, -121.648846, -99.312200], [65.000000, -37.777649, 136.424271, -58.031516, -78.899223, 30.001304]] + joints: [-115.000000, -135.000000, 123.000000, 101.000000, -121.000000, -57.000000] + pose: {translation: [-0.1797684262738329, -0.2162824974780442, 0.3828125664156893], quaternion: [-0.5526020301102983, 0.5728549497566756, 0.5992605320720069, 0.08576139899761984]} + solutions: [[-115.000000, 44.337586, 77.275608, -72.824019, 61.726409, -110.802681], [-115.000000, -135.000000, 123.000000, -79.000000, 121.000000, 123.000000], [65.000000, 163.865640, 63.851337, 78.716660, 120.906957, 81.095150], [65.000000, -37.777649, 136.424271, 120.950634, 78.848620, -149.802278], [-115.000000, 44.337586, 77.275608, 107.175981, -61.726409, 69.197319], [-115.000000, -135.000000, 123.000000, 101.000000, -121.000000, -57.000000], [65.000000, 163.865640, 63.851337, -101.283340, -120.906957, -98.904850], [65.000000, -37.777649, 136.424271, -59.049366, -78.848620, 30.197722]] - id: 585 parameters: Irb2400_10 - joints: [32.000000, 66.000000, -137.000000, 107.000000, -129.000000, 90.000000] - pose: {translation: [0.7653870316808187, 0.4037770051218648, 1.602701857773375], quaternion: [-0.4396097155419669, 0.8007792590178993, -0.4058202576313879, 0.02838652539232475]} - solutions: [[32.000000, 6.235567, -22.724392, -49.075809, 100.389733, -37.661847], [32.000000, 66.000000, -137.000000, -73.000000, 129.000000, -90.000000], [-148.000000, -58.563171, -49.351381, 106.152853, 129.309689, -91.341615], [-148.000000, -26.736573, -110.373012, 123.768258, 116.617752, -59.735881], [32.000000, 6.235567, -22.724392, 130.924191, -100.389733, 142.338153], [32.000000, 66.000000, -137.000000, 107.000000, -129.000000, 90.000000], [-148.000000, -58.563171, -49.351381, -73.847147, -129.309689, 88.658385], [-148.000000, -26.736573, -110.373012, -56.231742, -116.617752, 120.264119]] + joints: [32.000000, 66.000000, -137.000000, 107.000000, -128.000000, 90.000000] + pose: {translation: [0.7663920877025319, 0.4033636371672586, 1.603711706434051], quaternion: [-0.439345260529527, 0.7972073629132612, -0.4127928338696613, 0.03222171430852601]} + solutions: [[32.000000, 6.235567, -22.724392, -49.879094, 99.777751, -37.802496], [32.000000, 66.000000, -137.000000, -73.000000, 128.000000, -90.000000], [-148.000000, -58.563171, -49.351381, 106.182690, 128.309959, -91.322914], [-148.000000, -26.736573, -110.373012, 123.208712, 115.752949, -59.982804], [32.000000, 6.235567, -22.724392, 130.120906, -99.777751, 142.197504], [32.000000, 66.000000, -137.000000, 107.000000, -128.000000, 90.000000], [-148.000000, -58.563171, -49.351381, -73.817310, -128.309959, 88.677086], [-148.000000, -26.736573, -110.373012, -56.791288, -115.752949, 120.017196]] - id: 586 parameters: Irb2400_10 joints: [0.000000, 3.000000, 57.000000, 74.000000, 64.000000, 155.000000] @@ -2936,9 +2936,9 @@ cases: solutions: [[0.000000, 3.000000, 57.000000, 74.000000, 64.000000, 155.000000], [0.000000, 152.021383, 143.275608, 75.754710, 116.952148, -87.444141], [-180.000000, -144.882663, 39.886896, -98.865353, 119.023261, -76.011484], [-180.000000, -16.833671, 160.388711, -114.967636, 72.371753, 178.770663], [0.000000, 3.000000, 57.000000, -106.000000, -64.000000, -25.000000], [0.000000, 152.021383, 143.275608, -104.245290, -116.952148, 92.555859], [-180.000000, -144.882663, 39.886896, 81.134647, -119.023261, 103.988516], [-180.000000, -16.833671, 160.388711, 65.032364, -72.371753, -1.229337]] - id: 587 parameters: Irb2400_10 - joints: [59.000000, 150.000000, -176.000000, -32.000000, 1.000000, 88.000000] - pose: {translation: [0.5923736457879731, 0.9843489880112746, 0.4928846551859707], quaternion: [-0.01011509226925927, 0.5360940087476217, 0.7105850927323699, 0.455598205307943]} - solutions: [[59.000000, 48.494831, 16.275608, -179.470100, 89.922370, -123.996796], [59.000000, 150.000000, -176.000000, -32.000000, 1.000000, 88.000000], [-121.000000, -136.064247, -6.693625, 177.471627, 12.101635, 58.476178], [-121.000000, -59.315792, -153.030767, 0.628300, 57.500048, -124.333673], [59.000000, 48.494831, 16.275608, 0.529900, -89.922370, 56.003204], [59.000000, 150.000000, -176.000000, 148.000000, -1.000000, -92.000000], [-121.000000, -136.064247, -6.693625, -2.528373, -12.101635, -121.523822], [-121.000000, -59.315792, -153.030767, -179.371700, -57.500048, 55.666327]] + joints: [59.000000, 149.000000, -176.000000, -32.000000, 1.000000, 88.000000] + pose: {translation: [0.5933890238791346, 0.9860388609352231, 0.5112081536662643], quaternion: [-0.009900509891352828, 0.5287106625122022, 0.7145226108322982, 0.4580659929084408]} + solutions: [[59.000000, 47.494831, 16.275608, -179.470100, 89.922370, -123.996796], [59.000000, 149.000000, -176.000000, -32.000000, 1.000000, 88.000000], [-121.000000, -135.201153, -6.751503, 177.430891, 11.907043, 58.517824], [-121.000000, -58.514350, -152.972890, 0.627320, 57.640720, -124.331846], [59.000000, 47.494831, 16.275608, 0.529900, -89.922370, 56.003204], [59.000000, 149.000000, -176.000000, 148.000000, -1.000000, -92.000000], [-121.000000, -135.201153, -6.751503, -2.569109, -11.907043, -121.482176], [-121.000000, -58.514350, -152.972890, -179.372680, -57.640720, 55.668154]] - id: 588 parameters: Irb2400_10 joints: [133.000000, 49.000000, 159.000000, -179.000000, -111.000000, 50.000000] @@ -2961,14 +2961,14 @@ cases: solutions: [[-166.000000, 86.000000, 65.000000, 136.000000, 24.000000, 42.000000], [-166.000000, -113.988761, 135.275608, 17.618511, 111.016411, -172.921146], [14.000000, 140.218798, 57.927989, -148.405343, 147.363968, -152.036255], [14.000000, -69.540062, 142.347619, -146.148866, 30.479154, 150.551247], [-166.000000, 86.000000, 65.000000, -44.000000, -24.000000, -138.000000], [-166.000000, -113.988761, 135.275608, -162.381489, -111.016411, 7.078854], [14.000000, 140.218798, 57.927989, 31.594657, -147.363968, 27.963745], [14.000000, -69.540062, 142.347619, 33.851134, -30.479154, -29.448753]] - id: 592 parameters: Irb2400_10 - joints: [21.000000, 77.000000, 68.000000, 163.000000, 94.000000, -57.000000] - pose: {translation: [0.2686420906690249, 0.1296768542097037, 0.166932349129501], quaternion: [0.6996650048003592, 0.6174049988301656, 0.357996482081659, -0.03344349405180497]} - solutions: [[21.000000, 77.000000, 68.000000, 163.000000, 94.000000, -57.000000], [21.000000, -118.506071, 132.275608, 26.843758, 40.232769, 103.096872], [-159.000000, 145.945014, 59.234558, -162.554428, 76.617832, 120.061791], [-159.000000, -62.075379, 141.041050, -21.642452, 52.260818, -42.127704], [21.000000, 77.000000, 68.000000, -17.000000, -94.000000, 123.000000], [21.000000, -118.506071, 132.275608, -153.156242, -40.232769, -76.903128], [-159.000000, 145.945014, 59.234558, 17.445572, -76.617832, -59.938209], [-159.000000, -62.075379, 141.041050, 158.357548, -52.260818, 137.872296]] + joints: [21.000000, 76.000000, 68.000000, 163.000000, 94.000000, -57.000000] + pose: {translation: [0.2759145080055315, 0.1324684736729566, 0.1704434461257974], quaternion: [0.696617205828315, 0.6165343852965295, 0.3656137846230912, -0.03060033961513264]} + solutions: [[21.000000, 76.000000, 68.000000, 163.000000, 94.000000, -57.000000], [21.000000, -119.506071, 132.275608, 26.843758, 40.232769, 103.096872], [-159.000000, 146.830385, 59.018252, -162.530520, 76.302139, 119.959673], [-159.000000, -61.479603, 141.257356, -21.589042, 52.435521, -42.215138], [21.000000, 76.000000, 68.000000, -17.000000, -94.000000, 123.000000], [21.000000, -119.506071, 132.275608, -153.156242, -40.232769, -76.903128], [-159.000000, 146.830385, 59.018252, 17.469480, -76.302139, -60.040327], [-159.000000, -61.479603, 141.257356, 158.410958, -52.435521, 137.784862]] - id: 593 parameters: Irb2400_10 - joints: [135.000000, -138.000000, 168.000000, -5.000000, 111.000000, 46.000000] - pose: {translation: [-0.195719727558844, 0.2055006917644309, -0.222734394417382], quaternion: [-0.6344692475656891, 0.6407578854881917, -0.4297054959689754, 0.04723656223929205]} - solutions: [[135.000000, 102.700110, 32.275608, -37.544787, 7.673265, 85.091888], [135.000000, -138.000000, 168.000000, -5.000000, 111.000000, 46.000000], [-45.000000, 154.549255, 24.468685, 172.748262, 139.864520, 42.239388], [-45.000000, -94.913777, 175.806922, 173.039481, 42.177146, 52.965514], [135.000000, 102.700110, 32.275608, 142.455213, -7.673265, -94.908112], [135.000000, -138.000000, 168.000000, 175.000000, -111.000000, -134.000000], [-45.000000, 154.549255, 24.468685, -7.251738, -139.864520, -137.760612], [-45.000000, -94.913777, 175.806922, -6.960519, -42.177146, -127.034486]] + joints: [135.000000, -137.000000, 168.000000, -5.000000, 111.000000, 46.000000] + pose: {translation: [-0.1853617018742142, 0.195142666079801, -0.2258129095906326], quaternion: [-0.6320850290147659, 0.6377904723387277, -0.4375580409905182, 0.04727356823728467]} + solutions: [[135.000000, 103.700110, 32.275608, -37.544787, 7.673265, 85.091888], [135.000000, -137.000000, 168.000000, -5.000000, 111.000000, 46.000000], [-45.000000, 153.490848, 24.769195, 172.711770, 140.104677, 42.191740], [-45.000000, -95.638031, 175.506412, 173.036167, 42.152565, 52.969986], [135.000000, 103.700110, 32.275608, 142.455213, -7.673265, -94.908112], [135.000000, -137.000000, 168.000000, 175.000000, -111.000000, -134.000000], [-45.000000, 153.490848, 24.769195, -7.288230, -140.104677, -137.808260], [-45.000000, -95.638031, 175.506412, -6.963833, -42.152565, -127.030014]] - id: 594 parameters: Irb2400_10 joints: [-93.000000, -53.000000, -72.000000, -37.000000, -67.000000, -142.000000] @@ -2976,9 +2976,9 @@ cases: solutions: [[87.000000, 16.128823, -28.050812, -64.007340, 38.047435, 79.830272], [87.000000, 70.283197, -131.673580, -35.589940, 72.152783, 33.964779], [-93.000000, -53.000000, -72.000000, 143.000000, 67.000000, 38.000000], [-93.000000, -44.806262, -87.724392, 140.732163, 61.072205, 43.170255], [87.000000, 16.128823, -28.050812, 115.992660, -38.047435, -100.169728], [87.000000, 70.283197, -131.673580, 144.410060, -72.152783, -146.035221], [-93.000000, -53.000000, -72.000000, -37.000000, -67.000000, -142.000000], [-93.000000, -44.806262, -87.724392, -39.267837, -61.072205, -136.829745]] - id: 595 parameters: Irb2400_10 - joints: [-81.000000, 108.000000, 125.000000, -114.000000, -88.000000, -164.000000] - pose: {translation: [0.113272679251304, -0.2190952218161658, 0.942030563246142], quaternion: [-0.04969652993665136, 0.6010646486457728, -0.1946191946538615, 0.7735469682785084]} - solutions: [[-81.000000, -68.764444, 75.275608, 108.482763, 74.289675, -120.508185], [-81.000000, 108.000000, 125.000000, 66.000000, 88.000000, 16.000000], [99.000000, -126.350789, 66.264550, -113.610727, 85.136703, 9.505662], [99.000000, 35.519523, 134.011057, -70.509282, 75.577999, -124.384294], [-81.000000, -68.764444, 75.275608, -71.517237, -74.289675, 59.491815], [-81.000000, 108.000000, 125.000000, -114.000000, -88.000000, -164.000000], [99.000000, -126.350789, 66.264550, 66.389273, -85.136703, -170.494338], [99.000000, 35.519523, 134.011057, 109.490718, -75.577999, 55.615706]] + joints: [-81.000000, 107.000000, 125.000000, -114.000000, -87.000000, -164.000000] + pose: {translation: [0.1121722647026624, -0.2125253701112754, 0.9454731347204078], quaternion: [-0.05963215310533483, 0.5922743518093312, -0.1979429422866253, 0.7787642069996363]} + solutions: [[-81.000000, -69.764444, 75.275608, 109.195220, 75.016289, -120.696754], [-81.000000, 107.000000, 125.000000, 66.000000, 87.000000, 16.000000], [99.000000, -125.829920, 66.467358, -113.470790, 84.033017, 9.240250], [99.000000, 36.342496, 133.808249, -69.766982, 76.480325, -124.910197], [-81.000000, -69.764444, 75.275608, -70.804780, -75.016289, 59.303246], [-81.000000, 107.000000, 125.000000, -114.000000, -87.000000, -164.000000], [99.000000, -125.829920, 66.467358, 66.529210, -84.033017, -170.759750], [99.000000, 36.342496, 133.808249, 110.233018, -76.480325, 55.089803]] - id: 596 parameters: Irb2400_10 joints: [-88.000000, -20.000000, 162.000000, 132.000000, -23.000000, -39.000000] @@ -2991,34 +2991,34 @@ cases: solutions: [[180.000000, -8.279207, -18.490616, 35.299482, 15.470234, 63.063704], [180.000000, 55.954828, -141.233777, 9.355646, 71.469914, 94.375075], [0.000000, -55.142836, -34.724392, -170.870024, 76.260801, 95.186421], [0.000000, -8.000000, -125.000000, -164.000000, 34.000000, 84.000000], [180.000000, -8.279207, -18.490616, -144.700518, -15.470234, -116.936296], [180.000000, 55.954828, -141.233777, -170.644354, -71.469914, -85.624925], [0.000000, -55.142836, -34.724392, 9.129976, -76.260801, -84.813579], [0.000000, -8.000000, -125.000000, 16.000000, -34.000000, -96.000000]] - id: 598 parameters: Irb2400_10 - joints: [20.000000, -163.000000, -50.000000, 63.000000, -77.000000, 67.000000] - pose: {translation: [-0.5962261807034318, -0.2955390037496768, -0.6255659491905782], quaternion: [0.5220480003690934, 0.6886359006823805, -0.2469604724821103, 0.4384712152848924]} - solutions: [[-160.000000, 127.757838, -28.248676, 91.978059, 60.306500, 176.832735], [-160.000000, -178.295934, -131.475717, 67.710255, 69.764790, -129.335299], [20.000000, -163.000000, -50.000000, -117.000000, 77.000000, -113.000000], [20.000000, -131.851313, -109.724392, -107.927481, 65.849444, -140.844045], [-160.000000, 127.757838, -28.248676, -88.021941, -60.306500, -3.167265], [-160.000000, -178.295934, -131.475717, -112.289745, -69.764790, 50.664701], [20.000000, -163.000000, -50.000000, 63.000000, -77.000000, 67.000000], [20.000000, -131.851313, -109.724392, 72.072519, -65.849444, 39.155955]] + joints: [20.000000, -162.000000, -50.000000, 63.000000, -76.000000, 67.000000] + pose: {translation: [-0.6177957530481594, -0.303061310280571, -0.6127207069276259], quaternion: [0.5230273698194969, 0.6908882962138818, -0.2570635233270681, 0.4278248210997729]} + solutions: [[-160.000000, 126.397372, -27.688414, 93.179878, 59.982541, 176.061326], [-160.000000, -179.066977, -132.035979, 67.893213, 68.929781, -129.112784], [20.000000, -162.000000, -50.000000, -117.000000, 76.000000, -113.000000], [20.000000, -130.851313, -109.724392, -107.412007, 64.966091, -141.058571], [-160.000000, 126.397372, -27.688414, -86.820122, -59.982541, -3.938674], [-160.000000, -179.066977, -132.035979, -112.106787, -68.929781, 50.887216], [20.000000, -162.000000, -50.000000, 63.000000, -76.000000, 67.000000], [20.000000, -130.851313, -109.724392, 72.587993, -64.966091, 38.941429]] - id: 599 parameters: Irb2400_10 - joints: [165.000000, 175.000000, 103.000000, -89.000000, 176.000000, 173.000000] - pose: {translation: [-0.1154738900580523, 0.03707866400445631, 0.5951413514974149], quaternion: [0.745095111013957, 0.6624544544598375, 0.06716925136358319, 0.03841435904286365]} - solutions: [[165.000000, -120.770761, 97.275608, -4.684015, 121.340017, -100.442637], [165.000000, 175.000000, 103.000000, -89.000000, 176.000000, 173.000000], [-15.000000, -170.146869, 81.873310, 22.626824, 169.555304, 104.286422], [-15.000000, 20.942407, 118.402298, 175.249207, 57.364398, -95.436196], [165.000000, -120.770761, 97.275608, 175.315985, -121.340017, 79.557363], [165.000000, 175.000000, 103.000000, 91.000000, -176.000000, -7.000000], [-15.000000, -170.146869, 81.873310, -157.373176, -169.555304, -75.713578], [-15.000000, 20.942407, 118.402298, -4.750793, -57.364398, 84.563804]] + joints: [165.000000, 174.000000, 103.000000, -89.000000, 175.000000, 173.000000] + pose: {translation: [-0.1154612807316399, 0.03860616129454016, 0.5956256297544473], quaternion: [0.7451178419564385, 0.6627795220819649, 0.06954370616326627, 0.02619884806741326]} + solutions: [[165.000000, -121.770761, 97.275608, -5.851942, 121.274679, -101.049541], [165.000000, 174.000000, 103.000000, -89.000000, 175.000000, 173.000000], [-15.000000, -170.044326, 81.949476, 29.711240, 169.873506, 111.321732], [-15.000000, 21.240712, 118.326131, 174.010114, 56.623617, -94.700172], [165.000000, -121.770761, 97.275608, 174.148058, -121.274679, 78.950459], [165.000000, 174.000000, 103.000000, 91.000000, -175.000000, -7.000000], [-15.000000, -170.044326, 81.949476, -150.288760, -169.873506, -68.678268], [-15.000000, 21.240712, 118.326131, -5.989886, -56.623617, 85.299828]] - id: 600 parameters: Irb2400_10 - joints: [-1.000000, 44.000000, 141.000000, -104.000000, 127.000000, -115.000000] - pose: {translation: [-0.125761144019341, -0.06368243743557776, 1.032632334432663], quaternion: [0.2275169672116546, 0.7554455303112035, -0.3723309624783154, 0.4887818887229832]} - solutions: [[179.000000, -70.619139, 65.293037, 76.238899, 127.078232, -114.603396], [179.000000, 89.819256, 134.982570, 127.020757, 76.062906, 15.216685], [-1.000000, -108.034647, 59.275608, -52.268218, 78.465769, 11.992919], [-1.000000, 44.000000, 141.000000, -104.000000, 127.000000, -115.000000], [179.000000, -70.619139, 65.293037, -103.761101, -127.078232, 65.396604], [179.000000, 89.819256, 134.982570, -52.979243, -76.062906, -164.783315], [-1.000000, -108.034647, 59.275608, 127.731782, -78.465769, -168.007081], [-1.000000, 44.000000, 141.000000, 76.000000, -127.000000, 65.000000]] + joints: [-1.000000, 44.000000, 141.000000, -104.000000, 126.000000, -115.000000] + pose: {translation: [-0.1269825016856549, -0.06451746332308675, 1.032523604453941], quaternion: [0.2327471984580411, 0.754274651142689, -0.3774524678229204, 0.484177784277527]} + solutions: [[179.000000, -70.619139, 65.293037, 76.230335, 126.078255, -114.608499], [179.000000, 89.819256, 134.982570, 126.236151, 76.709826, 15.401366], [-1.000000, -108.034647, 59.275608, -53.081674, 79.068599, 12.151382], [-1.000000, 44.000000, 141.000000, -104.000000, 126.000000, -115.000000], [179.000000, -70.619139, 65.293037, -103.769665, -126.078255, 65.391501], [179.000000, 89.819256, 134.982570, -53.763849, -76.709826, -164.598634], [-1.000000, -108.034647, 59.275608, 126.918326, -79.068599, -167.848618], [-1.000000, 44.000000, 141.000000, 76.000000, -126.000000, 65.000000]] - id: 601 parameters: Irb2400_10 - joints: [-178.000000, -114.000000, 31.000000, 58.000000, -159.000000, -117.000000] - pose: {translation: [0.6104502896589881, 0.04716576685529339, 1.017279748407402], quaternion: [0.01610479752388895, 0.9754381582818648, 0.1635174996264191, 0.1467074032907763]} - solutions: [[2.000000, -21.681969, 45.089284, 23.201082, 50.482762, -8.460236], [2.000000, 112.507938, 155.186323, 48.840999, 156.192545, 53.099785], [-178.000000, -114.000000, 31.000000, -122.000000, 159.000000, 63.000000], [-178.000000, 3.855359, 169.275608, -160.554833, 65.911203, -1.404170], [2.000000, -21.681969, 45.089284, -156.798918, -50.482762, 171.539764], [2.000000, 112.507938, 155.186323, -131.159001, -156.192545, -126.900215], [-178.000000, -114.000000, 31.000000, 58.000000, -159.000000, -117.000000], [-178.000000, 3.855359, 169.275608, 19.445167, -65.911203, 178.595830]] + joints: [-178.000000, -113.000000, 31.000000, 58.000000, -158.000000, -117.000000] + pose: {translation: [0.6039328886514761, 0.04810943553436901, 1.030279998151471], quaternion: [0.01416498557237956, 0.9721450110733593, 0.1714580248453024, 0.1591715312015949]} + solutions: [[2.000000, -22.757503, 44.870691, 24.334885, 50.439201, -9.090613], [2.000000, 111.171151, 155.404916, 49.445459, 155.283874, 53.687613], [-178.000000, -113.000000, 31.000000, -122.000000, 158.000000, 63.000000], [-178.000000, 4.855359, 169.275608, -159.563593, 65.482385, -1.812142], [2.000000, -22.757503, 44.870691, -155.665115, -50.439201, 170.909387], [2.000000, 111.171151, 155.404916, -130.554541, -155.283874, -126.312387], [-178.000000, -113.000000, 31.000000, 58.000000, -158.000000, -117.000000], [-178.000000, 4.855359, 169.275608, 20.436407, -65.482385, 178.187858]] - id: 602 parameters: Irb2400_10 - joints: [164.000000, 175.000000, -56.000000, -173.000000, -16.000000, 162.000000] - pose: {translation: [0.1400033399656221, -0.04311567683634881, -0.8732931821285174], quaternion: [0.9230744571735706, -0.04455302575514521, 0.3672999424695864, 0.1050682000969752]} - solutions: [[-16.000000, 165.912532, -51.810273, -177.937980, 69.001456, -12.007822], [-16.000000, -164.830347, -107.914119, -177.132314, 42.178034, -13.394564], [164.000000, 175.000000, -56.000000, 7.000000, 16.000000, -18.000000], [164.000000, -160.118382, -103.724392, 3.075070, 38.769854, -13.667065], [-16.000000, 165.912532, -51.810273, 2.062020, -69.001456, 167.992178], [-16.000000, -164.830347, -107.914119, 2.867686, -42.178034, 166.605436], [164.000000, 175.000000, -56.000000, -173.000000, -16.000000, 162.000000], [164.000000, -160.118382, -103.724392, -176.924930, -38.769854, 166.332935]] + joints: [164.000000, 174.000000, -56.000000, -173.000000, -16.000000, 162.000000] + pose: {translation: [0.114999159152073, -0.03594584336338467, -0.877367900197176], quaternion: [0.9263731258908114, -0.04455345464899015, 0.3594355951806088, 0.103217606169145]} + solutions: [[-16.000000, 167.508582, -52.956318, -177.930260, 68.451819, -12.029098], [-16.000000, -164.431473, -106.768075, -177.161964, 42.722277, -13.354381], [164.000000, 174.000000, -56.000000, 7.000000, 16.000000, -18.000000], [164.000000, -161.118382, -103.724392, 3.075070, 38.769854, -13.667065], [-16.000000, 167.508582, -52.956318, 2.069740, -68.451819, 167.970902], [-16.000000, -164.431473, -106.768075, 2.838036, -42.722277, 166.645619], [164.000000, 174.000000, -56.000000, -173.000000, -16.000000, 162.000000], [164.000000, -161.118382, -103.724392, -176.924930, -38.769854, 166.332935]] - id: 603 parameters: Irb2400_10 - joints: [6.000000, 86.000000, -79.000000, -75.000000, 114.000000, 27.000000] - pose: {translation: [1.531789027105182, 0.08557890541447316, 0.6904261850327771], quaternion: [0.2277928907103833, 0.7353001507093011, -0.6374964735542397, -0.03228519032923685]} - solutions: [[6.000000, 86.000000, -79.000000, -75.000000, 114.000000, 27.000000], [6.000000, 86.898498, -80.724392, -75.357249, 114.211274, 26.125305], [6.000000, 86.000000, -79.000000, 105.000000, -114.000000, -153.000000], [6.000000, 86.898498, -80.724392, 104.642751, -114.211274, -153.874695]] + joints: [6.000000, 85.000000, -79.000000, -75.000000, 113.000000, 27.000000] + pose: {translation: [1.531652326799976, 0.08498999813334958, 0.715118059168954], quaternion: [0.2284459728154953, 0.7388238664236736, -0.6336978689292818, -0.01946131603058637]} + solutions: [[6.000000, 85.000000, -79.000000, -75.000000, 113.000000, 27.000000], [6.000000, 85.898498, -80.724392, -75.340640, 113.211389, 26.131985], [6.000000, 85.000000, -79.000000, 105.000000, -113.000000, -153.000000], [6.000000, 85.898498, -80.724392, 104.659360, -113.211389, -153.868015]] - id: 604 parameters: Irb2400_10 joints: [90.000000, -113.000000, -127.000000, -153.000000, -113.000000, 121.000000] @@ -3026,9 +3026,9 @@ cases: solutions: [[-90.000000, 109.133139, -12.245718, -135.242696, 143.592811, -31.668737], [-90.000000, 179.979588, -147.478675, -155.284290, 88.159467, -71.106604], [90.000000, -162.242288, -32.724392, 26.020015, 72.292296, -78.705271], [90.000000, -113.000000, -127.000000, 27.000000, 113.000000, -59.000000], [-90.000000, 109.133139, -12.245718, 44.757304, -143.592811, 148.331263], [-90.000000, 179.979588, -147.478675, 24.715710, -88.159467, 108.893396], [90.000000, -162.242288, -32.724392, -153.979985, -72.292296, 101.294729], [90.000000, -113.000000, -127.000000, -153.000000, -113.000000, 121.000000]] - id: 605 parameters: Irb2400_10 - joints: [-140.000000, -138.000000, -23.000000, -113.000000, 158.000000, 27.000000] - pose: {translation: [0.792468894920871, 0.7032222509840672, 0.1718199575460642], quaternion: [0.4633851441246876, -0.7109169919129348, -0.1429917432639117, 0.5093374128928234]} - solutions: [[40.000000, 68.093448, 2.734339, 20.391782, 81.744768, -41.456420], [40.000000, 154.926354, -162.458732, 46.451344, 151.591037, 4.376994], [-140.000000, -138.000000, -23.000000, -113.000000, 158.000000, 27.000000], [-140.000000, -78.526192, -136.724392, -157.633396, 115.018309, -28.529328], [40.000000, 68.093448, 2.734339, -159.608218, -81.744768, 138.543580], [40.000000, 154.926354, -162.458732, -133.548656, -151.591037, -175.623006], [-140.000000, -138.000000, -23.000000, 67.000000, -158.000000, -153.000000], [-140.000000, -78.526192, -136.724392, 22.366604, -115.018309, 151.470672]] + joints: [-140.000000, -137.000000, -23.000000, -113.000000, 157.000000, 27.000000] + pose: {translation: [0.7979966942041099, 0.7095075670892859, 0.1918072833667529], quaternion: [-0.4640552609179384, 0.716798531523244, 0.1503300879157455, -0.4982503835299572]} + solutions: [[40.000000, 66.845398, 2.881649, 21.327020, 81.472512, -41.557418], [40.000000, 153.836599, -162.606041, 47.548020, 150.826157, 5.421637], [-140.000000, -137.000000, -23.000000, -113.000000, 157.000000, 27.000000], [-140.000000, -77.526192, -136.724392, -156.727776, 114.449589, -28.150401], [40.000000, 66.845398, 2.881649, -158.672980, -81.472512, 138.442582], [40.000000, 153.836599, -162.606041, -132.451980, -150.826157, -174.578363], [-140.000000, -137.000000, -23.000000, 67.000000, -157.000000, -153.000000], [-140.000000, -77.526192, -136.724392, 23.272224, -114.449589, 151.849599]] - id: 606 parameters: Irb2400_10 joints: [-179.000000, -15.000000, -115.000000, 151.000000, -40.000000, -36.000000] @@ -3036,9 +3036,9 @@ cases: solutions: [[1.000000, -2.933122, -24.578374, 159.014888, 60.478297, 131.695534], [1.000000, 54.877052, -135.146018, 107.693992, 19.093082, -167.661832], [-179.000000, -51.665301, -44.724392, -81.932586, 18.345387, -157.500548], [-179.000000, -15.000000, -115.000000, -29.000000, 40.000000, 144.000000], [1.000000, -2.933122, -24.578374, -20.985112, -60.478297, -48.304466], [1.000000, 54.877052, -135.146018, -72.306008, -19.093082, 12.338168], [-179.000000, -51.665301, -44.724392, 98.067414, -18.345387, 22.499452], [-179.000000, -15.000000, -115.000000, 151.000000, -40.000000, -36.000000]] - id: 607 parameters: Irb2400_10 - joints: [-159.000000, 29.000000, -51.000000, -50.000000, -33.000000, -105.000000] - pose: {translation: [-1.057352996378532, -0.4438663435203309, 1.693899865316516], quaternion: [0.1668326375569127, -0.3908752974759424, 0.462470944934374, 0.7781413740191462]} - solutions: [[-159.000000, 29.000000, -51.000000, 130.000000, 33.000000, 75.000000], [-159.000000, 59.103699, -108.724392, 79.326906, 25.122986, 131.773294], [-159.000000, 29.000000, -51.000000, -50.000000, -33.000000, -105.000000], [-159.000000, 59.103699, -108.724392, -100.673094, -25.122986, -48.226706]] + joints: [-159.000000, 29.000000, -51.000000, -50.000000, -32.000000, -105.000000] + pose: {translation: [-1.058667703561505, -0.443344362820304, 1.693452779013902], quaternion: [0.1613117206054679, -0.3965161728776602, 0.4587817677430848, 0.7786351796754929]} + solutions: [[-159.000000, 29.000000, -51.000000, 130.000000, 32.000000, 75.000000], [-159.000000, 59.103699, -108.724392, 77.316219, 24.588343, 133.597783], [-159.000000, 29.000000, -51.000000, -50.000000, -32.000000, -105.000000], [-159.000000, 59.103699, -108.724392, -102.683781, -24.588343, -46.402217]] - id: 608 parameters: Irb2400_10 joints: [36.000000, -35.000000, -76.000000, 50.000000, -32.000000, -132.000000] @@ -3056,9 +3056,9 @@ cases: solutions: [[-97.000000, 113.150380, 42.275608, 175.758974, 122.702455, -159.002503], [-97.000000, -116.000000, 158.000000, 159.000000, 10.000000, -136.000000], [83.000000, 133.237172, 39.373373, -171.687894, 25.496919, 15.779478], [83.000000, -99.312093, 160.902235, -3.577595, 85.766028, -156.443736], [-97.000000, 113.150380, 42.275608, -4.241026, -122.702455, 20.997497], [-97.000000, -116.000000, 158.000000, -21.000000, -10.000000, 44.000000], [83.000000, 133.237172, 39.373373, 8.312106, -25.496919, -164.220522], [83.000000, -99.312093, 160.902235, 176.422405, -85.766028, 23.556264]] - id: 611 parameters: Irb2400_10 - joints: [45.000000, 149.000000, -98.000000, 173.000000, 26.000000, 71.000000] - pose: {translation: [0.7887300391441905, 0.7951520399594991, -0.527187236007773], quaternion: [0.8338872570217263, -0.130266427044774, 0.2900551106840888, -0.4511438055961879]} - solutions: [[45.000000, 130.092109, -61.724392, 175.531098, 43.286272, 67.958616], [45.000000, 149.000000, -98.000000, 173.000000, 26.000000, 71.000000], [45.000000, 130.092109, -61.724392, -4.468902, -43.286272, -112.041384], [45.000000, 149.000000, -98.000000, -7.000000, -26.000000, -109.000000]] + joints: [45.000000, 148.000000, -98.000000, 173.000000, 26.000000, 71.000000] + pose: {translation: [0.8027155993542673, 0.809137600169576, -0.5092122787666302], quaternion: [0.8292818687303301, -0.1292674542174642, 0.294385823639304, -0.457076026843977]} + solutions: [[45.000000, 129.092109, -61.724392, 175.531098, 43.286272, 67.958616], [45.000000, 148.000000, -98.000000, 173.000000, 26.000000, 71.000000], [45.000000, 129.092109, -61.724392, -4.468902, -43.286272, -112.041384], [45.000000, 148.000000, -98.000000, -7.000000, -26.000000, -109.000000]] - id: 612 parameters: Irb2400_10 joints: [19.000000, 72.000000, 69.000000, -109.000000, -139.000000, 146.000000] @@ -3066,59 +3066,59 @@ cases: solutions: [[19.000000, 72.000000, 69.000000, 71.000000, 139.000000, -34.000000], [19.000000, -121.951595, 131.275608, 138.685328, 69.983906, 97.268700], [-161.000000, 149.478477, 59.297622, -60.978027, 45.185442, 132.315456], [-161.000000, -58.457347, 140.977985, -59.539118, 133.974854, 30.789744], [19.000000, 72.000000, 69.000000, -109.000000, -139.000000, 146.000000], [19.000000, -121.951595, 131.275608, -41.314672, -69.983906, -82.731300], [-161.000000, 149.478477, 59.297622, 119.021973, -45.185442, -47.684544], [-161.000000, -58.457347, 140.977985, 120.460882, -133.974854, -149.210256]] - id: 613 parameters: Irb2400_10 - joints: [92.000000, -169.000000, -96.000000, 39.000000, 47.000000, 98.000000] - pose: {translation: [-0.03843424322933768, -0.02037028403677828, -0.8944788446891889], quaternion: [0.3555496091954163, 0.8297697017371104, -0.4220804435756239, -0.08315537644132244]} - solutions: [[92.000000, 174.178226, -63.724392, 51.500843, 36.022163, 81.432827], [92.000000, -169.000000, -96.000000, 39.000000, 47.000000, 98.000000], [-88.000000, 178.340569, -66.575506, -150.533201, 69.330660, 115.631907], [-88.000000, -167.810815, -93.148886, -147.297180, 58.416862, 108.324446], [92.000000, 174.178226, -63.724392, -128.499157, -36.022163, -98.567173], [92.000000, -169.000000, -96.000000, -141.000000, -47.000000, -82.000000], [-88.000000, 178.340569, -66.575506, 29.466799, -69.330660, -64.368093], [-88.000000, -167.810815, -93.148886, 32.702820, -58.416862, -71.675554]] + joints: [92.000000, -168.000000, -96.000000, 39.000000, 46.000000, 98.000000] + pose: {translation: [-0.03689684240346134, -0.0459813660830601, -0.8933249791614787], quaternion: [0.3575871054241607, 0.8296629210844644, -0.4216048338290062, -0.07771913216177877]} + solutions: [[92.000000, 175.178226, -63.724392, 51.997149, 35.064680, 81.028980], [92.000000, -168.000000, -96.000000, 39.000000, 46.000000, 98.000000], [-88.000000, 176.221146, -64.406647, -151.056249, 69.295434, 116.295739], [-88.000000, -167.668612, -95.317745, -147.149939, 56.568986, 107.776591], [92.000000, 175.178226, -63.724392, -128.002851, -35.064680, -98.971020], [92.000000, -168.000000, -96.000000, -141.000000, -46.000000, -82.000000], [-88.000000, 176.221146, -64.406647, 28.943751, -69.295434, -63.704261], [-88.000000, -167.668612, -95.317745, 32.850061, -56.568986, -72.223409]] - id: 614 parameters: Irb2400_10 - joints: [13.000000, -50.000000, -164.000000, 47.000000, 107.000000, -31.000000] - pose: {translation: [-0.9886109426848669, -0.1672263268484576, 0.5939106202947837], quaternion: [-0.2829201791157566, -0.2605026747207202, -0.3114364270115458, 0.8689659835935702]} - solutions: [[-167.000000, 39.374477, 25.458818, -120.389727, 125.826129, -3.462944], [-167.000000, 151.013293, 174.816790, -126.309105, 60.217451, -82.465028], [13.000000, -138.490362, 4.275608, 60.024571, 53.842122, -94.057602], [13.000000, -50.000000, -164.000000, 47.000000, 107.000000, -31.000000], [-167.000000, 39.374477, 25.458818, 59.610273, -125.826129, 176.537056], [-167.000000, 151.013293, 174.816790, 53.690895, -60.217451, 97.534972], [13.000000, -138.490362, 4.275608, -119.975429, -53.842122, 85.942398], [13.000000, -50.000000, -164.000000, -133.000000, -107.000000, 149.000000]] + joints: [13.000000, -50.000000, -164.000000, 47.000000, 106.000000, -31.000000] + pose: {translation: [-0.9899858439830548, -0.1672274937589763, 0.5933534398494091], quaternion: [-0.2813334163599467, -0.2683924592055394, -0.3081374682246836, 0.8682558939373379]} + solutions: [[-167.000000, 39.374477, 25.458818, -120.953672, 124.938095, -3.789495], [-167.000000, 151.013293, 174.816790, -125.402173, 59.597553, -82.919775], [13.000000, -138.490362, 4.275608, 61.135085, 53.394143, -94.716338], [13.000000, -50.000000, -164.000000, 47.000000, 106.000000, -31.000000], [-167.000000, 39.374477, 25.458818, 59.046328, -124.938095, 176.210505], [-167.000000, 151.013293, 174.816790, 54.597827, -59.597553, 97.080225], [13.000000, -138.490362, 4.275608, -118.864915, -53.394143, 85.283662], [13.000000, -50.000000, -164.000000, -133.000000, -106.000000, 149.000000]] - id: 615 parameters: Irb2400_10 - joints: [-91.000000, -48.000000, -110.000000, -132.000000, 92.000000, 119.000000] - pose: {translation: [-0.04229752542931693, 1.193975576406031, 1.190581502148188], quaternion: [0.1511670527633333, 0.8908983627391078, 0.05767509510424885, -0.424408073476861]} - solutions: [[89.000000, 25.864694, -15.354666, 51.883570, 70.732885, 93.969626], [89.000000, 93.416079, -144.369726, 52.579826, 110.748559, 141.625639], [-91.000000, -79.436730, -49.724392, -127.454634, 110.678792, 141.528213], [-91.000000, -48.000000, -110.000000, -132.000000, 92.000000, 119.000000], [89.000000, 25.864694, -15.354666, -128.116430, -70.732885, -86.030374], [89.000000, 93.416079, -144.369726, -127.420174, -110.748559, -38.374361], [-91.000000, -79.436730, -49.724392, 52.545366, -110.678792, -38.471787], [-91.000000, -48.000000, -110.000000, 48.000000, -92.000000, -61.000000]] + joints: [-91.000000, -47.000000, -110.000000, -132.000000, 92.000000, 119.000000] + pose: {translation: [-0.04247627683188171, 1.183734915411651, 1.213060769032247], quaternion: [0.1474494648823734, 0.8904258498941084, 0.06546919371157237, -0.4255751940856199]} + solutions: [[89.000000, 24.866113, -15.617409, 51.812063, 70.894318, 94.187209], [89.000000, 92.139321, -144.106983, 52.584044, 110.757075, 141.637543], [-91.000000, -78.436730, -49.724392, -127.454634, 110.678792, 141.528213], [-91.000000, -47.000000, -110.000000, -132.000000, 92.000000, 119.000000], [89.000000, 24.866113, -15.617409, -128.187937, -70.894318, -85.812791], [89.000000, 92.139321, -144.106983, -127.415956, -110.757075, -38.362457], [-91.000000, -78.436730, -49.724392, 52.545366, -110.678792, -38.471787], [-91.000000, -47.000000, -110.000000, 48.000000, -92.000000, -61.000000]] - id: 616 parameters: Irb2400_10 - joints: [-74.000000, 51.000000, -22.000000, -157.000000, 175.000000, -90.000000] - pose: {translation: [0.3563513059276814, -1.253246276826362, 0.8577295895205899], quaternion: [-0.4404577281510638, -0.171552968983861, -0.04516114986560006, 0.8800721783397331]} - solutions: [[-74.000000, 51.000000, -22.000000, -157.000000, 175.000000, -90.000000], [-74.000000, 111.528483, -137.724392, -177.742275, 120.180444, -111.786083], [-74.000000, 51.000000, -22.000000, 23.000000, -175.000000, 90.000000], [-74.000000, 111.528483, -137.724392, 2.257725, -120.180444, 68.213917]] + joints: [-74.000000, 51.000000, -22.000000, -157.000000, 174.000000, -90.000000] + pose: {translation: [0.3560125949222398, -1.254158328143558, 0.8588495190896882], quaternion: [-0.4327609757650007, -0.1719405371499193, -0.04366236719370555, 0.8838823378881172]} + solutions: [[-74.000000, 51.000000, -22.000000, -157.000000, 174.000000, -90.000000], [-74.000000, 111.528483, -137.724392, -177.316908, 119.251182, -111.575221], [-74.000000, 51.000000, -22.000000, 23.000000, -174.000000, 90.000000], [-74.000000, 111.528483, -137.724392, 2.683092, -119.251182, 68.424779]] - id: 617 parameters: Irb2400_10 - joints: [-88.000000, 98.000000, -53.000000, -23.000000, -124.000000, -21.000000] - pose: {translation: [0.07776290516964254, -1.437883695071251, 0.1579539431817811], quaternion: [-0.07644384323244578, 0.163228347940375, -0.720458092366339, 0.6696663216889177]} - solutions: [[-88.000000, 98.000000, -53.000000, 157.000000, 124.000000, 159.000000], [-88.000000, 126.014319, -106.724392, 160.799401, 99.949071, 168.909591], [-88.000000, 98.000000, -53.000000, -23.000000, -124.000000, -21.000000], [-88.000000, 126.014319, -106.724392, -19.200599, -99.949071, -11.090409]] + joints: [-88.000000, 97.000000, -53.000000, -23.000000, -124.000000, -21.000000] + pose: {translation: [0.07803416176762532, -1.445651467715748, 0.1814049204580447], quaternion: [-0.08206182275304036, 0.1567349115056736, -0.7218774908876591, 0.6690238507792493]} + solutions: [[-88.000000, 97.000000, -53.000000, 157.000000, 124.000000, 159.000000], [-88.000000, 125.014319, -106.724392, 160.799401, 99.949071, 168.909591], [-88.000000, 97.000000, -53.000000, -23.000000, -124.000000, -21.000000], [-88.000000, 125.014319, -106.724392, -19.200599, -99.949071, -11.090409]] - id: 618 parameters: Irb2400_10 - joints: [9.000000, 94.000000, -79.000000, 168.000000, -73.000000, -69.000000] - pose: {translation: [1.55422653448309, 0.2290543457698219, 0.4175808395615779], quaternion: [0.7546390127255349, 0.6481686746055327, -0.03520817392413847, 0.09569594673581881]} - solutions: [[9.000000, 94.000000, -79.000000, -12.000000, 73.000000, 111.000000], [9.000000, 94.898498, -80.724392, -11.948929, 73.807924, 110.821200], [9.000000, 94.000000, -79.000000, 168.000000, -73.000000, -69.000000], [9.000000, 94.898498, -80.724392, 168.051071, -73.807924, -69.178800]] + joints: [9.000000, 93.000000, -79.000000, 168.000000, -72.000000, -69.000000] + pose: {translation: [1.558853959285914, 0.2298811634738971, 0.443363168220496], quaternion: [0.7542859045164492, 0.6478827332158251, -0.02018132263022623, 0.1043717033754315]} + solutions: [[9.000000, 93.000000, -79.000000, -12.000000, 72.000000, 111.000000], [9.000000, 93.898498, -80.724392, -11.945663, 72.807929, 110.820262], [9.000000, 93.000000, -79.000000, 168.000000, -72.000000, -69.000000], [9.000000, 93.898498, -80.724392, 168.054337, -72.807929, -69.179738]] - id: 619 parameters: Irb2400_10 - joints: [-12.000000, 35.000000, 134.000000, -93.000000, -158.000000, 180.000000] - pose: {translation: [-0.1244148827350738, 0.05895350689148646, 0.9325953476109938], quaternion: [-0.4920623506864878, 0.3997430914260862, -0.5020826867116073, 0.5882117642469059]} - solutions: [[168.000000, -68.276957, 75.426244, -102.338380, 157.484208, -10.086384], [168.000000, 108.770935, 124.849364, -148.622453, 45.928900, -109.751136], [-12.000000, -126.886755, 66.275608, 28.343687, 51.995624, -105.138156], [-12.000000, 35.000000, 134.000000, 87.000000, 158.000000, 0.000000], [168.000000, -68.276957, 75.426244, 77.661620, -157.484208, 169.913616], [168.000000, 108.770935, 124.849364, 31.377547, -45.928900, 70.248864], [-12.000000, -126.886755, 66.275608, -151.656313, -51.995624, 74.861844], [-12.000000, 35.000000, 134.000000, -93.000000, -158.000000, -180.000000]] + joints: [-12.000000, 35.000000, 134.000000, -93.000000, -157.000000, 180.000000] + pose: {translation: [-0.1246888068932438, 0.06041101614190964, 0.9325574354671841], quaternion: [-0.4964250568486447, 0.3945948195927841, -0.4977695693706858, 0.5916777392228645]} + solutions: [[168.000000, -68.276957, 75.426244, -101.899210, 156.499045, -9.682135], [168.000000, 108.770935, 124.849364, -147.320033, 46.274261, -110.654235], [-12.000000, -126.886755, 66.275608, 29.564334, 52.263090, -105.887507], [-12.000000, 35.000000, 134.000000, 87.000000, 157.000000, 0.000000], [168.000000, -68.276957, 75.426244, 78.100790, -156.499045, 170.317865], [168.000000, 108.770935, 124.849364, 32.679967, -46.274261, 69.345765], [-12.000000, -126.886755, 66.275608, -150.435666, -52.263090, 74.112493], [-12.000000, 35.000000, 134.000000, -93.000000, -157.000000, -180.000000]] - id: 620 parameters: Irb2400_10 - joints: [-89.000000, -13.000000, -49.000000, -137.000000, 172.000000, 116.000000] - pose: {translation: [-0.005806409779352047, -0.1296279590883458, 1.961676559995039], quaternion: [-0.1608546717075664, 0.9420247622054847, 0.294427775353041, -0.005235177380975372]} - solutions: [[-89.000000, -13.000000, -49.000000, -137.000000, 172.000000, 116.000000], [-89.000000, 19.193884, -110.724392, -170.653040, 144.238559, 80.887024], [91.000000, -22.788395, -57.342418, 7.852217, 135.992605, 78.944186], [91.000000, 0.691908, -102.381974, 14.175161, 157.195364, 86.386276], [-89.000000, -13.000000, -49.000000, 43.000000, -172.000000, -64.000000], [-89.000000, 19.193884, -110.724392, 9.346960, -144.238559, -99.112976], [91.000000, -22.788395, -57.342418, -172.147783, -135.992605, -101.055814], [91.000000, 0.691908, -102.381974, -165.824839, -157.195364, -93.613724]] + joints: [-89.000000, -12.000000, -49.000000, -137.000000, 171.000000, 116.000000] + pose: {translation: [-0.006411319196907411, -0.1523080166543916, 1.961668499267921], quaternion: [-0.1619698978809544, 0.9369943020216769, 0.3094017763264101, -0.008830116953126309]} + solutions: [[-89.000000, -12.000000, -49.000000, -137.000000, 171.000000, 116.000000], [-89.000000, 20.193884, -110.724392, -169.687945, 143.416622, 81.666118], [91.000000, -23.025136, -58.752051, 8.807442, 135.830175, 79.695458], [91.000000, -1.016016, -100.972341, 14.992742, 155.643939, 87.064918], [-89.000000, -12.000000, -49.000000, 43.000000, -171.000000, -64.000000], [-89.000000, 20.193884, -110.724392, 10.312055, -143.416622, -98.333882], [91.000000, -23.025136, -58.752051, -171.192558, -135.830175, -100.304542], [91.000000, -1.016016, -100.972341, -165.007258, -155.643939, -92.935082]] - id: 621 parameters: Irb2400_10 - joints: [108.000000, -35.000000, 41.000000, -41.000000, -40.000000, -11.000000] - pose: {translation: [-0.1977681124249523, 0.4926706055929114, 1.282046551622698], quaternion: [-0.5436947024217738, -0.05659129550739998, 0.5324815680922057, 0.6462637816506188]} - solutions: [[108.000000, -35.000000, 41.000000, 139.000000, 40.000000, 169.000000], [108.000000, 94.350303, 159.275608, 25.277456, 80.967139, -48.900195], [-72.000000, -99.997295, 30.173600, -154.930154, 84.408464, -47.269856], [-72.000000, 16.925097, 170.102008, -54.576006, 31.164998, -174.395542], [108.000000, -35.000000, 41.000000, -41.000000, -40.000000, -11.000000], [108.000000, 94.350303, 159.275608, -154.722544, -80.967139, 131.099805], [-72.000000, -99.997295, 30.173600, 25.069846, -84.408464, 132.730144], [-72.000000, 16.925097, 170.102008, 125.423994, -31.164998, 5.604458]] + joints: [108.000000, -34.000000, 41.000000, -41.000000, -40.000000, -11.000000] + pose: {translation: [-0.201345332246113, 0.5036801561453546, 1.274446159083202], quaternion: [-0.5504735354430813, -0.05391259379500442, 0.5314648151262894, 0.6415742118335716]} + solutions: [[108.000000, -34.000000, 41.000000, 139.000000, 40.000000, 169.000000], [108.000000, 95.350303, 159.275608, 25.277456, 80.967139, -48.900195], [-72.000000, -100.699766, 29.925891, -154.932213, 84.453591, -47.248647], [-72.000000, 15.943399, 170.349717, -54.936318, 31.011493, -173.974802], [108.000000, -34.000000, 41.000000, -41.000000, -40.000000, -11.000000], [108.000000, 95.350303, 159.275608, -154.722544, -80.967139, 131.099805], [-72.000000, -100.699766, 29.925891, 25.067787, -84.453591, 132.751353], [-72.000000, 15.943399, 170.349717, 125.063682, -31.011493, 6.025198]] - id: 622 parameters: Irb2400_10 - joints: [-9.000000, 24.000000, -111.000000, -74.000000, -128.000000, -134.000000] - pose: {translation: [0.2770167698294746, 0.02131362291204877, 1.968786942752301], quaternion: [-0.3754903725998476, 0.8128542461513, 0.4289014998655779, 0.1196597593666614]} - solutions: [[-9.000000, -8.481987, -48.724392, 81.189049, 129.956674, 7.456736], [-9.000000, 24.000000, -111.000000, 106.000000, 128.000000, 46.000000], [171.000000, -23.635098, -64.382832, -70.391746, 126.475036, 51.958934], [171.000000, -7.500020, -95.341560, -81.828014, 130.070311, 33.601844], [-9.000000, -8.481987, -48.724392, -98.810951, -129.956674, -172.543264], [-9.000000, 24.000000, -111.000000, -74.000000, -128.000000, -134.000000], [171.000000, -23.635098, -64.382832, 109.608254, -126.475036, -128.041066], [171.000000, -7.500020, -95.341560, 98.171986, -130.070311, -146.398156]] + joints: [-9.000000, 24.000000, -111.000000, -74.000000, -127.000000, -134.000000] + pose: {translation: [0.276967884414459, 0.0222003063893419, 1.969975306172069], quaternion: [-0.3736272364511928, 0.8094055599795206, 0.436263942549913, 0.1222256114195776]} + solutions: [[-9.000000, -8.481987, -48.724392, 81.992776, 129.171745, 7.968681], [-9.000000, 24.000000, -111.000000, 106.000000, 127.000000, 46.000000], [171.000000, -23.635098, -64.382832, -70.519228, 125.480372, 51.884040], [171.000000, -7.500020, -95.341560, -81.551390, 129.093300, 33.778110], [-9.000000, -8.481987, -48.724392, -98.007224, -129.171745, -172.031319], [-9.000000, 24.000000, -111.000000, -74.000000, -127.000000, -134.000000], [171.000000, -23.635098, -64.382832, 109.480772, -125.480372, -128.115960], [171.000000, -7.500020, -95.341560, 98.448610, -129.093300, -146.221890]] - id: 623 parameters: Irb2400_10 - joints: [-87.000000, 142.000000, 32.000000, 174.000000, 87.000000, -93.000000] - pose: {translation: [-0.00151823352373074, 0.1985039824965006, -0.2381480839596697], quaternion: [0.9967043076966594, 0.0563469263398749, 0.05217462195608936, 0.02614107370998598]} - solutions: [[93.000000, 110.204739, 36.711864, -172.601753, 54.160743, 82.337190], [93.000000, -125.425428, 163.563744, -7.315286, 55.065328, -89.110776], [-87.000000, 142.000000, 32.000000, 174.000000, 87.000000, -93.000000], [-87.000000, -99.012683, 168.275608, 18.994117, 18.706497, 68.627346], [93.000000, 110.204739, 36.711864, 7.398247, -54.160743, -97.662810], [93.000000, -125.425428, 163.563744, 172.684714, -55.065328, 90.889224], [-87.000000, 142.000000, 32.000000, -6.000000, -87.000000, 87.000000], [-87.000000, -99.012683, 168.275608, -161.005883, -18.706497, -111.372654]] + joints: [-87.000000, 141.000000, 32.000000, 174.000000, 86.000000, -93.000000] + pose: {translation: [-0.0008235468898601956, 0.1850676877519814, -0.2433154557500182], quaternion: [0.9966566847341071, 0.05725562659780964, 0.05209501188213744, 0.02614107370998601]} + solutions: [[93.000000, 111.419846, 36.393306, -172.691624, 55.054862, 82.378449], [93.000000, -124.576978, 163.882301, -7.414701, 53.902046, -89.035594], [-87.000000, 141.000000, 32.000000, 174.000000, 86.000000, -93.000000], [-87.000000, -100.012683, 168.275608, 18.057166, 19.657961, 69.512308], [93.000000, 111.419846, 36.393306, 7.308376, -55.054862, -97.621551], [93.000000, -124.576978, 163.882301, 172.585299, -53.902046, 90.964406], [-87.000000, 141.000000, 32.000000, -6.000000, -86.000000, 87.000000], [-87.000000, -100.012683, 168.275608, -161.942834, -19.657961, -110.487692]] - id: 624 parameters: Irb2400_10 joints: [-40.000000, 96.000000, 67.000000, 93.000000, 13.000000, 115.000000] @@ -3136,34 +3136,34 @@ cases: solutions: [[176.000000, 18.000000, 2.000000, 85.000000, 58.000000, -72.000000], [176.000000, 104.044168, -161.724392, 57.728448, 87.658392, 4.923203], [-4.000000, -95.350933, -22.451865, -122.347161, 90.073567, 8.741303], [-4.000000, -35.299085, -137.272528, -110.132577, 64.131786, -41.337004], [176.000000, 18.000000, 2.000000, -95.000000, -58.000000, 108.000000], [176.000000, 104.044168, -161.724392, -122.271552, -87.658392, -175.076797], [-4.000000, -95.350933, -22.451865, 57.652839, -90.073567, -171.258697], [-4.000000, -35.299085, -137.272528, 69.867423, -64.131786, 138.662996]] - id: 627 parameters: Irb2400_10 - joints: [-175.000000, 77.000000, 110.000000, 34.000000, -53.000000, 161.000000] - pose: {translation: [0.0330779578386084, 0.04099920967746808, 0.6819833441395028], quaternion: [-0.1103313629204158, 0.8830274172439581, 0.2366461057750977, 0.3899848604408504]} - solutions: [[-175.000000, -145.162378, 90.275608, -116.103894, 150.177215, 63.637070], [-175.000000, 77.000000, 110.000000, -146.000000, 53.000000, -19.000000], [5.000000, -151.486831, 87.937781, 27.250467, 102.749754, 9.578471], [5.000000, 59.318767, 112.337827, 146.550755, 125.882640, 161.927140], [-175.000000, -145.162378, 90.275608, 63.896106, -150.177215, -116.362930], [-175.000000, 77.000000, 110.000000, 34.000000, -53.000000, 161.000000], [5.000000, -151.486831, 87.937781, -152.749533, -102.749754, -170.421529], [5.000000, 59.318767, 112.337827, -33.449245, -125.882640, -18.072860]] + joints: [-175.000000, 77.000000, 110.000000, 34.000000, -52.000000, 161.000000] + pose: {translation: [0.03419480543073875, 0.04058998261213637, 0.6828699047156053], quaternion: [-0.1072665918326269, 0.8804483206370813, 0.2350386969301726, 0.397569420239186]} + solutions: [[-175.000000, -145.162378, 90.275608, -118.089750, 150.034156, 61.915395], [-175.000000, 77.000000, 110.000000, -146.000000, 52.000000, -19.000000], [5.000000, -151.486831, 87.937781, 26.761670, 101.871151, 9.474252], [5.000000, 59.318767, 112.337827, 146.570983, 126.882507, 161.939140], [-175.000000, -145.162378, 90.275608, 61.910250, -150.034156, -118.084605], [-175.000000, 77.000000, 110.000000, 34.000000, -52.000000, 161.000000], [5.000000, -151.486831, 87.937781, -153.238330, -101.871151, -170.525748], [5.000000, 59.318767, 112.337827, -33.429017, -126.882507, -18.060860]] - id: 628 parameters: Irb2400_10 - joints: [26.000000, -11.000000, -104.000000, 1.000000, 134.000000, -82.000000] - pose: {translation: [-0.3560199659607783, -0.1724552732614226, 1.906578849442826], quaternion: [-0.6636516487806193, 0.4715651780007142, -0.2712090053430997, 0.5134573471951946]} - solutions: [[-154.000000, -6.315649, -37.298095, -178.273077, 155.380761, -81.124673], [-154.000000, 38.127595, -122.426297, -179.208211, 114.703582, -82.363770], [26.000000, -36.169353, -55.724392, 0.769968, 110.896382, -82.420049], [26.000000, -11.000000, -104.000000, 1.000000, 134.000000, -82.000000], [-154.000000, -6.315649, -37.298095, 1.726923, -155.380761, 98.875327], [-154.000000, 38.127595, -122.426297, 0.791789, -114.703582, 97.636230], [26.000000, -36.169353, -55.724392, -179.230032, -110.896382, 97.579951], [26.000000, -11.000000, -104.000000, -179.000000, -134.000000, 98.000000]] + joints: [26.000000, -11.000000, -104.000000, 1.000000, 133.000000, -82.000000] + pose: {translation: [-0.3556048205471533, -0.1722329644373249, 1.907985632319613], quaternion: [-0.659518664160621, 0.4685799465011335, -0.274467756368224, 0.5197455301154386]} + solutions: [[-154.000000, -6.315649, -37.298095, -178.308406, 154.380873, -81.156662], [-154.000000, 38.127595, -122.426297, -179.201277, 113.703602, -82.360927], [26.000000, -36.169353, -55.724392, 0.777764, 109.896409, -82.417332], [26.000000, -11.000000, -104.000000, 1.000000, 133.000000, -82.000000], [-154.000000, -6.315649, -37.298095, 1.691594, -154.380873, 98.843338], [-154.000000, 38.127595, -122.426297, 0.798723, -113.703602, 97.639073], [26.000000, -36.169353, -55.724392, -179.222236, -109.896409, 97.582668], [26.000000, -11.000000, -104.000000, -179.000000, -133.000000, 98.000000]] - id: 629 parameters: Irb2400_10 - joints: [-163.000000, 45.000000, 106.000000, 118.000000, -114.000000, 70.000000] - pose: {translation: [-0.03552417499652591, 0.06083397669207933, 0.678050848321773], quaternion: [-0.3958149226997992, 0.2391246493743069, 0.7561709101915544, 0.4629854248352134]} - solutions: [[-163.000000, 152.001772, 94.275608, -65.619496, 62.323671, -26.882066], [-163.000000, 45.000000, 106.000000, -62.000000, 114.000000, -110.000000], [17.000000, 154.942519, 93.566813, 84.890346, 54.079420, 26.080711], [17.000000, 40.886403, 106.708795, 55.114583, 100.480340, 122.036330], [-163.000000, 152.001772, 94.275608, 114.380504, -62.323671, 153.117934], [-163.000000, 45.000000, 106.000000, 118.000000, -114.000000, 70.000000], [17.000000, 154.942519, 93.566813, -95.109654, -54.079420, -153.919289], [17.000000, 40.886403, 106.708795, -124.885417, -100.480340, -57.963670]] + joints: [-163.000000, 44.000000, 106.000000, 118.000000, -114.000000, 70.000000] + pose: {translation: [-0.03448407525741015, 0.06115196709410416, 0.676578485958903], quaternion: [-0.390670690418254, 0.2449085513498471, 0.7588351823268842, 0.4599623671418875]} + solutions: [[-163.000000, 151.001772, 94.275608, -65.619496, 62.323671, -26.882066], [-163.000000, 44.000000, 106.000000, -62.000000, 114.000000, -110.000000], [17.000000, 153.836720, 93.610800, 83.410020, 54.289603, 28.610143], [17.000000, 40.192818, 106.664807, 55.391493, 101.470729, 123.490639], [-163.000000, 151.001772, 94.275608, 114.380504, -62.323671, 153.117934], [-163.000000, 44.000000, 106.000000, 118.000000, -114.000000, 70.000000], [17.000000, 153.836720, 93.610800, -96.589980, -54.289603, -151.389857], [17.000000, 40.192818, 106.664807, -124.608507, -101.470729, -56.509361]] - id: 630 parameters: Irb2400_10 - joints: [-57.000000, 62.000000, 154.000000, -35.000000, 108.000000, -54.000000] - pose: {translation: [0.01148765993338692, -0.1028243759775291, 1.318672172958612], quaternion: [-0.3082358905131869, -0.4250554159827304, 0.7269602586290422, -0.4425463947625002]} - solutions: [[-57.000000, -73.613276, 46.275608, -97.666539, 33.396085, 57.368334], [-57.000000, 62.000000, 154.000000, -35.000000, 108.000000, -54.000000], [123.000000, -78.544732, 45.432013, 144.419708, 110.356903, -55.765931], [123.000000, 56.055420, 154.843595, 87.750508, 33.087850, 50.893519], [-57.000000, -73.613276, 46.275608, 82.333461, -33.396085, -122.631666], [-57.000000, 62.000000, 154.000000, 145.000000, -108.000000, 126.000000], [123.000000, -78.544732, 45.432013, -35.580292, -110.356903, 124.234069], [123.000000, 56.055420, 154.843595, -92.249492, -33.087850, -129.106481]] + joints: [-57.000000, 62.000000, 154.000000, -35.000000, 107.000000, -54.000000] + pose: {translation: [0.01076663634576211, -0.102183899298822, 1.319799434951348], quaternion: [-0.3076196757541542, -0.4176369871636971, 0.7315144767900074, -0.4425336736208678]} + solutions: [[-57.000000, -73.613276, 46.275608, -99.341958, 33.771799, 58.764124], [-57.000000, 62.000000, 154.000000, -35.000000, 107.000000, -54.000000], [123.000000, -78.544732, 45.432013, 144.452369, 109.357375, -55.754836], [123.000000, 56.055420, 154.843595, 85.992768, 33.357282, 52.363993], [-57.000000, -73.613276, 46.275608, 80.658042, -33.771799, -121.235876], [-57.000000, 62.000000, 154.000000, 145.000000, -107.000000, 126.000000], [123.000000, -78.544732, 45.432013, -35.547631, -109.357375, 124.245164], [123.000000, 56.055420, 154.843595, -94.007232, -33.357282, -127.636007]] - id: 631 parameters: Irb2400_10 - joints: [-15.000000, -125.000000, 152.000000, -93.000000, 70.000000, 54.000000] - pose: {translation: [0.2539655975428384, -0.1506280688280763, -0.02132196255513145], quaternion: [0.1507889049033673, 0.7300615946479455, -0.6410838929085941, 0.1824396240713748]} - solutions: [[-15.000000, 96.964616, 48.275608, -106.504013, 101.838829, 169.988149], [-15.000000, -125.000000, 152.000000, -93.000000, 70.000000, 54.000000], [165.000000, 144.570745, 41.650149, 98.857666, 71.755904, 18.824978], [165.000000, -85.315887, 158.625459, 69.798168, 89.265192, 133.292233], [-15.000000, 96.964616, 48.275608, 73.495987, -101.838829, -10.011851], [-15.000000, -125.000000, 152.000000, 87.000000, -70.000000, -126.000000], [165.000000, 144.570745, 41.650149, -81.142334, -71.755904, -161.175022], [165.000000, -85.315887, 158.625459, -110.201832, -89.265192, -46.707767]] + joints: [-15.000000, -124.000000, 152.000000, -93.000000, 69.000000, 54.000000] + pose: {translation: [0.2445185979534108, -0.1475596262624504, -0.02511784806162248], quaternion: [0.1412574775965533, 0.7366123631442141, -0.6362299583824067, 0.1807207557058038]} + solutions: [[-15.000000, 97.964616, 48.275608, -107.423923, 102.275516, 169.795986], [-15.000000, -124.000000, 152.000000, -93.000000, 69.000000, 54.000000], [165.000000, 143.545800, 41.923092, 99.551549, 70.980452, 18.371300], [165.000000, -86.019805, 158.352515, 68.815804, 89.071148, 133.284851], [-15.000000, 97.964616, 48.275608, 72.576077, -102.275516, -10.204014], [-15.000000, -124.000000, 152.000000, 87.000000, -69.000000, -126.000000], [165.000000, 143.545800, 41.923092, -80.448451, -70.980452, -161.628700], [165.000000, -86.019805, 158.352515, -111.184196, -89.071148, -46.715149]] - id: 632 parameters: Irb2400_10 - joints: [171.000000, -105.000000, 107.000000, 34.000000, 77.000000, 99.000000] - pose: {translation: [-0.1998310839036494, -0.01524033528283124, 0.47181363582706], quaternion: [-0.5286401866246954, 0.7925361488781807, -0.1401575268108057, -0.2697811585063492]} - solutions: [[171.000000, 11.706361, 93.275608, 126.329139, 42.556654, -27.323482], [171.000000, -105.000000, 107.000000, 34.000000, 77.000000, 99.000000], [-9.000000, 163.952318, 78.093913, -135.568903, 128.893363, 139.241159], [-9.000000, -13.696876, 122.181694, -97.524264, 33.339102, 26.611960], [171.000000, 11.706361, 93.275608, -53.670861, -42.556654, 152.676518], [171.000000, -105.000000, 107.000000, -146.000000, -77.000000, -81.000000], [-9.000000, 163.952318, 78.093913, 44.431097, -128.893363, -40.758841], [-9.000000, -13.696876, 122.181694, 82.475736, -33.339102, -153.388040]] + joints: [171.000000, -104.000000, 107.000000, 34.000000, 76.000000, 99.000000] + pose: {translation: [-0.1987559700242443, -0.01521454360874665, 0.4703889190524804], quaternion: [-0.5245521232918801, 0.7955063007466502, -0.1396553605832992, -0.2692789922788427]} + solutions: [[171.000000, 12.706361, 93.275608, 127.507108, 43.155079, -28.187037], [171.000000, -104.000000, 107.000000, 34.000000, 76.000000, 99.000000], [-9.000000, 163.546787, 78.167528, -136.024067, 128.609399, 139.319517], [-9.000000, -13.947528, 122.108080, -96.807269, 33.122753, 26.379639], [171.000000, 12.706361, 93.275608, -52.492892, -43.155079, 151.812963], [171.000000, -104.000000, 107.000000, -146.000000, -76.000000, -81.000000], [-9.000000, 163.546787, 78.167528, 43.975933, -128.609399, -40.680483], [-9.000000, -13.947528, 122.108080, 83.192731, -33.122753, -153.620361]] - id: 633 parameters: Irb2400_10 joints: [-120.000000, 91.000000, -59.000000, 38.000000, 55.000000, 60.000000] @@ -3171,9 +3171,9 @@ cases: solutions: [[-120.000000, 91.000000, -59.000000, 38.000000, 55.000000, 60.000000], [-120.000000, 112.750375, -100.724392, 32.143461, 71.423212, 72.818657], [-120.000000, 91.000000, -59.000000, -142.000000, -55.000000, -120.000000], [-120.000000, 112.750375, -100.724392, -147.856539, -71.423212, -107.181343]] - id: 634 parameters: Irb2400_10 - joints: [-52.000000, 46.000000, 113.000000, -155.000000, 170.000000, -115.000000] - pose: {translation: [0.01577300208016797, -0.03032052798327631, 0.7256428102454391], quaternion: [0.4738021975237259, 0.4153462952059095, -0.1018886907075117, 0.7698166193232794]} - solutions: [[128.000000, -150.892300, 93.431471, 175.504573, 110.560521, 38.752681], [128.000000, 93.803087, 106.844136, 154.126466, 9.681412, 65.886574], [-52.000000, -162.101799, 87.275608, -4.725109, 62.984671, 42.484456], [-52.000000, 46.000000, 113.000000, -155.000000, 170.000000, -115.000000], [128.000000, -150.892300, 93.431471, -4.495427, -110.560521, -141.247319], [128.000000, 93.803087, 106.844136, -25.873534, -9.681412, -114.113426], [-52.000000, -162.101799, 87.275608, 175.274891, -62.984671, -137.515544], [-52.000000, 46.000000, 113.000000, 25.000000, -170.000000, 65.000000]] + joints: [-52.000000, 46.000000, 113.000000, -155.000000, 169.000000, -115.000000] + pose: {translation: [0.01542351471123741, -0.03087450217119173, 0.724311729418356], quaternion: [0.4802483448969378, 0.417363728373075, -0.1034223753458322, 0.7645082456979153]} + solutions: [[128.000000, -150.892300, 93.431471, 175.029412, 111.456762, 38.582326], [128.000000, 93.803087, 106.844136, 154.209944, 10.681304, 65.804408], [-52.000000, -162.101799, 87.275608, -5.151475, 63.909087, 42.675060], [-52.000000, 46.000000, 113.000000, -155.000000, 169.000000, -115.000000], [128.000000, -150.892300, 93.431471, -4.970588, -111.456762, -141.417674], [128.000000, 93.803087, 106.844136, -25.790056, -10.681304, -114.195592], [-52.000000, -162.101799, 87.275608, 174.848525, -63.909087, -137.324940], [-52.000000, 46.000000, 113.000000, 25.000000, -169.000000, 65.000000]] - id: 635 parameters: Irb2400_10 joints: [24.000000, 37.000000, -45.000000, -103.000000, 82.000000, -15.000000] @@ -3181,9 +3181,9 @@ cases: solutions: [[24.000000, 37.000000, -45.000000, -103.000000, 82.000000, -15.000000], [24.000000, 73.376938, -114.724392, -96.479134, 76.189343, -48.474906], [24.000000, 37.000000, -45.000000, 77.000000, -82.000000, 165.000000], [24.000000, 73.376938, -114.724392, 83.520866, -76.189343, 131.525094]] - id: 636 parameters: Irb2400_10 - joints: [-168.000000, 72.000000, 77.000000, -54.000000, -35.000000, 96.000000] - pose: {translation: [-0.1365068053823444, -0.06933940527347693, 0.267860876179434], quaternion: [0.8548541275407017, -0.3530782633584239, 0.3775036108331753, 0.04529000307286239]} - solutions: [[-168.000000, 72.000000, 77.000000, 126.000000, 35.000000, -84.000000], [-168.000000, -107.893154, 123.275608, 29.338206, 108.723954, 57.798721], [12.000000, 143.239938, 68.157063, -125.537975, 145.232057, 96.563228], [12.000000, -52.024168, 132.118545, -130.643936, 37.702239, 4.905195], [-168.000000, 72.000000, 77.000000, -54.000000, -35.000000, 96.000000], [-168.000000, -107.893154, 123.275608, -150.661794, -108.723954, -122.201279], [12.000000, 143.239938, 68.157063, 54.462025, -145.232057, -83.436772], [12.000000, -52.024168, 132.118545, 49.356064, -37.702239, -175.094805]] + joints: [-168.000000, 72.000000, 77.000000, -54.000000, -34.000000, 96.000000] + pose: {translation: [-0.1356459071412955, -0.06814521410653669, 0.2680440882573858], quaternion: [0.8555589850281143, -0.3498298793151303, 0.3797737343496815, 0.03754716199823476]} + solutions: [[-168.000000, 72.000000, 77.000000, 126.000000, 34.000000, -84.000000], [-168.000000, -107.893154, 123.275608, 28.682134, 109.508646, 57.583859], [12.000000, 143.239938, 68.157063, -125.520291, 146.232007, 96.577843], [12.000000, -52.024168, 132.118545, -132.279233, 37.694422, 6.199143], [-168.000000, 72.000000, 77.000000, -54.000000, -34.000000, 96.000000], [-168.000000, -107.893154, 123.275608, -151.317866, -109.508646, -122.416141], [12.000000, 143.239938, 68.157063, 54.479709, -146.232007, -83.422157], [12.000000, -52.024168, 132.118545, 47.720767, -37.694422, -173.800857]] - id: 637 parameters: Irb2400_10 joints: [-148.000000, -147.000000, 54.000000, 111.000000, 34.000000, -133.000000] @@ -3196,19 +3196,19 @@ cases: solutions: [[-60.000000, -108.000000, 91.000000, -158.000000, 33.000000, -159.000000], [-60.000000, 118.428854, 109.275608, -11.830461, 84.364043, 40.897159], [120.000000, -152.797968, 81.199059, 166.514377, 61.031871, 46.343745], [120.000000, 36.597332, 119.076549, 12.334658, 72.761503, -143.989039], [-60.000000, -108.000000, 91.000000, 22.000000, -33.000000, 21.000000], [-60.000000, 118.428854, 109.275608, 168.169539, -84.364043, -139.102841], [120.000000, -152.797968, 81.199059, -13.485623, -61.031871, -133.656255], [120.000000, 36.597332, 119.076549, -167.665342, -72.761503, 36.010961]] - id: 639 parameters: Irb2400_10 - joints: [-4.000000, 64.000000, -168.000000, -91.000000, -156.000000, -131.000000] - pose: {translation: [0.4407208551715887, 0.003833554669008418, 1.548766659089236], quaternion: [-0.3239688074649448, 0.9150902650228875, 0.1453017445671357, 0.1911581064873527]} - solutions: [[-4.000000, -28.805557, 8.275608, 24.116608, 95.557131, -37.423080], [-4.000000, 64.000000, -168.000000, 89.000000, 156.000000, 49.000000], [176.000000, -68.846301, -0.689434, -76.744986, 155.303892, 64.629932], [176.000000, 14.314217, -159.034958, -154.532010, 108.960959, -31.108197], [-4.000000, -28.805557, 8.275608, -155.883392, -95.557131, 142.576920], [-4.000000, 64.000000, -168.000000, -91.000000, -156.000000, -131.000000], [176.000000, -68.846301, -0.689434, 103.255014, -155.303892, -115.370068], [176.000000, 14.314217, -159.034958, 25.467990, -108.960959, 148.891803]] + joints: [-4.000000, 63.000000, -168.000000, -91.000000, -155.000000, -131.000000] + pose: {translation: [0.4243705298936521, 0.006329908682360351, 1.555147774453619], quaternion: [-0.3258229221903828, 0.9113714862001449, 0.1497923006158661, 0.2019992678027944]} + solutions: [[-4.000000, -29.805557, 8.275608, 25.119266, 95.493900, -37.326533], [-4.000000, 63.000000, -168.000000, 89.000000, 155.000000, 49.000000], [176.000000, -68.129762, -0.308682, -77.169696, 154.318102, 64.285935], [176.000000, 15.438542, -159.415710, -153.530087, 108.556765, -30.892310], [-4.000000, -29.805557, 8.275608, -154.880734, -95.493900, 142.673467], [-4.000000, 63.000000, -168.000000, -91.000000, -155.000000, -131.000000], [176.000000, -68.129762, -0.308682, 102.830304, -154.318102, -115.714065], [176.000000, 15.438542, -159.415710, 26.469913, -108.556765, 149.107690]] - id: 640 parameters: Irb2400_10 - joints: [-168.000000, 78.000000, -155.000000, 118.000000, 102.000000, -29.000000] - pose: {translation: [-0.7534476979364449, -0.235200797464573, 1.519156512659244], quaternion: [0.1964670844417591, 0.7148720042604632, -0.3640570916279059, 0.563756273837386]} - solutions: [[-168.000000, -0.847818, -4.724392, 86.632074, 120.100472, -104.335864], [-168.000000, 78.000000, -155.000000, 118.000000, 102.000000, -29.000000], [12.000000, -74.630163, -24.105977, -61.271250, 99.973573, -25.178162], [12.000000, -16.322205, -135.618415, -80.478572, 118.870040, -78.486683], [-168.000000, -0.847818, -4.724392, -93.367926, -120.100472, 75.664136], [-168.000000, 78.000000, -155.000000, -62.000000, -102.000000, 151.000000], [12.000000, -74.630163, -24.105977, 118.728750, -99.973573, 154.821838], [12.000000, -16.322205, -135.618415, 99.521428, -118.870040, 101.513317]] + joints: [-168.000000, 78.000000, -155.000000, 118.000000, 101.000000, -29.000000] + pose: {translation: [-0.7535809369578186, -0.2354960969985238, 1.520604217925719], quaternion: [0.1960660626407822, 0.7090017514031639, -0.368567159774838, 0.5683598018186158]} + solutions: [[-168.000000, -0.847818, -4.724392, 87.747411, 119.842609, -103.778661], [-168.000000, 78.000000, -155.000000, 118.000000, 101.000000, -29.000000], [12.000000, -74.630163, -24.105977, -61.338727, 98.975790, -25.189270], [12.000000, -16.322205, -135.618415, -79.615792, 118.217670, -78.074407], [-168.000000, -0.847818, -4.724392, -92.252589, -119.842609, 76.221339], [-168.000000, 78.000000, -155.000000, -62.000000, -101.000000, 151.000000], [12.000000, -74.630163, -24.105977, 118.661273, -98.975790, 154.810730], [12.000000, -16.322205, -135.618415, 100.384208, -118.217670, 101.925593]] - id: 641 parameters: Irb2400_10 - joints: [14.000000, -53.000000, 115.000000, 129.000000, 68.000000, -153.000000] - pose: {translation: [0.05247419083849716, 0.07620565019944631, 0.4312028350262149], quaternion: [-0.3335788162619824, 0.6458613224469543, 0.372821016192971, 0.576708605270605]} - solutions: [[14.000000, 106.081681, 85.275608, 83.634978, 133.528955, 82.974598], [14.000000, -53.000000, 115.000000, 129.000000, 68.000000, -153.000000], [-166.000000, 112.609716, 84.422782, -109.612298, 49.901169, -58.873560], [-166.000000, -49.173322, 115.852826, -47.637204, 102.790855, 168.528870], [14.000000, 106.081681, 85.275608, -96.365022, -133.528955, -97.025402], [14.000000, -53.000000, 115.000000, -51.000000, -68.000000, 27.000000], [-166.000000, 112.609716, 84.422782, 70.387702, -49.901169, 121.126440], [-166.000000, -49.173322, 115.852826, 132.362796, -102.790855, -11.471130]] + joints: [14.000000, -53.000000, 115.000000, 129.000000, 67.000000, -153.000000] + pose: {translation: [0.05289917937122891, 0.07585690759189968, 0.4298249495698453], quaternion: [-0.3341801636423952, 0.6517978991117536, 0.3676543612890904, 0.5729863764231725]} + solutions: [[14.000000, 106.081681, 85.275608, 84.788761, 134.082749, 83.773290], [14.000000, -53.000000, 115.000000, 129.000000, 67.000000, -153.000000], [-166.000000, 112.609716, 84.422782, -110.914741, 49.980425, -58.035314], [-166.000000, -49.173322, 115.852826, -47.001188, 102.007184, 168.665439], [14.000000, 106.081681, 85.275608, -95.211239, -134.082749, -96.226710], [14.000000, -53.000000, 115.000000, -51.000000, -67.000000, 27.000000], [-166.000000, 112.609716, 84.422782, 69.085259, -49.980425, 121.964686], [-166.000000, -49.173322, 115.852826, 132.998812, -102.007184, -11.334561]] - id: 642 parameters: Irb2400_10 joints: [178.000000, 89.000000, 141.000000, 43.000000, -136.000000, -112.000000] @@ -3216,24 +3216,24 @@ cases: solutions: [[178.000000, -63.034647, 59.275608, -28.282082, 89.111493, -145.375497], [178.000000, 89.000000, 141.000000, -137.000000, 136.000000, 68.000000], [-2.000000, -103.858503, 52.695149, 43.840385, 136.845018, 69.159993], [-2.000000, 39.645180, 147.580458, 151.699620, 92.164216, -147.018411], [178.000000, -63.034647, 59.275608, 151.717918, -89.111493, 34.624503], [178.000000, 89.000000, 141.000000, 43.000000, -136.000000, -112.000000], [-2.000000, -103.858503, 52.695149, -136.159615, -136.845018, -110.840007], [-2.000000, 39.645180, 147.580458, -28.300380, -92.164216, 32.981589]] - id: 643 parameters: Irb2400_10 - joints: [44.000000, 62.000000, 166.000000, -43.000000, 17.000000, -102.000000] - pose: {translation: [0.06649800581752106, 0.04065484681716442, 1.489288015746323], quaternion: [0.2453453490088964, 0.1137104047975098, -0.7193749182283522, 0.6398244529434937]} - solutions: [[44.000000, -59.576245, 34.275608, -168.469641, 94.013121, 37.092391], [44.000000, 62.000000, 166.000000, -43.000000, 17.000000, -102.000000], [-136.000000, -74.402140, 31.586726, 146.334047, 21.081479, -111.865474], [-136.000000, 44.116960, 168.688882, 11.521553, 86.658845, 35.593765], [44.000000, -59.576245, 34.275608, 11.530359, -94.013121, -142.907609], [44.000000, 62.000000, 166.000000, 137.000000, -17.000000, 78.000000], [-136.000000, -74.402140, 31.586726, -33.665953, -21.081479, 68.134526], [-136.000000, 44.116960, 168.688882, -168.478447, -86.658845, -144.406235]] + joints: [44.000000, 61.000000, 166.000000, -43.000000, 17.000000, -102.000000] + pose: {translation: [0.05552463107581383, 0.03005798200734627, 1.488737324188063], quaternion: [0.2537303618896792, 0.1140504993167283, -0.7171181013757644, 0.6390266158307933]} + solutions: [[44.000000, -60.576245, 34.275608, -168.469641, 94.013121, 37.092391], [44.000000, 61.000000, 166.000000, -43.000000, 17.000000, -102.000000], [-136.000000, -73.643938, 31.905723, 146.444716, 21.145773, -111.984108], [-136.000000, 45.236518, 168.369884, 11.519295, 86.854267, 35.633661], [44.000000, -60.576245, 34.275608, 11.530359, -94.013121, -142.907609], [44.000000, 61.000000, 166.000000, 137.000000, -17.000000, 78.000000], [-136.000000, -73.643938, 31.905723, -33.555284, -21.145773, 68.015892], [-136.000000, 45.236518, 168.369884, -168.480705, -86.854267, -144.366339]] - id: 644 parameters: Irb2400_10 - joints: [-165.000000, -154.000000, -73.000000, 160.000000, -95.000000, 83.000000] - pose: {translation: [0.6477584816094201, 0.2035490840569018, -0.6032070227978392], quaternion: [0.0679611691338471, 0.3798623151439483, 0.7438186621626207, 0.5457285944881847]} - solutions: [[15.000000, 136.571124, -39.465677, 147.437471, 140.724678, -121.488688], [15.000000, 178.742461, -120.258715, 159.265051, 105.770359, -101.057417], [-165.000000, -154.000000, -73.000000, -20.000000, 95.000000, -97.000000], [-165.000000, -146.848539, -86.724392, -20.322188, 101.171018, -99.287076], [15.000000, 136.571124, -39.465677, -32.562529, -140.724678, 58.511312], [15.000000, 178.742461, -120.258715, -20.734949, -105.770359, 78.942583], [-165.000000, -154.000000, -73.000000, 160.000000, -95.000000, 83.000000], [-165.000000, -146.848539, -86.724392, 159.677812, -101.171018, 80.712924]] + joints: [-165.000000, -153.000000, -73.000000, 160.000000, -94.000000, 83.000000] + pose: {translation: [0.669238220952864, 0.2093457766037193, -0.5904249516544998], quaternion: [0.06687948452772419, 0.3805919206233153, 0.7420240390744305, 0.5477930721917081]} + solutions: [[15.000000, 135.137350, -38.745290, 147.899185, 140.055878, -121.230702], [15.000000, 178.063581, -120.979103, 159.374852, 104.399222, -100.892694], [-165.000000, -153.000000, -73.000000, -20.000000, 94.000000, -97.000000], [-165.000000, -145.848539, -86.724392, -20.281646, 100.171812, -99.279568], [15.000000, 135.137350, -38.745290, -32.100815, -140.055878, 58.769298], [15.000000, 178.063581, -120.979103, -20.625148, -104.399222, 79.107306], [-165.000000, -153.000000, -73.000000, 160.000000, -94.000000, 83.000000], [-165.000000, -145.848539, -86.724392, 159.718354, -100.171812, 80.720432]] - id: 645 parameters: Irb2400_10 - joints: [121.000000, 103.000000, 69.000000, -134.000000, 88.000000, -119.000000] - pose: {translation: [0.01975512595043408, 0.0857668393721128, 0.1587990640363112], quaternion: [-0.430129637811178, 0.8131153099663864, 0.05496141372262014, 0.3883442163549025]} - solutions: [[121.000000, 103.000000, 69.000000, -134.000000, 88.000000, -119.000000], [121.000000, -90.951595, 131.275608, -55.848493, 60.308438, 99.206121], [-59.000000, 120.435303, 66.696245, 134.018520, 91.396616, 61.624886], [-59.000000, -77.049953, 133.579363, 58.904207, 57.091489, -158.942372], [121.000000, 103.000000, 69.000000, 46.000000, -88.000000, 61.000000], [121.000000, -90.951595, 131.275608, 124.151507, -60.308438, -80.793879], [-59.000000, 120.435303, 66.696245, -45.981480, -91.396616, -118.375114], [-59.000000, -77.049953, 133.579363, -121.095793, -57.091489, 21.057628]] + joints: [121.000000, 102.000000, 69.000000, -134.000000, 87.000000, -119.000000] + pose: {translation: [0.01636927957039241, 0.09131145553956488, 0.1580413198170979], quaternion: [-0.4242510030759467, 0.8165093413132396, 0.05495000654886085, 0.3876906998079175]} + solutions: [[121.000000, 102.000000, 69.000000, -134.000000, 87.000000, -119.000000], [121.000000, -91.951595, 131.275608, -55.142011, 61.096102, 98.860394], [-59.000000, 121.458819, 66.430251, 134.036474, 92.228017, 61.799716], [-59.000000, -76.424124, 133.845356, 59.613519, 56.381831, -159.253687], [121.000000, 102.000000, 69.000000, 46.000000, -87.000000, 61.000000], [121.000000, -91.951595, 131.275608, 124.857989, -61.096102, -81.139606], [-59.000000, 121.458819, 66.430251, -45.963526, -92.228017, -118.200284], [-59.000000, -76.424124, 133.845356, -120.386481, -56.381831, 20.746313]] - id: 646 parameters: Irb2400_10 - joints: [-91.000000, -34.000000, -178.000000, -147.000000, 109.000000, 92.000000] - pose: {translation: [-0.0297375462955102, 0.8044231904952396, 0.6423994229282077], quaternion: [0.05479439743996121, 0.8642783995486096, -0.4152293562302814, -0.2785767467098995]} - solutions: [[89.000000, 22.084001, 37.573216, 31.105157, 85.427728, 77.308284], [89.000000, 147.447422, 162.702392, 112.172538, 146.214302, -163.817448], [-91.000000, -137.697063, 18.275608, -54.975337, 141.034863, -147.907151], [-91.000000, -34.000000, -178.000000, -147.000000, 109.000000, 92.000000], [89.000000, 22.084001, 37.573216, -148.894843, -85.427728, -102.691716], [89.000000, 147.447422, 162.702392, -67.827462, -146.214302, 16.182552], [-91.000000, -137.697063, 18.275608, 125.024663, -141.034863, 32.092849], [-91.000000, -34.000000, -178.000000, 33.000000, -109.000000, -88.000000]] + joints: [-91.000000, -33.000000, -178.000000, -147.000000, 108.000000, 92.000000] + pose: {translation: [-0.02998713289099996, 0.8048143460237904, 0.6571054392728787], quaternion: [0.05497952713871147, 0.8713482175140046, -0.4000634629987557, -0.2787090974550598]} + solutions: [[89.000000, 20.843235, 37.540591, 31.346450, 84.693940, 77.428716], [89.000000, 146.168964, 162.735017, 110.764648, 146.360506, -164.861622], [-91.000000, -136.697063, 18.275608, -56.366129, 141.528082, -148.992318], [-91.000000, -33.000000, -178.000000, -147.000000, 108.000000, 92.000000], [89.000000, 20.843235, 37.540591, -148.653550, -84.693940, -102.571284], [89.000000, 146.168964, 162.735017, -69.235352, -146.360506, 15.138378], [-91.000000, -136.697063, 18.275608, 123.633871, -141.528082, 31.007682], [-91.000000, -33.000000, -178.000000, 33.000000, -108.000000, -88.000000]] - id: 647 parameters: Irb2400_10 joints: [-113.000000, -88.000000, 4.000000, 85.000000, -82.000000, 32.000000] @@ -3241,14 +3241,14 @@ cases: solutions: [[67.000000, -16.367756, 18.021785, 98.613312, 86.158191, 113.706693], [67.000000, 87.050707, -177.746177, 85.763755, 81.572597, -153.342135], [-113.000000, -88.000000, 4.000000, -95.000000, 82.000000, -148.000000], [-113.000000, 0.193773, -163.724392, -82.997352, 83.675469, 131.732162], [67.000000, -16.367756, 18.021785, -81.386688, -86.158191, -66.293307], [67.000000, 87.050707, -177.746177, -94.236245, -81.572597, 26.657865], [-113.000000, -88.000000, 4.000000, 85.000000, -82.000000, 32.000000], [-113.000000, 0.193773, -163.724392, 97.002648, -83.675469, -48.267838]] - id: 648 parameters: Irb2400_10 - joints: [-61.000000, -159.000000, -13.000000, -53.000000, -71.000000, -174.000000] - pose: {translation: [-0.4059949372213557, 0.8648276682703431, -0.115829932387212], quaternion: [0.7492577196081669, -0.4446374695432412, 0.01976991901490651, -0.4904279157918082]} - solutions: [[119.000000, 84.211229, 7.100186, -118.695824, 59.412579, 119.723056], [119.000000, 175.746596, -166.824579, -59.229025, 61.503940, 21.337442], [-61.000000, -159.000000, -13.000000, 127.000000, 71.000000, 6.000000], [-61.000000, -88.953594, -146.724392, 87.005902, 49.126562, 77.203409], [119.000000, 84.211229, 7.100186, 61.304176, -59.412579, -60.276944], [119.000000, 175.746596, -166.824579, 120.770975, -61.503940, -158.662558], [-61.000000, -159.000000, -13.000000, -53.000000, -71.000000, -174.000000], [-61.000000, -88.953594, -146.724392, -92.994098, -49.126562, -102.796591]] + joints: [-61.000000, -158.000000, -13.000000, -53.000000, -71.000000, -174.000000] + pose: {translation: [-0.4121007894012376, 0.8758429171894782, -0.0973373026735463], quaternion: [0.7455696889455301, -0.4468462885230166, 0.01320562435022538, -0.4942467449001473]} + solutions: [[119.000000, 82.930944, 7.351236, -118.680660, 59.398545, 119.693262], [119.000000, 174.737446, -167.075628, -59.108070, 61.637296, 21.083375], [-61.000000, -158.000000, -13.000000, 127.000000, 71.000000, 6.000000], [-61.000000, -87.953594, -146.724392, 87.005902, 49.126562, 77.203409], [119.000000, 82.930944, 7.351236, 61.319340, -59.398545, -60.306738], [119.000000, 174.737446, -167.075628, 120.891930, -61.637296, -158.916625], [-61.000000, -158.000000, -13.000000, -53.000000, -71.000000, -174.000000], [-61.000000, -87.953594, -146.724392, -92.994098, -49.126562, -102.796591]] - id: 649 parameters: Irb2400_10 - joints: [35.000000, -141.000000, -168.000000, 171.000000, -36.000000, -163.000000] - pose: {translation: [0.2021503020552911, 0.1320059096921883, -0.5191712588617465], quaternion: [-0.2173782256170544, 0.9745688281038354, -0.03148913972017688, 0.04439302192441247]} - solutions: [[35.000000, 126.194443, 8.275608, -172.895517, 48.026576, -175.066710], [35.000000, -141.000000, -168.000000, -9.000000, 36.000000, 17.000000], [-145.000000, 154.075185, 3.249854, 174.133492, 64.106557, 12.267318], [-145.000000, -118.537842, -162.974246, 19.815346, 15.738462, 170.570784], [35.000000, 126.194443, 8.275608, 7.104483, -48.026576, 4.933290], [35.000000, -141.000000, -168.000000, 171.000000, -36.000000, -163.000000], [-145.000000, 154.075185, 3.249854, -5.866508, -64.106557, -167.732682], [-145.000000, -118.537842, -162.974246, -160.184654, -15.738462, -9.429216]] + joints: [35.000000, -140.000000, -168.000000, 171.000000, -35.000000, -163.000000] + pose: {translation: [0.1870144607046972, 0.1216383248488098, -0.5214091164082763], quaternion: [-0.2181921763258199, 0.9744399109763757, -0.03050620662667463, 0.04391361342233145]} + solutions: [[35.000000, 127.194443, 8.275608, -173.172478, 49.004816, -174.883240], [35.000000, -140.000000, -168.000000, -9.000000, 35.000000, 17.000000], [-145.000000, 152.918803, 3.641195, 174.237911, 63.343765, 12.199749], [-145.000000, -119.273410, -163.365587, 18.128804, 16.760314, 172.201556], [35.000000, 127.194443, 8.275608, 6.827522, -49.004816, 5.116760], [35.000000, -140.000000, -168.000000, 171.000000, -35.000000, -163.000000], [-145.000000, 152.918803, 3.641195, -5.762089, -63.343765, -167.800251], [-145.000000, -119.273410, -163.365587, -161.871196, -16.760314, -7.798444]] - id: 650 parameters: Irb2400_10 joints: [-49.000000, -161.000000, 36.000000, 18.000000, -54.000000, 96.000000] @@ -3256,9 +3256,9 @@ cases: solutions: [[131.000000, 30.167341, 53.388868, 165.487490, 86.062910, 107.830526], [131.000000, 174.546051, 146.886739, 23.618912, 38.607634, -92.053432], [-49.000000, -161.000000, 36.000000, -162.000000, 54.000000, -84.000000], [-49.000000, -37.448930, 164.275608, -17.385856, 56.789654, 116.543581], [131.000000, 30.167341, 53.388868, -14.512510, -86.062910, -72.169474], [131.000000, 174.546051, 146.886739, -156.381088, -38.607634, 87.946568], [-49.000000, -161.000000, 36.000000, 18.000000, -54.000000, 96.000000], [-49.000000, -37.448930, 164.275608, 162.614144, -56.789654, -63.456419]] - id: 651 parameters: Irb2400_10 - joints: [13.000000, 179.000000, 96.000000, -102.000000, 172.000000, -51.000000] - pose: {translation: [0.0355697234726219, -0.003663658489053024, 0.5903622769298399], quaternion: [0.3214459183107229, 0.9426884239404935, -0.08854570217404942, -0.01306581786453608]} - solutions: [[13.000000, 179.000000, 96.000000, -102.000000, 172.000000, -51.000000], [13.000000, 93.602287, 104.275608, -172.025847, 101.098549, -127.340921], [-167.000000, -175.519628, 89.027840, 37.858818, 167.184341, -91.724831], [-167.000000, 40.186163, 111.247768, 171.576267, 68.321817, 54.245626], [13.000000, 179.000000, 96.000000, 78.000000, -172.000000, 129.000000], [13.000000, 93.602287, 104.275608, 7.974153, -101.098549, 52.659079], [-167.000000, -175.519628, 89.027840, -142.141182, -167.184341, 88.275169], [-167.000000, 40.186163, 111.247768, -8.423733, -68.321817, -125.754374]] + joints: [13.000000, 178.000000, 96.000000, -102.000000, 171.000000, -51.000000] + pose: {translation: [0.03603974404681231, -0.005028049886586516, 0.5894512942784099], quaternion: [0.3216490475915266, 0.9423633491385637, -0.0921194255735707, -0.002686971493841669]} + solutions: [[13.000000, 178.000000, 96.000000, -102.000000, 171.000000, -51.000000], [13.000000, 92.602287, 104.275608, -171.036407, 100.860801, -127.152467], [-167.000000, -175.988870, 89.140709, 44.587006, 167.409928, -84.964833], [-167.000000, 40.260557, 111.134899, 170.470979, 67.563735, 54.810867], [13.000000, 178.000000, 96.000000, 78.000000, -171.000000, 129.000000], [13.000000, 92.602287, 104.275608, 8.963593, -100.860801, 52.847533], [-167.000000, -175.988870, 89.140709, -135.412994, -167.409928, 95.035167], [-167.000000, 40.260557, 111.134899, -9.529021, -67.563735, -125.189133]] - id: 652 parameters: Irb2400_10 joints: [-179.000000, 82.000000, 80.000000, 51.000000, -7.000000, 52.000000] @@ -3266,19 +3266,19 @@ cases: solutions: [[-179.000000, 82.000000, 80.000000, -129.000000, 7.000000, -128.000000], [-179.000000, -91.459637, 120.275608, -6.956631, 128.558994, 98.440916], [1.000000, 133.320690, 73.494150, 51.140695, 173.013940, -26.277879], [1.000000, -53.158663, 126.781458, 173.040451, 51.411028, 107.144135], [-179.000000, 82.000000, 80.000000, 51.000000, -7.000000, 52.000000], [-179.000000, -91.459637, 120.275608, 173.043369, -128.558994, -81.559084], [1.000000, 133.320690, 73.494150, -128.859305, -173.013940, 153.722121], [1.000000, -53.158663, 126.781458, -6.959549, -51.411028, -72.855865]] - id: 653 parameters: Irb2400_10 - joints: [-162.000000, 171.000000, 73.000000, -161.000000, -171.000000, -3.000000] - pose: {translation: [0.1857649537109159, 0.05580685263183921, 0.4681436245637813], quaternion: [-0.3319188522778515, 0.8951390765798096, -0.01452481130025551, -0.2972287653291514]} - solutions: [[18.000000, 11.816443, 88.496664, -7.090341, 24.368848, -15.318318], [18.000000, -134.941331, 111.778944, -5.448476, 147.562110, -26.384928], [-162.000000, 171.000000, 73.000000, 19.000000, 171.000000, 177.000000], [-162.000000, -16.346776, 127.275608, 176.456803, 55.497084, -19.773795], [18.000000, 11.816443, 88.496664, 172.909659, -24.368848, 164.681682], [18.000000, -134.941331, 111.778944, 174.551524, -147.562110, 153.615072], [-162.000000, 171.000000, 73.000000, -161.000000, -171.000000, -3.000000], [-162.000000, -16.346776, 127.275608, -3.543197, -55.497084, 160.226205]] + joints: [-162.000000, 170.000000, 73.000000, -161.000000, -170.000000, -3.000000] + pose: {translation: [0.1823654143955462, 0.05420140068372835, 0.4638826471529313], quaternion: [-0.3309494814277925, 0.8899088195100324, -0.01666168346868838, -0.3134599208908932]} + solutions: [[18.000000, 14.213405, 88.351114, -7.956193, 24.106746, -14.461543], [18.000000, -133.193579, 111.924493, -6.054721, 147.589549, -26.848661], [-162.000000, 170.000000, 73.000000, 19.000000, 170.000000, 177.000000], [-162.000000, -17.346776, 127.275608, 176.110555, 56.455026, -19.580049], [18.000000, 14.213405, 88.351114, 172.043807, -24.106746, 165.538457], [18.000000, -133.193579, 111.924493, 173.945279, -147.589549, 153.151339], [-162.000000, 170.000000, 73.000000, -161.000000, -170.000000, -3.000000], [-162.000000, -17.346776, 127.275608, -3.889445, -56.455026, 160.419951]] - id: 654 parameters: Irb2400_10 - joints: [134.000000, -73.000000, -143.000000, 178.000000, -171.000000, 11.000000] - pose: {translation: [0.7266288975286547, -0.7517782152042045, 0.3282244153659643], quaternion: [-0.1905867490359646, -0.3319063849921383, -0.2635817186570815, 0.8854600613709982]} - solutions: [[-46.000000, 62.949836, 7.679712, 0.722995, 154.363280, 13.627223], [-46.000000, 155.111221, -167.404104, 179.628229, 122.711961, -167.225517], [134.000000, -139.101679, -16.724392, -0.334685, 110.831139, -167.143624], [134.000000, -73.000000, -143.000000, -2.000000, 171.000000, -169.000000], [-46.000000, 62.949836, 7.679712, -179.277005, -154.363280, -166.372777], [-46.000000, 155.111221, -167.404104, -0.371771, -122.711961, 12.774483], [134.000000, -139.101679, -16.724392, 179.665315, -110.831139, 12.856376], [134.000000, -73.000000, -143.000000, 178.000000, -171.000000, 11.000000]] + joints: [134.000000, -72.000000, -143.000000, 178.000000, -170.000000, 11.000000] + pose: {translation: [0.7307430990996002, -0.7559650865040863, 0.3493179566455652], quaternion: [-0.1908137596494519, -0.331783128285667, -0.2637356603942588, 0.8854115237277081]} + solutions: [[-46.000000, 61.704114, 7.804224, 0.836805, 155.483387, 13.731008], [-46.000000, 154.000058, -167.528616, 179.592862, 121.476767, -167.242951], [134.000000, -138.101679, -16.724392, -0.369119, 109.831661, -167.155589], [134.000000, -72.000000, -143.000000, -2.000000, 170.000000, -169.000000], [-46.000000, 61.704114, 7.804224, -179.163195, -155.483387, -166.268992], [-46.000000, 154.000058, -167.528616, -0.407138, -121.476767, 12.757049], [134.000000, -138.101679, -16.724392, 179.630881, -109.831661, 12.844411], [134.000000, -72.000000, -143.000000, 178.000000, -170.000000, 11.000000]] - id: 655 parameters: Irb2400_10 - joints: [8.000000, -63.000000, 162.000000, -32.000000, 85.000000, -10.000000] - pose: {translation: [-0.5730760299736407, -0.1258532985503464, 0.1721564474865034], quaternion: [0.3170861785779574, -0.6135292567473271, 0.1574040242054304, 0.7058768870233934]} - solutions: [[-172.000000, 66.226038, 51.538107, 144.088311, 115.837693, -30.633988], [-172.000000, -151.718977, 148.737501, 90.206663, 31.864094, 76.639365], [8.000000, 170.823923, 38.275608, -125.183887, 40.233572, 119.604568], [8.000000, -63.000000, 162.000000, -32.000000, 85.000000, -10.000000], [-172.000000, 66.226038, 51.538107, -35.911689, -115.837693, 149.366012], [-172.000000, -151.718977, 148.737501, -89.793337, -31.864094, -103.360635], [8.000000, 170.823923, 38.275608, 54.816113, -40.233572, -60.395432], [8.000000, -63.000000, 162.000000, 148.000000, -85.000000, 170.000000]] + joints: [8.000000, -63.000000, 162.000000, -32.000000, 84.000000, -10.000000] + pose: {translation: [-0.5731973333184331, -0.1257942578499437, 0.1706790833863626], quaternion: [0.3194964771804285, -0.6193336513213595, 0.1556027145761043, 0.7000968680309861]} + solutions: [[-172.000000, 66.226038, 51.538107, 144.476810, 114.901328, -30.467528], [-172.000000, -151.718977, 148.737501, 88.313024, 31.819487, 78.248068], [8.000000, 170.823923, 38.275608, -126.361198, 40.877082, 120.499090], [8.000000, -63.000000, 162.000000, -32.000000, 84.000000, -10.000000], [-172.000000, 66.226038, 51.538107, -35.523190, -114.901328, 149.532472], [-172.000000, -151.718977, 148.737501, -91.686976, -31.819487, -101.751932], [8.000000, 170.823923, 38.275608, 53.638802, -40.877082, -59.500910], [8.000000, -63.000000, 162.000000, 148.000000, -84.000000, 170.000000]] - id: 656 parameters: Irb2400_10 joints: [-119.000000, -153.000000, -11.000000, -81.000000, -26.000000, 163.000000] @@ -3286,49 +3286,49 @@ cases: solutions: [[61.000000, 74.405049, 10.309057, -154.205626, 95.722621, 85.752990], [61.000000, 169.412521, -170.033449, -111.693332, 27.773443, 17.203147], [-119.000000, -153.000000, -11.000000, 99.000000, 26.000000, -17.000000], [-119.000000, -80.831367, -148.724392, 28.730260, 64.255602, 69.601134], [61.000000, 74.405049, 10.309057, 25.794374, -95.722621, -94.247010], [61.000000, 169.412521, -170.033449, 68.306668, -27.773443, -162.796853], [-119.000000, -153.000000, -11.000000, -81.000000, -26.000000, 163.000000], [-119.000000, -80.831367, -148.724392, -151.269740, -64.255602, -110.398866]] - id: 657 parameters: Irb2400_10 - joints: [119.000000, -179.000000, -48.000000, 176.000000, 116.000000, -87.000000] - pose: {translation: [0.1152470001405275, -0.2189034888323829, -0.7588591231121404], quaternion: [-0.1869152161077665, 0.7813462516099229, 0.5619735238128968, -0.1968412955043368]} - solutions: [[-61.000000, 147.782703, -36.566332, -4.568007, 51.927256, -82.423594], [-61.000000, -167.006727, -123.158060, -3.600283, 93.213545, -85.446299], [119.000000, -179.000000, -48.000000, 176.000000, 116.000000, -87.000000], [119.000000, -145.760701, -111.724392, 176.394643, 85.578739, -84.965912], [-61.000000, 147.782703, -36.566332, 175.431993, -51.927256, 97.576406], [-61.000000, -167.006727, -123.158060, 176.399717, -93.213545, 94.553701], [119.000000, -179.000000, -48.000000, -4.000000, -116.000000, 93.000000], [119.000000, -145.760701, -111.724392, -3.605357, -85.578739, 95.034088]] + joints: [119.000000, -178.000000, -48.000000, 176.000000, 116.000000, -87.000000] + pose: {translation: [0.1268457056012968, -0.2398281073829381, -0.7525881305988184], quaternion: [-0.1877832735465119, 0.786438485132803, 0.5551977947457143, -0.19495476395224]} + solutions: [[-61.000000, 146.378957, -35.845501, -4.587945, 51.611182, -82.391376], [-61.000000, -167.654433, -123.878891, -3.601657, 93.581355, -85.469487], [119.000000, -178.000000, -48.000000, 176.000000, 116.000000, -87.000000], [119.000000, -144.760701, -111.724392, 176.394643, 85.578739, -84.965912], [-61.000000, 146.378957, -35.845501, 175.412055, -51.611182, 97.608624], [-61.000000, -167.654433, -123.878891, 176.398343, -93.581355, 94.530513], [119.000000, -178.000000, -48.000000, -4.000000, -116.000000, 93.000000], [119.000000, -144.760701, -111.724392, -3.605357, -85.578739, 95.034088]] - id: 658 parameters: Irb2400_10 - joints: [-40.000000, -44.000000, -90.000000, -124.000000, -1.000000, -79.000000] - pose: {translation: [-0.8186873124352013, 0.6885656634360269, 1.633168043999779], quaternion: [-0.3650114863791256, 0.06133365838294884, 0.79066668481387, 0.4876996931371901]} - solutions: [[140.000000, 16.235357, -27.475126, -178.566235, 35.327926, 155.826127], [140.000000, 70.995434, -132.249266, -3.264853, 14.717453, -19.846091], [-40.000000, -54.565751, -69.724392, 174.800961, 9.187783, -17.871350], [-40.000000, -44.000000, -90.000000, 56.000000, 1.000000, 101.000000], [140.000000, 16.235357, -27.475126, 1.433765, -35.327926, -24.173873], [140.000000, 70.995434, -132.249266, 176.735147, -14.717453, 160.153909], [-40.000000, -54.565751, -69.724392, -5.199039, -9.187783, 162.128650], [-40.000000, -44.000000, -90.000000, -124.000000, -1.000000, -79.000000]] + joints: [-40.000000, -43.000000, -90.000000, -124.000000, -1.000000, -79.000000] + pose: {translation: [-0.8049386214176886, 0.6770291418740615, 1.653427965400526], quaternion: [-0.3569763908225733, 0.0601564598372125, 0.7934206884897335, 0.4893185749709698]} + solutions: [[140.000000, 15.370133, -27.927611, -178.554909, 35.010317, 155.812271], [140.000000, 69.654119, -131.796781, -3.289142, 14.606464, -19.820984], [-40.000000, -53.565751, -69.724392, 174.800961, 9.187783, -17.871350], [-40.000000, -43.000000, -90.000000, 56.000000, 1.000000, 101.000000], [140.000000, 15.370133, -27.927611, 1.445091, -35.010317, -24.187729], [140.000000, 69.654119, -131.796781, 176.710858, -14.606464, 160.179016], [-40.000000, -53.565751, -69.724392, -5.199039, -9.187783, 162.128650], [-40.000000, -43.000000, -90.000000, -124.000000, -1.000000, -79.000000]] - id: 659 parameters: Irb2400_10 - joints: [11.000000, 90.000000, -2.000000, -33.000000, 79.000000, 13.000000] - pose: {translation: [0.8890908120870125, 0.1265274289287013, -0.1534796979101647], quaternion: [0.2028381303393567, -0.7540350021336535, 0.3045206544909922, 0.5454860946221388]} - solutions: [[11.000000, 90.000000, -2.000000, -33.000000, 79.000000, 13.000000], [11.000000, 171.758022, -157.724392, -52.463949, 137.606769, -37.931029], [-169.000000, -154.088779, -24.449803, 110.372796, 145.228388, -59.736705], [-169.000000, -96.143135, -135.274590, 145.393245, 109.720051, -7.170477], [11.000000, 90.000000, -2.000000, 147.000000, -79.000000, -167.000000], [11.000000, 171.758022, -157.724392, 127.536051, -137.606769, 142.068971], [-169.000000, -154.088779, -24.449803, -69.627204, -145.228388, 120.263295], [-169.000000, -96.143135, -135.274590, -34.606755, -109.720051, 172.829523]] + joints: [11.000000, 89.000000, -2.000000, -33.000000, 78.000000, 13.000000] + pose: {translation: [0.9024241836309955, 0.1292832736969447, -0.1408936169808498], quaternion: [0.202658323537388, -0.7643361269193856, 0.3017789548570533, 0.5325874119731644]} + solutions: [[11.000000, 89.000000, -2.000000, -33.000000, 78.000000, 13.000000], [11.000000, 170.758022, -157.724392, -51.326152, 136.970839, -37.094970], [-169.000000, -153.038825, -24.783951, 112.408422, 144.812783, -57.917046], [-169.000000, -95.445241, -134.940441, 145.751300, 108.807503, -7.069446], [11.000000, 89.000000, -2.000000, 147.000000, -78.000000, -167.000000], [11.000000, 170.758022, -157.724392, 128.673848, -136.970839, 142.905030], [-169.000000, -153.038825, -24.783951, -67.591578, -144.812783, 122.082954], [-169.000000, -95.445241, -134.940441, -34.248700, -108.807503, 172.930554]] - id: 660 parameters: Irb2400_10 - joints: [-153.000000, -163.000000, 58.000000, 90.000000, 76.000000, 47.000000] - pose: {translation: [0.4270378540272988, 0.1250226446159524, 0.655001256392351], quaternion: [0.4410100228879222, 0.4343625861652116, -0.1883095495505377, 0.762482010935561]} - solutions: [[27.000000, -1.105744, 74.466673, -97.451371, 101.885989, -165.415831], [27.000000, 174.161863, 125.808935, -93.685221, 76.484377, 62.407631], [-153.000000, -163.000000, 58.000000, 90.000000, 76.000000, 47.000000], [-153.000000, -12.663702, 142.275608, 78.510350, 98.053622, 171.576548], [27.000000, -1.105744, 74.466673, 82.548629, -101.885989, 14.584169], [27.000000, 174.161863, 125.808935, 86.314779, -76.484377, -117.592369], [-153.000000, -163.000000, 58.000000, -90.000000, -76.000000, -133.000000], [-153.000000, -12.663702, 142.275608, -101.489650, -98.053622, -8.423452]] + joints: [-153.000000, -162.000000, 58.000000, 90.000000, 76.000000, 47.000000] + pose: {translation: [0.4263429185150711, 0.124668557286715, 0.6643715148627394], quaternion: [0.4454781866040901, 0.4291634823274911, -0.1831525077914695, 0.7640831431108585]} + solutions: [[27.000000, -2.685973, 74.445524, -97.576434, 101.807348, -166.025021], [27.000000, 172.543052, 125.830084, -93.541640, 76.446710, 61.794119], [-153.000000, -162.000000, 58.000000, 90.000000, 76.000000, 47.000000], [-153.000000, -11.663702, 142.275608, 78.510350, 98.053622, 171.576548], [27.000000, -2.685973, 74.445524, 82.423566, -101.807348, 13.974979], [27.000000, 172.543052, 125.830084, 86.458360, -76.446710, -118.205881], [-153.000000, -162.000000, 58.000000, -90.000000, -76.000000, -133.000000], [-153.000000, -11.663702, 142.275608, -101.489650, -98.053622, -8.423452]] - id: 661 parameters: Irb2400_10 - joints: [-171.000000, 31.000000, 35.000000, -37.000000, 144.000000, 144.000000] - pose: {translation: [-0.8235913207069308, -0.1000015227613409, 0.631077556069173], quaternion: [-0.2120965282385597, 0.4253758053453223, 0.1151250740257289, 0.8722480749571987]} - solutions: [[-171.000000, 31.000000, 35.000000, -37.000000, 144.000000, 144.000000], [-171.000000, 153.404411, 165.275608, -158.802004, 101.963605, -0.035559], [9.000000, -141.977532, 15.298191, 20.717983, 90.751524, -4.347690], [9.000000, -41.540876, -175.022583, 91.817468, 159.272975, 87.311220], [-171.000000, 31.000000, 35.000000, 143.000000, -144.000000, -36.000000], [-171.000000, 153.404411, 165.275608, 21.197996, -101.963605, 179.964441], [9.000000, -141.977532, 15.298191, -159.282017, -90.751524, 175.652310], [9.000000, -41.540876, -175.022583, -88.182532, -159.272975, -92.688780]] + joints: [-171.000000, 31.000000, 35.000000, -37.000000, 143.000000, 144.000000] + pose: {translation: [-0.8231987409498701, -0.09921271544570615, 0.6298840448026599], quaternion: [-0.2173752727818311, 0.4309270916941252, 0.1158051992429471, 0.8681238323277209]} + solutions: [[-171.000000, 31.000000, 35.000000, -37.000000, 143.000000, 144.000000], [-171.000000, 153.404411, 165.275608, -158.199840, 102.772333, 0.093422], [9.000000, -141.977532, 15.298191, 21.242932, 91.602729, -4.336905], [9.000000, -41.540876, -175.022583, 94.119416, 158.708104, 89.460201], [-171.000000, 31.000000, 35.000000, 143.000000, -143.000000, -36.000000], [-171.000000, 153.404411, 165.275608, 21.800160, -102.772333, -179.906578], [9.000000, -141.977532, 15.298191, -158.757068, -91.602729, 175.663095], [9.000000, -41.540876, -175.022583, -85.880584, -158.708104, -90.539799]] - id: 662 parameters: Irb2400_10 - joints: [-46.000000, 86.000000, -56.000000, -82.000000, -136.000000, 29.000000] - pose: {translation: [1.067229578522136, -1.020975794490571, 0.4412803436518909], quaternion: [-0.4740904779524323, 0.2313883548615162, 0.2890061133366754, 0.7988573805150355]} - solutions: [[-46.000000, 86.000000, -56.000000, 98.000000, 136.000000, -151.000000], [-46.000000, 110.881618, -103.724392, 118.167539, 128.711105, -121.484553], [-46.000000, 86.000000, -56.000000, -82.000000, -136.000000, 29.000000], [-46.000000, 110.881618, -103.724392, -61.832461, -128.711105, 58.515447]] + joints: [-46.000000, 85.000000, -56.000000, -82.000000, -135.000000, 29.000000] + pose: {translation: [1.070625181500204, -1.02298365190269, 0.4649423110259016], quaternion: [-0.4796205215425849, 0.2356317065529405, 0.2800218042541342, 0.7975146665262196]} + solutions: [[-46.000000, 85.000000, -56.000000, 98.000000, 135.000000, -151.000000], [-46.000000, 109.881618, -103.724392, 117.543731, 127.839215, -121.870977], [-46.000000, 85.000000, -56.000000, -82.000000, -135.000000, 29.000000], [-46.000000, 109.881618, -103.724392, -62.456269, -127.839215, 58.129023]] - id: 663 parameters: Irb2400_10 - joints: [86.000000, 165.000000, 73.000000, 42.000000, 103.000000, 166.000000] - pose: {translation: [-0.06712660478370541, -0.1655002953248403, 0.5191597617368386], quaternion: [-0.09484757341042334, -0.6281176926297706, -0.5342774098883, 0.5576914481204254]} - solutions: [[-94.000000, 25.857525, 87.497744, -41.012657, 83.479523, -19.810003], [-94.000000, -125.154340, 112.777863, -117.928845, 132.444852, -153.599759], [86.000000, 165.000000, 73.000000, 42.000000, 103.000000, 166.000000], [86.000000, -22.346776, 127.275608, 135.298906, 112.045174, -45.827265], [-94.000000, 25.857525, 87.497744, 138.987343, -83.479523, 160.189997], [-94.000000, -125.154340, 112.777863, 62.071155, -132.444852, 26.400241], [86.000000, 165.000000, 73.000000, -138.000000, -103.000000, -14.000000], [86.000000, -22.346776, 127.275608, -44.701094, -112.045174, 134.172735]] + joints: [86.000000, 164.000000, 73.000000, 42.000000, 102.000000, 166.000000] + pose: {translation: [-0.06726245503882404, -0.1643630218475453, 0.5158106994853612], quaternion: [-0.08626819923655089, -0.6178931926358482, -0.5418382932590314, 0.5631847514385502]} + solutions: [[-94.000000, 28.104714, 87.304587, -41.186307, 83.680715, -19.102023], [-94.000000, -123.678993, 112.971020, -118.270768, 131.999354, -153.392819], [86.000000, 164.000000, 73.000000, 42.000000, 102.000000, 166.000000], [86.000000, -23.346776, 127.275608, 134.726472, 112.893815, -46.046052], [-94.000000, 28.104714, 87.304587, 138.813693, -83.680715, 160.897977], [-94.000000, -123.678993, 112.971020, 61.729232, -131.999354, 26.607181], [86.000000, 164.000000, 73.000000, -138.000000, -102.000000, -14.000000], [86.000000, -23.346776, 127.275608, -45.273528, -112.893815, 133.953948]] - id: 664 parameters: Irb2400_10 - joints: [-180.000000, -56.000000, 77.000000, -62.000000, -169.000000, 20.000000] - pose: {translation: [-0.1935937356708128, -0.01432031916890182, 0.901706682508945], quaternion: [-0.3517616366521236, 0.3981922959555616, -0.6697943467096381, 0.5187313172898538]} - solutions: [[-180.000000, -56.000000, 77.000000, 118.000000, 169.000000, -160.000000], [-180.000000, 124.106846, 123.275608, 165.444831, 42.096319, -87.537610], [0.000000, -136.076151, 65.237934, -13.675211, 45.447903, -88.755683], [0.000000, 24.281757, 135.037673, -60.568969, 168.846514, -158.541808], [-180.000000, -56.000000, 77.000000, -62.000000, -169.000000, 20.000000], [-180.000000, 124.106846, 123.275608, -14.555169, -42.096319, 92.462390], [0.000000, -136.076151, 65.237934, 166.324789, -45.447903, 91.244317], [0.000000, 24.281757, 135.037673, 119.431031, -168.846514, 21.458192]] + joints: [-180.000000, -56.000000, 77.000000, -62.000000, -168.000000, 20.000000] + pose: {translation: [-0.1941144362105958, -0.01560388578945548, 0.90223784413088], quaternion: [-0.3447075222745462, 0.4004317638959926, -0.6738418452313475, 0.5164961705237516]} + solutions: [[-180.000000, -56.000000, 77.000000, 118.000000, 168.000000, -160.000000], [-180.000000, 124.106846, 123.275608, 164.014295, 41.803834, -86.473653], [0.000000, -136.076151, 65.237934, -15.011256, 45.134130, -87.815741], [0.000000, 24.281757, 135.037673, -60.689839, 167.846811, -158.660191], [-180.000000, -56.000000, 77.000000, -62.000000, -168.000000, 20.000000], [-180.000000, 124.106846, 123.275608, -15.985705, -41.803834, 93.526347], [0.000000, -136.076151, 65.237934, 164.988744, -45.134130, 92.184259], [0.000000, 24.281757, 135.037673, 119.310161, -167.846811, 21.339809]] - id: 665 parameters: Irb2400_10 - joints: [53.000000, -174.000000, -58.000000, -165.000000, 9.000000, -38.000000] - pose: {translation: [-0.2221506015784775, -0.3005223376695059, -0.8382640844207891], quaternion: [0.7581546083633149, 0.6007250536451626, -0.2393207356576786, 0.08400348340844371]} - solutions: [[-127.000000, 151.470017, -43.494875, 176.842877, 47.320412, 158.964881], [-127.000000, -170.578023, -116.229517, 169.391334, 12.704635, 167.178121], [53.000000, -174.000000, -58.000000, -165.000000, 9.000000, -38.000000], [53.000000, -151.206027, -101.724392, -10.827115, 12.447165, 167.401940], [-127.000000, 151.470017, -43.494875, -3.157123, -47.320412, -21.035119], [-127.000000, -170.578023, -116.229517, -10.608666, -12.704635, -12.821879], [53.000000, -174.000000, -58.000000, 15.000000, -9.000000, 142.000000], [53.000000, -151.206027, -101.724392, 169.172885, -12.447165, -12.598060]] + joints: [53.000000, -173.000000, -58.000000, -165.000000, 9.000000, -38.000000] + pose: {translation: [-0.2373709900498085, -0.3207204753734368, -0.8297755162505144], quaternion: [0.7562834378014375, 0.5994754429640086, -0.2474799150358774, 0.08612924383843214]} + solutions: [[-127.000000, 150.000432, -42.645466, 176.861981, 47.699663, 158.936599], [-127.000000, -171.158488, -117.078926, 169.028120, 12.282359, 167.550142], [53.000000, -173.000000, -58.000000, -165.000000, 9.000000, -38.000000], [53.000000, -150.206027, -101.724392, -10.827115, 12.447165, 167.401940], [-127.000000, 150.000432, -42.645466, -3.138019, -47.699663, -21.063401], [-127.000000, -171.158488, -117.078926, -10.971880, -12.282359, -12.449858], [53.000000, -173.000000, -58.000000, 15.000000, -9.000000, 142.000000], [53.000000, -150.206027, -101.724392, 169.172885, -12.447165, -12.598060]] - id: 666 parameters: Irb2400_10 joints: [-106.000000, -65.000000, -3.000000, -132.000000, 46.000000, -60.000000] @@ -3336,9 +3336,9 @@ cases: solutions: [[74.000000, -29.720075, 5.189143, 141.528000, 59.233672, 179.771189], [74.000000, 59.754023, -164.913535, 53.527398, 41.665132, -67.651467], [-106.000000, -65.000000, -3.000000, -132.000000, 46.000000, -60.000000], [-106.000000, 15.689009, -156.724392, -45.573009, 48.465161, -168.272678], [74.000000, -29.720075, 5.189143, -38.472000, -59.233672, -0.228811], [74.000000, 59.754023, -164.913535, -126.472602, -41.665132, 112.348533], [-106.000000, -65.000000, -3.000000, 48.000000, -46.000000, 120.000000], [-106.000000, 15.689009, -156.724392, 134.426991, -48.465161, 11.727322]] - id: 667 parameters: Irb2400_10 - joints: [17.000000, 40.000000, 73.000000, -108.000000, -75.000000, 103.000000] - pose: {translation: [0.3123366815045262, 0.1771440132733365, 0.3969941200462966], quaternion: [-0.02787712297792711, 0.748352043895349, 0.5284335542216431, -0.3999375741097715]} - solutions: [[17.000000, 40.000000, 73.000000, 72.000000, 75.000000, -77.000000], [17.000000, -147.346776, 127.275608, 90.921126, 113.253255, 53.871615], [-163.000000, 171.147333, 58.594838, -77.226522, 109.616312, 85.570238], [-163.000000, -37.727444, 141.680770, -113.220431, 88.430536, -42.113282], [17.000000, 40.000000, 73.000000, -108.000000, -75.000000, 103.000000], [17.000000, -147.346776, 127.275608, -89.078874, -113.253255, -126.128385], [-163.000000, 171.147333, 58.594838, 102.773478, -109.616312, -94.429762], [-163.000000, -37.727444, 141.680770, 66.779569, -88.430536, 137.886718]] + joints: [17.000000, 39.000000, 73.000000, -108.000000, -75.000000, 103.000000] + pose: {translation: [0.315938677730675, 0.1782452540341684, 0.4013988187616082], quaternion: [-0.03330635722943937, 0.7503128777699472, 0.5300901316234625, -0.3936060522605129]} + solutions: [[17.000000, 39.000000, 73.000000, 72.000000, 75.000000, -77.000000], [17.000000, -148.346776, 127.275608, 90.921126, 113.253255, 53.871615], [-163.000000, 171.873195, 58.480523, -77.361897, 109.701751, 85.167843], [-163.000000, -37.153601, 141.795085, -113.212271, 88.307606, -42.399988], [17.000000, 39.000000, 73.000000, -108.000000, -75.000000, 103.000000], [17.000000, -148.346776, 127.275608, -89.078874, -113.253255, -126.128385], [-163.000000, 171.873195, 58.480523, 102.638103, -109.701751, -94.832157], [-163.000000, -37.153601, 141.795085, 66.787729, -88.307606, 137.600012]] - id: 668 parameters: Irb2400_10 joints: [-99.000000, -6.000000, -146.000000, -47.000000, 40.000000, 165.000000] @@ -3346,9 +3346,9 @@ cases: solutions: [[81.000000, -10.128041, 1.843634, 144.989102, 55.022843, 147.475750], [81.000000, 75.748255, -161.568026, 48.570206, 38.829245, -95.837232], [-99.000000, -75.278437, -13.724392, -135.804386, 42.404676, -90.079060], [-99.000000, -6.000000, -146.000000, -47.000000, 40.000000, 165.000000], [81.000000, -10.128041, 1.843634, -35.010898, -55.022843, -32.524250], [81.000000, 75.748255, -161.568026, -131.429794, -38.829245, 84.162768], [-99.000000, -75.278437, -13.724392, 44.195614, -42.404676, 89.920940], [-99.000000, -6.000000, -146.000000, 133.000000, -40.000000, -15.000000]] - id: 669 parameters: Irb2400_10 - joints: [-144.000000, 174.000000, 176.000000, 147.000000, -150.000000, -144.000000] - pose: {translation: [-0.6830473164695982, -0.467651462059765, 0.1300308729449393], quaternion: [0.8689857920754596, -0.16290450928429, 0.1910763349747433, -0.426398461815296]} - solutions: [[-144.000000, 63.677606, 24.275608, -18.805661, 57.647342, 75.681335], [-144.000000, 174.000000, 176.000000, -33.000000, 150.000000, 36.000000], [36.000000, -158.475663, 5.184966, 119.270299, 161.809497, 5.893188], [36.000000, -69.006066, -164.909358, 164.197521, 90.238628, 65.286016], [-144.000000, 63.677606, 24.275608, 161.194339, -57.647342, -104.318665], [-144.000000, 174.000000, 176.000000, 147.000000, -150.000000, -144.000000], [36.000000, -158.475663, 5.184966, -60.729701, -161.809497, -174.106812], [36.000000, -69.006066, -164.909358, -15.802479, -90.238628, -114.713984]] + joints: [-144.000000, 173.000000, 176.000000, 147.000000, -149.000000, -144.000000] + pose: {translation: [-0.6909777369793314, -0.4725527272075083, 0.1418922788142385], quaternion: [0.8759254134869208, -0.16290450928429, 0.1787569401884165, -0.4174478975837421]} + solutions: [[-144.000000, 62.677606, 24.275608, -19.568027, 56.880024, 76.093616], [-144.000000, 173.000000, 176.000000, -33.000000, 149.000000, 36.000000], [36.000000, -157.558688, 5.025252, 121.405678, 160.812622, 7.983177], [36.000000, -68.261151, -164.749644, 163.708023, 89.274899, 65.314459], [-144.000000, 62.677606, 24.275608, 160.431973, -56.880024, -103.906384], [-144.000000, 173.000000, 176.000000, 147.000000, -149.000000, -144.000000], [36.000000, -157.558688, 5.025252, -58.594322, -160.812622, -172.016823], [36.000000, -68.261151, -164.749644, -16.291977, -89.274899, -114.685541]] - id: 670 parameters: Irb2400_10 joints: [69.000000, -6.000000, 27.000000, 114.000000, -73.000000, 152.000000] @@ -3361,9 +3361,9 @@ cases: solutions: [[34.000000, 6.667178, 44.892257, -154.467552, 74.093668, -1.351037], [34.000000, 140.621592, 155.383350, -33.697909, 48.342464, -149.987402], [-146.000000, -134.000000, 27.000000, 150.000000, 56.000000, -156.000000], [-146.000000, -20.641004, 173.275608, 31.394123, 52.725251, -14.176875], [34.000000, 6.667178, 44.892257, 25.532448, -74.093668, 178.648963], [34.000000, 140.621592, 155.383350, 146.302091, -48.342464, 30.012598], [-146.000000, -134.000000, 27.000000, -30.000000, -56.000000, 24.000000], [-146.000000, -20.641004, 173.275608, -148.605877, -52.725251, 165.823125]] - id: 672 parameters: Irb2400_10 - joints: [-88.000000, 127.000000, 178.000000, -109.000000, -31.000000, 117.000000] - pose: {translation: [0.07762738947906438, -1.036890749083809, 0.9381207304763662], quaternion: [0.1157549779850966, 0.4285023440748794, -0.5157189012568053, 0.7328168537093542]} - solutions: [[-88.000000, 18.894977, 22.275608, 150.768612, 85.723341, -172.495919], [-88.000000, 127.000000, 178.000000, 71.000000, 31.000000, -63.000000], [92.000000, -118.579258, 1.264311, -119.968574, 34.203639, -50.001158], [92.000000, -33.324675, -160.988704, -33.253405, 62.634254, -158.112134], [-88.000000, 18.894977, 22.275608, -29.231388, -85.723341, 7.504081], [-88.000000, 127.000000, 178.000000, -109.000000, -31.000000, 117.000000], [92.000000, -118.579258, 1.264311, 60.031426, -34.203639, 129.998842], [92.000000, -33.324675, -160.988704, 146.746595, -62.634254, 21.887866]] + joints: [-88.000000, 126.000000, 178.000000, -109.000000, -30.000000, 117.000000] + pose: {translation: [0.07622038555875228, -1.031230192317519, 0.9553156976893303], quaternion: [0.1131612535650767, 0.4168028092773398, -0.5231101191219227, 0.734728352619079]} + solutions: [[-88.000000, 17.894977, 22.275608, 151.713508, 86.057645, -172.563634], [-88.000000, 126.000000, 178.000000, 71.000000, 30.000000, -63.000000], [92.000000, -117.808485, 1.368865, -120.214506, 33.167039, -49.856342], [92.000000, -32.441725, -161.093257, -32.072335, 62.915552, -158.758825], [-88.000000, 17.894977, 22.275608, -28.286492, -86.057645, 7.436366], [-88.000000, 126.000000, 178.000000, -109.000000, -30.000000, 117.000000], [92.000000, -117.808485, 1.368865, 59.785494, -33.167039, 130.143658], [92.000000, -32.441725, -161.093257, 147.927665, -62.915552, 21.241175]] - id: 673 parameters: Irb2400_10 joints: [172.000000, -122.000000, -20.000000, 136.000000, 86.000000, 161.000000] @@ -3371,14 +3371,14 @@ cases: solutions: [[-8.000000, 45.476901, 6.288812, -95.507911, 44.121364, -105.203260], [-8.000000, 136.136542, -166.013204, -44.688987, 80.185732, 166.717068], [172.000000, -122.000000, -20.000000, 136.000000, 86.000000, 161.000000], [172.000000, -59.360565, -139.724392, 115.556990, 50.185531, -149.607220], [-8.000000, 45.476901, 6.288812, 84.492089, -44.121364, 74.796740], [-8.000000, 136.136542, -166.013204, 135.311013, -80.185732, -13.282932], [172.000000, -122.000000, -20.000000, -44.000000, -86.000000, -19.000000], [172.000000, -59.360565, -139.724392, -64.443010, -50.185531, 30.392780]] - id: 674 parameters: Irb2400_10 - joints: [-150.000000, -63.000000, -37.000000, -118.000000, 127.000000, 164.000000] - pose: {translation: [0.6755954071613891, 0.4592656663902753, 1.599239422524373], quaternion: [0.5625377591677979, 0.7158497424820263, 0.2790153680412181, -0.3053863783728948]} - solutions: [[30.000000, 0.190371, -15.964084, 45.007258, 85.643769, 111.116120], [30.000000, 67.096607, -143.760308, 59.865854, 125.378484, 160.386727], [-150.000000, -63.000000, -37.000000, -118.000000, 127.000000, 164.000000], [-150.000000, -18.244195, -122.724392, -133.861841, 102.039534, 127.706607], [30.000000, 0.190371, -15.964084, -134.992742, -85.643769, -68.883880], [30.000000, 67.096607, -143.760308, -120.134146, -125.378484, -19.613273], [-150.000000, -63.000000, -37.000000, 62.000000, -127.000000, -16.000000], [-150.000000, -18.244195, -122.724392, 46.138159, -102.039534, -52.293393]] + joints: [-150.000000, -62.000000, -37.000000, -118.000000, 126.000000, 164.000000] + pose: {translation: [0.6607250841380314, 0.4515799502186559, 1.616166548604349], quaternion: [0.5573790748739799, 0.7136600109145245, 0.2927828343011203, -0.3070768106723625]} + solutions: [[30.000000, -0.668130, -16.396497, 45.789929, 85.243599, 111.260430], [30.000000, 65.780483, -143.327896, 59.873445, 124.322142, 160.308524], [-150.000000, -62.000000, -37.000000, -118.000000, 126.000000, 164.000000], [-150.000000, -17.244195, -122.724392, -133.258379, 101.232901, 127.828327], [30.000000, -0.668130, -16.396497, -134.210071, -85.243599, -68.739570], [30.000000, 65.780483, -143.327896, -120.126555, -124.322142, -19.691476], [-150.000000, -62.000000, -37.000000, 62.000000, -126.000000, -16.000000], [-150.000000, -17.244195, -122.724392, 46.741621, -101.232901, -52.171673]] - id: 675 parameters: Irb2400_10 - joints: [-177.000000, -88.000000, -178.000000, 180.000000, -145.000000, 127.000000] - pose: {translation: [0.5655676058670901, 0.02964014225792049, -0.05011461616668141], quaternion: [0.2359574808778254, 0.1254608180538228, 0.8733457835686312, 0.4072478270954304]} - solutions: [[3.000000, 92.009735, 29.700645, 0.000000, 179.289620, 127.000000], [3.000000, -151.600839, 170.574962, 180.000000, 77.974124, -53.000000], [-177.000000, 168.302937, 18.275608, -0.000000, 52.421455, -53.000000], [-177.000000, -88.000000, -178.000000, -0.000000, 145.000000, -53.000000], [3.000000, 92.009735, 29.700645, -180.000000, -179.289620, -53.000000], [3.000000, -151.600839, 170.574962, 0.000000, -77.974124, 127.000000], [-177.000000, 168.302937, 18.275608, 180.000000, -52.421455, 127.000000], [-177.000000, -88.000000, -178.000000, 180.000000, -145.000000, 127.000000]] + joints: [-177.000000, -87.000000, -178.000000, 180.000000, -144.000000, 127.000000] + pose: {translation: [0.5783346846115397, 0.03030923650284881, -0.03913695261924673], quaternion: [0.2359574808778255, 0.1254608180538228, 0.8733457835686312, 0.4072478270954304]} + solutions: [[3.000000, 90.728559, 29.988439, 180.000000, 179.716998, -53.000000], [3.000000, -152.557787, 170.287168, 180.000000, 76.729381, -53.000000], [-177.000000, 169.302937, 18.275608, -0.000000, 51.421455, -53.000000], [-177.000000, -87.000000, -178.000000, -0.000000, 144.000000, -53.000000], [3.000000, 90.728559, 29.988439, -0.000000, -179.716998, 127.000000], [3.000000, -152.557787, 170.287168, 0.000000, -76.729381, 127.000000], [-177.000000, 169.302937, 18.275608, 180.000000, -51.421455, 127.000000], [-177.000000, -87.000000, -178.000000, 180.000000, -144.000000, 127.000000]] - id: 676 parameters: Irb2400_10 joints: [-40.000000, -9.000000, -26.000000, -37.000000, 81.000000, -133.000000] @@ -3386,24 +3386,24 @@ cases: solutions: [[-40.000000, -9.000000, -26.000000, -37.000000, 81.000000, -133.000000], [-40.000000, 47.312801, -133.724392, -44.058449, 121.264774, -166.389390], [140.000000, -46.887959, -41.679097, 133.622311, 124.803732, -170.640382], [140.000000, -7.035090, -118.045295, 143.212071, 96.988555, -144.921654], [-40.000000, -9.000000, -26.000000, 143.000000, -81.000000, 47.000000], [-40.000000, 47.312801, -133.724392, 135.941551, -121.264774, 13.610610], [140.000000, -46.887959, -41.679097, -46.377689, -124.803732, 9.359618], [140.000000, -7.035090, -118.045295, -36.787929, -96.988555, 35.078346]] - id: 677 parameters: Irb2400_10 - joints: [16.000000, 173.000000, -102.000000, -8.000000, -84.000000, 163.000000] - pose: {translation: [0.6133204439440579, 0.1881058356679729, -0.7358068602666126], quaternion: [0.5787161563091264, 0.2327823195007708, 0.7809991076353675, -0.03066587724803575]} - solutions: [[16.000000, 149.918378, -57.724392, 171.762069, 104.986343, -19.985681], [16.000000, 173.000000, -102.000000, 172.000000, 84.000000, -17.000000], [16.000000, 149.918378, -57.724392, -8.237931, -104.986343, 160.014319], [16.000000, 173.000000, -102.000000, -8.000000, -84.000000, 163.000000]] + joints: [16.000000, 172.000000, -102.000000, -8.000000, -84.000000, 163.000000] + pose: {translation: [0.6359027602470497, 0.1945812106676017, -0.7261522106990058], quaternion: [0.5720689593593927, 0.2311521127280831, 0.7863838460681207, -0.03010403896348829]} + solutions: [[16.000000, 148.918378, -57.724392, 171.762069, 104.986343, -19.985681], [16.000000, 172.000000, -102.000000, 172.000000, 84.000000, -17.000000], [16.000000, 148.918378, -57.724392, -8.237931, -104.986343, 160.014319], [16.000000, 172.000000, -102.000000, -8.000000, -84.000000, 163.000000]] - id: 678 parameters: Irb2400_10 - joints: [-100.000000, 77.000000, -98.000000, -120.000000, -152.000000, -101.000000] - pose: {translation: [-0.2056856228627099, -1.365517419998187, 1.124668640604406], quaternion: [0.8082598348995862, 0.3383762165785145, 0.4234771311324822, -0.2299667253102206]} - solutions: [[-100.000000, 58.092109, -61.724392, 39.822483, 140.590063, 54.971487], [-100.000000, 77.000000, -98.000000, 60.000000, 152.000000, 79.000000], [-100.000000, 58.092109, -61.724392, -140.177517, -140.590063, -125.028513], [-100.000000, 77.000000, -98.000000, -120.000000, -152.000000, -101.000000]] + joints: [-100.000000, 77.000000, -98.000000, -120.000000, -151.000000, -101.000000] + pose: {translation: [-0.2047290301443782, -1.366594353868084, 1.124313747942815], quaternion: [0.8109041332245261, 0.3351186584912699, 0.4250137716369062, -0.2224708191412151]} + solutions: [[-100.000000, 58.092109, -61.724392, 40.451697, 139.675000, 55.454445], [-100.000000, 77.000000, -98.000000, 60.000000, 151.000000, 79.000000], [-100.000000, 58.092109, -61.724392, -139.548303, -139.675000, -124.545555], [-100.000000, 77.000000, -98.000000, -120.000000, -151.000000, -101.000000]] - id: 679 parameters: Irb2400_10 - joints: [-113.000000, -103.000000, -119.000000, -65.000000, -55.000000, -37.000000] - pose: {translation: [0.4778167013718578, 0.964162401462604, -0.2035992476848267], quaternion: [0.2547037570316704, 0.8692864365071048, 0.05909871767126981, 0.4194930619549539]} - solutions: [[67.000000, 93.281370, -12.469873, -96.892374, 48.400859, -167.570741], [67.000000, 163.890023, -147.254519, -53.045271, 68.285274, 118.298257], [-113.000000, -143.852707, -40.724392, 130.024491, 75.809791, 108.382773], [-113.000000, -103.000000, -119.000000, 115.000000, 55.000000, 143.000000], [67.000000, 93.281370, -12.469873, 83.107626, -48.400859, 12.429259], [67.000000, 163.890023, -147.254519, 126.954729, -68.285274, -61.701743], [-113.000000, -143.852707, -40.724392, -49.975509, -75.809791, -71.617227], [-113.000000, -103.000000, -119.000000, -65.000000, -55.000000, -37.000000]] + joints: [-113.000000, -103.000000, -119.000000, -65.000000, -54.000000, -37.000000] + pose: {translation: [0.4775438849919774, 0.9655179027411697, -0.2041368279084424], quaternion: [0.2520791037998875, 0.8718665463121167, 0.06543686352610345, 0.414756395660264]} + solutions: [[67.000000, 93.281370, -12.469873, -97.918484, 47.755008, -166.885156], [67.000000, 163.890023, -147.254519, -52.592561, 67.377398, 118.127428], [-113.000000, -143.852707, -40.724392, 130.612638, 74.987554, 108.234501], [-113.000000, -103.000000, -119.000000, 115.000000, 54.000000, 143.000000], [67.000000, 93.281370, -12.469873, 82.081516, -47.755008, 13.114844], [67.000000, 163.890023, -147.254519, 127.407439, -67.377398, -61.872572], [-113.000000, -143.852707, -40.724392, -49.387362, -74.987554, -71.765499], [-113.000000, -103.000000, -119.000000, -65.000000, -54.000000, -37.000000]] - id: 680 parameters: Irb2400_10 - joints: [-104.000000, -32.000000, 19.000000, 76.000000, 145.000000, -96.000000] - pose: {translation: [-0.04276322736734729, -0.3670555389430026, 1.487096674665407], quaternion: [-0.2921170511562949, 0.7578946641559716, 0.1894763831642945, 0.551690136481191]} - solutions: [[-104.000000, -32.000000, 19.000000, 76.000000, 145.000000, -96.000000], [-104.000000, 72.492864, -178.724392, 146.018306, 95.299604, 7.366373], [76.000000, -77.830543, 9.816150, -33.818362, 90.522396, 10.578901], [76.000000, 16.642644, -169.540542, -83.337604, 145.921888, -71.043931], [-104.000000, -32.000000, 19.000000, -104.000000, -145.000000, 84.000000], [-104.000000, 72.492864, -178.724392, -33.981694, -95.299604, -172.633627], [76.000000, -77.830543, 9.816150, 146.181638, -90.522396, -169.421099], [76.000000, 16.642644, -169.540542, 96.662396, -145.921888, 108.956069]] + joints: [-104.000000, -32.000000, 19.000000, 76.000000, 144.000000, -96.000000] + pose: {translation: [-0.04184513279764866, -0.3682172808332823, 1.487005772896414], quaternion: [-0.2874907930790657, 0.7600134562725226, 0.182625144049218, 0.553513005213488]} + solutions: [[-104.000000, -32.000000, 19.000000, 76.000000, 144.000000, -96.000000], [-104.000000, 72.492864, -178.724392, 145.040847, 95.530003, 7.274132], [76.000000, -77.830543, 9.816150, -34.776881, 90.807645, 10.567776], [76.000000, 16.642644, -169.540542, -84.073426, 145.013020, -71.650127], [-104.000000, -32.000000, 19.000000, -104.000000, -144.000000, 84.000000], [-104.000000, 72.492864, -178.724392, -34.959153, -95.530003, -172.725868], [76.000000, -77.830543, 9.816150, 145.223119, -90.807645, -169.432224], [76.000000, 16.642644, -169.540542, 95.926574, -145.013020, 108.349873]] - id: 681 parameters: Irb2400_10 joints: [34.000000, -93.000000, 29.000000, 177.000000, 22.000000, 51.000000] @@ -3421,44 +3421,44 @@ cases: solutions: [[-172.000000, 48.000000, -64.000000, -89.000000, 48.000000, 6.000000], [-172.000000, 64.534333, -95.724392, -75.812510, 50.032411, -13.988455], [-172.000000, 48.000000, -64.000000, 91.000000, -48.000000, -174.000000], [-172.000000, 64.534333, -95.724392, 104.187490, -50.032411, 166.011545]] - id: 684 parameters: Irb2400_10 - joints: [-119.000000, -64.000000, 18.000000, 60.000000, 146.000000, 164.000000] - pose: {translation: [0.1029784346942326, 0.1008717014882146, 1.49373247006954], quaternion: [0.8411623842158137, -0.433287101252929, 0.261823518139744, -0.1901488275460282]} - solutions: [[61.000000, -52.570104, 20.280876, -29.143152, 96.056300, -74.512956], [61.000000, 53.332509, 179.994732, -109.509471, 149.084534, 176.414204], [-119.000000, -64.000000, 18.000000, 60.000000, 146.000000, 164.000000], [-119.000000, 39.394558, -177.724392, 150.027458, 104.221032, -79.210067], [61.000000, -52.570104, 20.280876, 150.856848, -96.056300, 105.487044], [61.000000, 53.332509, 179.994732, 70.490529, -149.084534, -3.585796], [-119.000000, -64.000000, 18.000000, -120.000000, -146.000000, -16.000000], [-119.000000, 39.394558, -177.724392, -29.972542, -104.221032, 100.789933]] + joints: [-119.000000, -64.000000, 18.000000, 60.000000, 145.000000, 164.000000] + pose: {translation: [0.103408314401787, 0.09946326893747476, 1.493912264889254], quaternion: [0.8393914290810859, -0.4354954430650879, 0.2678274150646501, -0.1844836675549975]} + solutions: [[61.000000, -52.570104, 20.280876, -30.001549, 96.577913, -74.607409], [61.000000, 53.332509, 179.994732, -109.916353, 148.107262, 176.066912], [-119.000000, -64.000000, 18.000000, 60.000000, 145.000000, 164.000000], [-119.000000, 39.394558, -177.724392, 149.104719, 104.669969, -79.440259], [61.000000, -52.570104, 20.280876, 149.998451, -96.577913, 105.392591], [61.000000, 53.332509, 179.994732, 70.083647, -148.107262, -3.933088], [-119.000000, -64.000000, 18.000000, -120.000000, -145.000000, -16.000000], [-119.000000, 39.394558, -177.724392, -30.895281, -104.669969, 100.559741]] - id: 685 parameters: Irb2400_10 - joints: [40.000000, 151.000000, -4.000000, -62.000000, 165.000000, 27.000000] - pose: {translation: [-0.02937574594771235, -0.0500060751796112, -0.4726510607675752], quaternion: [0.2660118721896923, 0.3394768932665676, 0.7891380846112594, 0.437326201145423]} - solutions: [[-140.000000, 137.922341, -1.437391, 13.287965, 83.852646, -93.280010], [-140.000000, -139.717772, -158.287002, 32.267620, 154.656290, -62.121505], [40.000000, 151.000000, -4.000000, -62.000000, 165.000000, 27.000000], [40.000000, -129.379057, -155.724392, -165.471854, 114.359281, -85.730405], [-140.000000, 137.922341, -1.437391, -166.712035, -83.852646, 86.719990], [-140.000000, -139.717772, -158.287002, -147.732380, -154.656290, 117.878495], [40.000000, 151.000000, -4.000000, 118.000000, -165.000000, -153.000000], [40.000000, -129.379057, -155.724392, 14.528146, -114.359281, 94.269595]] + joints: [40.000000, 151.000000, -4.000000, -62.000000, 164.000000, 27.000000] + pose: {translation: [-0.0290991177835096, -0.05142167220536023, -0.4723041214218578], quaternion: [0.2704050242925766, 0.3329372018330577, 0.7883846153298834, 0.4410029940760682]} + solutions: [[-140.000000, 137.922341, -1.437391, 14.155730, 84.357553, -93.369136], [-140.000000, -139.717772, -158.287002, 34.601162, 154.622555, -60.012792], [40.000000, 151.000000, -4.000000, -62.000000, 164.000000, 27.000000], [40.000000, -129.379057, -155.724392, -164.456290, 114.742288, -85.308427], [-140.000000, 137.922341, -1.437391, -165.844270, -84.357553, 86.630864], [-140.000000, -139.717772, -158.287002, -145.398838, -154.622555, 119.987208], [40.000000, 151.000000, -4.000000, 118.000000, -164.000000, -153.000000], [40.000000, -129.379057, -155.724392, 15.543710, -114.742288, 94.691573]] - id: 686 parameters: Irb2400_10 - joints: [149.000000, -180.000000, -16.000000, 60.000000, -61.000000, -115.000000] - pose: {translation: [0.562810205713495, -0.2630595444761937, -0.4749666051233518], quaternion: [0.7674778562326744, 0.4335644898266499, 0.4704183990047949, -0.04130500250116041]} - solutions: [[-31.000000, 114.414610, -2.738227, 124.761725, 67.218795, -45.821226], [-31.000000, -164.616635, -156.986165, 73.832159, 52.057967, 40.265318], [149.000000, -180.000000, -16.000000, -120.000000, 61.000000, 65.000000], [149.000000, -113.131779, -143.724392, -74.471648, 51.826093, -9.186618], [-31.000000, 114.414610, -2.738227, -55.238275, -67.218795, 134.178774], [-31.000000, -164.616635, -156.986165, -106.167841, -52.057967, -139.734682], [149.000000, -180.000000, -16.000000, 60.000000, -61.000000, -115.000000], [149.000000, -113.131779, -143.724392, 105.528352, -51.826093, 170.813382]] + joints: [149.000000, -179.000000, -16.000000, 60.000000, -61.000000, -115.000000] + pose: {translation: [0.5790219817065331, -0.2728005622349067, -0.4622713724795818], quaternion: [0.7641155012012845, 0.4359712411789076, 0.4741926439482141, -0.03461089588893892]} + solutions: [[-31.000000, 113.129267, -2.345144, 124.798833, 67.280253, -45.917183], [-31.000000, -165.481784, -157.379248, 73.639135, 52.130291, 40.579501], [149.000000, -179.000000, -16.000000, -120.000000, 61.000000, 65.000000], [149.000000, -112.131779, -143.724392, -74.471648, 51.826093, -9.186618], [-31.000000, 113.129267, -2.345144, -55.201167, -67.280253, 134.082817], [-31.000000, -165.481784, -157.379248, -106.360865, -52.130291, -139.420499], [149.000000, -179.000000, -16.000000, 60.000000, -61.000000, -115.000000], [149.000000, -112.131779, -143.724392, 105.528352, -51.826093, 170.813382]] - id: 687 parameters: Irb2400_10 - joints: [86.000000, -44.000000, -92.000000, 173.000000, -173.000000, 84.000000] - pose: {translation: [-0.06562204840306124, -0.9565367118373523, 1.498280936087015], quaternion: [0.8941334116622625, -0.04194849558571236, 0.01851529134827488, -0.445446910252599]} - solutions: [[-94.000000, 16.908212, -26.583365, 1.850145, 152.611287, 92.591211], [-94.000000, 72.606841, -133.141027, 177.865169, 156.502937, -91.009621], [86.000000, -56.650758, -67.724392, -2.670017, 161.408017, -91.582529], [86.000000, -44.000000, -92.000000, -7.000000, 173.000000, -96.000000], [-94.000000, 16.908212, -26.583365, -178.149855, -152.611287, -87.408789], [-94.000000, 72.606841, -133.141027, -2.134831, -156.502937, 88.990379], [86.000000, -56.650758, -67.724392, 177.329983, -161.408017, 88.417471], [86.000000, -44.000000, -92.000000, 173.000000, -173.000000, 84.000000]] + joints: [86.000000, -44.000000, -92.000000, 173.000000, -172.000000, 84.000000] + pose: {translation: [-0.06538221355630093, -0.9556765360813833, 1.499465580297429], quaternion: [0.890216562942202, -0.04219253299688711, 0.0196942489129679, -0.4531516278051236]} + solutions: [[-94.000000, 16.908212, -26.583365, 2.186095, 153.599676, 92.890836], [-94.000000, 72.606841, -133.141027, 177.655360, 155.506582, -91.201305], [86.000000, -56.650758, -67.724392, -2.899739, 160.410842, -91.799624], [86.000000, -44.000000, -92.000000, -7.000000, 172.000000, -96.000000], [-94.000000, 16.908212, -26.583365, -177.813905, -153.599676, -87.109164], [-94.000000, 72.606841, -133.141027, -2.344640, -155.506582, 88.798695], [86.000000, -56.650758, -67.724392, 177.100261, -160.410842, 88.200376], [86.000000, -44.000000, -92.000000, 173.000000, -172.000000, 84.000000]] - id: 688 parameters: Irb2400_10 - joints: [-20.000000, 119.000000, -45.000000, -66.000000, 172.000000, -147.000000] - pose: {translation: [0.9610458735299527, -0.3612926408116334, -0.3357464954351482], quaternion: [0.1390971905436473, -0.111803686470629, -0.7535656158655393, 0.6326853640314688]} - solutions: [[-20.000000, 119.000000, -45.000000, -66.000000, 172.000000, -147.000000], [-20.000000, 155.376938, -114.724392, -165.652686, 149.130747, 111.173570], [-20.000000, 119.000000, -45.000000, 114.000000, -172.000000, 33.000000], [-20.000000, 155.376938, -114.724392, 14.347314, -149.130747, -68.826430]] + joints: [-20.000000, 119.000000, -45.000000, -66.000000, 171.000000, -147.000000] + pose: {translation: [0.9601051792597056, -0.3623766464236018, -0.3361217701522446], quaternion: [0.1476140406525333, -0.1107505578480402, -0.751987531501058, 0.6328184268852524]} + solutions: [[-20.000000, 119.000000, -45.000000, -66.000000, 171.000000, -147.000000], [-20.000000, 155.376938, -114.724392, -163.734084, 149.321618, 112.822063], [-20.000000, 119.000000, -45.000000, 114.000000, -171.000000, 33.000000], [-20.000000, 155.376938, -114.724392, 16.265916, -149.321618, -67.177937]] - id: 689 parameters: Irb2400_10 - joints: [62.000000, 50.000000, -8.000000, 69.000000, -111.000000, 93.000000] - pose: {translation: [0.6700256027738362, 1.102332663067476, 0.7048123706312966], quaternion: [0.5055115862697155, 0.0156626158935262, 0.7270636203656087, 0.4643180058443804]} - solutions: [[62.000000, 50.000000, -8.000000, -111.000000, 111.000000, -87.000000], [62.000000, 125.357569, -151.724392, -117.642340, 79.695317, -148.890537], [-118.000000, -107.794904, -41.953494, 63.041194, 77.912960, -152.409449], [-118.000000, -68.229355, -117.770898, 61.091023, 95.352063, -120.445549], [62.000000, 50.000000, -8.000000, 69.000000, -111.000000, 93.000000], [62.000000, 125.357569, -151.724392, 62.357660, -79.695317, 31.109463], [-118.000000, -107.794904, -41.953494, -116.958806, -77.912960, 27.590551], [-118.000000, -68.229355, -117.770898, -118.908977, -95.352063, 59.554451]] + joints: [62.000000, 50.000000, -8.000000, 69.000000, -110.000000, 93.000000] + pose: {translation: [0.6709971442627441, 1.103126728411832, 0.7040209337390743], quaternion: [0.5098707309017538, 0.02178601133717387, 0.7266685699576308, 0.459902160155244]} + solutions: [[62.000000, 50.000000, -8.000000, -111.000000, 110.000000, -87.000000], [62.000000, 125.357569, -151.724392, -116.744470, 79.225415, -149.054776], [-118.000000, -107.794904, -41.953494, 63.972576, 77.498394, -152.607777], [-118.000000, -68.229355, -117.770898, 61.643866, 94.517418, -120.397992], [62.000000, 50.000000, -8.000000, 69.000000, -110.000000, 93.000000], [62.000000, 125.357569, -151.724392, 63.255530, -79.225415, 30.945224], [-118.000000, -107.794904, -41.953494, -116.027424, -77.498394, 27.392223], [-118.000000, -68.229355, -117.770898, -118.356134, -94.517418, 59.602008]] - id: 690 parameters: Irb2400_10 - joints: [31.000000, 105.000000, 3.000000, 129.000000, -171.000000, 73.000000] - pose: {translation: [0.6002367042980924, 0.3486030105727285, -0.2448019959508252], quaternion: [-0.03009618237314416, 0.1192037918170257, -0.2241000483498206, 0.9667801426139315]} - solutions: [[31.000000, 105.000000, 3.000000, -51.000000, 171.000000, -107.000000], [31.000000, -167.881604, -162.724392, -172.698120, 106.955549, 125.792477], [-149.000000, -176.159855, -11.844342, 7.002409, 85.728309, 123.128245], [-149.000000, -104.887514, -147.880050, 13.951117, 149.718209, 135.760358], [31.000000, 105.000000, 3.000000, 129.000000, -171.000000, 73.000000], [31.000000, -167.881604, -162.724392, 7.301880, -106.955549, -54.207523], [-149.000000, -176.159855, -11.844342, -172.997591, -85.728309, -56.871755], [-149.000000, -104.887514, -147.880050, -166.048883, -149.718209, -44.239642]] + joints: [31.000000, 104.000000, 3.000000, 129.000000, -170.000000, 73.000000] + pose: {translation: [0.6127909648382038, 0.3548198004105165, -0.2342684278472958], quaternion: [-0.01542542173337373, 0.1135722144408047, -0.2247765776354224, 0.9676460606119711]} + solutions: [[31.000000, 104.000000, 3.000000, -51.000000, 170.000000, -107.000000], [31.000000, -168.881604, -162.724392, -171.862761, 107.558540, 126.040301], [-149.000000, -175.066301, -12.218649, 7.769102, 86.647920, 123.113285], [-149.000000, -104.191133, -147.505743, 15.705029, 150.095884, 137.268836], [31.000000, 104.000000, 3.000000, 129.000000, -170.000000, 73.000000], [31.000000, -168.881604, -162.724392, 8.137239, -107.558540, -53.959699], [-149.000000, -175.066301, -12.218649, -172.230898, -86.647920, -56.886715], [-149.000000, -104.191133, -147.505743, -164.294971, -150.095884, -42.731164]] - id: 691 parameters: Irb2400_10 - joints: [-30.000000, -161.000000, -160.000000, -55.000000, 37.000000, -56.000000] - pose: {translation: [0.4782851262393742, -0.3245236137923295, -0.4873357357472773], quaternion: [-0.5216877915651952, 0.7831161873312265, -0.3083108461448347, -0.1396971990452531]} - solutions: [[-30.000000, 114.805632, 0.275608, -144.540048, 58.186237, 54.663479], [-30.000000, -161.000000, -160.000000, -55.000000, 37.000000, -56.000000], [150.000000, 176.055083, -11.690065, 142.115399, 53.398339, -79.870159], [150.000000, -112.508846, -148.034327, 61.176067, 34.242214, 18.893904], [-30.000000, 114.805632, 0.275608, 35.459952, -58.186237, -125.336521], [-30.000000, -161.000000, -160.000000, 125.000000, -37.000000, 124.000000], [150.000000, 176.055083, -11.690065, -37.884601, -53.398339, 100.129841], [150.000000, -112.508846, -148.034327, -118.823933, -34.242214, -161.106096]] + joints: [-30.000000, -160.000000, -160.000000, -55.000000, 36.000000, -56.000000] + pose: {translation: [0.4630159395660006, -0.3145799595820714, -0.495526605695808], quaternion: [-0.5270930142605907, 0.7818682933449097, -0.3040355409158828, -0.1357104124214122]} + solutions: [[-30.000000, 115.805632, 0.275608, -145.636924, 58.543821, 55.238812], [-30.000000, -160.000000, -160.000000, -55.000000, 36.000000, -56.000000], [150.000000, 174.920676, -11.276031, 142.755154, 52.707364, -80.390964], [150.000000, -113.203763, -148.448361, 59.310221, 34.049141, 20.491236], [-30.000000, 115.805632, 0.275608, 34.363076, -58.543821, -124.761188], [-30.000000, -160.000000, -160.000000, 125.000000, -36.000000, 124.000000], [150.000000, 174.920676, -11.276031, -37.244846, -52.707364, 99.609036], [150.000000, -113.203763, -148.448361, -120.689779, -34.049141, -159.508764]] - id: 692 parameters: Irb2400_10 joints: [-8.000000, -42.000000, -146.000000, 54.000000, 9.000000, -93.000000] @@ -3466,39 +3466,39 @@ cases: solutions: [[172.000000, 26.603162, 10.283976, -167.213304, 34.877794, -49.884958], [172.000000, 121.583439, -170.008368, -9.309363, 51.476943, 146.491353], [-8.000000, -111.278437, -13.724392, 171.414548, 57.969511, 145.239930], [-8.000000, -42.000000, -146.000000, 54.000000, 9.000000, -93.000000], [172.000000, 26.603162, 10.283976, 12.786696, -34.877794, 130.115042], [172.000000, 121.583439, -170.008368, 170.690637, -51.476943, -33.508647], [-8.000000, -111.278437, -13.724392, -8.585452, -57.969511, -34.760070], [-8.000000, -42.000000, -146.000000, -126.000000, -9.000000, 87.000000]] - id: 693 parameters: Irb2400_10 - joints: [53.000000, -56.000000, -127.000000, 9.000000, -137.000000, 174.000000] - pose: {translation: [-0.6946514438371478, -0.9369021586285049, 0.7809781430396062], quaternion: [0.7719055403881967, 0.4704924328580761, 0.4153789993633833, -0.1012866932482699]} - solutions: [[-127.000000, 38.577133, -2.852062, 6.327984, 104.543455, -11.012285], [-127.000000, 119.424230, -156.872331, 70.331060, 173.494495, 57.606046], [53.000000, -105.242288, -32.724392, -68.784641, 173.428426, 98.735672], [53.000000, -56.000000, -127.000000, -171.000000, 137.000000, -6.000000], [-127.000000, 38.577133, -2.852062, -173.672016, -104.543455, 168.987715], [-127.000000, 119.424230, -156.872331, -109.668940, -173.494495, -122.393954], [53.000000, -105.242288, -32.724392, 111.215359, -173.428426, -81.264328], [53.000000, -56.000000, -127.000000, 9.000000, -137.000000, 174.000000]] + joints: [53.000000, -55.000000, -127.000000, 9.000000, -137.000000, 174.000000] + pose: {translation: [-0.692792087651209, -0.9344347096304069, 0.8030527589149363], quaternion: [0.7747635189631795, 0.4728374941639373, 0.4080303073840708, -0.09837409238524347]} + solutions: [[-127.000000, 37.454156, -2.939957, 6.334062, 104.753041, -10.988250], [-127.000000, 118.207326, -156.784436, 71.403433, 173.536781, 58.685323], [53.000000, -104.242288, -32.724392, -68.784641, 173.428426, 98.735672], [53.000000, -55.000000, -127.000000, -171.000000, 137.000000, -6.000000], [-127.000000, 37.454156, -2.939957, -173.665938, -104.753041, 169.011750], [-127.000000, 118.207326, -156.784436, -108.596567, -173.536781, -121.314677], [53.000000, -104.242288, -32.724392, 111.215359, -173.428426, -81.264328], [53.000000, -55.000000, -127.000000, 9.000000, -137.000000, 174.000000]] - id: 694 parameters: Irb2400_10 - joints: [129.000000, 94.000000, -179.000000, -21.000000, -101.000000, 89.000000] - pose: {translation: [-0.4358112083931122, 0.4906678834361498, 1.320346777327052], quaternion: [-0.1131517509676234, 0.7364116768514768, -0.6577869451631737, 0.1105027521044488]} - solutions: [[129.000000, -10.795917, 19.275608, 55.026461, 154.576231, 145.430391], [129.000000, 94.000000, -179.000000, 159.000000, 101.000000, -91.000000], [-51.000000, -93.336039, 3.655096, -20.716263, 96.029060, -89.085614], [-51.000000, -5.513301, -163.379488, -78.600153, 158.969585, -164.621042], [129.000000, -10.795917, 19.275608, -124.973539, -154.576231, -34.569609], [129.000000, 94.000000, -179.000000, -21.000000, -101.000000, 89.000000], [-51.000000, -93.336039, 3.655096, 159.283737, -96.029060, 90.914386], [-51.000000, -5.513301, -163.379488, 101.399847, -158.969585, 15.378958]] + joints: [129.000000, 93.000000, -179.000000, -21.000000, -100.000000, 89.000000] + pose: {translation: [-0.4279919022248522, 0.4808578939549817, 1.331408374812551], quaternion: [-0.1149711914062906, 0.7357494546887815, -0.6586084563297344, 0.1081169104383909]} + solutions: [[129.000000, -11.795917, 19.275608, 57.006922, 155.116154, 147.223097], [129.000000, 93.000000, -179.000000, 159.000000, 100.000000, -91.000000], [-51.000000, -92.617702, 3.923133, -20.750222, 95.042359, -89.093692], [-51.000000, -4.506632, -163.647525, -76.613260, 158.728948, -162.860069], [129.000000, -11.795917, 19.275608, -122.993078, -155.116154, -32.776903], [129.000000, 93.000000, -179.000000, -21.000000, -100.000000, 89.000000], [-51.000000, -92.617702, 3.923133, 159.249778, -95.042359, 90.906308], [-51.000000, -4.506632, -163.647525, 103.386740, -158.728948, 17.139931]] - id: 695 parameters: Irb2400_10 - joints: [-148.000000, 144.000000, 110.000000, -157.000000, 113.000000, -24.000000] - pose: {translation: [-0.1149419923505934, -0.03577395508466121, 0.6814067686789862], quaternion: [-0.5470712083579639, 0.7108363487196749, 0.1612114448220952, 0.4116256167720987]} - solutions: [[-148.000000, -78.162378, 90.275608, -25.803208, 124.280238, 131.349490], [-148.000000, 144.000000, 110.000000, -157.000000, 113.000000, -24.000000], [32.000000, -156.965459, 77.054298, 24.139060, 118.419061, -21.377590], [32.000000, 23.250342, 123.221309, 158.177128, 104.639570, 140.803967], [-148.000000, -78.162378, 90.275608, 154.196792, -124.280238, -48.650510], [-148.000000, 144.000000, 110.000000, 23.000000, -113.000000, 156.000000], [32.000000, -156.965459, 77.054298, -155.860940, -118.419061, 158.622410], [32.000000, 23.250342, 123.221309, -21.822872, -104.639570, -39.196033]] + joints: [-148.000000, 143.000000, 110.000000, -157.000000, 112.000000, -24.000000] + pose: {translation: [-0.1133109242288652, -0.03449318058198458, 0.6828413697641567], quaternion: [-0.545015445635134, 0.7119294171486615, 0.1637909797493305, 0.4114452381183402]} + solutions: [[-148.000000, -79.162378, 90.275608, -26.313528, 125.188053, 131.058715], [-148.000000, 143.000000, 110.000000, -157.000000, 112.000000, -24.000000], [32.000000, -156.690682, 77.166676, 24.219171, 117.979292, -21.118503], [32.000000, 23.751390, 123.108932, 157.967901, 105.037883, 140.971067], [-148.000000, -79.162378, 90.275608, 153.686472, -125.188053, -48.941285], [-148.000000, 143.000000, 110.000000, 23.000000, -112.000000, 156.000000], [32.000000, -156.690682, 77.166676, -155.780829, -117.979292, 158.881497], [32.000000, 23.751390, 123.108932, -22.032099, -105.037883, -39.028933]] - id: 696 parameters: Irb2400_10 - joints: [94.000000, -155.000000, -148.000000, -171.000000, -27.000000, 154.000000] - pose: {translation: [-0.02944344263542003, 0.3345214996527663, -0.6678926036702869], quaternion: [0.8281987524255103, -0.5566198683832257, -0.06169844747265224, -0.02131783716358173]} - solutions: [[94.000000, 133.600361, -11.724392, 173.426764, 38.345763, 167.196600], [94.000000, -155.000000, -148.000000, 9.000000, 27.000000, -26.000000], [-86.000000, 167.954065, -19.408884, -174.855171, 52.371014, -21.113830], [-86.000000, -128.782167, -140.315508, -37.192979, 6.746968, -160.965953], [94.000000, 133.600361, -11.724392, -6.573236, -38.345763, -12.803400], [94.000000, -155.000000, -148.000000, -171.000000, -27.000000, 154.000000], [-86.000000, 167.954065, -19.408884, 5.144829, -52.371014, 158.886170], [-86.000000, -128.782167, -140.315508, 142.807021, -6.746968, 19.034047]] + joints: [94.000000, -154.000000, -148.000000, -171.000000, -27.000000, 154.000000] + pose: {translation: [-0.02787912088433746, 0.3121506563724195, -0.6718118008555671], quaternion: [0.8283903526962597, -0.5571227992905943, -0.0563464160683494, -0.01444615750403422]} + solutions: [[94.000000, 134.600361, -11.724392, 173.426764, 38.345763, 167.196600], [94.000000, -154.000000, -148.000000, 9.000000, 27.000000, -26.000000], [-86.000000, 166.736638, -18.899728, -174.875194, 52.661572, -21.080927], [-86.000000, -129.461667, -140.824664, -36.250140, 6.898190, -161.915515], [94.000000, 134.600361, -11.724392, -6.573236, -38.345763, -12.803400], [94.000000, -154.000000, -148.000000, -171.000000, -27.000000, 154.000000], [-86.000000, 166.736638, -18.899728, 5.124806, -52.661572, 158.919073], [-86.000000, -129.461667, -140.824664, 143.749860, -6.898190, 18.084485]] - id: 697 parameters: Irb2400_10 - joints: [41.000000, 54.000000, 116.000000, -89.000000, -83.000000, 129.000000] - pose: {translation: [-0.1003791299543924, 0.02451133446645437, 0.7620863508908817], quaternion: [-0.4207712988177116, -0.5848609114474034, -0.07901693806235485, 0.6889452459023276]} - solutions: [[-139.000000, -125.690117, 88.750830, -84.196293, 85.954257, -98.083287], [-139.000000, 88.711929, 111.524777, -89.733760, 97.065727, 139.314307], [41.000000, -143.769029, 84.275608, 94.689672, 95.297616, 178.771667], [41.000000, 54.000000, 116.000000, 91.000000, 83.000000, -51.000000], [-139.000000, -125.690117, 88.750830, 95.803707, -85.954257, 81.916713], [-139.000000, 88.711929, 111.524777, 90.266240, -97.065727, -40.685693], [41.000000, -143.769029, 84.275608, -85.310328, -95.297616, -1.228333], [41.000000, 54.000000, 116.000000, -89.000000, -83.000000, 129.000000]] + joints: [41.000000, 53.000000, 116.000000, -89.000000, -83.000000, 129.000000] + pose: {translation: [-0.1022981234509753, 0.02284317886991928, 0.759277214833888], quaternion: [-0.4162905757229227, -0.5889236534435828, -0.08513352939764761, 0.6874760862395436]} + solutions: [[-139.000000, -125.753449, 89.033473, -84.141900, 86.033571, -98.861839], [-139.000000, 89.979300, 111.242135, -89.735653, 97.065798, 139.298920], [41.000000, -144.769029, 84.275608, 94.689672, 95.297616, 178.771667], [41.000000, 53.000000, 116.000000, 91.000000, 83.000000, -51.000000], [-139.000000, -125.753449, 89.033473, 95.858100, -86.033571, 81.138161], [-139.000000, 89.979300, 111.242135, 90.264347, -97.065798, -40.701080], [41.000000, -144.769029, 84.275608, -85.310328, -95.297616, -1.228333], [41.000000, 53.000000, 116.000000, -89.000000, -83.000000, 129.000000]] - id: 698 parameters: Irb2400_10 - joints: [107.000000, -119.000000, -156.000000, 172.000000, 146.000000, 9.000000] - pose: {translation: [0.07424283205990583, -0.2654629843663612, -0.3928493947863335], quaternion: [-0.1462903678122732, -0.2037803392473689, -0.456026649049345, 0.853880786163035]} - solutions: [[-73.000000, 125.084827, 3.096314, -4.850043, 113.004123, 13.746546], [-73.000000, -147.693254, -162.820706, -159.064114, 167.420208, -143.878778], [107.000000, 161.084782, -3.724392, 7.128891, 141.163308, -158.789997], [107.000000, -119.000000, -156.000000, 172.000000, 146.000000, 9.000000], [-73.000000, 125.084827, 3.096314, 175.149957, -113.004123, -166.253454], [-73.000000, -147.693254, -162.820706, 20.935886, -167.420208, 36.121222], [107.000000, 161.084782, -3.724392, -172.871109, -141.163308, 21.210003], [107.000000, -119.000000, -156.000000, -8.000000, -146.000000, -171.000000]] + joints: [107.000000, -119.000000, -156.000000, 172.000000, 145.000000, 9.000000] + pose: {translation: [0.07370607417929731, -0.264289303622917, -0.3935809475733691], quaternion: [-0.1513809946694065, -0.2105097254754963, -0.4550265808685136, 0.851892164910702]} + solutions: [[-73.000000, 125.084827, 3.096314, -4.939290, 112.007527, 13.712383], [-73.000000, -147.693254, -162.820706, -156.815321, 168.301510, -141.680191], [107.000000, 161.084782, -3.724392, 7.473482, 142.140190, -158.519740], [107.000000, -119.000000, -156.000000, 172.000000, 145.000000, 9.000000], [-73.000000, 125.084827, 3.096314, 175.060710, -112.007527, -166.287617], [-73.000000, -147.693254, -162.820706, 23.184679, -168.301510, 38.319809], [107.000000, 161.084782, -3.724392, -172.526518, -142.140190, 21.480260], [107.000000, -119.000000, -156.000000, -8.000000, -145.000000, -171.000000]] - id: 699 parameters: Irb2400_10 - joints: [-91.000000, 136.000000, 71.000000, 59.000000, 25.000000, -179.000000] - pose: {translation: [0.03435604688215671, 0.2039361825479754, 0.3818010142451558], quaternion: [0.04922333080218686, 0.4414513089120615, 0.8323759399686528, 0.3314334022482766]} - solutions: [[89.000000, 79.999471, 78.080935, -50.646590, 152.064102, 10.324365], [89.000000, -97.676976, 122.194673, -156.792674, 66.822377, -132.121827], [-91.000000, 136.000000, 71.000000, 59.000000, 25.000000, -179.000000], [-91.000000, -54.734261, 129.275608, 34.774787, 140.569491, -94.337668], [89.000000, 79.999471, 78.080935, 129.353410, -152.064102, -169.675635], [89.000000, -97.676976, 122.194673, 23.207326, -66.822377, 47.878173], [-91.000000, 136.000000, 71.000000, -121.000000, -25.000000, 1.000000], [-91.000000, -54.734261, 129.275608, -145.225213, -140.569491, 85.662332]] + joints: [-91.000000, 135.000000, 71.000000, 59.000000, 24.000000, -179.000000] + pose: {translation: [0.0331422314805814, 0.2006983382619821, 0.3761669744227715], quaternion: [0.0392764604799054, 0.4517515946581278, 0.8287904468783236, 0.3278479091579474]} + solutions: [[89.000000, 81.391830, 77.800170, -50.120717, 152.979017, 10.830596], [89.000000, -96.870354, 122.475438, -157.605466, 66.221637, -131.766940], [-91.000000, 135.000000, 71.000000, 59.000000, 24.000000, -179.000000], [-91.000000, -55.734261, 129.275608, 33.210482, 140.465972, -95.545063], [89.000000, 81.391830, 77.800170, 129.879283, -152.979017, -169.169404], [89.000000, -96.870354, 122.475438, 22.394534, -66.221637, 48.233060], [-91.000000, 135.000000, 71.000000, -121.000000, -24.000000, 1.000000], [-91.000000, -55.734261, 129.275608, -146.789518, -140.465972, 84.454937]] - id: 700 parameters: Irb2400_10 joints: [-146.000000, 90.000000, 105.000000, 79.000000, 137.000000, -39.000000] @@ -3511,29 +3511,29 @@ cases: solutions: [[-138.000000, 6.000000, -42.000000, -131.000000, 97.000000, 69.000000], [-138.000000, 45.516854, -117.724392, -128.572918, 73.362299, 41.270635], [-138.000000, 6.000000, -42.000000, 49.000000, -97.000000, -111.000000], [-138.000000, 45.516854, -117.724392, 51.427082, -73.362299, -138.729365]] - id: 702 parameters: Irb2400_10 - joints: [-139.000000, -18.000000, 16.000000, 20.000000, -89.000000, -34.000000] - pose: {translation: [-0.4950403406756432, -0.3918174732953595, 1.526626555457756], quaternion: [-0.0988560417711226, 0.1429488246397725, 0.9826559585357953, -0.06465588676641101]} - solutions: [[-139.000000, -18.000000, 16.000000, -160.000000, 89.000000, 146.000000], [-139.000000, 83.203700, -175.724392, -85.653805, 20.056966, 51.738327], [41.000000, -84.679334, 2.574763, 108.416078, 21.126387, 36.719440], [41.000000, 1.982122, -162.299156, 21.021558, 72.421282, 139.743624], [-139.000000, -18.000000, 16.000000, 20.000000, -89.000000, -34.000000], [-139.000000, 83.203700, -175.724392, 94.346195, -20.056966, -128.261673], [41.000000, -84.679334, 2.574763, -71.583922, -21.126387, -143.280560], [41.000000, 1.982122, -162.299156, -158.978442, -72.421282, -40.256376]] + joints: [-139.000000, -18.000000, 16.000000, 20.000000, -88.000000, -34.000000] + pose: {translation: [-0.4961511426132592, -0.3928006774298122, 1.526641841907002], quaternion: [-0.1056459169149314, 0.1376804394606126, 0.9826009196019556, -0.06617000548985372]} + solutions: [[-139.000000, -18.000000, 16.000000, -160.000000, 88.000000, 146.000000], [-139.000000, 83.203700, -175.724392, -82.758494, 20.154947, 49.019391], [41.000000, -84.679334, 2.574763, 110.994986, 21.476384, 34.316652], [41.000000, 1.982122, -162.299156, 21.136517, 71.427271, 139.707954], [-139.000000, -18.000000, 16.000000, 20.000000, -88.000000, -34.000000], [-139.000000, 83.203700, -175.724392, 97.241506, -20.154947, -130.980609], [41.000000, -84.679334, 2.574763, -69.005014, -21.476384, -145.683348], [41.000000, 1.982122, -162.299156, -158.863483, -71.427271, -40.292046]] - id: 703 parameters: Irb2400_10 - joints: [35.000000, 125.000000, -24.000000, -10.000000, -120.000000, -72.000000] - pose: {translation: [0.6031268040963423, 0.4379186291271192, -0.5283724441702414], quaternion: [-0.4865243512360444, 0.3150472245195748, -0.1821296644000539, 0.7942720486850726]} - solutions: [[35.000000, 125.000000, -24.000000, 170.000000, 120.000000, 108.000000], [35.000000, -176.580354, -135.724392, 170.621873, 67.351786, 116.677322], [-145.000000, -165.677244, -43.715593, -11.433686, 49.342570, 120.545052], [-145.000000, -127.956289, -116.008799, -8.706919, 83.422347, 114.043390], [35.000000, 125.000000, -24.000000, -10.000000, -120.000000, -72.000000], [35.000000, -176.580354, -135.724392, -9.378127, -67.351786, -63.322678], [-145.000000, -165.677244, -43.715593, 168.566314, -49.342570, -59.454948], [-145.000000, -127.956289, -116.008799, 171.293081, -83.422347, -65.956610]] + joints: [35.000000, 124.000000, -24.000000, -10.000000, -119.000000, -72.000000] + pose: {translation: [0.6197160926721117, 0.4496894326366312, -0.5183339374697108], quaternion: [-0.4873443839391191, 0.3139390139247899, -0.1827393033507551, 0.794068066345582]} + solutions: [[35.000000, 124.000000, -24.000000, 170.000000, 119.000000, 108.000000], [35.000000, -177.580354, -135.724392, 170.457195, 66.363316, 116.742046], [-145.000000, -164.370263, -44.453444, -11.647285, 48.788746, 120.619882], [-145.000000, -127.421456, -115.270948, -8.818777, 82.158453, 114.098644], [35.000000, 124.000000, -24.000000, -10.000000, -119.000000, -72.000000], [35.000000, -177.580354, -135.724392, -9.542805, -66.363316, -63.257954], [-145.000000, -164.370263, -44.453444, 168.352715, -48.788746, -59.380118], [-145.000000, -127.421456, -115.270948, 171.181223, -82.158453, -65.901356]] - id: 704 parameters: Irb2400_10 - joints: [-175.000000, -101.000000, 159.000000, 103.000000, 163.000000, -86.000000] - pose: {translation: [0.1174754420085535, -0.01402937674536113, -0.01636074065046604], quaternion: [0.1080824095304548, 0.2557259533965614, -0.07317231223981085, 0.9578978245256592]} - solutions: [[5.000000, 115.855639, 43.213962, -24.368704, 136.335453, -27.714890], [5.000000, -112.186032, 157.061645, -162.752581, 106.093998, 175.346484], [-175.000000, 129.326498, 41.275608, 17.416448, 72.132433, 164.929878], [-175.000000, -101.000000, 159.000000, 103.000000, 163.000000, -86.000000], [5.000000, 115.855639, 43.213962, 155.631296, -136.335453, 152.285110], [5.000000, -112.186032, 157.061645, 17.247419, -106.093998, -4.653516], [-175.000000, 129.326498, 41.275608, -162.583552, -72.132433, -15.070122], [-175.000000, -101.000000, 159.000000, -77.000000, -163.000000, 94.000000]] + joints: [-175.000000, -100.000000, 159.000000, 103.000000, 163.000000, -86.000000] + pose: {translation: [0.1284195333628137, -0.01307189281927129, -0.01249825305702128], quaternion: [0.1094429511522179, 0.2474445482732252, -0.07203543328662226, 0.9600022564161823]} + solutions: [[5.000000, 114.678427, 43.524238, -24.311365, 136.214217, -27.635546], [5.000000, -112.995511, 156.751370, -162.762785, 105.979625, 175.309550], [-175.000000, 130.326498, 41.275608, 17.416448, 72.132433, 164.929878], [-175.000000, -100.000000, 159.000000, 103.000000, 163.000000, -86.000000], [5.000000, 114.678427, 43.524238, 155.688635, -136.214217, 152.364454], [5.000000, -112.995511, 156.751370, 17.237215, -105.979625, -4.690450], [-175.000000, 130.326498, 41.275608, -162.583552, -72.132433, -15.070122], [-175.000000, -100.000000, 159.000000, -77.000000, -163.000000, 94.000000]] - id: 705 parameters: Irb2400_10 - joints: [-102.000000, 110.000000, 90.000000, 50.000000, 92.000000, 138.000000] - pose: {translation: [0.05776698813133303, -0.04121688027781327, 0.5555385748688618], quaternion: [0.3584707913890006, 0.2750262670223678, 0.3377952415718726, 0.8256837281550881]} - solutions: [[-102.000000, 110.000000, 90.000000, 50.000000, 92.000000, 138.000000], [-102.000000, -29.353726, 110.275608, 114.115385, 122.988171, -94.955609], [78.000000, 115.943357, 89.206818, -60.774845, 61.311690, -3.750284], [78.000000, -27.485354, 111.068790, -76.429386, 128.041422, -112.990974], [-102.000000, 110.000000, 90.000000, -130.000000, -92.000000, -42.000000], [-102.000000, -29.353726, 110.275608, -65.884615, -122.988171, 85.044391], [78.000000, 115.943357, 89.206818, 119.225155, -61.311690, 176.249716], [78.000000, -27.485354, 111.068790, 103.570614, -128.041422, 67.009026]] + joints: [-102.000000, 110.000000, 90.000000, 50.000000, 91.000000, 138.000000] + pose: {translation: [0.05808405023076418, -0.03986830232904449, 0.5560692481500298], quaternion: [0.3514451870445657, 0.2783979683802369, 0.3417130221916843, 0.8259619011610598]} + solutions: [[-102.000000, 110.000000, 90.000000, 50.000000, 91.000000, 138.000000], [-102.000000, -29.353726, 110.275608, 113.157257, 123.586951, -95.481485], [78.000000, 115.943357, 89.206818, -60.074341, 62.098811, -4.082339], [78.000000, -27.485354, 111.068790, -77.635189, 128.360994, -113.736692], [-102.000000, 110.000000, 90.000000, -130.000000, -91.000000, -42.000000], [-102.000000, -29.353726, 110.275608, -66.842743, -123.586951, 84.518515], [78.000000, 115.943357, 89.206818, 119.925659, -62.098811, 175.917661], [78.000000, -27.485354, 111.068790, 102.364811, -128.360994, 66.263308]] - id: 706 parameters: Irb2400_10 - joints: [89.000000, 167.000000, 116.000000, 105.000000, 147.000000, -176.000000] - pose: {translation: [-0.0400122674580479, 0.2699171581146997, 0.6273223085019736], quaternion: [-0.0513664706776391, 0.9434481177200968, -0.1520910612711485, -0.2900611038073619]} - solutions: [[89.000000, -30.769029, 84.275608, 35.807499, 64.051211, 58.762310], [89.000000, 167.000000, 116.000000, 105.000000, 147.000000, -176.000000], [-91.000000, -161.425857, 68.579600, -61.418815, 143.195579, -159.486660], [-91.000000, 3.964973, 131.696007, -146.326887, 71.591115, 64.400196], [89.000000, -30.769029, 84.275608, -144.192501, -64.051211, -121.237690], [89.000000, 167.000000, 116.000000, -75.000000, -147.000000, 4.000000], [-91.000000, -161.425857, 68.579600, 118.581185, -143.195579, 20.513340], [-91.000000, 3.964973, 131.696007, 33.673113, -71.591115, -115.599804]] + joints: [89.000000, 166.000000, 116.000000, 105.000000, 146.000000, -176.000000] + pose: {translation: [-0.04121370945641158, 0.269554306563062, 0.6311404712359956], quaternion: [-0.05279399300933869, 0.9421400345059545, -0.1448999284628592, -0.297638976638993]} + solutions: [[89.000000, -31.769029, 84.275608, 36.711425, 64.630981, 58.370886], [89.000000, 166.000000, 116.000000, 105.000000, 146.000000, -176.000000], [-91.000000, -160.955025, 68.636752, -62.423829, 142.456393, -160.539139], [-91.000000, 4.524845, 131.638856, -145.320635, 71.678058, 63.818019], [89.000000, -31.769029, 84.275608, -143.288575, -64.630981, -121.629114], [89.000000, 166.000000, 116.000000, -75.000000, -146.000000, 4.000000], [-91.000000, -160.955025, 68.636752, 117.576171, -142.456393, 19.460861], [-91.000000, 4.524845, 131.638856, 34.679365, -71.678058, -116.181981]] - id: 707 parameters: Irb2400_10 joints: [76.000000, 42.000000, 82.000000, -17.000000, -150.000000, 24.000000] @@ -3541,49 +3541,49 @@ cases: solutions: [[76.000000, 42.000000, 82.000000, 163.000000, 150.000000, -156.000000], [76.000000, -126.584594, 118.275608, 155.351846, 20.519609, -117.914946], [-104.000000, 161.023784, 68.743162, -159.023720, 24.101952, 19.541664], [-104.000000, -33.330267, 131.532446, -8.877230, 108.683198, -144.034334], [76.000000, 42.000000, 82.000000, -17.000000, -150.000000, 24.000000], [76.000000, -126.584594, 118.275608, -24.648154, -20.519609, 62.085054], [-104.000000, 161.023784, 68.743162, 20.976280, -24.101952, -160.458336], [-104.000000, -33.330267, 131.532446, 171.122770, -108.683198, 35.965666]] - id: 708 parameters: Irb2400_10 - joints: [-36.000000, 163.000000, -105.000000, -107.000000, -101.000000, 88.000000] - pose: {translation: [0.6871688656415667, -0.4006285085017511, -0.6271051534713137], quaternion: [-0.1015933284172009, 0.6962862994924206, 0.64835580381424, 0.2906870076571307]} - solutions: [[-36.000000, 136.786540, -54.724392, 70.097756, 93.279720, -114.988803], [-36.000000, 163.000000, -105.000000, 73.000000, 101.000000, -92.000000], [-36.000000, 136.786540, -54.724392, -109.902244, -93.279720, 65.011197], [-36.000000, 163.000000, -105.000000, -107.000000, -101.000000, 88.000000]] + joints: [-36.000000, 162.000000, -105.000000, -107.000000, -100.000000, 88.000000] + pose: {translation: [0.7053623740397899, -0.4135272986673292, -0.6161155150621425], quaternion: [-0.1052764963451382, 0.7032133308908072, 0.6379017440523469, 0.295785793285821]} + solutions: [[-36.000000, 135.786540, -54.724392, 70.488621, 92.359070, -114.969577], [-36.000000, 162.000000, -105.000000, 73.000000, 100.000000, -92.000000], [-36.000000, 135.786540, -54.724392, -109.511379, -92.359070, 65.030423], [-36.000000, 162.000000, -105.000000, -107.000000, -100.000000, 88.000000]] - id: 709 parameters: Irb2400_10 - joints: [3.000000, 90.000000, -48.000000, -33.000000, -131.000000, 106.000000] - pose: {translation: [1.447148322348507, 0.110828543228753, 0.2874269438846282], quaternion: [-0.1258699304164322, 0.1716811178552709, 0.8898452668299969, 0.4035563845228802]} - solutions: [[3.000000, 90.000000, -48.000000, 147.000000, 131.000000, -74.000000], [3.000000, 123.239299, -111.724392, 154.919964, 104.138125, -57.445107], [3.000000, 90.000000, -48.000000, -33.000000, -131.000000, 106.000000], [3.000000, 123.239299, -111.724392, -25.080036, -104.138125, 122.554893]] + joints: [3.000000, 89.000000, -48.000000, -33.000000, -130.000000, 106.000000] + pose: {translation: [1.454004073000603, 0.1117132977673741, 0.3109241774403467], quaternion: [-0.1278943761692153, 0.1742261949763338, 0.8876728279864701, 0.4066020314544169]} + solutions: [[3.000000, 89.000000, -48.000000, 147.000000, 130.000000, -74.000000], [3.000000, 122.239299, -111.724392, 154.627335, 103.179404, -57.514210], [3.000000, 89.000000, -48.000000, -33.000000, -130.000000, 106.000000], [3.000000, 122.239299, -111.724392, -25.372665, -103.179404, 122.485790]] - id: 710 parameters: Irb2400_10 - joints: [169.000000, 169.000000, 132.000000, -5.000000, 139.000000, -18.000000] - pose: {translation: [-0.511712404340156, 0.1044180245195443, 0.5560449212905069], quaternion: [0.9955445373266512, 0.02553534294487505, -0.07787986496674937, -0.04662346075220768]} - solutions: [[169.000000, 4.080953, 68.275608, -23.007439, 8.412250, 8.562977], [169.000000, 169.000000, 132.000000, -5.000000, 139.000000, -18.000000], [-11.000000, -158.716144, 51.555888, 172.822533, 152.764883, -20.611056], [-11.000000, -16.638994, 148.719720, 173.863575, 32.337471, -9.031916], [169.000000, 4.080953, 68.275608, 156.992561, -8.412250, -171.437023], [169.000000, 169.000000, 132.000000, 175.000000, -139.000000, 162.000000], [-11.000000, -158.716144, 51.555888, -7.177467, -152.764883, 159.388944], [-11.000000, -16.638994, 148.719720, -6.136425, -32.337471, 170.968084]] + joints: [169.000000, 168.000000, 132.000000, -5.000000, 138.000000, -18.000000] + pose: {translation: [-0.5140642298172072, 0.104973822916026, 0.5637207906464078], quaternion: [0.9938764438853313, 0.02543331797934808, -0.09468321504281955, -0.05096910255796734]} + solutions: [[169.000000, 3.080953, 68.275608, -26.421253, 7.530999, 11.943922], [169.000000, 168.000000, 132.000000, -5.000000, 138.000000, -18.000000], [-11.000000, -158.053365, 51.569799, 172.992174, 151.445018, -20.442443], [-11.000000, -15.958872, 148.705809, 173.501847, 31.018377, -8.704783], [169.000000, 3.080953, 68.275608, 153.578747, -7.530999, -168.056078], [169.000000, 168.000000, 132.000000, 175.000000, -138.000000, 162.000000], [-11.000000, -158.053365, 51.569799, -7.007826, -151.445018, 159.557557], [-11.000000, -15.958872, 148.705809, -6.498153, -31.018377, 171.295217]] - id: 711 parameters: Irb2400_10 - joints: [-98.000000, -165.000000, -106.000000, -46.000000, 27.000000, -157.000000] - pose: {translation: [-0.0330844851099439, -0.03595355085401544, -0.8946984967118392], quaternion: [0.7716341646508749, -0.5939428369920442, -0.2218225513875323, -0.05106249137394562]} - solutions: [[-98.000000, 167.742261, -53.724392, -105.575150, 19.817340, -93.192907], [-98.000000, -165.000000, -106.000000, -46.000000, 27.000000, -157.000000], [82.000000, 174.719933, -57.087462, 154.390308, 49.072599, 177.736119], [82.000000, -161.533643, -102.636930, 140.004864, 30.537985, -163.845287], [-98.000000, 167.742261, -53.724392, 74.424850, -19.817340, 86.807093], [-98.000000, -165.000000, -106.000000, 134.000000, -27.000000, 23.000000], [82.000000, 174.719933, -57.087462, -25.609692, -49.072599, -2.263881], [82.000000, -161.533643, -102.636930, -39.995136, -30.537985, 16.154713]] + joints: [-98.000000, -164.000000, -106.000000, -46.000000, 27.000000, -157.000000] + pose: {translation: [-0.02941883748577464, -0.009871112736071833, -0.893425050192526], quaternion: [0.7714329243462194, -0.5919413022663855, -0.2260095781743036, -0.05845005114873218]} + solutions: [[-98.000000, 168.742261, -53.724392, -105.575150, 19.817340, -93.192907], [-98.000000, -164.000000, -106.000000, -46.000000, 27.000000, -157.000000], [82.000000, 173.039142, -55.754902, 154.630997, 49.660930, 177.366524], [82.000000, -161.823359, -103.969490, 139.315548, 30.063665, -163.046912], [-98.000000, 168.742261, -53.724392, 74.424850, -19.817340, 86.807093], [-98.000000, -164.000000, -106.000000, 134.000000, -27.000000, 23.000000], [82.000000, 173.039142, -55.754902, -25.369003, -49.660930, -2.633476], [82.000000, -161.823359, -103.969490, -40.684452, -30.063665, 16.953088]] - id: 712 parameters: Irb2400_10 - joints: [140.000000, 69.000000, 15.000000, 27.000000, 161.000000, 109.000000] - pose: {translation: [-0.7269552894743346, 0.5935875454455334, 0.2082481574951365], quaternion: [0.03077718437032034, -0.2098673041425023, 0.9137351402363147, -0.3465495247024816]} - solutions: [[140.000000, 69.000000, 15.000000, 27.000000, 161.000000, 109.000000], [140.000000, 169.111010, -174.724392, 171.097008, 107.244915, -99.382068], [-40.000000, -153.168943, -5.795846, -8.504947, 91.998501, -97.021967], [-40.000000, -75.463799, -153.928547, -26.361450, 160.556965, -121.770109], [140.000000, 69.000000, 15.000000, -153.000000, -161.000000, -71.000000], [140.000000, 169.111010, -174.724392, -8.902992, -107.244915, 80.617932], [-40.000000, -153.168943, -5.795846, 171.495053, -91.998501, 82.978033], [-40.000000, -75.463799, -153.928547, 153.638550, -160.556965, 58.229891]] + joints: [140.000000, 69.000000, 15.000000, 27.000000, 160.000000, 109.000000] + pose: {translation: [-0.7264537652899101, 0.5923379541125561, 0.2076254216096022], quaternion: [0.03103943123107206, -0.2183832099830633, 0.9120561520982616, -0.3456861332568283]} + solutions: [[140.000000, 69.000000, 15.000000, 27.000000, 160.000000, 109.000000], [140.000000, 169.111010, -174.724392, 170.596862, 108.124087, -99.534005], [-40.000000, -153.168943, -5.795846, -8.944206, 92.897060, -97.040728], [-40.000000, -75.463799, -153.928547, -28.762493, 161.174072, -124.038566], [140.000000, 69.000000, 15.000000, -153.000000, -160.000000, -71.000000], [140.000000, 169.111010, -174.724392, -9.403138, -108.124087, 80.465995], [-40.000000, -153.168943, -5.795846, 171.055794, -92.897060, 82.959272], [-40.000000, -75.463799, -153.928547, 151.237507, -161.174072, 55.961434]] - id: 713 parameters: Irb2400_10 - joints: [15.000000, 88.000000, 100.000000, 21.000000, 119.000000, -30.000000] - pose: {translation: [0.07868250994177861, 0.04866477616790327, 0.673987911115919], quaternion: [-0.2849383315903576, 0.2196716938908283, -0.1546340225737265, 0.920131954208909]} - solutions: [[15.000000, 88.000000, 100.000000, 21.000000, 119.000000, -30.000000], [15.000000, 84.590068, 100.275608, 21.670813, 121.919664, -28.677199], [-165.000000, 156.611470, 90.502707, -129.543726, 23.982532, -88.440292], [-165.000000, 20.065817, 109.772900, -18.612717, 100.876957, 135.821465], [15.000000, 88.000000, 100.000000, -159.000000, -119.000000, 150.000000], [15.000000, 84.590068, 100.275608, -158.329187, -121.919664, 151.322801], [-165.000000, 156.611470, 90.502707, 50.456274, -23.982532, 91.559708], [-165.000000, 20.065817, 109.772900, 161.387283, -100.876957, -44.178535]] + joints: [15.000000, 87.000000, 100.000000, 21.000000, 118.000000, -30.000000] + pose: {translation: [0.07645199761456437, 0.04832973900581905, 0.6745947276302467], quaternion: [-0.2786925906860047, 0.204593141492471, -0.1553262009230667, 0.9253895707526489]} + solutions: [[15.000000, 87.000000, 100.000000, 21.000000, 118.000000, -30.000000], [15.000000, 83.590068, 100.275608, 21.643905, 120.919928, -28.691227], [-165.000000, 156.194514, 90.492666, -124.692754, 22.633694, -93.345605], [-165.000000, 19.590890, 109.782942, -18.968606, 103.232175, 135.285685], [15.000000, 87.000000, 100.000000, -159.000000, -118.000000, 150.000000], [15.000000, 83.590068, 100.275608, -158.356095, -120.919928, 151.308773], [-165.000000, 156.194514, 90.492666, 55.307246, -22.633694, 86.654395], [-165.000000, 19.590890, 109.782942, 161.031394, -103.232175, -44.714315]] - id: 714 parameters: Irb2400_10 - joints: [-13.000000, 88.000000, -156.000000, -46.000000, -52.000000, -20.000000] - pose: {translation: [0.9254715093413798, -0.1642125104519341, 1.456150527739327], quaternion: [-0.2201648052923999, -0.2521552473681993, -0.5517306164784835, 0.7638969279788436]} - solutions: [[-13.000000, 8.084782, -3.724392, 143.013151, 109.578450, 113.315787], [-13.000000, 88.000000, -156.000000, 134.000000, 52.000000, 160.000000], [167.000000, -81.819016, -26.410187, -48.261631, 49.433629, 163.570421], [167.000000, -25.938080, -133.314205, -34.535675, 89.088285, 128.108407], [-13.000000, 8.084782, -3.724392, -36.986849, -109.578450, -66.684213], [-13.000000, 88.000000, -156.000000, -46.000000, -52.000000, -20.000000], [167.000000, -81.819016, -26.410187, 131.738369, -49.433629, -16.429579], [167.000000, -25.938080, -133.314205, 145.464325, -89.088285, -51.891593]] + joints: [-13.000000, 88.000000, -156.000000, -46.000000, -51.000000, -20.000000] + pose: {translation: [0.9263254090578174, -0.1650914385438411, 1.456986677052351], quaternion: [-0.217912052697655, -0.2442347685795792, -0.5542676125279627, 0.7652784648796319]} + solutions: [[-13.000000, 8.084782, -3.724392, 143.782139, 108.890813, 113.569129], [-13.000000, 88.000000, -156.000000, 134.000000, 51.000000, 160.000000], [167.000000, -81.819016, -26.410187, -48.344859, 48.435599, 163.625098], [167.000000, -25.938080, -133.314205, -34.007131, 88.239287, 128.096081], [-13.000000, 8.084782, -3.724392, -36.217861, -108.890813, -66.430871], [-13.000000, 88.000000, -156.000000, -46.000000, -51.000000, -20.000000], [167.000000, -81.819016, -26.410187, 131.655141, -48.435599, -16.374902], [167.000000, -25.938080, -133.314205, 145.992869, -88.239287, -51.903919]] - id: 715 parameters: Irb2400_10 - joints: [-100.000000, -133.000000, -45.000000, 143.000000, 135.000000, 159.000000] - pose: {translation: [0.2294938827731624, 1.093220910485395, -0.02444709614535463], quaternion: [0.6588650928743279, 0.6003531551888893, -0.1592133103793116, 0.4244101792423335]} - solutions: [[80.000000, 83.484245, -12.566445, -26.817682, 70.603737, -163.419196], [80.000000, 153.990460, -147.157947, -32.553645, 127.735023, 165.710041], [-100.000000, -133.000000, -45.000000, 143.000000, 135.000000, 159.000000], [-100.000000, -96.623062, -114.724392, 153.684605, 106.275007, 179.159644], [80.000000, 83.484245, -12.566445, 153.182318, -70.603737, 16.580804], [80.000000, 153.990460, -147.157947, 147.446355, -127.735023, -14.289959], [-100.000000, -133.000000, -45.000000, -37.000000, -135.000000, -21.000000], [-100.000000, -96.623062, -114.724392, -26.315395, -106.275007, -0.840356]] + joints: [-100.000000, -132.000000, -45.000000, 143.000000, 134.000000, 159.000000] + pose: {translation: [0.2322069043183776, 1.105003547248108, -0.00389339866209739], quaternion: [0.6626379306020976, 0.6049299733333757, -0.145764714215826, 0.4168013296281931]} + solutions: [[80.000000, 82.217454, -12.334802, -27.461506, 69.843594, -163.216440], [80.000000, 152.969393, -147.389590, -32.801903, 126.954320, 165.450965], [-100.000000, -132.000000, -45.000000, 143.000000, 134.000000, 159.000000], [-100.000000, -95.623062, -114.724392, 153.327259, 105.335976, 179.062309], [80.000000, 82.217454, -12.334802, 152.538494, -69.843594, 16.783560], [80.000000, 152.969393, -147.389590, 147.198097, -126.954320, -14.549035], [-100.000000, -132.000000, -45.000000, -37.000000, -134.000000, -21.000000], [-100.000000, -95.623062, -114.724392, -26.672741, -105.335976, -0.937691]] - id: 716 parameters: Irb2400_10 - joints: [129.000000, -157.000000, -35.000000, 173.000000, 31.000000, 107.000000] - pose: {translation: [0.5925323734622268, -0.7401942994618759, -0.3806298494153082], quaternion: [0.891767640164545, 0.2094566637373471, 0.142969187471909, 0.3747508417669009]} - solutions: [[-51.000000, 104.629049, -12.265884, -175.275613, 49.648325, -82.071049], [-51.000000, 175.454104, -147.458509, -13.817679, 15.236770, 114.341563], [129.000000, -157.000000, -35.000000, 173.000000, 31.000000, 107.000000], [129.000000, -110.146363, -124.724392, 16.752638, 12.577528, -95.380470], [-51.000000, 104.629049, -12.265884, 4.724387, -49.648325, 97.928951], [-51.000000, 175.454104, -147.458509, 166.182321, -15.236770, -65.658437], [129.000000, -157.000000, -35.000000, -7.000000, -31.000000, -73.000000], [129.000000, -110.146363, -124.724392, -163.247362, -12.577528, 84.619530]] + joints: [129.000000, -156.000000, -35.000000, 173.000000, 31.000000, 107.000000] + pose: {translation: [0.6033670687652114, -0.7535740338834552, -0.362185789468136], quaternion: [0.8884070459051837, 0.208360223834771, 0.1464406498491306, 0.3819346462175347]} + solutions: [[-51.000000, 103.325776, -11.894575, -175.280366, 49.716130, -82.063703], [-51.000000, 174.544810, -147.829818, -13.576017, 15.509394, 114.090933], [129.000000, -156.000000, -35.000000, 173.000000, 31.000000, 107.000000], [129.000000, -109.146363, -124.724392, 16.752638, 12.577528, -95.380470], [-51.000000, 103.325776, -11.894575, 4.719634, -49.716130, 97.936297], [-51.000000, 174.544810, -147.829818, 166.423983, -15.509394, -65.909067], [129.000000, -156.000000, -35.000000, -7.000000, -31.000000, -73.000000], [129.000000, -109.146363, -124.724392, -163.247362, -12.577528, 84.619530]] - id: 717 parameters: Irb2400_10 joints: [142.000000, 34.000000, -1.000000, 147.000000, -4.000000, 150.000000] @@ -3591,39 +3591,39 @@ cases: solutions: [[142.000000, 34.000000, -1.000000, -33.000000, 4.000000, -30.000000], [142.000000, 116.828012, -158.724392, -2.223844, 78.261281, -62.483546], [-38.000000, -103.917667, -29.458711, 177.806259, 82.985014, -62.668154], [-38.000000, -51.243992, -130.265681, 176.193169, 34.905995, -59.812746], [142.000000, 34.000000, -1.000000, 147.000000, -4.000000, 150.000000], [142.000000, 116.828012, -158.724392, 177.776156, -78.261281, 117.516454], [-38.000000, -103.917667, -29.458711, -2.193741, -82.985014, 117.331846], [-38.000000, -51.243992, -130.265681, -3.806831, -34.905995, 120.187254]] - id: 718 parameters: Irb2400_10 - joints: [-16.000000, 75.000000, 7.000000, 176.000000, -111.000000, -7.000000] - pose: {translation: [0.8992817349278179, -0.263623443328747, 0.08775114574848791], quaternion: [-0.6216073145689506, 0.03115395161006213, 0.7724249722937638, 0.1264651728755145]} - solutions: [[-16.000000, 75.000000, 7.000000, -4.000000, 111.000000, 173.000000], [-16.000000, 166.427188, -166.724392, -164.210838, 166.152564, 9.787728], [164.000000, -149.735280, -15.451546, 7.950141, 151.910797, 1.459209], [164.000000, -82.286470, -144.272847, 173.258781, 146.304250, 168.818879], [-16.000000, 75.000000, 7.000000, 176.000000, -111.000000, -7.000000], [-16.000000, 166.427188, -166.724392, 15.789162, -166.152564, -170.212272], [164.000000, -149.735280, -15.451546, -172.049859, -151.910797, -178.540791], [164.000000, -82.286470, -144.272847, -6.741219, -146.304250, -11.181121]] + joints: [-16.000000, 75.000000, 7.000000, 176.000000, -110.000000, -7.000000] + pose: {translation: [0.8989642981923684, -0.2635701213380973, 0.08630297598135184], quaternion: [-0.6284084915936978, 0.03142667033768472, 0.7670446477984664, 0.1255294402446958]} + solutions: [[-16.000000, 75.000000, 7.000000, -4.000000, 110.000000, 173.000000], [-16.000000, 166.427188, -166.724392, -162.916390, 167.106773, 11.047138], [164.000000, -149.735280, -15.451546, 8.273043, 152.899551, 1.745391], [164.000000, -82.286470, -144.272847, 173.386870, 145.306844, 168.924830], [-16.000000, 75.000000, 7.000000, 176.000000, -110.000000, -7.000000], [-16.000000, 166.427188, -166.724392, 17.083610, -167.106773, -168.952862], [164.000000, -149.735280, -15.451546, -171.726957, -152.899551, -178.254609], [164.000000, -82.286470, -144.272847, -6.613130, -145.306844, -11.075170]] - id: 719 parameters: Irb2400_10 - joints: [-100.000000, -149.000000, 170.000000, -46.000000, 95.000000, 79.000000] - pose: {translation: [-0.1402347704454931, -0.4445372138062568, -0.1860969060766925], quaternion: [0.896403679451538, 0.06220412986574611, -0.342714161792753, -0.2741132849755381]} - solutions: [[-100.000000, 93.962565, 30.275608, -95.866588, 46.085482, -177.416134], [-100.000000, -149.000000, 170.000000, -46.000000, 95.000000, 79.000000], [80.000000, 165.708890, 19.518291, 129.094573, 112.582055, 58.861181], [80.000000, -89.228216, -179.242683, 115.750247, 52.712853, 135.630180], [-100.000000, 93.962565, 30.275608, 84.133412, -46.085482, 2.583866], [-100.000000, -149.000000, 170.000000, 134.000000, -95.000000, -101.000000], [80.000000, 165.708890, 19.518291, -50.905427, -112.582055, -121.138819], [80.000000, -89.228216, -179.242683, -64.249753, -52.712853, -44.369820]] + joints: [-100.000000, -148.000000, 170.000000, -46.000000, 94.000000, 79.000000] + pose: {translation: [-0.1381127162877854, -0.4320202791351564, -0.1929240130176364], quaternion: [0.8963448228767654, 0.06894842532016948, -0.3417230604226801, -0.2739295951941784]} + solutions: [[-100.000000, 94.962565, 30.275608, -97.210507, 46.328246, -176.486042], [-100.000000, -148.000000, 170.000000, -46.000000, 94.000000, 79.000000], [80.000000, 164.682406, 19.800402, 129.386292, 111.805115, 58.788056], [80.000000, -89.944195, -179.524794, 114.694194, 52.168298, 136.272583], [-100.000000, 94.962565, 30.275608, 82.789493, -46.328246, 3.513958], [-100.000000, -148.000000, 170.000000, 134.000000, -94.000000, -101.000000], [80.000000, 164.682406, 19.800402, -50.613708, -111.805115, -121.211944], [80.000000, -89.944195, -179.524794, -65.305806, -52.168298, -43.727417]] - id: 720 parameters: Irb2400_10 - joints: [-55.000000, 150.000000, 39.000000, 36.000000, 168.000000, -20.000000] - pose: {translation: [-0.1233950783046241, 0.1943367174166321, -0.009662850582197478], quaternion: [-0.04602084700474627, 0.7009446983227997, -0.5588274412565177, 0.4407612760132386]} - solutions: [[125.000000, 92.890601, 46.933705, -10.643726, 41.425718, 132.620985], [125.000000, -130.702355, 153.341903, -18.282162, 157.072146, 107.676341], [-55.000000, 150.000000, 39.000000, 36.000000, 168.000000, -20.000000], [-55.000000, -82.983442, 161.275608, 172.851632, 79.132507, 125.954418], [125.000000, 92.890601, 46.933705, 169.356274, -41.425718, -47.379015], [125.000000, -130.702355, 153.341903, 161.717838, -157.072146, -72.323659], [-55.000000, 150.000000, 39.000000, -144.000000, -168.000000, 160.000000], [-55.000000, -82.983442, 161.275608, -7.148368, -79.132507, -54.045582]] + joints: [-55.000000, 149.000000, 39.000000, 36.000000, 167.000000, -20.000000] + pose: {translation: [-0.1165046816969074, 0.1859804360156881, -0.01412142370453014], quaternion: [-0.04967130578453811, 0.6893669222305707, -0.5657188599889239, 0.4497423477601832]} + solutions: [[125.000000, 94.160768, 46.643550, -11.322499, 42.335346, 133.123833], [125.000000, -129.782538, 153.632058, -20.189374, 157.473112, 105.943895], [-55.000000, 149.000000, 39.000000, 36.000000, 167.000000, -20.000000], [-55.000000, -83.983442, 161.275608, 172.283096, 79.961610, 126.057570], [125.000000, 94.160768, 46.643550, 168.677501, -42.335346, -46.876167], [125.000000, -129.782538, 153.632058, 159.810626, -157.473112, -74.056105], [-55.000000, 149.000000, 39.000000, -144.000000, -167.000000, 160.000000], [-55.000000, -83.983442, 161.275608, -7.716904, -79.961610, -53.942430]] - id: 721 parameters: Irb2400_10 - joints: [38.000000, 178.000000, 102.000000, -163.000000, -10.000000, 155.000000] - pose: {translation: [0.1164872565407259, 0.09648618377002276, 0.7573876909178019], quaternion: [-0.08973432273442764, 0.146433105947535, 0.2571181245601767, 0.9509970382859292]} - solutions: [[38.000000, -137.923699, 98.275608, 174.327079, 30.904420, 176.628013], [38.000000, 178.000000, 102.000000, 17.000000, 10.000000, -25.000000], [-142.000000, -170.989487, 82.704376, -172.028591, 21.475053, -15.668100], [-142.000000, 22.287895, 117.571232, -3.107937, 110.541837, 170.664823], [38.000000, -137.923699, 98.275608, -5.672921, -30.904420, -3.371987], [38.000000, 178.000000, 102.000000, -163.000000, -10.000000, 155.000000], [-142.000000, -170.989487, 82.704376, 7.971409, -21.475053, 164.331900], [-142.000000, 22.287895, 117.571232, 176.892063, -110.541837, -9.335177]] + joints: [38.000000, 177.000000, 102.000000, -163.000000, -10.000000, 155.000000] + pose: {translation: [0.1145228991907895, 0.09495145960719462, 0.7582594986295653], quaternion: [-0.08638968658941489, 0.1385065096556272, 0.2572779921963062, 0.9524498955669195]} + solutions: [[38.000000, -138.923699, 98.275608, 174.327079, 30.904420, 176.628013], [38.000000, 177.000000, 102.000000, 17.000000, 10.000000, -25.000000], [-142.000000, -170.928357, 82.781825, -171.712044, 20.622285, -16.007269], [-142.000000, 22.559038, 117.493783, -3.124715, 111.346951, 170.617889], [38.000000, -138.923699, 98.275608, -5.672921, -30.904420, -3.371987], [38.000000, 177.000000, 102.000000, -163.000000, -10.000000, 155.000000], [-142.000000, -170.928357, 82.781825, 8.287956, -20.622285, 163.992731], [-142.000000, 22.559038, 117.493783, 176.875285, -111.346951, -9.382111]] - id: 722 parameters: Irb2400_10 - joints: [-91.000000, -127.000000, 122.000000, 16.000000, -173.000000, -166.000000] - pose: {translation: [-0.006212875462633537, -0.1923305545344423, 0.3935759769358875], quaternion: [-0.5045731337912769, 0.479903873403554, 0.5029598809236214, 0.5119859208314351]} - solutions: [[-91.000000, 50.265989, 78.275608, -2.403901, 53.213969, 179.553287], [-91.000000, -127.000000, 122.000000, -164.000000, 173.000000, 14.000000], [89.000000, 158.730520, 65.777646, 2.664446, 133.729507, -0.044274], [89.000000, -40.119911, 134.497962, 178.063985, 96.105959, 177.907215], [-91.000000, 50.265989, 78.275608, 177.596099, -53.213969, -0.446713], [-91.000000, -127.000000, 122.000000, 16.000000, -173.000000, -166.000000], [89.000000, 158.730520, 65.777646, -177.335554, -133.729507, 179.955726], [89.000000, -40.119911, 134.497962, -1.936015, -96.105959, -2.092785]] + joints: [-91.000000, -126.000000, 122.000000, 16.000000, -172.000000, -166.000000] + pose: {translation: [-0.006552188048172622, -0.1885401396257321, 0.3934208351279987], quaternion: [-0.4969412110452818, 0.4699577580374091, 0.5122705567197913, 0.5193919667681586]} + solutions: [[-91.000000, 51.265989, 78.275608, -2.711549, 54.182747, 179.735433], [-91.000000, -126.000000, 122.000000, -164.000000, 172.000000, 14.000000], [89.000000, 158.012746, 65.925727, 2.974386, 132.329194, 0.151754], [89.000000, -40.619157, 134.349881, 177.782950, 97.419107, 177.861430], [-91.000000, 51.265989, 78.275608, 177.288451, -54.182747, -0.264567], [-91.000000, -126.000000, 122.000000, 16.000000, -172.000000, -166.000000], [89.000000, 158.012746, 65.925727, -177.025614, -132.329194, -179.848246], [89.000000, -40.619157, 134.349881, -2.217050, -97.419107, -2.138570]] - id: 723 parameters: Irb2400_10 - joints: [157.000000, -151.000000, -119.000000, 8.000000, 0.000000, 50.000000] - pose: {translation: [0.09830143338689398, -0.04172648287004253, -0.8416068935332739], quaternion: [0.7604059656000309, -0.6494480483301838, 3.759307963064257e-17, -2.182935156427174e-17]} - solutions: [[-23.000000, 157.477370, -37.265018, -180.000000, 30.212352, 58.000000], [-23.000000, -158.044705, -122.459374, -0.000000, 10.504079, -122.000000], [157.000000, 168.147293, -40.724392, 180.000000, 37.422901, -122.000000], [157.000000, -151.000000, -119.000000, 0.000000, 0.000000, 58.000000], [-23.000000, 157.477370, -37.265018, 0.000000, -30.212352, -122.000000], [-23.000000, -158.044705, -122.459374, 180.000000, -10.504079, 58.000000], [157.000000, 168.147293, -40.724392, 0.000000, -37.422901, 58.000000], [157.000000, -151.000000, -119.000000, 180.000000, 0.000000, -122.000000]] + joints: [157.000000, -150.000000, -119.000000, 8.000000, 1.000000, 50.000000] + pose: {translation: [0.1229440225808975, -0.05241092806035955, -0.8377374666350181], quaternion: [0.7602838325430683, -0.6493576746220571, 0.01692885651592653, -0.004064258864988965]} + solutions: [[-23.000000, 156.085650, -36.521710, -179.734064, 31.554485, 57.772182], [-23.000000, -158.656983, -123.202682, -0.811872, 9.870367, -121.201347], [157.000000, 169.147293, -40.724392, 179.765666, 36.432860, -121.812668], [157.000000, -150.000000, -119.000000, 8.000000, 1.000000, 50.000000], [-23.000000, 156.085650, -36.521710, 0.265936, -31.554485, -122.227818], [-23.000000, -158.656983, -123.202682, 179.188128, -9.870367, 58.798653], [157.000000, 169.147293, -40.724392, -0.234334, -36.432860, 58.187332], [157.000000, -150.000000, -119.000000, -172.000000, -1.000000, -130.000000]] - id: 724 parameters: Irb2400_10 - joints: [-79.000000, 95.000000, 173.000000, -10.000000, 70.000000, 127.000000] - pose: {translation: [0.1235094346925166, -0.7080912023511028, 1.335183054878823], quaternion: [0.531263479519166, -0.1752282282292095, 0.2715022855800587, 0.7831607065511171]} - solutions: [[-79.000000, -18.667294, 27.275608, -162.144204, 32.152342, -71.706702], [-79.000000, 95.000000, 173.000000, -10.000000, 70.000000, 127.000000], [101.000000, -96.313668, 13.437555, 170.276477, 75.048289, 126.080254], [101.000000, 2.093528, -173.161947, 35.610043, 16.274717, -90.959555], [-79.000000, -18.667294, 27.275608, 17.855796, -32.152342, 108.293298], [-79.000000, 95.000000, 173.000000, 170.000000, -70.000000, -53.000000], [101.000000, -96.313668, 13.437555, -9.723523, -75.048289, -53.919746], [101.000000, 2.093528, -173.161947, -144.389957, -16.274717, 89.040445]] + joints: [-79.000000, 94.000000, 173.000000, -10.000000, 69.000000, 127.000000] + pose: {translation: [0.121070381876377, -0.6950705525108494, 1.347231150624599], quaternion: [0.5171365881989264, -0.1719667783838785, 0.2754054682641522, 0.7919273983948574]} + solutions: [[-79.000000, -19.667294, 27.275608, -162.731467, 33.100902, -71.212090], [-79.000000, 94.000000, 173.000000, -10.000000, 69.000000, 127.000000], [101.000000, -95.597585, 13.694367, 170.291863, 74.021702, 126.080560], [101.000000, 3.089378, -173.418759, 33.051554, 17.292104, -88.467471], [-79.000000, -19.667294, 27.275608, 17.268533, -33.100902, 108.787910], [-79.000000, 94.000000, 173.000000, 170.000000, -69.000000, -53.000000], [101.000000, -95.597585, 13.694367, -9.708137, -74.021702, -53.919440], [101.000000, 3.089378, -173.418759, -146.948446, -17.292104, 91.532529]] - id: 725 parameters: Irb2400_10 joints: [77.000000, 58.000000, -36.000000, -76.000000, 37.000000, 53.000000] @@ -3636,9 +3636,9 @@ cases: solutions: [[-12.000000, 126.000000, 98.000000, -11.000000, 59.000000, 29.000000], [-12.000000, 76.060986, 102.275608, -9.704120, 103.997290, 20.914434], [168.000000, 162.760099, 90.861234, 67.953172, 10.163535, 135.646886], [168.000000, 28.337940, 109.414374, 10.807533, 119.279315, -151.383272], [-12.000000, 126.000000, 98.000000, 169.000000, -59.000000, -151.000000], [-12.000000, 76.060986, 102.275608, 170.295880, -103.997290, -159.085566], [168.000000, 162.760099, 90.861234, -112.046828, -10.163535, -44.353114], [168.000000, 28.337940, 109.414374, -169.192467, -119.279315, 28.616728]] - id: 727 parameters: Irb2400_10 - joints: [79.000000, -159.000000, 74.000000, -35.000000, 176.000000, 143.000000] - pose: {translation: [-0.03938080705243606, -0.2204203085064154, 0.6358252248240259], quaternion: [0.7596006018703367, 0.6499084740274017, 0.0006851543950592903, 0.02500863029138772]} - solutions: [[-101.000000, -57.798096, 88.545890, 2.717339, 57.559755, -3.524042], [-101.000000, 155.666130, 111.729717, 111.038858, 177.543069, 108.990891], [79.000000, -159.000000, 74.000000, -35.000000, 176.000000, 143.000000], [79.000000, 15.422485, 126.275608, -177.006723, 50.014971, -3.990099], [-101.000000, -57.798096, 88.545890, -177.282661, -57.559755, 176.475958], [-101.000000, 155.666130, 111.729717, -68.961142, -177.543069, -71.009109], [79.000000, -159.000000, 74.000000, 145.000000, -176.000000, -37.000000], [79.000000, 15.422485, 126.275608, 2.993277, -50.014971, 176.009901]] + joints: [79.000000, -158.000000, 74.000000, -35.000000, 175.000000, 143.000000] + pose: {translation: [-0.03823713096723432, -0.2189823279573957, 0.6414637455338189], quaternion: [0.7592126926065071, 0.6501508666376906, 0.002558798268350192, 0.02988963945682898]} + solutions: [[-101.000000, -59.271734, 88.347806, 3.341103, 59.066103, -3.821491], [-101.000000, 153.306649, 111.927802, 134.957081, 175.949004, 132.926178], [79.000000, -158.000000, 74.000000, -35.000000, 175.000000, 143.000000], [79.000000, 16.422485, 126.275608, -176.304300, 50.855681, -4.437521], [-101.000000, -59.271734, 88.347806, -176.658897, -59.066103, 176.178509], [-101.000000, 153.306649, 111.927802, -45.042919, -175.949004, -47.073822], [79.000000, -158.000000, 74.000000, 145.000000, -175.000000, -37.000000], [79.000000, 16.422485, 126.275608, 3.695700, -50.855681, 175.562479]] - id: 728 parameters: Irb2400_10 joints: [13.000000, -116.000000, -178.000000, 42.000000, 25.000000, 123.000000] @@ -3646,104 +3646,104 @@ cases: solutions: [[-167.000000, 126.735776, 20.492356, -159.574305, 54.124782, 149.904798], [-167.000000, -127.128524, 179.783252, -23.683733, 44.748533, -0.481368], [13.000000, 140.302937, 18.275608, 162.905372, 74.158639, -12.985341], [13.000000, -116.000000, -178.000000, 42.000000, 25.000000, 123.000000], [-167.000000, 126.735776, 20.492356, 20.425695, -54.124782, -30.095202], [-167.000000, -127.128524, 179.783252, 156.316267, -44.748533, 179.518632], [13.000000, 140.302937, 18.275608, -17.094628, -74.158639, 167.014659], [13.000000, -116.000000, -178.000000, -138.000000, -25.000000, -57.000000]] - id: 729 parameters: Irb2400_10 - joints: [-26.000000, 80.000000, 98.000000, -114.000000, 84.000000, 98.000000] - pose: {translation: [-0.0007948522501803265, -0.08553410164151694, 0.5414827274517566], quaternion: [-0.3599470993517019, 0.7578872751393047, -0.2956717054692564, -0.456752894282146]} - solutions: [[-26.000000, 80.000000, 98.000000, -114.000000, 84.000000, 98.000000], [-26.000000, 30.060986, 102.275608, -102.891160, 68.753854, 53.487917], [154.000000, 145.898653, 89.514007, 99.814876, 112.774403, -134.707718], [154.000000, 4.000159, 110.761600, 105.554544, 70.575530, -18.716402], [-26.000000, 80.000000, 98.000000, 66.000000, -84.000000, -82.000000], [-26.000000, 30.060986, 102.275608, 77.108840, -68.753854, -126.512083], [154.000000, 145.898653, 89.514007, -80.185124, -112.774403, 45.292282], [154.000000, 4.000159, 110.761600, -74.445456, -70.575530, 161.283598]] + joints: [-26.000000, 79.000000, 98.000000, -114.000000, 83.000000, 98.000000] + pose: {translation: [-0.0008919402464062018, -0.08531605416760918, 0.5403816767170331], quaternion: [-0.3515800044649126, 0.7623361384062169, -0.2952333336743346, -0.4561495272691711]} + solutions: [[-26.000000, 79.000000, 98.000000, -114.000000, 83.000000, 98.000000], [-26.000000, 29.060986, 102.275608, -102.135286, 68.042445, 53.209630], [154.000000, 145.810916, 89.435392, 99.443692, 113.191531, -133.793977], [154.000000, 3.515274, 110.840215, 106.029762, 70.633659, -17.597778], [-26.000000, 79.000000, 98.000000, 66.000000, -83.000000, -82.000000], [-26.000000, 29.060986, 102.275608, 77.864714, -68.042445, -126.790370], [154.000000, 145.810916, 89.435392, -80.556308, -113.191531, 46.206023], [154.000000, 3.515274, 110.840215, -73.970238, -70.633659, 162.402222]] - id: 730 parameters: Irb2400_10 - joints: [108.000000, -152.000000, 44.000000, 124.000000, 170.000000, 78.000000] - pose: {translation: [0.165942026882941, -0.5503157512485967, 0.5866901109169547], quaternion: [0.9686832238169947, -0.2120375896469961, -0.1166432393271878, -0.05556282202576361]} - solutions: [[-72.000000, 6.527185, 61.071445, -14.310583, 35.620777, 145.307203], [-72.000000, 160.996876, 139.204162, -25.410231, 160.397194, 109.482738], [108.000000, -152.000000, 44.000000, 124.000000, 170.000000, 78.000000], [108.000000, -19.108951, 156.275608, 170.420068, 59.885883, 138.432445], [-72.000000, 6.527185, 61.071445, 165.689417, -35.620777, -34.692797], [-72.000000, 160.996876, 139.204162, 154.589769, -160.397194, -70.517262], [108.000000, -152.000000, 44.000000, -56.000000, -170.000000, -102.000000], [108.000000, -19.108951, 156.275608, -9.579932, -59.885883, -41.567555]] + joints: [108.000000, -151.000000, 44.000000, 124.000000, 169.000000, 78.000000] + pose: {translation: [0.1651783169511777, -0.5518786443175111, 0.5984889226092432], quaternion: [0.9695919349297096, -0.2117941012381909, -0.1158382388408014, -0.04020249771133808]} + solutions: [[-72.000000, 5.150862, 61.036306, -15.751733, 35.641324, 146.416404], [-72.000000, 159.572375, 139.239301, -27.384727, 159.884474, 107.566798], [108.000000, -151.000000, 44.000000, 124.000000, 169.000000, 78.000000], [108.000000, -18.108951, 156.275608, 169.409534, 59.396301, 138.943199], [-72.000000, 5.150862, 61.036306, 164.248267, -35.641324, -33.583596], [-72.000000, 159.572375, 139.239301, 152.615273, -159.884474, -72.433202], [108.000000, -151.000000, 44.000000, -56.000000, -169.000000, -102.000000], [108.000000, -18.108951, 156.275608, -10.590466, -59.396301, -41.056801]] - id: 731 parameters: Irb2400_10 - joints: [171.000000, -143.000000, -132.000000, 100.000000, 139.000000, 3.000000] - pose: {translation: [0.1098675038688889, -0.07300368220929536, -0.6236488312838839], quaternion: [0.2250372067206471, -0.2616770389659875, 0.5527487825546072, 0.7585197204119095]} - solutions: [[-9.000000, 149.981391, -24.466310, -53.312679, 126.322710, 41.363376], [-9.000000, -152.090357, -135.258083, -105.699561, 137.845716, -30.914656], [171.000000, 162.502204, -27.724392, 52.115458, 125.053572, -63.716230], [171.000000, -143.000000, -132.000000, 100.000000, 139.000000, 3.000000], [-9.000000, 149.981391, -24.466310, 126.687321, -126.322710, -138.636624], [-9.000000, -152.090357, -135.258083, 74.300439, -137.845716, 149.085344], [171.000000, 162.502204, -27.724392, -127.884542, -125.053572, 116.283770], [171.000000, -143.000000, -132.000000, -80.000000, -139.000000, -177.000000]] + joints: [171.000000, -142.000000, -132.000000, 100.000000, 138.000000, 3.000000] + pose: {translation: [0.1307566797490606, -0.07742004624566329, -0.6205889324840415], quaternion: [0.2237118982572822, -0.2742865067007067, 0.5529708078369094, 0.7542832256521701]} + solutions: [[-9.000000, 148.670148, -23.883537, -53.918931, 125.376575, 41.185499], [-9.000000, -152.787460, -135.840856, -105.170887, 136.940345, -30.708172], [171.000000, 163.502204, -27.724392, 53.232112, 124.653162, -63.078069], [171.000000, -142.000000, -132.000000, 100.000000, 138.000000, 3.000000], [-9.000000, 148.670148, -23.883537, 126.081069, -125.376575, -138.814501], [-9.000000, -152.787460, -135.840856, 74.829113, -136.940345, 149.291828], [171.000000, 163.502204, -27.724392, -126.767888, -124.653162, 116.921931], [171.000000, -142.000000, -132.000000, -80.000000, -138.000000, -177.000000]] - id: 732 parameters: Irb2400_10 - joints: [24.000000, 165.000000, -129.000000, -2.000000, -152.000000, -102.000000] - pose: {translation: [0.853918688356392, 0.3817135591353018, -0.3241604513121772], quaternion: [0.1952042257200163, -0.1123119417086753, -0.6028613815078441, 0.76540152384035]} - solutions: [[24.000000, 113.656738, -30.724392, 2.889161, 161.030794, -97.501442], [24.000000, 165.000000, -129.000000, 178.000000, 152.000000, 78.000000], [24.000000, 113.656738, -30.724392, -177.110839, -161.030794, 82.498558], [24.000000, 165.000000, -129.000000, -2.000000, -152.000000, -102.000000]] + joints: [24.000000, 164.000000, -129.000000, -2.000000, -151.000000, -102.000000] + pose: {translation: [0.8699699686154589, 0.3889098551553117, -0.3087772485852575], quaternion: [0.195100656648937, -0.1125152074556203, -0.6030182350533809, 0.7652745063436243]} + solutions: [[24.000000, 112.656738, -30.724392, 3.143343, 162.027548, -97.260345], [24.000000, 164.000000, -129.000000, 178.000000, 151.000000, 78.000000], [24.000000, 112.656738, -30.724392, -176.856657, -162.027548, 82.739655], [24.000000, 164.000000, -129.000000, -2.000000, -151.000000, -102.000000]] - id: 733 parameters: Irb2400_10 - joints: [58.000000, -139.000000, -88.000000, 137.000000, 125.000000, -123.000000] - pose: {translation: [-0.415562005328597, -0.5754281042662398, -0.5603848179684617], quaternion: [-0.04443608134451134, 0.701834002810632, 0.7106558112626314, 0.02056173855005896]} - solutions: [[-122.000000, 126.296907, -34.442353, -33.968104, 89.086911, -94.243971], [-122.000000, 173.735718, -125.282039, -42.323782, 123.930970, -121.805159], [58.000000, -147.481006, -71.724392, 132.713735, 130.505938, -129.987258], [58.000000, -139.000000, -88.000000, 137.000000, 125.000000, -123.000000], [-122.000000, 126.296907, -34.442353, 146.031896, -89.086911, 85.756029], [-122.000000, 173.735718, -125.282039, 137.676218, -123.930970, 58.194841], [58.000000, -147.481006, -71.724392, -47.286265, -130.505938, 50.012742], [58.000000, -139.000000, -88.000000, -43.000000, -125.000000, 57.000000]] + joints: [58.000000, -138.000000, -88.000000, 137.000000, 125.000000, -123.000000] + pose: {translation: [-0.4263671651229687, -0.5927199745769789, -0.5461006786668214], quaternion: [-0.04130022916037604, 0.7071615878231451, 0.7056403022230083, 0.01698657285535501]} + solutions: [[-122.000000, 124.905211, -33.838634, -33.970174, 88.911072, -94.125486], [-122.000000, 172.977668, -125.885758, -42.488743, 124.198094, -122.099665], [58.000000, -146.481006, -71.724392, 132.713735, 130.505938, -129.987258], [58.000000, -138.000000, -88.000000, 137.000000, 125.000000, -123.000000], [-122.000000, 124.905211, -33.838634, 146.029826, -88.911072, 85.874514], [-122.000000, 172.977668, -125.885758, 137.511257, -124.198094, 57.900335], [58.000000, -146.481006, -71.724392, -47.286265, -130.505938, 50.012742], [58.000000, -138.000000, -88.000000, -43.000000, -125.000000, 57.000000]] - id: 734 parameters: Irb2400_10 - joints: [21.000000, -35.000000, 64.000000, -67.000000, -51.000000, -179.000000] - pose: {translation: [0.426994592923971, 0.2290400849888786, 0.9411855729394666], quaternion: [0.3637407024410689, 0.6224561156183301, 0.6877999000806334, -0.084689922458866]} - solutions: [[21.000000, -35.000000, 64.000000, 113.000000, 51.000000, 1.000000], [21.000000, 123.569124, 136.275608, 46.463092, 99.317337, 134.669293], [-159.000000, -128.281168, 50.809818, -133.228597, 100.947669, 136.421495], [-159.000000, 12.868481, 149.465790, -76.325448, 47.411744, 15.224499], [21.000000, -35.000000, 64.000000, -67.000000, -51.000000, -179.000000], [21.000000, 123.569124, 136.275608, -133.536908, -99.317337, -45.330707], [-159.000000, -128.281168, 50.809818, 46.771403, -100.947669, -43.578505], [-159.000000, 12.868481, 149.465790, 103.674552, -47.411744, -164.775501]] + joints: [21.000000, -34.000000, 64.000000, -67.000000, -51.000000, -179.000000] + pose: {translation: [0.4322550745359127, 0.2310593946866681, 0.9344915105059936], quaternion: [0.3695951566460325, 0.6238934160832996, 0.6828637297414883, -0.08862026943791813]} + solutions: [[21.000000, -34.000000, 64.000000, 113.000000, 51.000000, 1.000000], [21.000000, 124.569124, 136.275608, 46.463092, 99.317337, 134.669293], [-159.000000, -128.907809, 50.650673, -133.198191, 101.094344, 136.580549], [-159.000000, 12.044650, 149.624935, -76.625525, 47.333326, 15.667594], [21.000000, -34.000000, 64.000000, -67.000000, -51.000000, -179.000000], [21.000000, 124.569124, 136.275608, -133.536908, -99.317337, -45.330707], [-159.000000, -128.907809, 50.650673, 46.801809, -101.094344, -43.419451], [-159.000000, 12.044650, 149.624935, 103.374475, -47.333326, -164.332406]] - id: 735 parameters: Irb2400_10 - joints: [-112.000000, -141.000000, 176.000000, -73.000000, 111.000000, -55.000000] - pose: {translation: [-0.18797329396489, -0.2626725632146194, -0.2568858322403737], quaternion: [-0.2749638275535595, -0.6583418468729286, -0.3081280926281186, 0.6293154890246986]} - solutions: [[-112.000000, 108.677606, 24.275608, -70.442913, 71.342370, 36.536551], [-112.000000, -141.000000, 176.000000, -73.000000, 111.000000, -55.000000], [68.000000, 156.480535, 16.682334, 94.578525, 116.408534, -85.261358], [68.000000, -101.569154, -176.406727, 116.403932, 85.393028, 3.721335], [-112.000000, 108.677606, 24.275608, 109.557087, -71.342370, -143.463449], [-112.000000, -141.000000, 176.000000, 107.000000, -111.000000, 125.000000], [68.000000, 156.480535, 16.682334, -85.421475, -116.408534, 94.738642], [68.000000, -101.569154, -176.406727, -63.596068, -85.393028, -176.278665]] + joints: [-112.000000, -140.000000, 176.000000, -73.000000, 110.000000, -55.000000] + pose: {translation: [-0.183109220001297, -0.2493072723355703, -0.2614268408444739], quaternion: [-0.2659184536464617, -0.6632530841911481, -0.3082814892790102, 0.627969143898902]} + solutions: [[-112.000000, 109.677606, 24.275608, -71.497823, 71.372127, 36.873779], [-112.000000, -140.000000, 176.000000, -73.000000, 110.000000, -55.000000], [68.000000, 155.395331, 17.007282, 95.022863, 115.564945, -85.281415], [68.000000, -102.298499, -176.731674, 115.541455, 84.850949, 3.843312], [-112.000000, 109.677606, 24.275608, 108.502177, -71.372127, -143.126221], [-112.000000, -140.000000, 176.000000, 107.000000, -110.000000, 125.000000], [68.000000, 155.395331, 17.007282, -84.977137, -115.564945, 94.718585], [68.000000, -102.298499, -176.731674, -64.458545, -84.850949, -176.156688]] - id: 736 parameters: Irb2400_10 - joints: [180.000000, 113.000000, -11.000000, -88.000000, 163.000000, 128.000000] - pose: {translation: [-0.74008445561908, 0.02483645598128638, -0.3473450266722117], quaternion: [-0.1700808014785453, -0.04804365891216324, 0.2894299522372714, 0.9407415322790199]} - solutions: [[180.000000, 113.000000, -11.000000, -88.000000, 163.000000, 128.000000], [180.000000, -174.831367, -148.724392, -161.362578, 113.892073, 43.686999], [0.000000, -168.348825, -28.795614, 17.070423, 95.503774, 37.595683], [0.000000, -114.977871, -130.928778, 27.760725, 141.147267, 58.198013], [180.000000, 113.000000, -11.000000, 92.000000, -163.000000, -52.000000], [180.000000, -174.831367, -148.724392, 18.637422, -113.892073, -136.313001], [0.000000, -168.348825, -28.795614, -162.929577, -95.503774, -142.404317], [0.000000, -114.977871, -130.928778, -152.239275, -141.147267, -121.801987]] + joints: [180.000000, 113.000000, -11.000000, -88.000000, 162.000000, 128.000000] + pose: {translation: [-0.7399434076145593, 0.02625044371356349, -0.3477711125127852], quaternion: [-0.1780984210968021, -0.04497790450398863, 0.2881747797177633, 0.9397942523998937]} + solutions: [[180.000000, 113.000000, -11.000000, -88.000000, 162.000000, 128.000000], [180.000000, -174.831367, -148.724392, -160.275094, 113.789159, 44.126564], [0.000000, -168.348825, -28.795614, 18.075040, 95.509989, 37.692093], [0.000000, -114.977871, -130.928778, 29.245487, 140.792547, 59.351430], [180.000000, 113.000000, -11.000000, 92.000000, -162.000000, -52.000000], [180.000000, -174.831367, -148.724392, 19.724906, -113.789159, -135.873436], [0.000000, -168.348825, -28.795614, -161.924960, -95.509989, -142.307907], [0.000000, -114.977871, -130.928778, -150.754513, -140.792547, -120.648570]] - id: 737 parameters: Irb2400_10 - joints: [152.000000, -13.000000, -93.000000, 96.000000, -12.000000, 88.000000] - pose: {translation: [0.3769777020760871, -0.1805369087231351, 2.070903356895959], quaternion: [-0.06378747343668291, 0.1510234316705594, -0.1909248882612994, 0.9678175284429512]} - solutions: [[-28.000000, -5.673358, -45.672465, 152.476378, 26.580154, -150.880663], [-28.000000, 30.000073, -114.051927, 54.164112, 14.776869, -49.111750], [152.000000, -26.693377, -66.724392, -132.858990, 16.384356, -41.822153], [152.000000, -13.000000, -93.000000, -84.000000, 12.000000, -92.000000], [-28.000000, -5.673358, -45.672465, -27.523622, -26.580154, 29.119337], [-28.000000, 30.000073, -114.051927, -125.835888, -14.776869, 130.888250], [152.000000, -26.693377, -66.724392, 47.141010, -16.384356, 138.177847], [152.000000, -13.000000, -93.000000, 96.000000, -12.000000, 88.000000]] + joints: [152.000000, -12.000000, -93.000000, 96.000000, -12.000000, 88.000000] + pose: {translation: [0.3544732650357628, -0.1685710872945627, 2.07971512966785], quaternion: [-0.06627896747516941, 0.1427783833709047, -0.1920278274938309, 0.9686829951952373]} + solutions: [[-28.000000, -6.221368, -46.591530, 152.037864, 26.166768, -150.391209], [-28.000000, 28.490753, -113.132862, 55.444221, 14.540688, -50.434922], [152.000000, -25.693377, -66.724392, -132.858990, 16.384356, -41.822153], [152.000000, -12.000000, -93.000000, -84.000000, 12.000000, -92.000000], [-28.000000, -6.221368, -46.591530, -27.962136, -26.166768, 29.608791], [-28.000000, 28.490753, -113.132862, -124.555779, -14.540688, 129.565078], [152.000000, -25.693377, -66.724392, 47.141010, -16.384356, 138.177847], [152.000000, -12.000000, -93.000000, 96.000000, -12.000000, 88.000000]] - id: 738 parameters: Irb2400_10 - joints: [-73.000000, -85.000000, 85.000000, 5.000000, -149.000000, 118.000000] - pose: {translation: [0.01968933340217983, -0.07745116068088777, 0.8550564455980649], quaternion: [-0.4933287440828253, 0.009362184108130101, 0.3129094893881719, 0.8115582241720068]} - solutions: [[-73.000000, -85.000000, 85.000000, -175.000000, 149.000000, -62.000000], [-73.000000, 115.024769, 115.275608, -172.294721, 19.560097, -73.554229], [107.000000, -140.713296, 75.481469, 4.555672, 34.412661, -70.049629], [107.000000, 36.438896, 124.794139, 12.063855, 167.597620, -54.498426], [-73.000000, -85.000000, 85.000000, 5.000000, -149.000000, 118.000000], [-73.000000, 115.024769, 115.275608, 7.705279, -19.560097, 106.445771], [107.000000, -140.713296, 75.481469, -175.444328, -34.412661, 109.950371], [107.000000, 36.438896, 124.794139, -167.936145, -167.597620, 125.501574]] + joints: [-73.000000, -85.000000, 85.000000, 5.000000, -148.000000, 118.000000] + pose: {translation: [0.01981053389716992, -0.07822465551758859, 0.8563165333599918], quaternion: [-0.4857748974076823, 0.008447977607507406, 0.3148465373626607, 0.8153668123204681]} + solutions: [[-73.000000, -85.000000, 85.000000, -175.000000, 148.000000, -62.000000], [-73.000000, 115.024769, 115.275608, -171.666169, 18.581399, -74.148306], [107.000000, -140.713296, 75.481469, 4.809886, 33.422771, -70.260594], [107.000000, 36.438896, 124.794139, 11.500303, 166.605552, -55.047779], [-73.000000, -85.000000, 85.000000, 5.000000, -148.000000, 118.000000], [-73.000000, 115.024769, 115.275608, 8.333831, -18.581399, 105.851694], [107.000000, -140.713296, 75.481469, -175.190114, -33.422771, 109.739406], [107.000000, 36.438896, 124.794139, -168.499697, -166.605552, 124.952221]] - id: 739 parameters: Irb2400_10 - joints: [78.000000, 94.000000, 171.000000, -178.000000, -170.000000, 134.000000] - pose: {translation: [0.1294377098286826, 0.6114341367901363, 1.224078178907553], quaternion: [0.8834461372934405, -0.4499893836420478, -0.03670418810935872, -0.1252408866384398]} - solutions: [[78.000000, -21.911050, 29.275608, 0.375453, 67.641844, -48.112462], [78.000000, 94.000000, 171.000000, 2.000000, 170.000000, -46.000000], [-102.000000, -96.171352, 16.153819, -176.031485, 174.976452, -44.016321], [-102.000000, 5.200583, -175.878211, -179.651064, 84.328445, -48.004124], [78.000000, -21.911050, 29.275608, -179.624547, -67.641844, 131.887538], [78.000000, 94.000000, 171.000000, -178.000000, -170.000000, 134.000000], [-102.000000, -96.171352, 16.153819, 3.968515, -174.976452, 135.983679], [-102.000000, 5.200583, -175.878211, 0.348936, -84.328445, 131.995876]] + joints: [78.000000, 94.000000, 171.000000, -178.000000, -169.000000, 134.000000] + pose: {translation: [0.1296849528803954, 0.6128421722318683, 1.224474552542338], quaternion: [0.8824038188510624, -0.4494434488897673, -0.03923346819970142, -0.1335096314883521]} + solutions: [[78.000000, -21.911050, 29.275608, 0.415603, 66.642529, -48.128058], [78.000000, 94.000000, 171.000000, 2.000000, 169.000000, -46.000000], [-102.000000, -96.171352, 16.153819, -176.361360, 173.976952, -44.344676], [-102.000000, 5.200583, -175.878211, -179.615856, 83.329058, -48.007909], [78.000000, -21.911050, 29.275608, -179.584397, -66.642529, 131.871942], [78.000000, 94.000000, 171.000000, -178.000000, -169.000000, 134.000000], [-102.000000, -96.171352, 16.153819, 3.638640, -173.976952, 135.655324], [-102.000000, 5.200583, -175.878211, 0.384144, -83.329058, 131.992091]] - id: 740 parameters: Irb2400_10 - joints: [-3.000000, 77.000000, 110.000000, -93.000000, 58.000000, 126.000000] - pose: {translation: [-0.02779541071048209, -0.07062739242369978, 0.7333530253258465], quaternion: [0.15989604944166, -0.6812995577626453, 0.4750615318008982, 0.5334610641540379]} - solutions: [[-3.000000, -145.162378, 90.275608, -117.798515, 106.789309, -120.930018], [-3.000000, 77.000000, 110.000000, -93.000000, 58.000000, 126.000000], [177.000000, -151.486831, 87.937781, 61.146615, 75.222149, -174.489922], [177.000000, 59.318767, 112.337827, 93.836702, 121.919892, -52.419379], [-3.000000, -145.162378, 90.275608, 62.201485, -106.789309, 59.069982], [-3.000000, 77.000000, 110.000000, 87.000000, -58.000000, -54.000000], [177.000000, -151.486831, 87.937781, -118.853385, -75.222149, 5.510078], [177.000000, 59.318767, 112.337827, -86.163298, -121.919892, 127.580621]] + joints: [-3.000000, 76.000000, 110.000000, -93.000000, 58.000000, 126.000000] + pose: {translation: [-0.02983925586281925, -0.07052027903806737, 0.7311698371861302], quaternion: [0.1555063633807485, -0.685705536892148, 0.4767480265994251, 0.5275765411360702]} + solutions: [[-3.000000, -146.162378, 90.275608, -117.798515, 106.789309, -120.930018], [-3.000000, 76.000000, 110.000000, -93.000000, 58.000000, 126.000000], [177.000000, -151.786264, 88.142353, 60.898679, 75.752584, -173.500559], [177.000000, 59.893841, 112.133255, 94.227531, 121.875628, -51.679749], [-3.000000, -146.162378, 90.275608, 62.201485, -106.789309, 59.069982], [-3.000000, 76.000000, 110.000000, 87.000000, -58.000000, -54.000000], [177.000000, -151.786264, 88.142353, -119.101321, -75.752584, 6.499441], [177.000000, 59.893841, 112.133255, -85.772469, -121.875628, 128.320251]] - id: 741 parameters: Irb2400_10 - joints: [-19.000000, 60.000000, 46.000000, -5.000000, 167.000000, -23.000000] - pose: {translation: [0.6014979904041621, -0.2088748827587677, 0.2893998314549823], quaternion: [0.0100020765377036, 0.0265172546856486, -0.3184790678995701, 0.9475061355889425]} - solutions: [[-19.000000, 60.000000, 46.000000, -5.000000, 167.000000, -23.000000], [-19.000000, -164.718251, 154.275608, -178.844733, 76.512201, 161.602988], [161.000000, -178.059011, 30.747232, 1.383889, 54.271905, 161.064264], [161.000000, -60.489249, 169.528375, 2.985343, 157.885953, 164.638560], [-19.000000, 60.000000, 46.000000, 175.000000, -167.000000, 157.000000], [-19.000000, -164.718251, 154.275608, 1.155267, -76.512201, -18.397012], [161.000000, -178.059011, 30.747232, -178.616111, -54.271905, -18.935736], [161.000000, -60.489249, 169.528375, -177.014657, -157.885953, -15.361440]] + joints: [-19.000000, 59.000000, 46.000000, -5.000000, 166.000000, -23.000000] + pose: {translation: [0.6053554878511573, -0.2103360939857554, 0.2988540744249694], quaternion: [0.01061050751883736, 0.009094071004729401, -0.3185881221976103, 0.9477902317482251]} + solutions: [[-19.000000, 59.000000, 46.000000, -5.000000, 166.000000, -23.000000], [-19.000000, -165.718251, 154.275608, -178.762541, 77.508989, 161.584513], [161.000000, -177.176940, 30.586957, 1.465211, 55.547534, 161.023173], [161.000000, -59.788163, 169.688650, 3.375311, 159.015081, 165.004108], [-19.000000, 59.000000, 46.000000, 175.000000, -166.000000, 157.000000], [-19.000000, -165.718251, 154.275608, 1.237459, -77.508989, -18.415487], [161.000000, -177.176940, 30.586957, -178.534789, -55.547534, -18.976827], [161.000000, -59.788163, 169.688650, -176.624689, -159.015081, -14.995892]] - id: 742 parameters: Irb2400_10 - joints: [157.000000, -70.000000, 59.000000, 45.000000, 53.000000, 152.000000] - pose: {translation: [-0.2141414921022255, 0.03875101474954139, 1.095346026959713], quaternion: [0.04918808521944958, 0.8469576204618386, -0.1747761499409714, -0.4996965267298497]} - solutions: [[157.000000, -70.000000, 59.000000, 45.000000, 53.000000, 152.000000], [157.000000, 81.665610, 141.275608, 74.735653, 144.170750, -105.562869], [-23.000000, -98.796554, 54.291072, -107.327422, 143.731724, -108.114383], [-23.000000, 46.727809, 145.984536, -135.885509, 54.220212, 153.492434], [157.000000, -70.000000, 59.000000, -135.000000, -53.000000, -28.000000], [157.000000, 81.665610, 141.275608, -105.264347, -144.170750, 74.437131], [-23.000000, -98.796554, 54.291072, 72.672578, -143.731724, 71.885617], [-23.000000, 46.727809, 145.984536, 44.114491, -54.220212, -26.507566]] + joints: [157.000000, -69.000000, 59.000000, 45.000000, 53.000000, 152.000000] + pose: {translation: [-0.2218425244666629, 0.04201990904706016, 1.093313669329], quaternion: [0.05229398710996425, 0.8503434029872946, -0.1772622720642998, -0.4927063251174402]} + solutions: [[157.000000, -69.000000, 59.000000, 45.000000, 53.000000, 152.000000], [157.000000, 82.665610, 141.275608, 74.735653, 144.170750, -105.562869], [-23.000000, -99.472945, 54.025031, -107.252482, 143.748834, -108.021446], [-23.000000, 45.712665, 146.250576, -136.010817, 54.400534, 153.707224], [157.000000, -69.000000, 59.000000, -135.000000, -53.000000, -28.000000], [157.000000, 82.665610, 141.275608, -105.264347, -144.170750, 74.437131], [-23.000000, -99.472945, 54.025031, 72.747518, -143.748834, 71.978554], [-23.000000, 45.712665, 146.250576, 43.989183, -54.400534, -26.292776]] - id: 743 parameters: Irb2400_10 - joints: [-94.000000, 120.000000, 179.000000, -5.000000, 82.000000, -165.000000] - pose: {translation: [-0.07969617268429338, -1.034540470158707, 0.9579811878213258], quaternion: [-0.4622719898474614, 0.6815974880019359, -0.4118067388194115, -0.3900572799151949]} - solutions: [[-94.000000, 13.000184, 21.275608, -159.373220, 14.181694, -5.746513], [-94.000000, 120.000000, 179.000000, -5.000000, 82.000000, -165.000000], [86.000000, -112.980632, 0.851851, 175.047774, 88.845383, -165.597564], [86.000000, -28.168470, -160.576243, 157.749953, 13.175543, -143.978113], [-94.000000, 13.000184, 21.275608, 20.626780, -14.181694, 174.253487], [-94.000000, 120.000000, 179.000000, 175.000000, -82.000000, 15.000000], [86.000000, -112.980632, 0.851851, -4.952226, -88.845383, 14.402436], [86.000000, -28.168470, -160.576243, -22.250047, -13.175543, 36.021887]] + joints: [-94.000000, 119.000000, 179.000000, -5.000000, 82.000000, -165.000000] + pose: {translation: [-0.07926866001882511, -1.028426754209328, 0.9742919722137015], quaternion: [-0.4591095109328935, 0.6777492021922497, -0.4174431542514561, -0.3944815443938076]} + solutions: [[-94.000000, 12.000184, 21.275608, -159.373220, 14.181694, -5.746513], [-94.000000, 119.000000, 179.000000, -5.000000, 82.000000, -165.000000], [86.000000, -112.224840, 0.994527, 175.047589, 88.744231, -165.588797], [86.000000, -27.259658, -160.718920, 157.365310, 12.959389, -143.583245], [-94.000000, 12.000184, 21.275608, 20.626780, -14.181694, 174.253487], [-94.000000, 119.000000, 179.000000, 175.000000, -82.000000, 15.000000], [86.000000, -112.224840, 0.994527, -4.952411, -88.744231, 14.411203], [86.000000, -27.259658, -160.718920, -22.634690, -12.959389, 36.416755]] - id: 744 parameters: Irb2400_10 - joints: [-170.000000, 143.000000, 18.000000, -158.000000, 7.000000, 127.000000] - pose: {translation: [0.2182275503422423, 0.0424197782457871, -0.3580353466878192], quaternion: [0.7872743064717971, 0.3085278714286169, 0.5279970100192444, 0.07892323062201566]} - solutions: [[10.000000, 123.791176, 21.129015, 176.996475, 119.391690, -32.623578], [10.000000, -129.370836, 179.146593, 173.658353, 24.413033, -25.369829], [-170.000000, 143.000000, 18.000000, -158.000000, 7.000000, 127.000000], [-170.000000, -113.605442, -177.724392, -2.623556, 85.839374, -30.958011], [10.000000, 123.791176, 21.129015, -3.003525, -119.391690, 147.376422], [10.000000, -129.370836, 179.146593, -6.341647, -24.413033, 154.630171], [-170.000000, 143.000000, 18.000000, 22.000000, -7.000000, -53.000000], [-170.000000, -113.605442, -177.724392, 177.376444, -85.839374, 149.041989]] + joints: [-170.000000, 142.000000, 18.000000, -158.000000, 7.000000, 127.000000] + pose: {translation: [0.2014553949790933, 0.03946239473062975, -0.3635116805810282], quaternion: [0.7916623184857847, 0.3099944853832355, 0.5207435749769336, 0.07746174308610597]} + solutions: [[10.000000, 124.994658, 20.775575, 177.000884, 119.241938, -32.614573], [10.000000, -128.557336, 179.500033, 173.698695, 24.578958, -25.414161], [-170.000000, 142.000000, 18.000000, -158.000000, 7.000000, 127.000000], [-170.000000, -114.605442, -177.724392, -2.623556, 85.839374, -30.958011], [10.000000, 124.994658, 20.775575, -2.999116, -119.241938, 147.385427], [10.000000, -128.557336, 179.500033, -6.301305, -24.578958, 154.585839], [-170.000000, 142.000000, 18.000000, 22.000000, -7.000000, -53.000000], [-170.000000, -114.605442, -177.724392, 177.376444, -85.839374, 149.041989]] - id: 745 parameters: Irb2400_10 - joints: [65.000000, -84.000000, 58.000000, -61.000000, -157.000000, -178.000000] - pose: {translation: [-0.05130792532828685, -0.04129678365157631, 1.121172536701334], quaternion: [0.7812975527893493, -0.07877909395027897, -0.3964796857687841, 0.4755752801969772]} - solutions: [[65.000000, -84.000000, 58.000000, 119.000000, 157.000000, 2.000000], [65.000000, 66.336298, 142.275608, 151.926547, 46.566846, 81.081782], [-115.000000, -87.462174, 57.426019, -27.458940, 47.827133, 80.177459], [-115.000000, 62.117692, 142.849588, -63.175567, 157.483532, -0.359175], [65.000000, -84.000000, 58.000000, -61.000000, -157.000000, -178.000000], [65.000000, 66.336298, 142.275608, -28.073453, -46.566846, -98.918218], [-115.000000, -87.462174, 57.426019, 152.541060, -47.827133, -99.822541], [-115.000000, 62.117692, 142.849588, 116.824433, -157.483532, 179.640825]] + joints: [65.000000, -83.000000, 58.000000, -61.000000, -156.000000, -178.000000] + pose: {translation: [-0.04853393999296474, -0.03253242674448038, 1.124720089775743], quaternion: [0.772390596855398, -0.08423728356653198, -0.4055002338105489, 0.4815458506998933]} + solutions: [[65.000000, -83.000000, 58.000000, 119.000000, 156.000000, 2.000000], [65.000000, 67.336298, 142.275608, 150.570269, 46.385437, 82.015816], [-115.000000, -88.190291, 57.139594, -28.777427, 47.642605, 81.059174], [-115.000000, 61.013818, 143.136013, -62.699723, 156.401145, 0.142344], [65.000000, -83.000000, 58.000000, -61.000000, -156.000000, -178.000000], [65.000000, 67.336298, 142.275608, -29.429731, -46.385437, -97.984184], [-115.000000, -88.190291, 57.139594, 151.222573, -47.642605, -98.940826], [-115.000000, 61.013818, 143.136013, 117.300277, -156.401145, -179.857656]] - id: 746 parameters: Irb2400_10 - joints: [-143.000000, -87.000000, 100.000000, 39.000000, -46.000000, 119.000000] - pose: {translation: [-0.2070077809833996, -0.1078105081028758, 0.6466161562092265], quaternion: [0.1284283722044902, -0.5378533131791919, -0.08497937652881496, 0.8288537098184728]} - solutions: [[-143.000000, -87.000000, 100.000000, -141.000000, 46.000000, -61.000000], [-143.000000, -90.409932, 100.275608, -138.969893, 43.598874, -63.860084], [37.000000, 176.187968, 80.203238, 146.681553, 55.501727, 168.779272], [37.000000, 3.199138, 120.072370, 27.113070, 83.364643, -35.027092], [-143.000000, -87.000000, 100.000000, 39.000000, -46.000000, 119.000000], [-143.000000, -90.409932, 100.275608, 41.030107, -43.598874, 116.139916], [37.000000, 176.187968, 80.203238, -33.318447, -55.501727, -11.220728], [37.000000, 3.199138, 120.072370, -152.886930, -83.364643, 144.972908]] + joints: [-143.000000, -86.000000, 100.000000, 39.000000, -45.000000, 119.000000] + pose: {translation: [-0.2077026214308464, -0.1091534698422156, 0.6432988780656845], quaternion: [0.1392880647194077, -0.5472934998591718, -0.08332105573520256, 0.8210519238816705]} + solutions: [[-143.000000, -86.000000, 100.000000, -141.000000, 45.000000, -61.000000], [-143.000000, -89.409932, 100.275608, -138.896180, 42.600143, -63.913909], [37.000000, 175.948921, 80.205345, 147.870825, 56.796157, 167.774204], [37.000000, 2.964999, 120.070263, 26.718789, 81.783498, -35.318982], [-143.000000, -86.000000, 100.000000, 39.000000, -45.000000, 119.000000], [-143.000000, -89.409932, 100.275608, 41.103820, -42.600143, 116.086091], [37.000000, 175.948921, 80.205345, -32.129175, -56.796157, -12.225796], [37.000000, 2.964999, 120.070263, -153.281211, -81.783498, 144.681018]] - id: 747 parameters: Irb2400_10 - joints: [169.000000, -112.000000, 110.000000, -105.000000, -41.000000, -19.000000] - pose: {translation: [-0.2662656244110256, -0.003116248537662777, 0.4999837906357996], quaternion: [0.1922012912360934, 0.7312576414240021, -0.4508492088622021, -0.4744005863977307]} - solutions: [[169.000000, 25.837622, 90.275608, 139.640986, 101.880065, 41.529833], [169.000000, -112.000000, 110.000000, 75.000000, 41.000000, 161.000000], [-11.000000, 161.767964, 76.014155, -138.630137, 73.501184, -142.588898], [-11.000000, -20.062871, 124.261453, -42.081491, 71.007931, 67.829473], [169.000000, 25.837622, 90.275608, -40.359014, -101.880065, -138.470167], [169.000000, -112.000000, 110.000000, -105.000000, -41.000000, -19.000000], [-11.000000, 161.767964, 76.014155, 41.369863, -73.501184, 37.411102], [-11.000000, -20.062871, 124.261453, 137.918509, -71.007931, -112.170527]] + joints: [169.000000, -111.000000, 110.000000, -105.000000, -40.000000, -19.000000] + pose: {translation: [-0.2650038613756363, -0.002251483540328614, 0.4975040647405097], quaternion: [0.2018838454104766, 0.731934711568887, -0.4466749818782257, -0.4732821056483499]} + solutions: [[169.000000, 26.837622, 90.275608, 140.532282, 102.370622, 41.717056], [169.000000, -111.000000, 110.000000, 75.000000, 40.000000, 161.000000], [-11.000000, 161.280220, 76.108143, -139.620322, 73.411184, -141.926618], [-11.000000, -20.369069, 124.167465, -41.162889, 70.614192, 67.903822], [169.000000, 26.837622, 90.275608, -39.467718, -102.370622, -138.282944], [169.000000, -111.000000, 110.000000, -105.000000, -40.000000, -19.000000], [-11.000000, 161.280220, 76.108143, 40.379678, -73.411184, 38.073382], [-11.000000, -20.369069, 124.167465, 138.837111, -70.614192, -112.096178]] - id: 748 parameters: Irb2400_10 - joints: [-94.000000, -115.000000, 12.000000, -20.000000, 95.000000, -57.000000] - pose: {translation: [0.02420306387311128, 0.7612941009832414, 1.03301610590417], quaternion: [-0.33823261610204, -0.5681280132457645, 0.745125521282634, -0.08727666070303988]} - solutions: [[86.000000, 2.694393, 30.216743, 40.371143, 148.263438, 160.686616], [86.000000, 119.665437, 170.058865, 159.667360, 101.312961, -59.340688], [-94.000000, -115.000000, 12.000000, -20.000000, 95.000000, -57.000000], [-94.000000, -18.156880, -171.724392, -96.047575, 159.963089, -151.617103], [86.000000, 2.694393, 30.216743, -139.628857, -148.263438, -19.313384], [86.000000, 119.665437, 170.058865, -20.332640, -101.312961, 120.659312], [-94.000000, -115.000000, 12.000000, 160.000000, -95.000000, 123.000000], [-94.000000, -18.156880, -171.724392, 83.952425, -159.963089, 28.382897]] + joints: [-94.000000, -114.000000, 12.000000, -20.000000, 94.000000, -57.000000] + pose: {translation: [0.02365928851815136, 0.7540884424050581, 1.049450554917242], quaternion: [-0.3365230485488819, -0.5687000265474237, 0.7457355081009983, -0.08491801668475484]} + solutions: [[86.000000, 1.580647, 30.053190, 41.868816, 149.256392, 162.061752], [86.000000, 118.367284, 170.222418, 159.717310, 100.187543, -59.285474], [-94.000000, -114.000000, 12.000000, -20.000000, 94.000000, -57.000000], [-94.000000, -17.156880, -171.724392, -93.129386, 160.019730, -148.874982], [86.000000, 1.580647, 30.053190, -138.131184, -149.256392, -17.938248], [86.000000, 118.367284, 170.222418, -20.282690, -100.187543, 120.714526], [-94.000000, -114.000000, 12.000000, 160.000000, -94.000000, 123.000000], [-94.000000, -17.156880, -171.724392, 86.870614, -160.019730, 31.125018]] - id: 749 parameters: Irb2400_10 joints: [-112.000000, -138.000000, -155.000000, -82.000000, 5.000000, 127.000000] @@ -3751,14 +3751,14 @@ cases: solutions: [[-112.000000, 143.152182, -4.724392, -174.756519, 70.804914, -136.698125], [-112.000000, -138.000000, -155.000000, -82.000000, 5.000000, 127.000000], [68.000000, 148.343576, -5.769190, 170.248935, 30.636287, 53.441174], [68.000000, -133.922865, -153.955202, 7.647382, 40.432976, -140.805313], [-112.000000, 143.152182, -4.724392, 5.243481, -70.804914, 43.301875], [-112.000000, -138.000000, -155.000000, 98.000000, -5.000000, -53.000000], [68.000000, 148.343576, -5.769190, -9.751065, -30.636287, -126.558826], [68.000000, -133.922865, -153.955202, -172.352618, -40.432976, 39.194687]] - id: 750 parameters: Irb2400_10 - joints: [-52.000000, -66.000000, 71.000000, 0.000000, -141.000000, 172.000000] - pose: {translation: [0.0977052247370578, -0.1250569848237414, 1.029478993325358], quaternion: [-0.3622795938119155, 0.1463704569849219, 0.7971805873966852, 0.4602524267262202]} - solutions: [[-52.000000, -66.000000, 71.000000, 180.000000, 141.000000, -8.000000], [-52.000000, 103.265739, 129.275608, 180.000000, 8.541347, -8.000000], [128.000000, -120.223333, 62.523343, 0.000000, 13.699991, -8.000000], [128.000000, 36.257148, 137.752265, 0.000000, 141.990587, -8.000000], [-52.000000, -66.000000, 71.000000, 0.000000, -141.000000, 172.000000], [-52.000000, 103.265739, 129.275608, 0.000000, -8.541347, 172.000000], [128.000000, -120.223333, 62.523343, -180.000000, -13.699991, 172.000000], [128.000000, 36.257148, 137.752265, 180.000000, -141.990587, 172.000000]] + joints: [-52.000000, -65.000000, 71.000000, 0.000000, -140.000000, 172.000000] + pose: {translation: [0.1028046444016111, -0.1315839443524271, 1.029431223663617], quaternion: [-0.3473291852294986, 0.1403300998306744, 0.8029647720336144, 0.4635919272833937]} + solutions: [[-52.000000, -65.000000, 71.000000, 180.000000, 140.000000, -8.000000], [-52.000000, 104.265739, 129.275608, 180.000000, 7.541347, -8.000000], [128.000000, -120.792733, 62.309108, 0.000000, 12.483625, -8.000000], [128.000000, 35.388492, 137.966499, 0.000000, 140.645008, -8.000000], [-52.000000, -65.000000, 71.000000, 0.000000, -140.000000, 172.000000], [-52.000000, 104.265739, 129.275608, 0.000000, -7.541347, 172.000000], [128.000000, -120.792733, 62.309108, -180.000000, -12.483625, 172.000000], [128.000000, 35.388492, 137.966499, -180.000000, -140.645008, 172.000000]] - id: 751 parameters: Irb2400_10 - joints: [49.000000, 99.000000, -112.000000, -4.000000, 77.000000, -144.000000] - pose: {translation: [1.013915290724597, 1.157570000867547, 0.7298907910785416], quaternion: [0.9675169289563241, 0.1102346298427787, 0.1893280403427048, -0.1261515426237037]} - solutions: [[49.000000, 65.472537, -47.724392, -5.390211, 46.348026, -141.174708], [49.000000, 99.000000, -112.000000, -4.000000, 77.000000, -144.000000], [49.000000, 65.472537, -47.724392, 174.609789, -46.348026, 38.825292], [49.000000, 99.000000, -112.000000, 176.000000, -77.000000, 36.000000]] + joints: [49.000000, 98.000000, -112.000000, -4.000000, 76.000000, -144.000000] + pose: {translation: [1.013301248488635, 1.156900448948718, 0.7556683101973865], quaternion: [0.9634712469054741, 0.10977368259732, 0.2018326348828994, -0.137609892419332]} + solutions: [[49.000000, 64.472537, -47.724392, -5.459494, 45.349263, -141.126447], [49.000000, 98.000000, -112.000000, -4.000000, 76.000000, -144.000000], [49.000000, 64.472537, -47.724392, 174.540506, -45.349263, 38.873553], [49.000000, 98.000000, -112.000000, 176.000000, -76.000000, 36.000000]] - id: 752 parameters: Irb2400_10 joints: [175.000000, -30.000000, -84.000000, -64.000000, -3.000000, 77.000000] @@ -3766,14 +3766,14 @@ cases: solutions: [[-5.000000, 3.231105, -38.003897, -174.605181, 30.021187, 8.356466], [-5.000000, 46.934412, -121.720495, -15.028041, 10.452153, -152.179335], [175.000000, -34.312094, -75.724392, 152.897836, 5.926447, -139.991195], [175.000000, -30.000000, -84.000000, 116.000000, 3.000000, -103.000000], [-5.000000, 3.231105, -38.003897, 5.394819, -30.021187, -171.643534], [-5.000000, 46.934412, -121.720495, 164.971959, -10.452153, 27.820665], [175.000000, -34.312094, -75.724392, -27.102164, -5.926447, 40.008805], [175.000000, -30.000000, -84.000000, -64.000000, -3.000000, 77.000000]] - id: 753 parameters: Irb2400_10 - joints: [150.000000, -102.000000, -2.000000, 57.000000, -106.000000, -3.000000] - pose: {translation: [0.8489727241129302, -0.4110282442529148, 1.134837091500755], quaternion: [0.8201769209676495, 0.1560854407460531, 0.5154539824973731, -0.1930138477589997]} - solutions: [[-30.000000, 4.151233, 17.250663, 75.673286, 56.310783, 88.724113], [-30.000000, 106.724066, -176.975055, 55.769016, 102.815215, 172.057469], [150.000000, -102.000000, -2.000000, -123.000000, 106.000000, 177.000000], [150.000000, -20.241978, -157.724392, -116.929288, 64.719932, 113.948285], [-30.000000, 4.151233, 17.250663, -104.326714, -56.310783, -91.275887], [-30.000000, 106.724066, -176.975055, -124.230984, -102.815215, -7.942531], [150.000000, -102.000000, -2.000000, 57.000000, -106.000000, -3.000000], [150.000000, -20.241978, -157.724392, 63.070712, -64.719932, -66.051715]] + joints: [150.000000, -101.000000, -2.000000, 57.000000, -106.000000, -3.000000] + pose: {translation: [0.8409785138719128, -0.406412784818305, 1.152921441176303], quaternion: [0.8170923695770221, 0.1597872443575598, 0.5209517192536748, -0.1882482465423382]} + solutions: [[-30.000000, 3.098494, 17.041203, 75.504201, 56.376039, 89.029202], [-30.000000, 105.441824, -176.765595, 55.782728, 102.856150, 172.119191], [150.000000, -101.000000, -2.000000, -123.000000, 106.000000, 177.000000], [150.000000, -19.241978, -157.724392, -116.929288, 64.719932, 113.948285], [-30.000000, 3.098494, 17.041203, -104.495799, -56.376039, -90.970798], [-30.000000, 105.441824, -176.765595, -124.217272, -102.856150, -7.880809], [150.000000, -101.000000, -2.000000, 57.000000, -106.000000, -3.000000], [150.000000, -19.241978, -157.724392, 63.070712, -64.719932, -66.051715]] - id: 754 parameters: Irb2400_10 - joints: [47.000000, 166.000000, 84.000000, -162.000000, 82.000000, 135.000000] - pose: {translation: [-0.1131482134758017, -0.1594757295846533, 0.5779732521902827], quaternion: [0.6081178293991083, -0.4752474901744618, 0.1449180198787614, 0.6191375422022242]} - solutions: [[47.000000, 166.000000, 84.000000, -162.000000, 82.000000, 135.000000], [47.000000, 2.943635, 116.275608, -23.010783, 51.519952, -27.608010], [47.000000, 166.000000, 84.000000, 18.000000, -82.000000, -45.000000], [47.000000, 2.943635, 116.275608, 156.989217, -51.519952, 152.391990]] + joints: [47.000000, 165.000000, 84.000000, -162.000000, 82.000000, 135.000000] + pose: {translation: [-0.1126769846464193, -0.1589703985327621, 0.5728513734642237], quaternion: [0.6111836467583063, -0.4798390741742111, 0.1454985877604256, 0.6124044201265825]} + solutions: [[47.000000, 165.000000, 84.000000, -162.000000, 82.000000, 135.000000], [47.000000, 1.943635, 116.275608, -23.010783, 51.519952, -27.608010], [47.000000, 165.000000, 84.000000, 18.000000, -82.000000, -45.000000], [47.000000, 1.943635, 116.275608, 156.989217, -51.519952, 152.391990]] - id: 755 parameters: Irb2400_10 joints: [52.000000, -66.000000, 45.000000, -179.000000, -27.000000, 160.000000] @@ -3786,54 +3786,54 @@ cases: solutions: [[60.000000, -6.940789, -34.462566, -141.640697, 71.123861, 45.472749], [60.000000, 40.476810, -125.261827, -118.364903, 41.861807, 5.774641], [-120.000000, -39.000000, -52.000000, 66.000000, 40.000000, -0.000000], [-120.000000, -9.941088, -107.724392, 45.481683, 55.442163, 29.855867], [60.000000, -6.940789, -34.462566, 38.359303, -71.123861, -134.527251], [60.000000, 40.476810, -125.261827, 61.635097, -41.861807, -174.225359], [-120.000000, -39.000000, -52.000000, -114.000000, -40.000000, 180.000000], [-120.000000, -9.941088, -107.724392, -134.518317, -55.442163, -150.144133]] - id: 757 parameters: Irb2400_10 - joints: [-107.000000, 180.000000, 86.000000, 45.000000, 86.000000, -75.000000] - pose: {translation: [0.06550645582745154, 0.009188540885164284, 0.6638410261280372], quaternion: [0.09304636176003014, -0.6572263981774467, 0.7018771251219458, -0.258387958954117]} - solutions: [[-107.000000, -180.000000, 86.000000, 45.000000, 86.000000, -75.000000], [-107.000000, 23.369526, 114.275608, 118.501133, 126.615072, 61.304277], [-107.000000, -180.000000, 86.000000, -135.000000, -86.000000, 105.000000], [-107.000000, 23.369526, 114.275608, -61.498867, -126.615072, -118.695723]] + joints: [-107.000000, 179.000000, 86.000000, 45.000000, 86.000000, -75.000000] + pose: {translation: [0.06574997446188319, 0.009985054448244685, 0.6616007390978986], quaternion: [0.09698988883874345, -0.6520032977808051, 0.7070977057892769, -0.2559247850708175]} + solutions: [[-107.000000, 179.000000, 86.000000, 45.000000, 86.000000, -75.000000], [-107.000000, 22.369526, 114.275608, 118.501133, 126.615072, 61.304277], [-107.000000, 179.000000, 86.000000, -135.000000, -86.000000, 105.000000], [-107.000000, 22.369526, 114.275608, -61.498867, -126.615072, -118.695723]] - id: 758 parameters: Irb2400_10 - joints: [-171.000000, -170.000000, 148.000000, -49.000000, 21.000000, -158.000000] - pose: {translation: [-0.7029708461734147, -0.08806366146070242, 0.3399057817433296], quaternion: [0.09209455381620076, -0.6524195312804343, -0.1930215282163183, 0.7270557323935013]} - solutions: [[-171.000000, 47.023129, 52.275608, -163.615182, 106.505078, -20.267382], [-171.000000, -170.000000, 148.000000, -49.000000, 21.000000, -158.000000], [9.000000, -173.371053, 36.177305, 153.871649, 37.890548, 176.119123], [9.000000, -49.616251, 164.098303, 16.339996, 74.018915, -29.657200], [-171.000000, 47.023129, 52.275608, 16.384818, -106.505078, 159.732618], [-171.000000, -170.000000, 148.000000, 131.000000, -21.000000, 22.000000], [9.000000, -173.371053, 36.177305, -26.128351, -37.890548, -3.880877], [9.000000, -49.616251, 164.098303, -163.660004, -74.018915, 150.342800]] + joints: [-171.000000, -169.000000, 148.000000, -49.000000, 21.000000, -158.000000] + pose: {translation: [-0.6981374238820024, -0.08729812257622496, 0.3293350059487584], quaternion: [0.09474724473841188, -0.6583977536365617, -0.1931110446917648, 0.7212790597534799]} + solutions: [[-171.000000, 48.023129, 52.275608, -163.615182, 106.505078, -20.267382], [-171.000000, -169.000000, 148.000000, -49.000000, 21.000000, -158.000000], [9.000000, -174.202194, 36.297110, 154.033772, 38.149894, 175.913330], [9.000000, -50.309655, 163.978497, 16.355142, 73.839677, -29.711912], [-171.000000, 48.023129, 52.275608, 16.384818, -106.505078, 159.732618], [-171.000000, -169.000000, 148.000000, 131.000000, -21.000000, 22.000000], [9.000000, -174.202194, 36.297110, -25.966228, -38.149894, -4.086670], [9.000000, -50.309655, 163.978497, -163.644858, -73.839677, 150.288088]] - id: 759 parameters: Irb2400_10 - joints: [162.000000, -170.000000, -36.000000, 75.000000, 137.000000, -147.000000] - pose: {translation: [0.546230962341458, -0.2363573897774328, -0.4908602674767238], quaternion: [0.379444400234819, -0.341166860496277, -0.2571879302501884, 0.8206591795399456]} - solutions: [[-18.000000, 122.744399, -18.783534, -44.156367, 108.976321, -54.401441], [-18.000000, -173.331125, -140.940858, -83.014290, 138.418349, -117.575485], [162.000000, -170.000000, -36.000000, 75.000000, 137.000000, -147.000000], [162.000000, -124.195450, -123.724392, 118.472600, 131.461239, -87.557574], [-18.000000, 122.744399, -18.783534, 135.843633, -108.976321, 125.598559], [-18.000000, -173.331125, -140.940858, 96.985710, -138.418349, 62.424515], [162.000000, -170.000000, -36.000000, -105.000000, -137.000000, 33.000000], [162.000000, -124.195450, -123.724392, -61.527400, -131.461239, 92.442426]] + joints: [162.000000, -169.000000, -36.000000, 75.000000, 136.000000, -147.000000] + pose: {translation: [0.5651569152106861, -0.2435997298366999, -0.478784587215073], quaternion: [0.3850811131603252, -0.3438554346465871, -0.2486658583511499, 0.8195372274898178]} + solutions: [[-18.000000, 121.421610, -18.302872, -45.174538, 108.907407, -54.626982], [-18.000000, -174.145920, -141.421520, -84.063373, 137.576405, -118.551562], [162.000000, -169.000000, -36.000000, 75.000000, 136.000000, -147.000000], [162.000000, -123.195450, -123.724392, 117.332502, 130.947181, -88.308629], [-18.000000, 121.421610, -18.302872, 134.825462, -108.907407, 125.373018], [-18.000000, -174.145920, -141.421520, 95.936627, -137.576405, 61.448438], [162.000000, -169.000000, -36.000000, -105.000000, -136.000000, 33.000000], [162.000000, -123.195450, -123.724392, -62.667498, -130.947181, 91.691371]] - id: 760 parameters: Irb2400_10 - joints: [-154.000000, 40.000000, 15.000000, -18.000000, 49.000000, 86.000000] - pose: {translation: [-0.9783176795117782, -0.4551017081797738, 0.533360101936615], quaternion: [0.9071141780480727, -0.3894846783120722, -0.01947013002695895, -0.1583239318013693]} - solutions: [[-154.000000, 40.000000, 15.000000, -18.000000, 49.000000, 86.000000], [-154.000000, 140.111010, -174.724392, -19.437237, 135.506359, 59.837409], [26.000000, -127.415927, -8.581032, 156.472223, 144.251883, 54.505263], [26.000000, -52.676531, -151.143360, 166.259195, 79.066149, 76.622104], [-154.000000, 40.000000, 15.000000, 162.000000, -49.000000, -94.000000], [-154.000000, 140.111010, -174.724392, 160.562763, -135.506359, -120.162591], [26.000000, -127.415927, -8.581032, -23.527777, -144.251883, -125.494737], [26.000000, -52.676531, -151.143360, -13.740805, -79.066149, -103.377896]] + joints: [-154.000000, 39.000000, 15.000000, -18.000000, 48.000000, 86.000000] + pose: {translation: [-0.9805979217326564, -0.4565518261368501, 0.5501057485419893], quaternion: [0.9088041565128379, -0.390460387833629, -0.02904764224524538, -0.144124686011084]} + solutions: [[-154.000000, 39.000000, 15.000000, -18.000000, 48.000000, 86.000000], [-154.000000, 139.111010, -174.724392, -18.817934, 134.607122, 60.275772], [26.000000, -126.584642, -8.578012, 157.433863, 143.243004, 55.319134], [26.000000, -51.842033, -151.146380, 166.417312, 77.915748, 76.629559], [-154.000000, 39.000000, 15.000000, 162.000000, -48.000000, -94.000000], [-154.000000, 139.111010, -174.724392, 161.182066, -134.607122, -119.724228], [26.000000, -126.584642, -8.578012, -22.566137, -143.243004, -124.680866], [26.000000, -51.842033, -151.146380, -13.582688, -77.915748, -103.370441]] - id: 761 parameters: Irb2400_10 - joints: [-66.000000, 48.000000, -3.000000, -36.000000, 168.000000, -139.000000] - pose: {translation: [0.4722256052358038, -1.086175035729257, 0.6970117797246854], quaternion: [-0.1993825698560669, 0.416999180878308, 0.8801220699031471, -0.1083670432087663]} - solutions: [[-66.000000, 48.000000, -3.000000, -36.000000, 168.000000, -139.000000], [-66.000000, 128.689009, -156.724392, -172.151070, 116.505882, 79.920644], [114.000000, -112.772067, -33.559001, 7.517808, 110.922806, 79.098308], [114.000000, -64.406069, -126.165392, 16.435290, 154.409785, 91.298490], [-66.000000, 48.000000, -3.000000, 144.000000, -168.000000, 41.000000], [-66.000000, 128.689009, -156.724392, 7.848930, -116.505882, -100.079356], [114.000000, -112.772067, -33.559001, -172.482192, -110.922806, -100.901692], [114.000000, -64.406069, -126.165392, -163.564710, -154.409785, -88.701510]] + joints: [-66.000000, 48.000000, -3.000000, -36.000000, 167.000000, -139.000000] + pose: {translation: [0.4712032379770631, -1.085971801999031, 0.6959561916282671], quaternion: [-0.2057918764678619, 0.4213084040688755, 0.8763880526043796, -0.1099677838872667]} + solutions: [[-66.000000, 48.000000, -3.000000, -36.000000, 167.000000, -139.000000], [-66.000000, 128.689009, -156.724392, -171.444211, 117.282153, 80.240396], [114.000000, -112.772067, -33.559001, 8.181902, 111.708468, 79.339717], [114.000000, -64.406069, -126.165392, 18.258580, 155.037512, 92.947266], [-66.000000, 48.000000, -3.000000, 144.000000, -167.000000, 41.000000], [-66.000000, 128.689009, -156.724392, 8.555789, -117.282153, -99.759604], [114.000000, -112.772067, -33.559001, -171.818098, -111.708468, -100.660283], [114.000000, -64.406069, -126.165392, -161.741420, -155.037512, -87.052734]] - id: 762 parameters: Irb2400_10 - joints: [-106.000000, 30.000000, 12.000000, -160.000000, -122.000000, -30.000000] - pose: {translation: [-0.2588590697507531, -0.9921932306872359, 0.8004802790612547], quaternion: [-0.6104546929975502, 0.4961453521062039, 0.06162775795721914, 0.6143182211442568]} - solutions: [[-106.000000, 30.000000, 12.000000, 20.000000, 122.000000, 150.000000], [-106.000000, 126.843120, -171.724392, 149.159350, 145.543364, -67.129103], [74.000000, -115.892044, -11.936983, -26.315274, 139.134827, -61.423339], [74.000000, -44.718012, -147.787410, -146.166693, 148.604518, 168.859120], [-106.000000, 30.000000, 12.000000, -160.000000, -122.000000, -30.000000], [-106.000000, 126.843120, -171.724392, -30.840650, -145.543364, 112.870897], [74.000000, -115.892044, -11.936983, 153.684726, -139.134827, 118.576661], [74.000000, -44.718012, -147.787410, 33.833307, -148.604518, -11.140880]] + joints: [-106.000000, 30.000000, 12.000000, -160.000000, -121.000000, -30.000000] + pose: {translation: [-0.2587289875701645, -0.9927013906641305, 0.7990925986029639], quaternion: [-0.6135776293414636, 0.5005002114048226, 0.05917677520582169, 0.6078816829216662]} + solutions: [[-106.000000, 30.000000, 12.000000, 20.000000, 121.000000, 150.000000], [-106.000000, 126.843120, -171.724392, 148.070420, 146.335897, -68.031254], [74.000000, -115.892044, -11.936983, -27.126101, 139.985364, -62.040470], [74.000000, -44.718012, -147.787410, -146.770876, 147.656751, 168.345997], [-106.000000, 30.000000, 12.000000, -160.000000, -121.000000, -30.000000], [-106.000000, 126.843120, -171.724392, -31.929580, -146.335897, 111.968746], [74.000000, -115.892044, -11.936983, 152.873899, -139.985364, 117.959530], [74.000000, -44.718012, -147.787410, 33.229124, -147.656751, -11.654003]] - id: 763 parameters: Irb2400_10 - joints: [18.000000, 120.000000, -11.000000, -154.000000, -147.000000, 122.000000] - pose: {translation: [0.5417804242641631, 0.1973736033160398, -0.4143684603429929], quaternion: [-0.004600118085514142, -0.1542846401013514, -0.5207616039061685, 0.8396323246751942]} - solutions: [[18.000000, 120.000000, -11.000000, 26.000000, 147.000000, -58.000000], [18.000000, -167.831367, -148.724392, 156.943455, 142.437445, 81.108747], [-162.000000, -176.581017, -25.293374, -16.364662, 122.070266, 90.891272], [-162.000000, -119.524061, -134.431018, -71.300712, 165.400603, 29.030959], [18.000000, 120.000000, -11.000000, -154.000000, -147.000000, 122.000000], [18.000000, -167.831367, -148.724392, -23.056545, -142.437445, -98.891253], [-162.000000, -176.581017, -25.293374, 163.635338, -122.070266, -89.108728], [-162.000000, -119.524061, -134.431018, 108.699288, -165.400603, -150.969041]] + joints: [18.000000, 119.000000, -11.000000, -154.000000, -147.000000, 122.000000] + pose: {translation: [0.5587971275716233, 0.2029026653855852, -0.4058998762315623], quaternion: [0.001986273381033184, -0.1598429231999005, -0.5211960045817396, 0.8383322846157112]} + solutions: [[18.000000, 119.000000, -11.000000, 26.000000, 147.000000, -58.000000], [18.000000, -168.831367, -148.724392, 156.943455, 142.437445, 81.108747], [-162.000000, -175.397637, -25.797002, -16.421631, 122.377495, 90.784434], [-162.000000, -118.871081, -133.927390, -70.733192, 165.349660, 29.617483], [18.000000, 119.000000, -11.000000, -154.000000, -147.000000, 122.000000], [18.000000, -168.831367, -148.724392, -23.056545, -142.437445, -98.891253], [-162.000000, -175.397637, -25.797002, 163.578369, -122.377495, -89.215566], [-162.000000, -118.871081, -133.927390, 109.266808, -165.349660, -150.382517]] - id: 764 parameters: Irb2400_10 - joints: [-85.000000, 71.000000, 2.000000, -128.000000, 147.000000, -74.000000] - pose: {translation: [0.06152090329850386, -1.121753025122456, 0.2384908033631071], quaternion: [0.1067553402728146, -0.1963998840843107, -0.2284481815336268, 0.9475451499579765]} - solutions: [[-85.000000, 71.000000, 2.000000, -128.000000, 147.000000, -74.000000], [-85.000000, 157.044168, -161.724392, -154.278129, 81.451500, -125.124666], [95.000000, -139.879016, -23.538447, 27.033733, 70.780152, -130.564127], [95.000000, -80.972881, -136.185945, 29.360779, 118.915761, -105.811635], [-85.000000, 71.000000, 2.000000, 52.000000, -147.000000, 106.000000], [-85.000000, 157.044168, -161.724392, 25.721871, -81.451500, 54.875334], [95.000000, -139.879016, -23.538447, -152.966267, -70.780152, 49.435873], [95.000000, -80.972881, -136.185945, -150.639221, -118.915761, 74.188365]] + joints: [-85.000000, 71.000000, 2.000000, -128.000000, 146.000000, -74.000000] + pose: {translation: [0.06063412532265623, -1.122802042564301, 0.2379304532775329], quaternion: [0.1141502430543261, -0.2005879261812618, -0.2270487705168896, 0.9461411425827058]} + solutions: [[-85.000000, 71.000000, 2.000000, -128.000000, 146.000000, -74.000000], [-85.000000, 157.044168, -161.724392, -153.489540, 80.824688, -125.246154], [95.000000, -139.879016, -23.538447, 27.920487, 70.231294, -130.860057], [95.000000, -80.972881, -136.185945, 29.958128, 118.064658, -105.526685], [-85.000000, 71.000000, 2.000000, 52.000000, -146.000000, 106.000000], [-85.000000, 157.044168, -161.724392, 26.510460, -80.824688, 54.753846], [95.000000, -139.879016, -23.538447, -152.079513, -70.231294, 49.139943], [95.000000, -80.972881, -136.185945, -150.041872, -118.064658, 74.473315]] - id: 765 parameters: Irb2400_10 - joints: [91.000000, 114.000000, 133.000000, -119.000000, -4.000000, -20.000000] - pose: {translation: [-0.01032123526601228, 0.2941588855484735, 1.049658633978172], quaternion: [0.1781930475618742, 0.05008963084155044, -0.4052598498526219, 0.8952668433378952]} - solutions: [[91.000000, -49.387959, 67.275608, 175.506232, 128.859784, 38.117735], [91.000000, 114.000000, 133.000000, 61.000000, 4.000000, 160.000000], [-89.000000, -124.051693, 56.179813, -106.984904, 3.657549, 147.958277], [-89.000000, 23.901279, 144.095795, -4.171368, 122.991825, 38.666491], [91.000000, -49.387959, 67.275608, -4.493768, -128.859784, -141.882265], [91.000000, 114.000000, 133.000000, -119.000000, -4.000000, -20.000000], [-89.000000, -124.051693, 56.179813, 73.015096, -3.657549, -32.041723], [-89.000000, 23.901279, 144.095795, 175.828632, -122.991825, -141.333509]] + joints: [91.000000, 113.000000, 133.000000, -119.000000, -4.000000, -20.000000] + pose: {translation: [-0.0101883276674073, 0.2865446143239582, 1.052983334956104], quaternion: [0.1859359298242601, 0.05376004770405324, -0.4048345150623406, 0.8936703545969763]} + solutions: [[91.000000, -50.387959, 67.275608, 175.506232, 128.859784, 38.117735], [91.000000, 113.000000, 133.000000, 61.000000, 4.000000, 160.000000], [-89.000000, -123.451563, 56.370603, -103.806888, 3.602020, 144.773877], [-89.000000, 24.749161, 143.905004, -4.187699, 123.333822, 38.636637], [91.000000, -50.387959, 67.275608, -4.493768, -128.859784, -141.882265], [91.000000, 113.000000, 133.000000, -119.000000, -4.000000, -20.000000], [-89.000000, -123.451563, 56.370603, 76.193112, -3.602020, -35.226123], [-89.000000, 24.749161, 143.905004, 175.812301, -123.333822, -141.363363]] - id: 766 parameters: Irb2400_10 - joints: [-176.000000, -92.000000, 136.000000, 25.000000, 155.000000, -173.000000] - pose: {translation: [0.04666883166735893, -0.01195519571334061, 0.1931340069520131], quaternion: [-0.02458876453960475, 0.567776198524349, -0.1356556496730459, 0.8115559905264941]} - solutions: [[-176.000000, 109.035755, 64.275608, 21.280350, 29.480065, 145.360430], [-176.000000, -92.000000, 136.000000, 25.000000, 155.000000, -173.000000], [4.000000, 117.655841, 63.122772, -25.981745, 155.939703, -39.898718], [4.000000, -85.021405, 137.152836, -169.264353, 73.499193, 161.007744], [-176.000000, 109.035755, 64.275608, -158.719650, -29.480065, -34.639570], [-176.000000, -92.000000, 136.000000, -155.000000, -155.000000, 7.000000], [4.000000, 117.655841, 63.122772, 154.018255, -155.939703, 140.101282], [4.000000, -85.021405, 137.152836, 10.735647, -73.499193, -18.992256]] + joints: [-176.000000, -91.000000, 136.000000, 25.000000, 154.000000, -173.000000] + pose: {translation: [0.05443631463767817, -0.01197930605926092, 0.1944317346474998], quaternion: [-0.02086989265152804, 0.5676788164367619, -0.1363085919865846, 0.8116188617203927]} + solutions: [[-176.000000, 110.035755, 64.275608, 22.662276, 28.739718, 144.153019], [-176.000000, -91.000000, 136.000000, 25.000000, 154.000000, -173.000000], [4.000000, 116.575700, 63.400973, -27.609258, 156.436934, -41.351687], [4.000000, -85.708088, 136.874635, -168.807242, 72.635296, 160.880996], [-176.000000, 110.035755, 64.275608, -157.337724, -28.739718, -35.846981], [-176.000000, -91.000000, 136.000000, -155.000000, -154.000000, 7.000000], [4.000000, 116.575700, 63.400973, 152.390742, -156.436934, 138.648313], [4.000000, -85.708088, 136.874635, 11.192758, -72.635296, -19.119004]] - id: 767 parameters: Irb2400_10 joints: [158.000000, -86.000000, -40.000000, 110.000000, -106.000000, -54.000000] @@ -3841,29 +3841,29 @@ cases: solutions: [[-22.000000, 24.445300, -9.733289, 81.346811, 113.979498, 52.607843], [-22.000000, 97.959574, -149.991104, 109.456978, 106.664549, 124.069162], [158.000000, -86.000000, -40.000000, -70.000000, 106.000000, 126.000000], [158.000000, -44.388478, -119.724392, -84.401227, 114.821457, 86.281004], [-22.000000, 24.445300, -9.733289, -98.653189, -113.979498, -127.392157], [-22.000000, 97.959574, -149.991104, -70.543022, -106.664549, -55.930838], [158.000000, -86.000000, -40.000000, 110.000000, -106.000000, -54.000000], [158.000000, -44.388478, -119.724392, 95.598773, -114.821457, -93.718996]] - id: 768 parameters: Irb2400_10 - joints: [-121.000000, -88.000000, -107.000000, 177.000000, -132.000000, -166.000000] - pose: {translation: [0.6462648244448908, 1.081984078140789, 0.3894477152802427], quaternion: [0.2244050237958751, 0.06805144221027586, -0.7739487111005633, 0.5882302092667897]} - solutions: [[59.000000, 69.627569, -14.034023, 163.115097, 172.304599, -0.732975], [59.000000, 138.577858, -145.690369, 177.629232, 109.910849, 15.200615], [-121.000000, -116.302198, -52.724392, -2.319471, 106.053182, 15.366679], [-121.000000, -88.000000, -107.000000, -3.000000, 132.000000, 14.000000], [59.000000, 69.627569, -14.034023, -16.884903, -172.304599, 179.267025], [59.000000, 138.577858, -145.690369, -2.370768, -109.910849, -164.799385], [-121.000000, -116.302198, -52.724392, 177.680529, -106.053182, -164.633321], [-121.000000, -88.000000, -107.000000, 177.000000, -132.000000, -166.000000]] + joints: [-121.000000, -88.000000, -107.000000, 177.000000, -131.000000, -166.000000] + pose: {translation: [0.6469043343645878, 1.083148290037357, 0.3901083533904401], quaternion: [0.2166013713331329, 0.06470203163548184, -0.7756756845511458, 0.5892577750314022]} + solutions: [[59.000000, 69.627569, -14.034023, 164.803055, 171.333767, 0.937868], [59.000000, 138.577858, -145.690369, 177.607085, 108.911068, 15.193254], [-121.000000, -116.302198, -52.724392, -2.344169, 105.053465, 15.360057], [-121.000000, -88.000000, -107.000000, -3.000000, 131.000000, 14.000000], [59.000000, 69.627569, -14.034023, -15.196945, -171.333767, -179.062132], [59.000000, 138.577858, -145.690369, -2.392915, -108.911068, -164.806746], [-121.000000, -116.302198, -52.724392, 177.655831, -105.053465, -164.639943], [-121.000000, -88.000000, -107.000000, 177.000000, -131.000000, -166.000000]] - id: 769 parameters: Irb2400_10 - joints: [-169.000000, -2.000000, -138.000000, -26.000000, -143.000000, -142.000000] - pose: {translation: [0.5611513937696773, 0.08623250870503039, 1.622603625039231], quaternion: [0.3846652410362157, 0.9032656582679526, -0.1866453631706789, -0.03615676062920669]} - solutions: [[11.000000, -13.464342, -7.906001, -18.965397, 125.732139, 47.933900], [11.000000, 61.993260, -151.818392, -134.721810, 158.204365, -77.563397], [-169.000000, -62.819252, -21.724392, 36.919924, 153.948036, -86.697787], [-169.000000, -2.000000, -138.000000, 154.000000, 143.000000, 38.000000], [11.000000, -13.464342, -7.906001, 161.034603, -125.732139, -132.066100], [11.000000, 61.993260, -151.818392, 45.278190, -158.204365, 102.436603], [-169.000000, -62.819252, -21.724392, -143.080076, -153.948036, 93.302213], [-169.000000, -2.000000, -138.000000, -26.000000, -143.000000, -142.000000]] + joints: [-169.000000, -2.000000, -138.000000, -26.000000, -142.000000, -142.000000] + pose: {translation: [0.5625964171060961, 0.08598779585682405, 1.622373781246026], quaternion: [0.3835613634589457, 0.9044826697301446, -0.1844305691549201, -0.02787733453070943]} + solutions: [[11.000000, -13.464342, -7.906001, -19.175338, 124.746949, 47.812760], [11.000000, 61.993260, -151.818392, -132.246844, 158.617764, -75.261993], [-169.000000, -62.819252, -21.724392, 38.830271, 154.504950, -84.977431], [-169.000000, -2.000000, -138.000000, 154.000000, 142.000000, 38.000000], [11.000000, -13.464342, -7.906001, 160.824662, -124.746949, -132.187240], [11.000000, 61.993260, -151.818392, 47.753156, -158.617764, 104.738007], [-169.000000, -62.819252, -21.724392, -141.169729, -154.504950, 95.022569], [-169.000000, -2.000000, -138.000000, -26.000000, -142.000000, -142.000000]] - id: 770 parameters: Irb2400_10 - joints: [-112.000000, 54.000000, 77.000000, -152.000000, 174.000000, 90.000000] - pose: {translation: [-0.1305962862022321, -0.312102224313459, 0.429667063667291], quaternion: [-0.002414118355012752, -0.3936768341921765, 0.8294465731497866, 0.3962715035718181]} - solutions: [[-112.000000, 54.000000, 77.000000, -152.000000, 174.000000, 90.000000], [-112.000000, -125.893154, 123.275608, -175.723989, 41.159626, 58.908355], [68.000000, 157.124588, 64.936934, 59.832063, 3.253919, 2.338382], [68.000000, -42.955826, 135.338674, 3.742660, 131.254552, 64.600179], [-112.000000, 54.000000, 77.000000, 28.000000, -174.000000, -90.000000], [-112.000000, -125.893154, 123.275608, 4.276011, -41.159626, -121.091645], [68.000000, 157.124588, 64.936934, -120.167937, -3.253919, -177.661618], [68.000000, -42.955826, 135.338674, -176.257340, -131.254552, -115.399821]] + joints: [-112.000000, 53.000000, 77.000000, -152.000000, 173.000000, 90.000000] + pose: {translation: [-0.1327689892537527, -0.3156326104706504, 0.4328889715752493], quaternion: [-0.006377719308758635, -0.3929063882134886, 0.8292110241756955, 0.397483297992437]} + solutions: [[-112.000000, 53.000000, 77.000000, -152.000000, 173.000000, 90.000000], [-112.000000, -126.893154, 123.275608, -174.925684, 40.306004, 58.303410], [68.000000, 157.862737, 64.781676, 70.417093, 3.481530, -8.206325], [68.000000, -42.442898, 135.493932, 4.326805, 130.680708, 65.000805], [-112.000000, 53.000000, 77.000000, 28.000000, -173.000000, -90.000000], [-112.000000, -126.893154, 123.275608, 5.074316, -40.306004, -121.696590], [68.000000, 157.862737, 64.781676, -109.582907, -3.481530, 171.793675], [68.000000, -42.442898, 135.493932, -175.673195, -130.680708, -114.999195]] - id: 771 parameters: Irb2400_10 - joints: [160.000000, -52.000000, 59.000000, -50.000000, -58.000000, 65.000000] - pose: {translation: [-0.3577687958203292, 0.07145370534602358, 1.131523725186157], quaternion: [-0.5017986792474841, -0.0998135218664561, 0.8242963968035207, -0.2424268891332561]} - solutions: [[160.000000, -52.000000, 59.000000, 130.000000, 58.000000, -115.000000], [160.000000, 99.665610, 141.275608, 40.926905, 82.602069, 26.356044], [-20.000000, -110.713410, 49.807771, -139.076116, 82.628951, 26.379546], [-20.000000, 29.198374, 150.467836, -53.545416, 53.870217, -108.678897], [160.000000, -52.000000, 59.000000, -50.000000, -58.000000, 65.000000], [160.000000, 99.665610, 141.275608, -139.073095, -82.602069, -153.643956], [-20.000000, -110.713410, 49.807771, 40.923884, -82.628951, -153.620454], [-20.000000, 29.198374, 150.467836, 126.454584, -53.870217, 71.321103]] + joints: [160.000000, -51.000000, 59.000000, -50.000000, -58.000000, 65.000000] + pose: {translation: [-0.3662024305086238, 0.07452329733923771, 1.126896412674622], quaternion: [-0.5078154582589722, -0.09536152050533307, 0.8204480384968397, -0.2447338490826913]} + solutions: [[160.000000, -51.000000, 59.000000, 130.000000, 58.000000, -115.000000], [160.000000, 100.665610, 141.275608, 40.926905, 82.602069, 26.356044], [-20.000000, -111.364515, 49.580296, -139.086339, 82.720700, 26.459728], [-20.000000, 28.267467, 150.695312, -53.720310, 53.694364, -108.382896], [160.000000, -51.000000, 59.000000, -50.000000, -58.000000, 65.000000], [160.000000, 100.665610, 141.275608, -139.073095, -82.602069, -153.643956], [-20.000000, -111.364515, 49.580296, 40.913661, -82.720700, -153.540272], [-20.000000, 28.267467, 150.695312, 126.279690, -53.694364, 71.617104]] - id: 772 parameters: Irb2400_10 - joints: [25.000000, 53.000000, 161.000000, -73.000000, 150.000000, -135.000000] - pose: {translation: [0.04400251985999904, -0.0243258239511232, 1.31868821700144], quaternion: [-0.4783295328225943, 0.6728608369854516, -0.3723349796684927, 0.4240587400304577]} - solutions: [[-155.000000, -69.009127, 40.211031, 97.984143, 151.129426, -145.344925], [-155.000000, 59.418154, 160.064577, 148.774365, 67.271299, -51.261736], [25.000000, -74.336984, 39.275608, -32.292064, 63.511270, -48.702514], [25.000000, 53.000000, 161.000000, -73.000000, 150.000000, -135.000000], [-155.000000, -69.009127, 40.211031, -82.015857, -151.129426, 34.655075], [-155.000000, 59.418154, 160.064577, -31.225635, -67.271299, 128.738264], [25.000000, -74.336984, 39.275608, 147.707936, -63.511270, 131.297486], [25.000000, 53.000000, 161.000000, 107.000000, -150.000000, 45.000000]] + joints: [25.000000, 53.000000, 161.000000, -73.000000, 149.000000, -135.000000] + pose: {translation: [0.04414279267364341, -0.02560916464543331, 1.319419083056355], quaternion: [-0.4733970984438515, 0.6731543827505342, -0.3794243288715285, 0.4228422197807121]} + solutions: [[-155.000000, -69.009127, 40.211031, 98.344859, 150.145188, -145.030537], [-155.000000, 59.418154, 160.064577, 147.695798, 67.165849, -50.844086], [25.000000, -74.336984, 39.275608, -33.407622, 63.451030, -48.204413], [25.000000, 53.000000, 161.000000, -73.000000, 149.000000, -135.000000], [-155.000000, -69.009127, 40.211031, -81.655141, -150.145188, 34.969463], [-155.000000, 59.418154, 160.064577, -32.304202, -67.165849, 129.155914], [25.000000, -74.336984, 39.275608, 146.592378, -63.451030, 131.795587], [25.000000, 53.000000, 161.000000, 107.000000, -149.000000, 45.000000]] - id: 773 parameters: Irb2400_10 joints: [-161.000000, -72.000000, 136.000000, 6.000000, -85.000000, -160.000000] @@ -3871,24 +3871,24 @@ cases: solutions: [[19.000000, 94.536903, 68.803037, 9.729964, 38.034823, 12.833176], [19.000000, -99.723530, 131.472571, 29.247085, 167.694121, 49.207657], [-161.000000, 129.035755, 64.275608, -10.529437, 145.261785, -168.159496], [-161.000000, -72.000000, 136.000000, -174.000000, 85.000000, 20.000000], [19.000000, 94.536903, 68.803037, -170.270036, -38.034823, -167.166824], [19.000000, -99.723530, 131.472571, -150.752915, -167.694121, -130.792343], [-161.000000, 129.035755, 64.275608, 169.470563, -145.261785, 11.840504], [-161.000000, -72.000000, 136.000000, 6.000000, -85.000000, -160.000000]] - id: 774 parameters: Irb2400_10 - joints: [-84.000000, 60.000000, 86.000000, 44.000000, 164.000000, -62.000000] - pose: {translation: [0.03901822345547981, -0.2155317713860806, 0.4930516131116216], quaternion: [0.1556342526108158, -0.3533031440683592, 0.9218046412257199, 0.03508662452284369]} - solutions: [[-84.000000, 60.000000, 86.000000, 44.000000, 164.000000, -62.000000], [-84.000000, -96.630474, 114.275608, 167.681822, 63.831873, 80.630787], [96.000000, 146.283927, 75.710631, -71.879652, 11.622665, 146.655916], [96.000000, -36.128829, 124.564977, -16.025338, 136.085136, 63.440081], [-84.000000, 60.000000, 86.000000, -136.000000, -164.000000, 118.000000], [-84.000000, -96.630474, 114.275608, -12.318178, -63.831873, -99.369213], [96.000000, 146.283927, 75.710631, 108.120348, -11.622665, -33.344084], [96.000000, -36.128829, 124.564977, 163.974662, -136.085136, -116.559919]] + joints: [-84.000000, 59.000000, 86.000000, 44.000000, 163.000000, -62.000000] + pose: {translation: [0.04012406473093547, -0.2166002616012743, 0.495733555869748], quaternion: [0.1585448565475545, -0.338329384896711, 0.9269703425013751, 0.0335073111516257]} + solutions: [[-84.000000, 59.000000, 86.000000, 44.000000, 163.000000, -62.000000], [-84.000000, -97.630474, 114.275608, 167.010099, 64.628168, 80.922834], [96.000000, 146.920573, 75.549171, -67.480371, 12.701010, 142.251537], [96.000000, -35.799084, 124.726436, -17.374052, 137.144684, 62.359447], [-84.000000, 59.000000, 86.000000, -136.000000, -163.000000, 118.000000], [-84.000000, -97.630474, 114.275608, -12.989901, -64.628168, -99.077166], [96.000000, 146.920573, 75.549171, 112.519629, -12.701010, -37.748463], [96.000000, -35.799084, 124.726436, 162.625948, -137.144684, -117.640553]] - id: 775 parameters: Irb2400_10 - joints: [103.000000, 125.000000, 53.000000, 107.000000, -149.000000, -13.000000] - pose: {translation: [0.04078295185509229, 0.009458271759613029, 0.06469620131840571], quaternion: [-0.6378985005774285, -0.05369110450598549, -0.286058479825912, 0.7130030255038783]} - solutions: [[-77.000000, 109.503103, 55.128296, 50.947300, 39.363986, 13.750147], [-77.000000, -103.901239, 145.147311, 49.164764, 139.383831, 98.663370], [103.000000, 125.000000, 53.000000, -73.000000, 149.000000, 167.000000], [103.000000, -91.112404, 147.275608, -148.623457, 71.081128, 46.185208], [-77.000000, 109.503103, 55.128296, -129.052700, -39.363986, -166.249853], [-77.000000, -103.901239, 145.147311, -130.835236, -139.383831, -81.336630], [103.000000, 125.000000, 53.000000, 107.000000, -149.000000, -13.000000], [103.000000, -91.112404, 147.275608, 31.376543, -71.081128, -133.814792]] + joints: [103.000000, 124.000000, 53.000000, 107.000000, -148.000000, -13.000000] + pose: {translation: [0.03997617896805272, 0.01833009628420851, 0.06336424934622467], quaternion: [-0.6313340979192941, -0.04318586426964429, -0.2907158941134119, 0.7176604397913784]} + solutions: [[-77.000000, 110.672630, 54.832458, 51.527060, 40.337554, 13.368155], [-77.000000, -103.111187, 145.443150, 50.505368, 138.951388, 99.634813], [103.000000, 124.000000, 53.000000, -73.000000, 148.000000, 167.000000], [103.000000, -92.112404, 147.275608, -147.718342, 71.595573, 45.895582], [-77.000000, 110.672630, 54.832458, -128.472940, -40.337554, -166.631845], [-77.000000, -103.111187, 145.443150, -129.494632, -138.951388, -80.365187], [103.000000, 124.000000, 53.000000, 107.000000, -148.000000, -13.000000], [103.000000, -92.112404, 147.275608, 32.281658, -71.595573, -134.104418]] - id: 776 parameters: Irb2400_10 - joints: [-4.000000, 61.000000, 43.000000, 94.000000, -20.000000, 80.000000] - pose: {translation: [0.6400639340353138, -0.07382934252979269, 0.1145473787624181], quaternion: [0.9754738486119947, 0.03814101401491138, -0.1465232492632443, 0.159771621852439]} - solutions: [[-4.000000, 61.000000, 43.000000, -86.000000, 20.000000, -100.000000], [-4.000000, -167.294924, 157.275608, -21.902748, 113.846581, 165.023361], [176.000000, -175.867843, 27.395553, 151.985585, 133.414296, 154.170902], [176.000000, -62.066310, 172.880055, 148.467954, 40.722489, -160.805225], [-4.000000, 61.000000, 43.000000, 94.000000, -20.000000, 80.000000], [-4.000000, -167.294924, 157.275608, 158.097252, -113.846581, -14.976639], [176.000000, -175.867843, 27.395553, -28.014415, -133.414296, -25.829098], [176.000000, -62.066310, 172.880055, -31.532046, -40.722489, 19.194775]] + joints: [-4.000000, 60.000000, 43.000000, 94.000000, -20.000000, 80.000000] + pose: {translation: [0.6486941611824919, -0.07443282680054319, 0.1241116854381316], quaternion: [0.976614973035363, 0.03665951188078626, -0.1380491166477379, 0.1606913688552652]} + solutions: [[-4.000000, 60.000000, 43.000000, -86.000000, 20.000000, -100.000000], [-4.000000, -168.294924, 157.275608, -21.902748, 113.846581, 165.023361], [176.000000, -174.977891, 27.233536, 152.105744, 133.173976, 154.346125], [176.000000, -61.357672, 173.042072, 148.389132, 40.612288, -160.701307], [-4.000000, 60.000000, 43.000000, 94.000000, -20.000000, 80.000000], [-4.000000, -168.294924, 157.275608, 158.097252, -113.846581, -14.976639], [176.000000, -174.977891, 27.233536, -27.894256, -133.173976, -25.653875], [176.000000, -61.357672, 173.042072, -31.610868, -40.612288, 19.298693]] - id: 777 parameters: Irb2400_10 - joints: [-157.000000, -174.000000, -146.000000, -20.000000, -53.000000, 157.000000] - pose: {translation: [-0.7012239622372871, -0.3228747036595773, -0.4520418569975742], quaternion: [0.3993297632108677, -0.4964956673410758, 0.004545579370543641, 0.7707185804388514]} - solutions: [[-157.000000, 116.721563, -13.724392, 162.699367, 113.291781, -42.376423], [-157.000000, -174.000000, -146.000000, 160.000000, 53.000000, -23.000000], [23.000000, -169.271694, -31.184209, -28.365537, 35.095180, -11.521063], [23.000000, -118.411603, -128.540183, -16.174857, 78.678943, -32.096253], [-157.000000, 116.721563, -13.724392, -17.300633, -113.291781, 137.623577], [-157.000000, -174.000000, -146.000000, -20.000000, -53.000000, 157.000000], [23.000000, -169.271694, -31.184209, 151.634463, -35.095180, 168.478937], [23.000000, -118.411603, -128.540183, 163.825143, -78.678943, 147.903747]] + joints: [-157.000000, -173.000000, -146.000000, -20.000000, -52.000000, 157.000000] + pose: {translation: [-0.684413579232235, -0.3154035645804528, -0.4650136524786444], quaternion: [0.4045489629836905, -0.5087913314735871, 0.004545579370543573, 0.7599018721350417]} + solutions: [[-157.000000, 117.721563, -13.724392, 163.058067, 112.348016, -42.237302], [-157.000000, -173.000000, -146.000000, 160.000000, 52.000000, -23.000000], [23.000000, -170.465021, -30.650472, -28.964107, 33.817505, -10.935101], [23.000000, -119.044076, -129.073920, -16.003118, 77.851328, -32.176284], [-157.000000, 117.721563, -13.724392, -16.941933, -112.348016, 137.762698], [-157.000000, -173.000000, -146.000000, -20.000000, -52.000000, 157.000000], [23.000000, -170.465021, -30.650472, 151.035893, -33.817505, 169.064899], [23.000000, -119.044076, -129.073920, 163.996882, -77.851328, 147.823716]] - id: 778 parameters: Irb2400_10 joints: [-21.000000, 82.000000, 139.000000, -119.000000, -166.000000, -177.000000] @@ -3896,19 +3896,19 @@ cases: solutions: [[-21.000000, -72.750054, 61.275608, 16.862106, 46.839899, -68.974948], [-21.000000, 82.000000, 139.000000, 61.000000, 166.000000, 3.000000], [159.000000, -100.362111, 56.770032, -127.275909, 164.579149, -5.554694], [159.000000, 48.358816, 143.505575, -163.242955, 47.213182, -68.820823], [-21.000000, -72.750054, 61.275608, -163.137894, -46.839899, 111.025052], [-21.000000, 82.000000, 139.000000, -119.000000, -166.000000, -177.000000], [159.000000, -100.362111, 56.770032, 52.724091, -164.579149, 174.445306], [159.000000, 48.358816, 143.505575, 16.757045, -47.213182, 111.179177]] - id: 779 parameters: Irb2400_10 - joints: [123.000000, -27.000000, -64.000000, 115.000000, 124.000000, 9.000000] - pose: {translation: [0.162749886504452, -0.3678756011331149, 1.947644624338077], quaternion: [0.8034532722695007, 0.3702351626789794, -0.3926096558743144, 0.2514884126749261]} - solutions: [[-57.000000, -6.920596, -45.524280, -50.722239, 103.916881, 42.787731], [-57.000000, 28.907851, -114.200112, -62.821346, 122.368687, 12.978956], [123.000000, -27.000000, -64.000000, 115.000000, 124.000000, 9.000000], [123.000000, -10.465667, -95.724392, 122.822917, 116.605966, 24.402433], [-57.000000, -6.920596, -45.524280, 129.277761, -103.916881, -137.212269], [-57.000000, 28.907851, -114.200112, 117.178654, -122.368687, -167.021044], [123.000000, -27.000000, -64.000000, -65.000000, -124.000000, -171.000000], [123.000000, -10.465667, -95.724392, -57.177083, -116.605966, -155.597567]] + joints: [123.000000, -27.000000, -64.000000, 115.000000, 123.000000, 9.000000] + pose: {translation: [0.1623277162224052, -0.3685880495205734, 1.948875475481924], quaternion: [0.7996954237739433, 0.3685894257210181, -0.3990143290185798, 0.2557667485806471]} + solutions: [[-57.000000, -6.920596, -45.524280, -51.293161, 103.085124, 42.654438], [-57.000000, 28.907851, -114.200112, -62.902613, 121.371071, 12.936046], [123.000000, -27.000000, -64.000000, 115.000000, 123.000000, 9.000000], [123.000000, -10.465667, -95.724392, 122.528320, 115.641579, 24.272713], [-57.000000, -6.920596, -45.524280, 128.706839, -103.085124, -137.345562], [-57.000000, 28.907851, -114.200112, 117.097387, -121.371071, -167.063954], [123.000000, -27.000000, -64.000000, -65.000000, -123.000000, -171.000000], [123.000000, -10.465667, -95.724392, -57.471680, -115.641579, -155.727287]] - id: 780 parameters: Irb2400_10 - joints: [130.000000, 175.000000, -164.000000, -56.000000, -170.000000, -170.000000] - pose: {translation: [-0.5542885015194122, 0.6415384286280845, -0.07478392279275016], quaternion: [0.5350252050413845, 0.2685769030977142, 0.06578237098318604, 0.798302672399821]} - solutions: [[130.000000, 86.509638, 4.275608, 8.599274, 105.676630, -112.067891], [130.000000, 175.000000, -164.000000, 124.000000, 170.000000, 10.000000], [-50.000000, -158.033850, -16.317984, -20.992693, 156.306372, 46.232111], [-50.000000, -91.502156, -143.406408, -166.784122, 140.972515, -104.068774], [130.000000, 86.509638, 4.275608, -171.400726, -105.676630, 67.932109], [130.000000, 175.000000, -164.000000, -56.000000, -170.000000, -170.000000], [-50.000000, -158.033850, -16.317984, 159.007307, -156.306372, -133.767889], [-50.000000, -91.502156, -143.406408, 13.215878, -140.972515, 75.931226]] + joints: [130.000000, 174.000000, -164.000000, -56.000000, -169.000000, -170.000000] + pose: {translation: [-0.563141978747935, 0.6502082678150281, -0.06087271990250029], quaternion: [0.5400428136313351, 0.2656799854276181, 0.06033794666795877, 0.7963210640063632]} + solutions: [[130.000000, 85.509638, 4.275608, 9.481748, 106.205771, -111.825512], [130.000000, 174.000000, -164.000000, 124.000000, 169.000000, 10.000000], [-50.000000, -157.011032, -16.610281, -22.645502, 155.741935, 44.681161], [-50.000000, -90.788624, -143.114111, -165.319592, 141.376916, -102.926903], [130.000000, 85.509638, 4.275608, -170.518252, -106.205771, 68.174488], [130.000000, 174.000000, -164.000000, -56.000000, -169.000000, -170.000000], [-50.000000, -157.011032, -16.610281, 157.354498, -155.741935, -135.318839], [-50.000000, -90.788624, -143.114111, 14.680408, -141.376916, 77.073097]] - id: 781 parameters: Irb2400_10 - joints: [122.000000, -4.000000, -135.000000, -3.000000, 87.000000, 114.000000] - pose: {translation: [0.2980300553643226, -0.468564511840357, 1.778614547756765], quaternion: [0.001509017175335396, 0.3263568429656678, 0.8391609354705372, -0.4350837371091456]} - solutions: [[-58.000000, -11.696696, -10.159026, 176.881423, 106.117508, 112.976316], [-58.000000, 61.365178, -149.565366, 175.325440, 39.889610, 117.432826], [122.000000, -61.656331, -24.724392, -5.295634, 34.490912, 118.211580], [122.000000, -4.000000, -135.000000, -3.000000, 87.000000, 114.000000], [-58.000000, -11.696696, -10.159026, -3.118577, -106.117508, -67.023684], [-58.000000, 61.365178, -149.565366, -4.674560, -39.889610, -62.567174], [122.000000, -61.656331, -24.724392, 174.704366, -34.490912, -61.788420], [122.000000, -4.000000, -135.000000, 177.000000, -87.000000, -66.000000]] + joints: [122.000000, -4.000000, -135.000000, -3.000000, 86.000000, 114.000000] + pose: {translation: [0.2986496802265082, -0.4695650634115779, 1.77951774572711], quaternion: [0.001998965766093009, 0.3181102654456402, 0.8417360840029281, -0.4362135119885512]} + solutions: [[-58.000000, -11.696696, -10.159026, 176.899929, 105.117667, 112.981299], [-58.000000, 61.365178, -149.565366, 175.230074, 38.891443, 117.506532], [122.000000, -61.656331, -24.724392, -5.428707, 33.493683, 118.321918], [122.000000, -4.000000, -135.000000, -3.000000, 86.000000, 114.000000], [-58.000000, -11.696696, -10.159026, -3.100071, -105.117667, -67.018701], [-58.000000, 61.365178, -149.565366, -4.769926, -38.891443, -62.493468], [122.000000, -61.656331, -24.724392, 174.571293, -33.493683, -61.678082], [122.000000, -4.000000, -135.000000, 177.000000, -86.000000, -66.000000]] - id: 782 parameters: Irb2400_10 joints: [76.000000, -52.000000, -176.000000, 87.000000, 135.000000, 18.000000] @@ -3926,14 +3926,14 @@ cases: solutions: [[20.000000, 20.000000, -57.000000, -56.000000, 12.000000, 130.000000], [20.000000, 43.837718, -102.724392, -20.041473, 30.196430, 92.088833], [20.000000, 20.000000, -57.000000, 124.000000, -12.000000, -50.000000], [20.000000, 43.837718, -102.724392, 159.958527, -30.196430, -87.911167]] - id: 785 parameters: Irb2400_10 - joints: [165.000000, -61.000000, 114.000000, 150.000000, -57.000000, 104.000000] - pose: {translation: [-0.01408741915704347, 0.04067557823027651, 0.3609398502773785], quaternion: [0.7300380995048217, 0.6348862496182965, 0.2525743349266773, -0.01303950356987487]} - solutions: [[165.000000, 94.655719, 86.275608, -154.421348, 76.226927, 80.043090], [165.000000, -61.000000, 114.000000, -30.000000, 57.000000, -76.000000], [-15.000000, 122.349456, 82.694866, 148.462305, 126.707516, -113.600215], [-15.000000, -44.398874, 117.580741, 88.521044, 24.801448, -1.826477], [165.000000, 94.655719, 86.275608, 25.578652, -76.226927, -99.956910], [165.000000, -61.000000, 114.000000, 150.000000, -57.000000, 104.000000], [-15.000000, 122.349456, 82.694866, -31.537695, -126.707516, 66.399785], [-15.000000, -44.398874, 117.580741, -91.478956, -24.801448, 178.173523]] + joints: [165.000000, -60.000000, 114.000000, 150.000000, -57.000000, 104.000000] + pose: {translation: [-0.00981570261252911, 0.03953097523187921, 0.3623025713985331], quaternion: [0.7279107567791347, 0.6355424502689407, 0.257284394596011, -0.006038573402939968]} + solutions: [[165.000000, 95.655719, 86.275608, -154.421348, 76.226927, 80.043090], [165.000000, -60.000000, 114.000000, -30.000000, 57.000000, -76.000000], [-15.000000, 121.590112, 82.917675, 148.279786, 127.102140, -113.904164], [-15.000000, -44.551466, 117.357932, 89.872895, 24.792693, -3.315614], [165.000000, 95.655719, 86.275608, 25.578652, -76.226927, -99.956910], [165.000000, -60.000000, 114.000000, 150.000000, -57.000000, 104.000000], [-15.000000, 121.590112, 82.917675, -31.720214, -127.102140, 66.095836], [-15.000000, -44.551466, 117.357932, -90.127105, -24.792693, 176.684386]] - id: 786 parameters: Irb2400_10 - joints: [-67.000000, 148.000000, -115.000000, -57.000000, 163.000000, 56.000000] - pose: {translation: [0.4124832786546958, -1.025091506603504, -0.2479359069179033], quaternion: [-0.5426647995641006, -0.1089411597066514, 0.3790485237771139, 0.7415989183232504]} - solutions: [[-67.000000, 111.334699, -44.724392, -20.325371, 135.095715, 97.119555], [-67.000000, 148.000000, -115.000000, -57.000000, 163.000000, 56.000000], [-67.000000, 111.334699, -44.724392, 159.674629, -135.095715, -82.880445], [-67.000000, 148.000000, -115.000000, 123.000000, -163.000000, -124.000000]] + joints: [-67.000000, 147.000000, -115.000000, -57.000000, 162.000000, 56.000000] + pose: {translation: [0.4172040169011965, -1.039249721291701, -0.2311586804576312], quaternion: [-0.5533586848260141, -0.1147474656608868, 0.3799434564414761, 0.7323046872438629]} + solutions: [[-67.000000, 110.334699, -44.724392, -21.244845, 134.338655, 96.472585], [-67.000000, 147.000000, -115.000000, -57.000000, 162.000000, 56.000000], [-67.000000, 110.334699, -44.724392, 158.755155, -134.338655, -83.527415], [-67.000000, 147.000000, -115.000000, 123.000000, -162.000000, -124.000000]] - id: 787 parameters: Irb2400_10 joints: [96.000000, -5.000000, -53.000000, 9.000000, -37.000000, -157.000000] @@ -3941,34 +3941,34 @@ cases: solutions: [[96.000000, -5.000000, -53.000000, -171.000000, 37.000000, 23.000000], [96.000000, 23.014319, -106.724392, -153.533044, 12.194875, 4.260317], [96.000000, -5.000000, -53.000000, 9.000000, -37.000000, -157.000000], [96.000000, 23.014319, -106.724392, 26.466956, -12.194875, -175.739683]] - id: 788 parameters: Irb2400_10 - joints: [170.000000, 167.000000, 175.000000, -119.000000, 72.000000, 6.000000] - pose: {translation: [-0.9211140672807923, 0.2342120724581729, 0.3351600683060439], quaternion: [-0.4780000868461661, 0.06717853119317588, 0.1266720139490285, 0.866577845784141]} - solutions: [[170.000000, 55.565254, 25.275608, -105.742742, 120.205059, 95.876287], [170.000000, 167.000000, 175.000000, -119.000000, 72.000000, 6.000000], [-10.000000, -152.232174, 5.280967, 66.306084, 65.283093, -8.476952], [-10.000000, -62.659139, -165.005359, 60.450706, 107.024104, 62.452452], [170.000000, 55.565254, 25.275608, 74.257258, -120.205059, -84.123713], [170.000000, 167.000000, 175.000000, 61.000000, -72.000000, -174.000000], [-10.000000, -152.232174, 5.280967, -113.693916, -65.283093, 171.523048], [-10.000000, -62.659139, -165.005359, -119.549294, -107.024104, -117.547548]] + joints: [170.000000, 166.000000, 175.000000, -119.000000, 72.000000, 6.000000] + pose: {translation: [-0.9257965894132002, 0.2350377274478809, 0.3499986784523244], quaternion: [-0.4755801057425804, 0.07443135636980044, 0.1308769029899662, 0.8666918555487774]} + solutions: [[170.000000, 54.565254, 25.275608, -105.742742, 120.205059, 95.876287], [170.000000, 166.000000, 175.000000, -119.000000, 72.000000, 6.000000], [-10.000000, -151.344778, 5.162938, 66.209114, 65.375952, -8.244633], [-10.000000, -61.898913, -164.887330, 60.483201, 107.084115, 62.563251], [170.000000, 54.565254, 25.275608, 74.257258, -120.205059, -84.123713], [170.000000, 166.000000, 175.000000, 61.000000, -72.000000, -174.000000], [-10.000000, -151.344778, 5.162938, -113.790886, -65.375952, 171.755367], [-10.000000, -61.898913, -164.887330, -119.516799, -107.084115, -117.436749]] - id: 789 parameters: Irb2400_10 - joints: [-147.000000, -162.000000, 49.000000, 177.000000, -63.000000, 120.000000] - pose: {translation: [0.4025716693175117, 0.2661592605039201, 0.6518108405528998], quaternion: [-0.2483002987461772, -0.2357186876316329, 0.9089465068294268, 0.2379073552170312]} - solutions: [[33.000000, 13.078415, 65.840173, 5.519636, 151.000441, 123.468151], [33.000000, 174.320186, 134.435435, 177.274700, 78.736251, -60.830253], [-147.000000, -162.000000, 49.000000, -3.000000, 63.000000, -60.000000], [-147.000000, -23.079847, 151.275608, -123.526939, 176.793295, 175.068749], [33.000000, 13.078415, 65.840173, -174.480364, -151.000441, -56.531849], [33.000000, 174.320186, 134.435435, -2.725300, -78.736251, 119.169747], [-147.000000, -162.000000, 49.000000, 177.000000, -63.000000, 120.000000], [-147.000000, -23.079847, 151.275608, 56.473061, -176.793295, -4.931251]] + joints: [-147.000000, -161.000000, 49.000000, 177.000000, -63.000000, 120.000000] + pose: {translation: [0.401958459917301, 0.2657610376632032, 0.6619727570865109], quaternion: [-0.2538124116599672, -0.2417709337562994, 0.9059743378177202, 0.2373532693975414]} + solutions: [[33.000000, 11.611363, 65.855077, 5.599399, 151.450462, 123.559150], [33.000000, 172.875127, 134.420531, 177.270250, 78.276809, -60.807917], [-147.000000, -161.000000, 49.000000, -3.000000, 63.000000, -60.000000], [-147.000000, -22.079847, 151.275608, -123.526939, 176.793295, 175.068749], [33.000000, 11.611363, 65.855077, -174.400601, -151.450462, -56.440850], [33.000000, 172.875127, 134.420531, -2.729750, -78.276809, 119.192083], [-147.000000, -161.000000, 49.000000, 177.000000, -63.000000, 120.000000], [-147.000000, -22.079847, 151.275608, 56.473061, -176.793295, -4.931251]] - id: 790 parameters: Irb2400_10 - joints: [102.000000, 175.000000, 159.000000, -151.000000, -133.000000, 3.000000] - pose: {translation: [-0.18595101905464, 0.7298739246738983, 0.2907096927399829], quaternion: [0.5140168546379612, 0.820201523359653, -0.2508188433658218, -0.01208478544422937]} - solutions: [[102.000000, 45.326498, 41.275608, 42.734308, 31.499999, 124.062608], [102.000000, 175.000000, 159.000000, 29.000000, 133.000000, -177.000000], [-78.000000, -160.483664, 23.333425, -139.456583, 146.943351, -162.070572], [-78.000000, -51.207041, 176.942183, -155.564108, 58.994290, 149.118031], [102.000000, 45.326498, 41.275608, -137.265692, -31.499999, -55.937392], [102.000000, 175.000000, 159.000000, -151.000000, -133.000000, 3.000000], [-78.000000, -160.483664, 23.333425, 40.543417, -146.943351, 17.929428], [-78.000000, -51.207041, 176.942183, 24.435892, -58.994290, -30.881969]] + joints: [102.000000, 174.000000, 159.000000, -151.000000, -132.000000, 3.000000] + pose: {translation: [-0.1878677014290371, 0.7365541646672527, 0.3018637911111073], quaternion: [0.5155441153034805, 0.8219897158472173, -0.2406326163727563, -0.02535973491511215]} + solutions: [[102.000000, 44.326498, 41.275608, 44.397902, 30.994648, 122.640301], [102.000000, 174.000000, 159.000000, 29.000000, 132.000000, -177.000000], [-78.000000, -159.642696, 23.240723, -140.155631, 145.783300, -162.742593], [-78.000000, -50.468852, 177.034885, -154.863243, 58.012638, 148.691400], [102.000000, 44.326498, 41.275608, -135.602098, -30.994648, -57.359699], [102.000000, 174.000000, 159.000000, -151.000000, -132.000000, 3.000000], [-78.000000, -159.642696, 23.240723, 39.844369, -145.783300, 17.257407], [-78.000000, -50.468852, 177.034885, 25.136757, -58.012638, -31.308600]] - id: 791 parameters: Irb2400_10 - joints: [-111.000000, 169.000000, 87.000000, -51.000000, 147.000000, 86.000000] - pose: {translation: [-0.02154446110745287, 0.04426722614131323, 0.5607453257525663], quaternion: [0.7558721890250979, -0.5422884901056525, -0.1472682510321618, 0.3359947761428242]} - solutions: [[-111.000000, 169.000000, 87.000000, -51.000000, 147.000000, 86.000000], [-111.000000, 16.029422, 113.275608, -154.244016, 76.919310, -54.227775], [-111.000000, 169.000000, 87.000000, 129.000000, -147.000000, -94.000000], [-111.000000, 16.029422, 113.275608, 25.755984, -76.919310, 125.772225]] + joints: [-111.000000, 168.000000, 87.000000, -51.000000, 146.000000, 86.000000] + pose: {translation: [-0.02298216217924063, 0.04320457873583653, 0.5594142398372668], quaternion: [0.749535291832247, -0.5413414344747343, -0.1503830284474833, 0.3500446291171294]} + solutions: [[-111.000000, 168.000000, 87.000000, -51.000000, 146.000000, 86.000000], [-111.000000, 15.029422, 113.275608, -153.589240, 77.688715, -54.371685], [-111.000000, 168.000000, 87.000000, 129.000000, -146.000000, -94.000000], [-111.000000, 15.029422, 113.275608, 26.410760, -77.688715, 125.628315]] - id: 792 parameters: Irb2400_10 - joints: [104.000000, 27.000000, 79.000000, 75.000000, -9.000000, 83.000000] - pose: {translation: [-0.0654110903335508, 0.3154404393797604, 0.3985460781151869], quaternion: [0.4400717216791825, 0.8869218664811231, -0.04029896435219124, 0.1344710972964143]} - solutions: [[104.000000, 27.000000, 79.000000, -105.000000, 9.000000, -97.000000], [104.000000, -148.705846, 121.275608, -11.463862, 130.511747, 150.316853], [-76.000000, 173.833514, 63.875532, 154.438570, 159.500409, 133.689016], [-76.000000, -27.775238, 136.400076, 164.026608, 33.304482, 171.275698], [104.000000, 27.000000, 79.000000, 75.000000, -9.000000, 83.000000], [104.000000, -148.705846, 121.275608, 168.536138, -130.511747, -29.683147], [-76.000000, 173.833514, 63.875532, -25.561430, -159.500409, -46.310984], [-76.000000, -27.775238, 136.400076, -15.973392, -33.304482, -8.724302]] + joints: [104.000000, 27.000000, 79.000000, 75.000000, -8.000000, 83.000000] + pose: {translation: [-0.06668328315770181, 0.3146847470723526, 0.398439967112694], quaternion: [0.4412625428907196, 0.8866820557974885, -0.0475114790595935, 0.1297110616945415]} + solutions: [[104.000000, 27.000000, 79.000000, -105.000000, 8.000000, -97.000000], [104.000000, -148.705846, 121.275608, -10.243323, 130.890981, 151.112808], [-76.000000, 173.833514, 63.875532, 156.714300, 160.119525, 135.824975], [-76.000000, -27.775238, 136.400076, 165.845104, 33.347828, 169.756203], [104.000000, 27.000000, 79.000000, 75.000000, -8.000000, 83.000000], [104.000000, -148.705846, 121.275608, 169.756677, -130.890981, -28.887192], [-76.000000, 173.833514, 63.875532, -23.285700, -160.119525, -44.175025], [-76.000000, -27.775238, 136.400076, -14.154896, -33.347828, -10.243797]] - id: 793 parameters: Irb2400_10 - joints: [122.000000, 154.000000, 8.000000, -62.000000, 127.000000, 17.000000] - pose: {translation: [0.1719043581891327, -0.1619966264261622, -0.3342329160313675], quaternion: [0.1658708175013721, 0.4485625483354709, 0.8751593503356405, 0.07331182477823309]} - solutions: [[-58.000000, 121.131421, 13.667036, 44.956682, 93.631390, -110.842253], [-58.000000, -140.211396, -173.391428, 93.538900, 135.049104, -19.466751], [122.000000, 154.000000, 8.000000, -62.000000, 127.000000, 17.000000], [122.000000, -113.492439, -167.724392, -128.120475, 116.320629, -84.991627], [-58.000000, 121.131421, 13.667036, -135.043318, -93.631390, 69.157747], [-58.000000, -140.211396, -173.391428, -86.461100, -135.049104, 160.533249], [122.000000, 154.000000, 8.000000, 118.000000, -127.000000, -163.000000], [122.000000, -113.492439, -167.724392, 51.879525, -116.320629, 95.008373]] + joints: [122.000000, 153.000000, 8.000000, -62.000000, 126.000000, 17.000000] + pose: {translation: [0.1644287263608096, -0.1485628226737054, -0.3398175924354723], quaternion: [0.1775934198228268, 0.439567479204874, 0.8773514359785286, 0.07413141201622754]} + solutions: [[-58.000000, 122.363936, 13.297079, 45.755931, 94.340416, -110.689139], [-58.000000, -139.381854, -173.021472, 94.174730, 134.256731, -19.161471], [122.000000, 153.000000, 8.000000, -62.000000, 126.000000, 17.000000], [122.000000, -114.492439, -167.724392, -127.027217, 116.524250, -84.505130], [-58.000000, 122.363936, 13.297079, -134.244069, -94.340416, 69.310861], [-58.000000, -139.381854, -173.021472, -85.825270, -134.256731, 160.838529], [122.000000, 153.000000, 8.000000, 118.000000, -126.000000, -163.000000], [122.000000, -114.492439, -167.724392, 52.972783, -116.524250, 95.494870]] - id: 794 parameters: Irb2400_10 joints: [108.000000, 105.000000, -180.000000, -100.000000, 21.000000, -51.000000] @@ -3976,19 +3976,19 @@ cases: solutions: [[108.000000, -0.896808, 20.275608, -159.138953, 97.661904, 31.213071], [108.000000, 105.000000, -180.000000, -100.000000, 21.000000, -51.000000], [-72.000000, -101.576778, 2.269510, 94.968628, 20.747775, -67.006851], [-72.000000, -15.243206, -161.993902, 21.238966, 76.964653, 23.294557], [108.000000, -0.896808, 20.275608, 20.861047, -97.661904, -148.786929], [108.000000, 105.000000, -180.000000, 80.000000, -21.000000, 129.000000], [-72.000000, -101.576778, 2.269510, -85.031372, -20.747775, 112.993149], [-72.000000, -15.243206, -161.993902, -158.761034, -76.964653, -156.705443]] - id: 795 parameters: Irb2400_10 - joints: [-53.000000, -91.000000, 153.000000, -33.000000, -93.000000, -151.000000] - pose: {translation: [-0.005491728871603624, 0.08410684506633927, 0.03679847671586998], quaternion: [0.513482506452809, -0.1289750719149787, 0.8480056810089265, 0.02423863379099341]} - solutions: [[127.000000, 106.493707, 50.851409, -38.618556, 60.626121, 52.343139], [127.000000, -112.305074, 149.424199, -81.522981, 146.639830, -48.935878], [-53.000000, 132.179343, 47.275608, 51.503236, 135.977312, -106.936903], [-53.000000, -91.000000, 153.000000, 147.000000, 93.000000, 29.000000], [127.000000, 106.493707, 50.851409, 141.381444, -60.626121, -127.656861], [127.000000, -112.305074, 149.424199, 98.477019, -146.639830, 131.064122], [-53.000000, 132.179343, 47.275608, -128.496764, -135.977312, 73.063097], [-53.000000, -91.000000, 153.000000, -33.000000, -93.000000, -151.000000]] + joints: [-53.000000, -90.000000, 153.000000, -33.000000, -93.000000, -151.000000] + pose: {translation: [-0.01154902338462349, 0.09214514638287201, 0.03986175112747532], quaternion: [0.5180854038884846, -0.1347528893579973, 0.8443778358854753, 0.02133643252135786]} + solutions: [[127.000000, 105.288061, 51.151463, -38.651784, 60.552375, 52.410805], [127.000000, -113.138200, 149.124144, -81.723181, 146.659233, -49.175546], [-53.000000, 133.179343, 47.275608, 51.503236, 135.977312, -106.936903], [-53.000000, -90.000000, 153.000000, 147.000000, 93.000000, 29.000000], [127.000000, 105.288061, 51.151463, 141.348216, -60.552375, -127.589195], [127.000000, -113.138200, 149.124144, 98.276819, -146.659233, 130.824454], [-53.000000, 133.179343, 47.275608, -128.496764, -135.977312, 73.063097], [-53.000000, -90.000000, 153.000000, -33.000000, -93.000000, -151.000000]] - id: 796 parameters: Irb2400_10 - joints: [97.000000, 135.000000, 67.000000, 146.000000, 26.000000, 100.000000] - pose: {translation: [0.00789630425149811, -0.2352834479726845, 0.2741250387817236], quaternion: [0.7019000901646969, 0.08643266426435779, -0.1735533102164909, 0.6853793887241239]} - solutions: [[-83.000000, 84.574284, 73.468432, -145.950956, 154.035403, -79.945442], [-83.000000, -101.950538, 126.807176, -148.957084, 28.382844, -139.128616], [97.000000, 135.000000, 67.000000, 146.000000, 26.000000, 100.000000], [97.000000, -62.028656, 133.275608, 14.949195, 108.145219, -106.472855], [-83.000000, 84.574284, 73.468432, 34.049044, -154.035403, 100.054558], [-83.000000, -101.950538, 126.807176, 31.042916, -28.382844, 40.871384], [97.000000, 135.000000, 67.000000, -34.000000, -26.000000, -80.000000], [97.000000, -62.028656, 133.275608, -165.050805, -108.145219, 73.527145]] + joints: [97.000000, 134.000000, 67.000000, 146.000000, 26.000000, 100.000000] + pose: {translation: [0.007165084154881866, -0.2293281381907447, 0.2683392653859975], quaternion: [0.7076251967001823, 0.08866150232746493, -0.1735445349943779, 0.6791818706161483]} + solutions: [[-83.000000, 85.903583, 73.187119, -145.895695, 154.075149, -79.883987], [-83.000000, -101.116257, 127.088488, -149.067005, 28.481939, -139.003618], [97.000000, 134.000000, 67.000000, 146.000000, 26.000000, 100.000000], [97.000000, -63.028656, 133.275608, 14.949195, 108.145219, -106.472855], [-83.000000, 85.903583, 73.187119, 34.104305, -154.075149, 100.116013], [-83.000000, -101.116257, 127.088488, 30.932995, -28.481939, 40.996382], [97.000000, 134.000000, 67.000000, -34.000000, -26.000000, -80.000000], [97.000000, -63.028656, 133.275608, -165.050805, -108.145219, 73.527145]] - id: 797 parameters: Irb2400_10 - joints: [41.000000, -100.000000, 155.000000, 91.000000, 134.000000, 177.000000] - pose: {translation: [-0.1032370633846796, -0.008738509770598962, 0.0005307482199579661], quaternion: [-0.4476668075861978, -0.1071383105426112, 0.735080892930814, 0.4977669059386074]} - solutions: [[-139.000000, 116.252152, 46.599176, -58.765967, 122.738299, -136.165198], [-139.000000, -107.744681, 153.676432, -133.380225, 98.282914, 94.228362], [41.000000, 125.587161, 45.275608, 48.758523, 73.038737, 67.155811], [41.000000, -100.000000, 155.000000, 91.000000, 134.000000, 177.000000], [-139.000000, 116.252152, 46.599176, 121.234033, -122.738299, 43.834802], [-139.000000, -107.744681, 153.676432, 46.619775, -98.282914, -85.771638], [41.000000, 125.587161, 45.275608, -131.241477, -73.038737, -112.844189], [41.000000, -100.000000, 155.000000, -89.000000, -134.000000, -3.000000]] + joints: [41.000000, -99.000000, 155.000000, 91.000000, 133.000000, 177.000000] + pose: {translation: [-0.1115139920909031, -0.01458066130495245, 0.002947254496080264], quaternion: [-0.4523045185139627, -0.09565957319535551, 0.7346572593365804, 0.4965365846460857]} + solutions: [[-139.000000, 115.087777, 46.904279, -59.550627, 121.980014, -136.483113], [-139.000000, -108.540737, 153.371329, -132.388699, 98.087657, 94.296165], [41.000000, 126.587161, 45.275608, 49.740148, 73.380536, 66.872241], [41.000000, -99.000000, 155.000000, 91.000000, 133.000000, 177.000000], [-139.000000, 115.087777, 46.904279, 120.449373, -121.980014, 43.516887], [-139.000000, -108.540737, 153.371329, 47.611301, -98.087657, -85.703835], [41.000000, 126.587161, 45.275608, -130.259852, -73.380536, -113.127759], [41.000000, -99.000000, 155.000000, -89.000000, -133.000000, -3.000000]] - id: 798 parameters: Irb2400_10 joints: [-123.000000, -36.000000, -72.000000, -26.000000, -23.000000, -27.000000] @@ -3996,19 +3996,19 @@ cases: solutions: [[57.000000, 2.758371, -37.638664, -148.127910, 18.928544, -81.639955], [57.000000, 46.844555, -122.085728, -23.043656, 25.949946, 149.753004], [-123.000000, -36.000000, -72.000000, 154.000000, 23.000000, 153.000000], [-123.000000, -27.806262, -87.724392, 143.026192, 16.546132, 164.638412], [57.000000, 2.758371, -37.638664, 31.872090, -18.928544, 98.360045], [57.000000, 46.844555, -122.085728, 156.956344, -25.949946, -30.246996], [-123.000000, -36.000000, -72.000000, -26.000000, -23.000000, -27.000000], [-123.000000, -27.806262, -87.724392, -36.973808, -16.546132, -15.361588]] - id: 799 parameters: Irb2400_10 - joints: [79.000000, -78.000000, 176.000000, -21.000000, 70.000000, 163.000000] - pose: {translation: [-0.0938043008301026, -0.6325964212882685, -0.02327385176600028], quaternion: [0.3952205684948252, 0.6723836118116647, -0.4820594434825078, 0.3991486862750054]} - solutions: [[-101.000000, 81.014928, 36.993888, 159.707410, 103.832925, 150.468220], [-101.000000, -154.290272, 163.281720, 78.139327, 20.127000, -101.871399], [79.000000, 171.677606, 24.275608, -143.799774, 34.763058, -55.496540], [79.000000, -78.000000, 176.000000, -21.000000, 70.000000, 163.000000], [-101.000000, 81.014928, 36.993888, -20.292590, -103.832925, -29.531780], [-101.000000, -154.290272, 163.281720, -101.860673, -20.127000, 78.128601], [79.000000, 171.677606, 24.275608, 36.200226, -34.763058, 124.503460], [79.000000, -78.000000, 176.000000, 159.000000, -70.000000, -17.000000]] + joints: [79.000000, -77.000000, 176.000000, -21.000000, 69.000000, 163.000000] + pose: {translation: [-0.09604116209237576, -0.6431283072785126, -0.0117298665259891], quaternion: [0.3940209387336321, 0.6734637633003031, -0.4834708906397793, 0.3967996437307362]} + solutions: [[-101.000000, 79.711067, 37.248764, 159.933789, 102.810639, 150.536828], [-101.000000, -155.300153, 163.026844, 74.567234, 20.308808, -98.430390], [79.000000, 172.677606, 24.275608, -144.870381, 35.550466, -54.621205], [79.000000, -77.000000, 176.000000, -21.000000, 69.000000, 163.000000], [-101.000000, 79.711067, 37.248764, -20.066211, -102.810639, -29.463172], [-101.000000, -155.300153, 163.026844, -105.432766, -20.308808, 81.569610], [79.000000, 172.677606, 24.275608, 35.129619, -35.550466, 125.378795], [79.000000, -77.000000, 176.000000, 159.000000, -69.000000, -17.000000]] - id: 800 parameters: Irb2400_10 - joints: [-109.000000, 85.000000, -180.000000, 66.000000, 134.000000, -177.000000] - pose: {translation: [-0.1529280940616478, -0.6157053984720849, 1.36015201270634], quaternion: [0.846225266338696, -0.3422867174717804, 0.3696185483883596, 0.1735647727497677]} - solutions: [[-109.000000, -20.896808, 20.275608, 44.432757, 69.832545, 106.981582], [-109.000000, 85.000000, -180.000000, 66.000000, 134.000000, -177.000000], [71.000000, -87.167858, 7.463325, -109.073790, 135.946964, -170.035359], [71.000000, 4.759727, -167.187717, -138.458448, 82.278222, 118.868106], [-109.000000, -20.896808, 20.275608, -135.567243, -69.832545, -73.018418], [-109.000000, 85.000000, -180.000000, -114.000000, -134.000000, 3.000000], [71.000000, -87.167858, 7.463325, 70.926210, -135.946964, 9.964641], [71.000000, 4.759727, -167.187717, 41.541552, -82.278222, -61.131894]] + joints: [-109.000000, 85.000000, -180.000000, 66.000000, 133.000000, -177.000000] + pose: {translation: [-0.152150200031494, -0.6163116695773122, 1.361260219011576], quaternion: [0.843051244752858, -0.3405923317534121, 0.3771352952225148, 0.1761545666988428]} + solutions: [[-109.000000, -20.896808, 20.275608, 45.468107, 69.593969, 106.622597], [-109.000000, 85.000000, -180.000000, 66.000000, 133.000000, -177.000000], [71.000000, -87.167858, 7.463325, -109.245128, 134.954213, -170.157466], [71.000000, 4.759727, -167.187717, -137.549458, 81.842898, 118.742548], [-109.000000, -20.896808, 20.275608, -134.531893, -69.593969, -73.377403], [-109.000000, 85.000000, -180.000000, -114.000000, -133.000000, 3.000000], [71.000000, -87.167858, 7.463325, 70.754872, -134.954213, 9.842534], [71.000000, 4.759727, -167.187717, 42.450542, -81.842898, -61.257452]] - id: 801 parameters: Irb2400_10 - joints: [-73.000000, 48.000000, -63.000000, 11.000000, 10.000000, 46.000000] - pose: {translation: [0.4128489582310169, -1.340735293466333, 1.420215625349143], quaternion: [0.6055654649975164, 0.2969372802429862, -0.09271960071926062, 0.7324764807464477]} - solutions: [[-73.000000, 48.000000, -63.000000, 11.000000, 10.000000, 46.000000], [-73.000000, 65.577305, -96.724392, 4.329863, 26.031489, 52.944835], [-73.000000, 48.000000, -63.000000, -169.000000, -10.000000, -134.000000], [-73.000000, 65.577305, -96.724392, -175.670137, -26.031489, -127.055165]] + joints: [-73.000000, 47.000000, -63.000000, 11.000000, 10.000000, 46.000000] + pose: {translation: [0.4086822574458335, -1.327106629292676, 1.442830975106541], quaternion: [0.5996662881761364, 0.2942833729516647, -0.09364904444899666, 0.7382597752167163]} + solutions: [[-73.000000, 47.000000, -63.000000, 11.000000, 10.000000, 46.000000], [-73.000000, 64.577305, -96.724392, 4.329863, 26.031489, 52.944835], [-73.000000, 47.000000, -63.000000, -169.000000, -10.000000, -134.000000], [-73.000000, 64.577305, -96.724392, -175.670137, -26.031489, -127.055165]] - id: 802 parameters: Irb2400_10 joints: [-3.000000, 27.000000, -8.000000, 31.000000, -9.000000, 131.000000] @@ -4026,19 +4026,19 @@ cases: solutions: [[-103.000000, -28.626625, 0.180407, -178.523820, 47.547308, 62.681029], [-103.000000, 55.465712, -159.904799, -2.284884, 28.474127, -114.313727], [77.000000, -60.650889, -7.724392, 178.131341, 35.655098, -114.803913], [77.000000, 15.000000, -152.000000, 2.000000, 33.000000, 62.000000], [-103.000000, -28.626625, 0.180407, 1.476180, -47.547308, -117.318971], [-103.000000, 55.465712, -159.904799, 177.715116, -28.474127, 65.686273], [77.000000, -60.650889, -7.724392, -1.868659, -35.655098, 65.196087], [77.000000, 15.000000, -152.000000, -178.000000, -33.000000, -118.000000]] - id: 805 parameters: Irb2400_10 - joints: [-110.000000, 110.000000, 118.000000, 65.000000, -59.000000, 172.000000] - pose: {translation: [-0.09789060396733368, -0.07588500194565294, 0.8565474533238918], quaternion: [-0.4712694443491549, 0.4557729430085914, 0.7317956833621111, 0.1861483630245159]} - solutions: [[-110.000000, -82.133915, 82.275608, -100.132483, 127.892402, 113.619030], [-110.000000, 110.000000, 118.000000, -115.000000, 59.000000, -8.000000], [70.000000, -134.968804, 73.484700, 58.698574, 65.394256, 5.440490], [70.000000, 38.535131, 126.790908, 91.454202, 129.003485, 132.152606], [-110.000000, -82.133915, 82.275608, 79.867517, -127.892402, -66.380970], [-110.000000, 110.000000, 118.000000, 65.000000, -59.000000, 172.000000], [70.000000, -134.968804, 73.484700, -121.301426, -65.394256, -174.559510], [70.000000, 38.535131, 126.790908, -88.545798, -129.003485, -47.847394]] + joints: [-110.000000, 109.000000, 118.000000, 65.000000, -59.000000, 172.000000] + pose: {translation: [-0.09644853973845297, -0.07192296303939989, 0.8565942464030305], quaternion: [-0.4705938103556978, 0.4623120920664424, 0.729436936511107, 0.1809164194796761]} + solutions: [[-110.000000, -83.133915, 82.275608, -100.132483, 127.892402, 113.619030], [-110.000000, 109.000000, 118.000000, -115.000000, 59.000000, -8.000000], [70.000000, -134.569904, 73.675060, 58.538778, 65.608142, 5.825840], [70.000000, 39.271620, 126.600548, 91.821552, 128.990512, 132.736366], [-110.000000, -83.133915, 82.275608, 79.867517, -127.892402, -66.380970], [-110.000000, 109.000000, 118.000000, 65.000000, -59.000000, 172.000000], [70.000000, -134.569904, 73.675060, -121.461222, -65.608142, -174.174160], [70.000000, 39.271620, 126.600548, -88.178448, -128.990512, -47.263634]] - id: 806 parameters: Irb2400_10 - joints: [74.000000, 61.000000, -127.000000, 100.000000, -155.000000, 82.000000] - pose: {translation: [0.2751145201629991, 0.8310928741438641, 1.628513837129076], quaternion: [0.7233479130580461, -0.6369215387760542, 0.2621245814620263, 0.04888204078258481]} - solutions: [[74.000000, 11.757712, -32.724392, -30.984604, 126.054962, -38.474492], [74.000000, 61.000000, -127.000000, -80.000000, 155.000000, -98.000000], [74.000000, 11.757712, -32.724392, 149.015396, -126.054962, 141.525508], [74.000000, 61.000000, -127.000000, 100.000000, -155.000000, 82.000000]] + joints: [74.000000, 61.000000, -127.000000, 100.000000, -154.000000, 82.000000] + pose: {translation: [0.2765122416250759, 0.8311832944721809, 1.629002717348377], quaternion: [0.7234244396481548, -0.6345727413040626, 0.2684971330739613, 0.04340282991538696]} + solutions: [[74.000000, 11.757712, -32.724392, -32.043820, 125.543138, -39.094092], [74.000000, 61.000000, -127.000000, -80.000000, 154.000000, -98.000000], [74.000000, 11.757712, -32.724392, 147.956180, -125.543138, 140.905908], [74.000000, 61.000000, -127.000000, 100.000000, -154.000000, 82.000000]] - id: 807 parameters: Irb2400_10 - joints: [147.000000, 141.000000, 164.000000, -11.000000, 119.000000, 45.000000] - pose: {translation: [-0.7489883622279421, 0.5033127024191978, 0.6873906546504586], quaternion: [0.7133812242979699, -0.660208896385029, -0.2301340697910952, -0.04743154935882987]} - solutions: [[147.000000, 17.132186, 36.275608, -41.460473, 14.599050, 90.912992], [147.000000, 141.000000, 164.000000, -11.000000, 119.000000, 45.000000], [-33.000000, -132.461155, 17.039491, 167.707878, 128.382632, 42.678694], [-33.000000, -30.119701, -176.763883, 164.485245, 38.601623, 62.623954], [147.000000, 17.132186, 36.275608, 138.539527, -14.599050, -89.087008], [147.000000, 141.000000, 164.000000, 169.000000, -119.000000, -135.000000], [-33.000000, -132.461155, 17.039491, -12.292122, -128.382632, -137.321306], [-33.000000, -30.119701, -176.763883, -15.514755, -38.601623, -117.376046]] + joints: [147.000000, 140.000000, 164.000000, -11.000000, 118.000000, 45.000000] + pose: {translation: [-0.7488473079581178, 0.5033821508522101, 0.7020735969039534], quaternion: [0.7102294458535314, -0.6576566365245543, -0.2469342406225596, -0.04566578025125607]} + solutions: [[147.000000, 16.132186, 36.275608, -44.447169, 13.921440, 93.807749], [147.000000, 140.000000, 164.000000, -11.000000, 118.000000, 45.000000], [-33.000000, -131.694823, 17.097126, 167.787248, 127.211401, 42.756859], [-33.000000, -29.290227, -176.821518, 163.907499, 37.430320, 63.117411], [147.000000, 16.132186, 36.275608, 135.552831, -13.921440, -86.192251], [147.000000, 140.000000, 164.000000, 169.000000, -118.000000, -135.000000], [-33.000000, -131.694823, 17.097126, -12.212752, -127.211401, -137.243141], [-33.000000, -29.290227, -176.821518, -16.092501, -37.430320, -116.882589]] - id: 808 parameters: Irb2400_10 joints: [91.000000, 58.000000, 13.000000, -102.000000, 6.000000, -8.000000] @@ -4051,9 +4051,9 @@ cases: solutions: [[-151.000000, -13.887000, 22.889808, -167.739813, 101.736743, -177.468965], [-151.000000, 94.897970, 177.385800, -113.424309, 13.096129, 113.980045], [29.000000, -95.000000, 8.000000, 90.000000, 12.000000, 90.000000], [29.000000, -2.492439, -167.724392, 12.082112, 83.365733, 178.583363], [-151.000000, -13.887000, 22.889808, 12.260187, -101.736743, 2.531035], [-151.000000, 94.897970, 177.385800, 66.575691, -13.096129, -66.019955], [29.000000, -95.000000, 8.000000, -90.000000, -12.000000, -90.000000], [29.000000, -2.492439, -167.724392, -167.917888, -83.365733, -1.416637]] - id: 810 parameters: Irb2400_10 - joints: [-4.000000, -35.000000, 136.000000, 67.000000, -152.000000, -18.000000] - pose: {translation: [-0.2881514766408855, -0.01667300611898936, 0.496310984822134], quaternion: [0.04705022346430086, 0.2862242592897934, -0.6858316195718881, 0.6674555711516456]} - solutions: [[176.000000, 40.018627, 78.152180, 31.692648, 124.656446, 117.022351], [176.000000, -137.508020, 122.123427, 154.211058, 96.626590, -85.515601], [-4.000000, 166.035755, 64.275608, -28.396495, 65.326325, -69.606672], [-4.000000, -35.000000, 136.000000, -113.000000, 152.000000, 162.000000], [176.000000, 40.018627, 78.152180, -148.307352, -124.656446, -62.977649], [176.000000, -137.508020, 122.123427, -25.788942, -96.626590, 94.484399], [-4.000000, 166.035755, 64.275608, 151.603505, -65.326325, 110.393328], [-4.000000, -35.000000, 136.000000, 67.000000, -152.000000, -18.000000]] + joints: [-4.000000, -35.000000, 136.000000, 67.000000, -151.000000, -18.000000] + pose: {translation: [-0.2878710975740955, -0.01789563692967015, 0.4955189201342285], quaternion: [0.05094054981342984, 0.2936023068118495, -0.6846431692312787, 0.665181536608178]} + solutions: [[176.000000, 40.018627, 78.152180, 32.544688, 123.946093, 117.502528], [176.000000, -137.508020, 122.123427, 153.280125, 97.008139, -85.626110], [-4.000000, 166.035755, 64.275608, -29.254757, 65.949813, -69.252629], [-4.000000, -35.000000, 136.000000, -113.000000, 151.000000, 162.000000], [176.000000, 40.018627, 78.152180, -147.455312, -123.946093, -62.497472], [176.000000, -137.508020, 122.123427, -26.719875, -97.008139, 94.373890], [-4.000000, 166.035755, 64.275608, 150.745243, -65.949813, 110.747371], [-4.000000, -35.000000, 136.000000, 67.000000, -151.000000, -18.000000]] - id: 811 parameters: Irb2400_10 joints: [-130.000000, 9.000000, -120.000000, -7.000000, -105.000000, -32.000000] @@ -4061,74 +4061,74 @@ cases: solutions: [[50.000000, -20.334415, -33.935829, -6.760493, 90.375134, 149.775720], [50.000000, 27.636020, -125.788563, -9.398303, 133.873123, 143.276117], [-130.000000, -32.900268, -39.724392, 168.733747, 142.948195, 140.786594], [-130.000000, 9.000000, -120.000000, 173.000000, 105.000000, 148.000000], [50.000000, -20.334415, -33.935829, 173.239507, -90.375134, -30.224280], [50.000000, 27.636020, -125.788563, 170.601697, -133.873123, -36.723883], [-130.000000, -32.900268, -39.724392, -11.266253, -142.948195, -39.213406], [-130.000000, 9.000000, -120.000000, -7.000000, -105.000000, -32.000000]] - id: 812 parameters: Irb2400_10 - joints: [-78.000000, -92.000000, -100.000000, -130.000000, -48.000000, -12.000000] - pose: {translation: [-0.2393950922835328, 1.359003435412227, 0.3292632834735074], quaternion: [-0.1227439038095098, 0.5664548550515467, 0.6483517274296194, 0.4936627075293024]} - solutions: [[102.000000, 71.444260, -16.764766, -144.725146, 80.322884, -160.210849], [102.000000, 137.503226, -142.959626, -114.125730, 38.591791, 146.382827], [-78.000000, -112.994488, -59.724392, 68.005464, 37.876879, 143.669858], [-78.000000, -92.000000, -100.000000, 50.000000, 48.000000, 168.000000], [102.000000, 71.444260, -16.764766, 35.274854, -80.322884, 19.789151], [102.000000, 137.503226, -142.959626, 65.874270, -38.591791, -33.617173], [-78.000000, -112.994488, -59.724392, -111.994536, -37.876879, -36.330142], [-78.000000, -92.000000, -100.000000, -130.000000, -48.000000, -12.000000]] + joints: [-78.000000, -91.000000, -100.000000, -130.000000, -47.000000, -12.000000] + pose: {translation: [-0.2413337252397653, 1.364431242540713, 0.3542791964759729], quaternion: [-0.1238174672250292, 0.5648017123615554, 0.6533776481453287, 0.4886367868135931]} + solutions: [[102.000000, 70.223428, -16.639881, -145.250739, 79.394478, -160.172493], [102.000000, 136.414519, -143.084511, -113.268466, 37.578834, 145.587410], [-78.000000, -111.994488, -59.724392, 68.690544, 36.967645, 143.125763], [-78.000000, -91.000000, -100.000000, 50.000000, 47.000000, 168.000000], [102.000000, 70.223428, -16.639881, 34.749261, -79.394478, 19.827507], [102.000000, 136.414519, -143.084511, 66.731534, -37.578834, -34.412590], [-78.000000, -111.994488, -59.724392, -111.309456, -36.967645, -36.874237], [-78.000000, -91.000000, -100.000000, -130.000000, -47.000000, -12.000000]] - id: 813 parameters: Irb2400_10 - joints: [-16.000000, -40.000000, 35.000000, -118.000000, 15.000000, -78.000000] - pose: {translation: [0.444599801367604, -0.1476942488592422, 1.372794904489005], quaternion: [0.6246313117731989, -0.08496958163905059, 0.720987409469156, 0.2877378145734986]} - solutions: [[-16.000000, -40.000000, 35.000000, -118.000000, 15.000000, -78.000000], [-16.000000, 82.404411, 165.275608, -13.412670, 99.878825, 160.825891], [164.000000, -89.598005, 26.232256, 166.373284, 104.073660, 159.795091], [164.000000, 22.903282, 174.043352, 109.532585, 14.032834, -126.917319], [-16.000000, -40.000000, 35.000000, 62.000000, -15.000000, 102.000000], [-16.000000, 82.404411, 165.275608, 166.587330, -99.878825, -19.174109], [164.000000, -89.598005, 26.232256, -13.626716, -104.073660, -20.204909], [164.000000, 22.903282, 174.043352, -70.467415, -14.032834, 53.082681]] + joints: [-16.000000, -39.000000, 35.000000, -118.000000, 15.000000, -78.000000] + pose: {translation: [0.4572589289332243, -0.151324195276416, 1.366255488019554], quaternion: [0.6313476320918079, -0.08428689579096067, 0.7155158641553339, 0.2869371617480676]} + solutions: [[-16.000000, -39.000000, 35.000000, -118.000000, 15.000000, -78.000000], [-16.000000, 83.404411, 165.275608, -13.412670, 99.878825, 160.825891], [164.000000, -90.314383, 25.948426, 166.373296, 104.073459, 159.795141], [164.000000, 21.870219, 174.327182, 110.472402, 14.118614, -127.886226], [-16.000000, -39.000000, 35.000000, 62.000000, -15.000000, 102.000000], [-16.000000, 83.404411, 165.275608, 166.587330, -99.878825, -19.174109], [164.000000, -90.314383, 25.948426, -13.626704, -104.073459, -20.204859], [164.000000, 21.870219, 174.327182, -69.527598, -14.118614, 52.113774]] - id: 814 parameters: Irb2400_10 - joints: [-165.000000, -85.000000, 179.000000, 95.000000, 96.000000, 130.000000] - pose: {translation: [0.5166809542766869, 0.05126086032724131, -0.07778384873847469], quaternion: [-0.1986196094104153, -0.6414331752033677, 0.6614314925985145, -0.3340989570547639]} - solutions: [[15.000000, 89.099207, 32.820168, -82.438387, 91.937091, 165.785192], [15.000000, -150.982527, 167.455440, -93.903886, 96.763065, 59.979949], [-165.000000, 168.000184, 21.275608, 83.547079, 94.398890, 34.213907], [-165.000000, -85.000000, 179.000000, 95.000000, 96.000000, 130.000000], [15.000000, 89.099207, 32.820168, 97.561613, -91.937091, -14.214808], [15.000000, -150.982527, 167.455440, 86.096114, -96.763065, -120.020051], [-165.000000, 168.000184, 21.275608, -96.452921, -94.398890, -145.786093], [-165.000000, -85.000000, 179.000000, -85.000000, -96.000000, -50.000000]] + joints: [-165.000000, -84.000000, 179.000000, 95.000000, 96.000000, 130.000000] + pose: {translation: [0.5282696325051556, 0.05436603729990364, -0.06699147959585938], quaternion: [-0.2049419694306132, -0.6400864740640478, 0.6582833688261276, -0.3390443941625951]} + solutions: [[15.000000, 87.812408, 33.099343, -82.438643, 91.938095, 165.777630], [15.000000, -151.951900, 167.176265, -93.933255, 96.746079, 59.730248], [-165.000000, 169.000184, 21.275608, 83.547079, 94.398890, 34.213907], [-165.000000, -84.000000, 179.000000, 95.000000, 96.000000, 130.000000], [15.000000, 87.812408, 33.099343, 97.561357, -91.938095, -14.222370], [15.000000, -151.951900, 167.176265, 86.066745, -96.746079, -120.269752], [-165.000000, 169.000184, 21.275608, -96.452921, -94.398890, -145.786093], [-165.000000, -84.000000, 179.000000, -85.000000, -96.000000, -50.000000]] - id: 815 parameters: Irb2400_10 - joints: [-25.000000, -51.000000, 111.000000, 156.000000, 130.000000, -179.000000] - pose: {translation: [0.07528863508354441, -0.00588563048739371, 0.549380877675087], quaternion: [-0.09200906104165496, 0.1955633598916187, -0.04448952714706164, 0.9753512120915035]} - solutions: [[-25.000000, 92.091042, 89.275608, 18.841057, 105.245882, 22.097869], [-25.000000, -51.000000, 111.000000, 156.000000, 130.000000, -179.000000], [155.000000, 125.898578, 84.906792, -26.211592, 44.864079, -143.793505], [155.000000, -34.374279, 115.368816, -65.919186, 160.045146, 132.399954], [-25.000000, 92.091042, 89.275608, -161.158943, -105.245882, -157.902131], [-25.000000, -51.000000, 111.000000, -24.000000, -130.000000, 1.000000], [155.000000, 125.898578, 84.906792, 153.788408, -44.864079, 36.206495], [155.000000, -34.374279, 115.368816, 114.080814, -160.045146, -47.600046]] + joints: [-25.000000, -51.000000, 111.000000, 156.000000, 129.000000, -179.000000] + pose: {translation: [0.07664618005396392, -0.00609517826210511, 0.5488205506513332], quaternion: [-0.091468832253869, 0.2040592783682688, -0.0453204152837, 0.9736217559177938]} + solutions: [[-25.000000, 92.091042, 89.275608, 19.215846, 106.178533, 22.199367], [-25.000000, -51.000000, 111.000000, 156.000000, 129.000000, -179.000000], [155.000000, 125.898578, 84.906792, -27.040770, 44.049970, -143.201637], [155.000000, -34.374279, 115.368816, -63.789738, 159.370749, 134.397305], [-25.000000, 92.091042, 89.275608, -160.784154, -106.178533, -157.800633], [-25.000000, -51.000000, 111.000000, -24.000000, -129.000000, 1.000000], [155.000000, 125.898578, 84.906792, 152.959230, -44.049970, 36.798363], [155.000000, -34.374279, 115.368816, 116.210262, -159.370749, -45.602695]] - id: 816 parameters: Irb2400_10 - joints: [-123.000000, -19.000000, 95.000000, -180.000000, -129.000000, 131.000000] - pose: {translation: [-0.05831953581435862, -0.0898042099064606, 0.6175993306130555], quaternion: [0.3233549762368305, 0.4291065467602765, 0.8413369866395912, -0.05883201324586628]} - solutions: [[-123.000000, -19.000000, 95.000000, 0.000000, 129.000000, -49.000000], [-123.000000, -117.776946, 105.275608, 180.000000, 142.498661, 131.000000], [57.000000, 171.976079, 78.244792, -0.000000, 84.779130, 131.000000], [57.000000, -5.355125, 122.030816, -180.000000, 141.675691, -49.000000], [-123.000000, -19.000000, 95.000000, 180.000000, -129.000000, 131.000000], [-123.000000, -117.776946, 105.275608, 0.000000, -142.498661, -49.000000], [57.000000, 171.976079, 78.244792, 180.000000, -84.779130, -49.000000], [57.000000, -5.355125, 122.030816, 0.000000, -141.675691, 131.000000]] + joints: [-123.000000, -19.000000, 95.000000, -180.000000, -128.000000, 131.000000] + pose: {translation: [-0.05798447278991917, -0.08928825809445654, 0.6162493930265391], quaternion: [0.3277719534670779, 0.4349680735208917, 0.8366276085933442, -0.05850270145285546]} + solutions: [[-123.000000, -19.000000, 95.000000, 0.000000, 128.000000, -49.000000], [-123.000000, -117.776946, 105.275608, 180.000000, 143.498661, 131.000000], [57.000000, 171.976079, 78.244792, -0.000000, 85.779130, 131.000000], [57.000000, -5.355125, 122.030816, -180.000000, 140.675691, -49.000000], [-123.000000, -19.000000, 95.000000, 180.000000, -128.000000, 131.000000], [-123.000000, -117.776946, 105.275608, 0.000000, -143.498661, -49.000000], [57.000000, 171.976079, 78.244792, 180.000000, -85.779130, -49.000000], [57.000000, -5.355125, 122.030816, 0.000000, -140.675691, 131.000000]] - id: 817 parameters: Irb2400_10 - joints: [22.000000, -122.000000, 132.000000, -122.000000, 61.000000, -41.000000] - pose: {translation: [0.3170917727294889, 0.06011591381831242, 0.2748928629025503], quaternion: [0.498770060039993, -0.2551534827195445, 0.8263525096594604, 0.05715467822759882]} - solutions: [[22.000000, 73.080953, 68.275608, -94.445466, 131.930346, 80.170190], [22.000000, -122.000000, 132.000000, -122.000000, 61.000000, -41.000000], [-158.000000, 149.155994, 58.709669, 84.737973, 48.146958, -85.334577], [-158.000000, -59.565879, 141.565938, 55.979102, 116.504965, 30.275465], [22.000000, 73.080953, 68.275608, 85.554534, -131.930346, -99.829810], [22.000000, -122.000000, 132.000000, 58.000000, -61.000000, 139.000000], [-158.000000, 149.155994, 58.709669, -95.262027, -48.146958, 94.665423], [-158.000000, -59.565879, 141.565938, -124.020898, -116.504965, -149.724535]] + joints: [22.000000, -121.000000, 132.000000, -122.000000, 61.000000, -41.000000] + pose: {translation: [0.3115577225678044, 0.05788001241790458, 0.2711658296082095], quaternion: [0.5052503318691852, -0.2519799618688069, 0.8231195461087109, 0.06084746318839138]} + solutions: [[22.000000, 74.080953, 68.275608, -94.445466, 131.930346, 80.170190], [22.000000, -121.000000, 132.000000, -122.000000, 61.000000, -41.000000], [-158.000000, 148.284445, 58.918724, 85.039257, 48.116889, -85.785994], [-158.000000, -60.158549, 141.356884, 55.897386, 116.393913, 30.092003], [22.000000, 74.080953, 68.275608, 85.554534, -131.930346, -99.829810], [22.000000, -121.000000, 132.000000, 58.000000, -61.000000, 139.000000], [-158.000000, 148.284445, 58.918724, -94.960743, -48.116889, 94.214006], [-158.000000, -60.158549, 141.356884, -124.102614, -116.393913, -149.907997]] - id: 818 parameters: Irb2400_10 - joints: [165.000000, -57.000000, 71.000000, -51.000000, 133.000000, 152.000000] - pose: {translation: [-0.1886575648072793, 0.1005662102180523, 0.9233739302893154], quaternion: [0.01730484554878075, 0.8003108714386061, 0.2299530064584082, 0.5534660479184346]} - solutions: [[165.000000, -57.000000, 71.000000, -51.000000, 133.000000, 152.000000], [165.000000, 112.265739, 129.275608, -145.070821, 83.060111, 7.280689], [-15.000000, -125.344237, 60.682031, 34.752461, 85.621741, 9.072214], [-15.000000, 28.592767, 139.593576, 127.358764, 134.351674, 149.623729], [165.000000, -57.000000, 71.000000, 129.000000, -133.000000, -28.000000], [165.000000, 112.265739, 129.275608, 34.929179, -83.060111, -172.719311], [-15.000000, -125.344237, 60.682031, -145.247539, -85.621741, -170.927786], [-15.000000, 28.592767, 139.593576, -52.641236, -134.351674, -30.376271]] + joints: [165.000000, -57.000000, 71.000000, -51.000000, 132.000000, 152.000000] + pose: {translation: [-0.1893336918854933, 0.1015537452887832, 0.9224973279573947], quaternion: [0.01326490875821345, 0.8036028093052813, 0.2333563474629546, 0.5473494150641295]} + solutions: [[165.000000, -57.000000, 71.000000, -51.000000, 132.000000, 152.000000], [165.000000, 112.265739, 129.275608, -144.489943, 83.876783, 7.214612], [-15.000000, -125.344237, 60.682031, 35.356441, 86.419845, 9.030300], [-15.000000, 28.592767, 139.593576, 127.415781, 133.352520, 149.663232], [165.000000, -57.000000, 71.000000, 129.000000, -132.000000, -28.000000], [165.000000, 112.265739, 129.275608, 35.510057, -83.876783, -172.785388], [-15.000000, -125.344237, 60.682031, -144.643559, -86.419845, -170.969700], [-15.000000, 28.592767, 139.593576, -52.584219, -133.352520, -30.336768]] - id: 819 parameters: Irb2400_10 - joints: [100.000000, -60.000000, -115.000000, 13.000000, -161.000000, 112.000000] - pose: {translation: [0.2139401558855962, -1.177465784423319, 0.8649502526143705], quaternion: [0.01778836085464049, 0.8359997767196569, 0.5447635744051513, -0.06340816622574864]} - solutions: [[-80.000000, 39.867075, -10.128313, 5.234065, 126.599844, -77.187669], [-80.000000, 112.961580, -149.596079, 162.032458, 166.266064, 82.200510], [100.000000, -96.665301, -44.724392, -15.778047, 164.374950, 84.463558], [100.000000, -60.000000, -115.000000, -167.000000, 161.000000, -68.000000], [-80.000000, 39.867075, -10.128313, -174.765935, -126.599844, 102.812331], [-80.000000, 112.961580, -149.596079, -17.967542, -166.266064, -97.799490], [100.000000, -96.665301, -44.724392, 164.221953, -164.374950, -95.536442], [100.000000, -60.000000, -115.000000, 13.000000, -161.000000, 112.000000]] + joints: [100.000000, -59.000000, -115.000000, 13.000000, -160.000000, 112.000000] + pose: {translation: [0.2135684165432168, -1.17354597578385, 0.8862398535575259], quaternion: [0.01876227848107181, 0.8452659839659159, 0.5307049779408398, -0.05937692855936224]} + solutions: [[-80.000000, 38.768618, -10.244986, 5.445116, 125.826673, -77.046825], [-80.000000, 111.739165, -149.479406, 159.960295, 167.025132, 80.192263], [100.000000, -95.665301, -44.724392, -17.594638, 165.254598, 82.710333], [100.000000, -59.000000, -115.000000, -167.000000, 160.000000, -68.000000], [-80.000000, 38.768618, -10.244986, -174.554884, -125.826673, 102.953175], [-80.000000, 111.739165, -149.479406, -20.039705, -167.025132, -99.807737], [100.000000, -95.665301, -44.724392, 162.405362, -165.254598, -97.289667], [100.000000, -59.000000, -115.000000, 13.000000, -160.000000, 112.000000]] - id: 820 parameters: Irb2400_10 - joints: [-98.000000, -96.000000, 59.000000, -71.000000, 107.000000, 29.000000] - pose: {translation: [-0.06451150726574593, 0.09321949865377735, 1.067402335106743], quaternion: [0.8351439320795974, 0.121803090527522, -0.5064838982215576, -0.1765578678248813]} - solutions: [[82.000000, -80.031176, 61.628105, 65.218284, 95.179610, -99.600895], [82.000000, 75.204738, 138.647503, 109.878139, 105.952147, 32.095415], [-98.000000, -96.000000, 59.000000, -71.000000, 107.000000, 29.000000], [-98.000000, 55.665610, 141.275608, -114.894815, 94.565518, -100.932328], [82.000000, -80.031176, 61.628105, -114.781716, -95.179610, 80.399105], [82.000000, 75.204738, 138.647503, -70.121861, -105.952147, -147.904585], [-98.000000, -96.000000, 59.000000, 109.000000, -107.000000, -151.000000], [-98.000000, 55.665610, 141.275608, 65.105185, -94.565518, 79.067672]] + joints: [-98.000000, -95.000000, 59.000000, -71.000000, 106.000000, 29.000000] + pose: {translation: [-0.06618012003524996, 0.08420921408025629, 1.071258152491843], quaternion: [0.8310968267008685, 0.1299203281338781, -0.5102107922529285, -0.1791192911273686]} + solutions: [[82.000000, -80.810467, 61.337925, 66.010271, 95.831247, -99.461925], [82.000000, 74.025315, 138.937682, 109.794383, 104.991132, 31.972658], [-98.000000, -95.000000, 59.000000, -71.000000, 106.000000, 29.000000], [-98.000000, 56.665610, 141.275608, -114.124850, 95.206972, -100.866742], [82.000000, -80.810467, 61.337925, -113.989729, -95.831247, 80.538075], [82.000000, 74.025315, 138.937682, -70.205617, -104.991132, -148.027342], [-98.000000, -95.000000, 59.000000, 109.000000, -106.000000, -151.000000], [-98.000000, 56.665610, 141.275608, 65.875150, -95.206972, 79.133258]] - id: 821 parameters: Irb2400_10 - joints: [58.000000, 79.000000, 21.000000, 8.000000, 179.000000, -12.000000] - pose: {translation: [0.427577325889131, 0.6846563592557581, 0.0664989862442982], quaternion: [-0.0503694025089443, 0.06027851760369968, 0.3246622103754375, 0.9425623972769801]} - solutions: [[58.000000, 79.000000, 21.000000, 8.000000, 179.000000, -12.000000], [58.000000, -174.304398, 179.275608, 179.860487, 85.961492, 160.011028], [-122.000000, -169.430729, 4.099312, -0.151959, 66.321762, 160.062229], [-122.000000, -81.130095, -163.823704, -0.248509, 145.943819, 159.795315], [58.000000, 79.000000, 21.000000, -172.000000, -179.000000, 168.000000], [58.000000, -174.304398, 179.275608, -0.139513, -85.961492, -19.988972], [-122.000000, -169.430729, 4.099312, 179.848041, -66.321762, -19.937771], [-122.000000, -81.130095, -163.823704, 179.751491, -145.943819, -20.204685]] + joints: [58.000000, 78.000000, 21.000000, 8.000000, 178.000000, -12.000000] + pose: {translation: [0.431646092637945, 0.6915572292986649, 0.07911629882373805], quaternion: [-0.04040744382068605, 0.04605136615981638, 0.3251367529425801, 0.9436803495064673]} + solutions: [[58.000000, 78.000000, 21.000000, 8.000000, 178.000000, -12.000000], [58.000000, -175.304398, 179.275608, 179.721315, 86.951798, 160.019630], [-122.000000, -168.455112, 3.866289, -0.301069, 67.569653, 160.119687], [-122.000000, -80.405197, -163.590681, -0.510631, 146.975390, 159.576675], [58.000000, 78.000000, 21.000000, -172.000000, -178.000000, 168.000000], [58.000000, -175.304398, 179.275608, -0.278685, -86.951798, -19.980370], [-122.000000, -168.455112, 3.866289, 179.698931, -67.569653, -19.880313], [-122.000000, -80.405197, -163.590681, 179.489369, -146.975390, -20.423325]] - id: 822 parameters: Irb2400_10 - joints: [125.000000, 130.000000, -2.000000, 132.000000, -39.000000, -110.000000] - pose: {translation: [-0.08946154969817272, 0.1970706613657098, -0.5462450798116862], quaternion: [0.6908923773570752, -0.4463638039781798, 0.5633668605783433, -0.07774868365522046]} - solutions: [[125.000000, 130.000000, -2.000000, -48.000000, 39.000000, 70.000000], [125.000000, -148.241978, -157.724392, -28.447922, 100.956743, 23.322959], [-55.000000, 161.063274, -8.188509, 145.628156, 124.066453, 8.238359], [-55.000000, -123.779745, -151.535884, 148.861113, 64.742064, 43.657990], [125.000000, 130.000000, -2.000000, 132.000000, -39.000000, -110.000000], [125.000000, -148.241978, -157.724392, 151.552078, -100.956743, -156.677041], [-55.000000, 161.063274, -8.188509, -34.371844, -124.066453, -171.761641], [-55.000000, -123.779745, -151.535884, -31.138887, -64.742064, -136.342010]] + joints: [125.000000, 129.000000, -2.000000, 132.000000, -39.000000, -110.000000] + pose: {translation: [-0.1010760995193871, 0.2136579575420841, -0.5441005646840718], quaternion: [0.6931301346991889, -0.4507631148196419, 0.5566964925142559, -0.0804502698087679]} + solutions: [[125.000000, 129.000000, -2.000000, -48.000000, 39.000000, 70.000000], [125.000000, -149.241978, -157.724392, -28.447922, 100.956743, 23.322959], [-55.000000, 162.242908, -8.629208, 145.727290, 123.850845, 8.415829], [-55.000000, -123.068939, -151.095185, 148.897948, 64.871765, 43.571455], [125.000000, 129.000000, -2.000000, 132.000000, -39.000000, -110.000000], [125.000000, -149.241978, -157.724392, 151.552078, -100.956743, -156.677041], [-55.000000, 162.242908, -8.629208, -34.272710, -123.850845, -171.584171], [-55.000000, -123.068939, -151.095185, -31.102052, -64.871765, -136.428545]] - id: 823 parameters: Irb2400_10 - joints: [10.000000, -76.000000, -57.000000, 69.000000, -50.000000, -98.000000] - pose: {translation: [-1.222451207310883, -0.2772778462847144, 1.269701914829173], quaternion: [0.5039549711851975, -0.3234036221162282, 0.0126051298734825, 0.8007999718535854]} - solutions: [[-170.000000, 27.980710, -18.445607, 118.285830, 54.305325, 8.469838], [-170.000000, 92.262314, -141.278785, 67.449228, 50.748183, 84.431277], [10.000000, -76.000000, -57.000000, -111.000000, 50.000000, 82.000000], [10.000000, -52.162282, -102.724392, -91.211613, 45.669761, 52.888519], [-170.000000, 27.980710, -18.445607, -61.714170, -54.305325, -171.530162], [-170.000000, 92.262314, -141.278785, -112.550772, -50.748183, -95.568723], [10.000000, -76.000000, -57.000000, 69.000000, -50.000000, -98.000000], [10.000000, -52.162282, -102.724392, 88.788387, -45.669761, -127.111481]] + joints: [10.000000, -75.000000, -57.000000, 69.000000, -49.000000, -98.000000] + pose: {translation: [-1.211642739629042, -0.2744586755080116, 1.294267700072586], quaternion: [0.495871563400229, -0.3175306825892389, 0.005417744463133149, 0.8082427273228984]} + solutions: [[-170.000000, 26.987679, -18.716356, 119.303576, 53.898174, 8.060334], [-170.000000, 90.983145, -141.008036, 67.387069, 49.752334, 84.477003], [10.000000, -75.000000, -57.000000, -111.000000, 49.000000, 82.000000], [10.000000, -51.162282, -102.724392, -90.521165, 44.798145, 52.402279], [-170.000000, 26.987679, -18.716356, -60.696424, -53.898174, -171.939666], [-170.000000, 90.983145, -141.008036, -112.612931, -49.752334, -95.522997], [10.000000, -75.000000, -57.000000, 69.000000, -49.000000, -98.000000], [10.000000, -51.162282, -102.724392, 89.478835, -44.798145, -127.597721]] - id: 824 parameters: Irb2400_10 - joints: [165.000000, -137.000000, 100.000000, -32.000000, 160.000000, -53.000000] - pose: {translation: [-0.08484225608656173, 0.03868252718540714, 0.5938227523935113], quaternion: [0.9435995318519783, 0.0905672091756877, 0.3180207794713688, 0.01674180203197583]} - solutions: [[165.000000, -137.000000, 100.000000, -32.000000, 160.000000, -53.000000], [165.000000, -140.409932, 100.275608, -37.262819, 162.581929, -58.554567], [-15.000000, -174.199758, 81.557002, 18.600183, 145.373307, 172.899821], [-15.000000, 16.086281, 118.718605, 169.420420, 80.807483, -20.870100], [165.000000, -137.000000, 100.000000, 148.000000, -160.000000, 127.000000], [165.000000, -140.409932, 100.275608, 142.737181, -162.581929, 121.445433], [-15.000000, -174.199758, 81.557002, -161.399817, -145.373307, -7.100179], [-15.000000, 16.086281, 118.718605, -10.579580, -80.807483, 159.129900]] + joints: [165.000000, -136.000000, 100.000000, -32.000000, 160.000000, -53.000000] + pose: {translation: [-0.08448643811181633, 0.03858718604642162, 0.5939662410176414], quaternion: [0.9408451332406735, 0.09114092058270246, 0.3257578916716535, 0.01963578025738218]} + solutions: [[165.000000, -136.000000, 100.000000, -32.000000, 160.000000, -53.000000], [165.000000, -139.409932, 100.275608, -37.262819, 162.581929, -58.554567], [-15.000000, -174.333042, 81.503422, 18.233466, 144.601812, 172.452085], [-15.000000, 15.818453, 118.772186, 169.442747, 81.579907, -21.015932], [165.000000, -136.000000, 100.000000, 148.000000, -160.000000, 127.000000], [165.000000, -139.409932, 100.275608, 142.737181, -162.581929, 121.445433], [-15.000000, -174.333042, 81.503422, -161.766534, -144.601812, -7.547915], [-15.000000, 15.818453, 118.772186, -10.557253, -81.579907, 158.984068]] - id: 825 parameters: Irb2400_10 - joints: [174.000000, 47.000000, -83.000000, 159.000000, -117.000000, -124.000000] - pose: {translation: [-1.14822396785062, 0.1479738987404921, 1.568920111597289], quaternion: [0.7911750481985242, -0.586470195303966, -0.1355843648099116, -0.1082202991461563]} - solutions: [[174.000000, 43.730052, -76.724392, -20.489920, 114.189099, 57.180351], [174.000000, 47.000000, -83.000000, -21.000000, 117.000000, 56.000000], [174.000000, 43.730052, -76.724392, 159.510080, -114.189099, -122.819649], [174.000000, 47.000000, -83.000000, 159.000000, -117.000000, -124.000000]] + joints: [174.000000, 46.000000, -83.000000, 159.000000, -116.000000, -124.000000] + pose: {translation: [-1.13290637028122, 0.1466024788822582, 1.587534484271513], quaternion: [0.7898930140846299, -0.5856998714926769, -0.1510781637372199, -0.1009954220524388]} + solutions: [[174.000000, 42.730052, -76.724392, -20.512329, 113.189310, 57.171348], [174.000000, 46.000000, -83.000000, -21.000000, 116.000000, 56.000000], [174.000000, 42.730052, -76.724392, 159.487671, -113.189310, -122.828652], [174.000000, 46.000000, -83.000000, 159.000000, -116.000000, -124.000000]] - id: 826 parameters: Irb2400_10 joints: [101.000000, -103.000000, 71.000000, 151.000000, 107.000000, 3.000000] @@ -4136,34 +4136,34 @@ cases: solutions: [[-79.000000, -98.242864, 71.801962, -112.138783, 30.034924, 127.376808], [-79.000000, 72.358811, 128.473645, -31.253061, 116.668581, -3.031513], [101.000000, -103.000000, 71.000000, 151.000000, 107.000000, 3.000000], [101.000000, 66.265739, 129.275608, 53.035334, 35.468324, 144.945330], [-79.000000, -98.242864, 71.801962, 67.861217, -30.034924, -52.623192], [-79.000000, 72.358811, 128.473645, 148.746939, -116.668581, 176.968487], [101.000000, -103.000000, 71.000000, -29.000000, -107.000000, -177.000000], [101.000000, 66.265739, 129.275608, -126.964666, -35.468324, -35.054670]] - id: 827 parameters: Irb2400_10 - joints: [56.000000, 141.000000, -93.000000, 56.000000, 122.000000, -114.000000] - pose: {translation: [0.5594699680816813, 0.9363173933095292, -0.3971279654420722], quaternion: [-0.6681087123772289, 0.1240393313732728, 0.6817656815566803, -0.2709991663634191]} - solutions: [[56.000000, 127.306623, -66.724392, 50.562620, 114.449310, -125.442703], [56.000000, 141.000000, -93.000000, 56.000000, 122.000000, -114.000000], [56.000000, 127.306623, -66.724392, -129.437380, -114.449310, 54.557297], [56.000000, 141.000000, -93.000000, -124.000000, -122.000000, 66.000000]] + joints: [56.000000, 140.000000, -93.000000, 56.000000, 121.000000, -114.000000] + pose: {translation: [0.5690357270350508, 0.9516483951894782, -0.3809324453793281], quaternion: [0.6778734714774263, -0.1248936370966014, -0.6760008839187224, 0.2605991961250676]} + solutions: [[56.000000, 126.306623, -66.724392, 50.778889, 113.469033, -125.354876], [56.000000, 140.000000, -93.000000, 56.000000, 121.000000, -114.000000], [56.000000, 126.306623, -66.724392, -129.221111, -113.469033, 54.645124], [56.000000, 140.000000, -93.000000, -124.000000, -121.000000, 66.000000]] - id: 828 parameters: Irb2400_10 - joints: [152.000000, -175.000000, -162.000000, -135.000000, -9.000000, -12.000000] - pose: {translation: [-0.7636527270044073, 0.3953925385351159, -0.2995092661646979], quaternion: [-0.4110817960595121, -0.7582105710077299, 0.06820205347102179, 0.5014747918519471]} - solutions: [[152.000000, 98.659879, 2.275608, 173.307922, 71.662589, 34.759193], [152.000000, -175.000000, -162.000000, 45.000000, 9.000000, 168.000000], [-28.000000, -168.437771, -15.178903, -165.642364, 26.492402, -160.258120], [-28.000000, -100.700273, -144.545489, -10.758678, 36.339272, 41.347250], [152.000000, 98.659879, 2.275608, -6.692078, -71.662589, -145.240807], [152.000000, -175.000000, -162.000000, -135.000000, -9.000000, -12.000000], [-28.000000, -168.437771, -15.178903, 14.357636, -26.492402, 19.741880], [-28.000000, -100.700273, -144.545489, 169.241322, -36.339272, -138.652750]] + joints: [152.000000, -174.000000, -162.000000, -135.000000, -9.000000, -12.000000] + pose: {translation: [-0.7494583533697172, 0.3878452561970241, -0.3126319066354036], quaternion: [0.4136461173052177, 0.7617661865258631, -0.06813832384326099, -0.493929484367954]} + solutions: [[152.000000, 99.659879, 2.275608, 173.307922, 71.662589, 34.759193], [152.000000, -174.000000, -162.000000, 45.000000, 9.000000, 168.000000], [-28.000000, -169.514180, -14.819768, -165.781525, 26.766382, -160.102446], [-28.000000, -101.396337, -144.904624, -10.744694, 36.393502, 41.329883], [152.000000, 99.659879, 2.275608, -6.692078, -71.662589, -145.240807], [152.000000, -174.000000, -162.000000, -135.000000, -9.000000, -12.000000], [-28.000000, -169.514180, -14.819768, 14.218475, -26.766382, 19.897554], [-28.000000, -101.396337, -144.904624, 169.255306, -36.393502, -138.670117]] - id: 829 parameters: Irb2400_10 - joints: [-134.000000, 47.000000, 159.000000, 46.000000, -100.000000, -133.000000] - pose: {translation: [0.05003995657300907, 0.1385007458596245, 1.246707559916453], quaternion: [-0.1127833179830532, 0.9125655188222936, 0.3487250032185865, -0.1813697030143915]} - solutions: [[46.000000, -64.816090, 44.351742, 45.437872, 96.133537, 42.998033], [46.000000, 68.493559, 155.923865, 119.013207, 125.897366, 170.213395], [-134.000000, -82.673502, 41.275608, -59.144243, 124.390136, 173.413491], [-134.000000, 47.000000, 159.000000, -134.000000, 100.000000, 47.000000], [46.000000, -64.816090, 44.351742, -134.562128, -96.133537, -137.001967], [46.000000, 68.493559, 155.923865, -60.986793, -125.897366, -9.786605], [-134.000000, -82.673502, 41.275608, 120.855757, -124.390136, -6.586509], [-134.000000, 47.000000, 159.000000, 46.000000, -100.000000, -133.000000]] + joints: [-134.000000, 46.000000, 159.000000, 46.000000, -100.000000, -133.000000] + pose: {translation: [0.05767363964475398, 0.1464056560862863, 1.242520682202347], quaternion: [-0.1095265461234339, 0.9136203819824914, 0.3436669249453418, -0.1876027132507701]} + solutions: [[46.000000, -63.988107, 44.660250, 45.427505, 96.037756, 42.900243], [46.000000, 69.689325, 155.615358, 119.084473, 125.842624, 170.335021], [-134.000000, -83.673502, 41.275608, -59.144243, 124.390136, 173.413491], [-134.000000, 46.000000, 159.000000, -134.000000, 100.000000, 47.000000], [46.000000, -63.988107, 44.660250, -134.572495, -96.037756, -137.099757], [46.000000, 69.689325, 155.615358, -60.915527, -125.842624, -9.664979], [-134.000000, -83.673502, 41.275608, 120.855757, -124.390136, -6.586509], [-134.000000, 46.000000, 159.000000, 46.000000, -100.000000, -133.000000]] - id: 830 parameters: Irb2400_10 - joints: [63.000000, 114.000000, 175.000000, 12.000000, -72.000000, 42.000000] - pose: {translation: [0.3763496951492563, 0.7016060768361926, 1.136648038665918], quaternion: [0.1541741947687463, -0.4227362367627935, 0.7507106021942842, 0.4836920337861018]} - solutions: [[63.000000, 2.565254, 25.275608, -129.391225, 165.175505, -84.587468], [63.000000, 114.000000, 175.000000, -168.000000, 72.000000, -138.000000], [-117.000000, -109.534606, 6.825896, 12.515225, 65.851794, -139.430745], [-117.000000, -18.295381, -166.550288, 20.562330, 145.737376, -117.017103], [63.000000, 2.565254, 25.275608, 50.608775, -165.175505, 95.412532], [63.000000, 114.000000, 175.000000, 12.000000, -72.000000, 42.000000], [-117.000000, -109.534606, 6.825896, -167.484775, -65.851794, 40.569255], [-117.000000, -18.295381, -166.550288, -159.437670, -145.737376, 62.982897]] + joints: [63.000000, 113.000000, 175.000000, 12.000000, -71.000000, 42.000000] + pose: {translation: [0.37247740453124, 0.6942218540739036, 1.149911082104736], quaternion: [0.152905790935458, -0.4229713215178427, 0.7514959075349164, 0.4826686039407623]} + solutions: [[63.000000, 1.565254, 25.275608, -132.408284, 164.559033, -87.499996], [63.000000, 113.000000, 175.000000, -168.000000, 71.000000, -138.000000], [-117.000000, -108.797322, 7.002866, 12.534085, 64.935808, -139.421692], [-117.000000, -17.367039, -166.727258, 20.062190, 145.035722, -117.379706], [63.000000, 1.565254, 25.275608, 47.591716, -164.559033, 92.500004], [63.000000, 113.000000, 175.000000, 12.000000, -71.000000, 42.000000], [-117.000000, -108.797322, 7.002866, -167.465915, -64.935808, 40.578308], [-117.000000, -17.367039, -166.727258, -159.937810, -145.035722, 62.620294]] - id: 831 parameters: Irb2400_10 - joints: [54.000000, 159.000000, -117.000000, 172.000000, 49.000000, 64.000000] - pose: {translation: [0.6322904263589133, 0.8854623290502315, -0.4381483129597838], quaternion: [-0.6645700577052421, -0.01187791971475311, -0.3842792821788649, 0.640730041993504]} - solutions: [[54.000000, 120.241545, -42.724392, 173.940428, 84.271500, 59.339124], [54.000000, 159.000000, -117.000000, 172.000000, 49.000000, 64.000000], [54.000000, 120.241545, -42.724392, -6.059572, -84.271500, -120.660876], [54.000000, 159.000000, -117.000000, -8.000000, -49.000000, -116.000000]] + joints: [54.000000, 158.000000, -117.000000, 172.000000, 49.000000, 64.000000] + pose: {translation: [0.6430054543477207, 0.9002102998513687, -0.420744847503913], quaternion: [-0.6580501581300219, -0.01245100327360605, -0.3877573054938658, 0.6453365276649624]} + solutions: [[54.000000, 119.241545, -42.724392, 173.940428, 84.271500, 59.339124], [54.000000, 158.000000, -117.000000, 172.000000, 49.000000, 64.000000], [54.000000, 119.241545, -42.724392, -6.059572, -84.271500, -120.660876], [54.000000, 158.000000, -117.000000, -8.000000, -49.000000, -116.000000]] - id: 832 parameters: Irb2400_10 - joints: [-95.000000, -45.000000, 45.000000, 76.000000, 22.000000, -4.000000] - pose: {translation: [-0.00716076261967093, -0.4363366379579667, 1.240807110075935], quaternion: [0.7072642636590941, 0.2123441309347053, -0.00359040287412706, 0.6742954400079728]} - solutions: [[-95.000000, -45.000000, 45.000000, 76.000000, 22.000000, -4.000000], [-95.000000, 89.083161, 155.275608, 24.525045, 118.876640, 83.374530], [85.000000, -97.680570, 36.225510, -154.763945, 121.510997, 84.787848], [85.000000, 26.129645, 164.050097, -124.846930, 26.289009, 18.779875], [-95.000000, -45.000000, 45.000000, -104.000000, -22.000000, 176.000000], [-95.000000, 89.083161, 155.275608, -155.474955, -118.876640, -96.625470], [85.000000, -97.680570, 36.225510, 25.236055, -121.510997, -95.212152], [85.000000, 26.129645, 164.050097, 55.153070, -26.289009, -161.220125]] + joints: [-95.000000, -45.000000, 45.000000, 76.000000, 21.000000, -4.000000] + pose: {translation: [-0.008542337939981954, -0.4367615512722943, 1.241141031174042], quaternion: [0.7076165431916088, 0.2064639306020321, -0.009876459006088734, 0.675687744982413]} + solutions: [[-95.000000, -45.000000, 45.000000, 76.000000, 21.000000, -4.000000], [-95.000000, 89.083161, 155.275608, 23.384788, 118.826035, 82.824298], [85.000000, -97.680570, 36.225510, -155.936338, 121.484497, 84.175298], [85.000000, 26.129645, 164.050097, -125.750608, 25.369755, 19.593300], [-95.000000, -45.000000, 45.000000, -104.000000, -21.000000, 176.000000], [-95.000000, 89.083161, 155.275608, -156.615212, -118.826035, -97.175702], [85.000000, -97.680570, 36.225510, 24.063662, -121.484497, -95.824702], [85.000000, 26.129645, 164.050097, 54.249392, -25.369755, -160.406700]] - id: 833 parameters: Irb2400_10 joints: [-175.000000, -17.000000, 120.000000, 121.000000, 67.000000, -10.000000] @@ -4181,29 +4181,29 @@ cases: solutions: [[-53.000000, 102.294226, 9.769051, -112.654910, 61.241890, 153.942949], [-53.000000, -163.283621, -169.493443, -60.981005, 67.692938, 57.381014], [127.000000, 179.084782, -3.724392, 124.698013, 79.739967, 37.426586], [127.000000, -101.000000, -156.000000, 90.000000, 54.000000, 113.000000], [-53.000000, 102.294226, 9.769051, 67.345090, -61.241890, -26.057051], [-53.000000, -163.283621, -169.493443, 119.018995, -67.692938, -122.618986], [127.000000, 179.084782, -3.724392, -55.301987, -79.739967, -142.573414], [127.000000, -101.000000, -156.000000, -90.000000, -54.000000, -67.000000]] - id: 836 parameters: Irb2400_10 - joints: [-42.000000, -136.000000, -93.000000, 161.000000, -41.000000, -14.000000] - pose: {translation: [-0.655007776294327, 0.5653412663307066, -0.5643311855162061], quaternion: [0.7621771727923996, -0.01993180021340641, -0.5713214592405754, -0.3037770083888131]} - solutions: [[138.000000, 125.162622, -33.030744, 167.565313, 82.722454, 153.032867], [138.000000, 174.083228, -126.693649, 160.370534, 39.480187, 166.824538], [-42.000000, -149.693377, -66.724392, -25.841922, 29.341481, 174.321913], [-42.000000, -136.000000, -93.000000, -19.000000, 41.000000, 166.000000], [138.000000, 125.162622, -33.030744, -12.434687, -82.722454, -26.967133], [138.000000, 174.083228, -126.693649, -19.629466, -39.480187, -13.175462], [-42.000000, -149.693377, -66.724392, 154.158078, -29.341481, -5.678087], [-42.000000, -136.000000, -93.000000, 161.000000, -41.000000, -14.000000]] + joints: [-42.000000, -135.000000, -93.000000, 161.000000, -41.000000, -14.000000] + pose: {translation: [-0.6701940782553664, 0.5790150740343546, -0.5473090742456779], quaternion: [0.756669273949668, -0.01856500369375379, -0.5763588703892256, -0.3080866810201134]} + solutions: [[138.000000, 123.779668, -32.446392, 167.570775, 82.919129, 152.989168], [138.000000, 173.313898, -127.278000, 160.224924, 39.147210, 167.012739], [-42.000000, -148.693377, -66.724392, -25.841922, 29.341481, 174.321913], [-42.000000, -135.000000, -93.000000, -19.000000, 41.000000, 166.000000], [138.000000, 123.779668, -32.446392, -12.429225, -82.919129, -27.010832], [138.000000, 173.313898, -127.278000, -19.775076, -39.147210, -12.987261], [-42.000000, -148.693377, -66.724392, 154.158078, -29.341481, -5.678087], [-42.000000, -135.000000, -93.000000, 161.000000, -41.000000, -14.000000]] - id: 837 parameters: Irb2400_10 - joints: [-20.000000, -55.000000, -41.000000, -138.000000, 159.000000, -62.000000] - pose: {translation: [-0.6693605605527044, 0.2219366400846733, 1.674838225797518], quaternion: [0.7392368671228162, 0.657024287851622, -0.1468518805360138, -0.01680668446032681]} - solutions: [[160.000000, -3.208745, -21.408573, 14.324649, 104.257652, -98.451830], [160.000000, 57.943749, -138.315820, 36.432858, 156.185519, -68.019183], [-20.000000, -55.000000, -41.000000, -138.000000, 159.000000, -62.000000], [-20.000000, -14.435957, -118.724392, -162.831648, 125.672093, -91.837497], [160.000000, -3.208745, -21.408573, -165.675351, -104.257652, 81.548170], [160.000000, 57.943749, -138.315820, -143.567142, -156.185519, 111.980817], [-20.000000, -55.000000, -41.000000, 42.000000, -159.000000, 118.000000], [-20.000000, -14.435957, -118.724392, 17.168352, -125.672093, 88.162503]] + joints: [-20.000000, -55.000000, -41.000000, -138.000000, 158.000000, -62.000000] + pose: {translation: [-0.6706884635470446, 0.2214370924934349, 1.67527173569574], quaternion: [0.7384775908756006, 0.6559366204826643, -0.154937259445896, -0.01981018222393111]} + solutions: [[160.000000, -3.208745, -21.408573, 14.935537, 103.452530, -98.305537], [160.000000, 57.943749, -138.315820, 36.682756, 155.190823, -67.791438], [-20.000000, -55.000000, -41.000000, -138.000000, 158.000000, -62.000000], [-20.000000, -14.435957, -118.724392, -162.225735, 124.803130, -91.487893], [160.000000, -3.208745, -21.408573, -165.064463, -103.452530, 81.694463], [160.000000, 57.943749, -138.315820, -143.317244, -155.190823, 112.208562], [-20.000000, -55.000000, -41.000000, 42.000000, -158.000000, 118.000000], [-20.000000, -14.435957, -118.724392, 17.774265, -124.803130, 88.512107]] - id: 838 parameters: Irb2400_10 - joints: [156.000000, 60.000000, -14.000000, -113.000000, 20.000000, 97.000000] - pose: {translation: [-1.264225811843193, 0.592162776833431, 0.4686116543430656], quaternion: [0.8813416184289649, -0.1216542397769389, -0.3550934390604888, -0.2869596611119809]} - solutions: [[156.000000, 60.000000, -14.000000, -113.000000, 20.000000, 97.000000], [156.000000, 128.986344, -145.724392, -22.131902, 56.685890, -4.717757], [-24.000000, -107.227855, -54.239104, 158.294699, 58.351163, -5.512040], [-24.000000, -80.507640, -105.485288, 147.893097, 36.323521, 9.508966], [156.000000, 60.000000, -14.000000, 67.000000, -20.000000, -83.000000], [156.000000, 128.986344, -145.724392, 157.868098, -56.685890, 175.282243], [-24.000000, -107.227855, -54.239104, -21.705301, -58.351163, 174.487960], [-24.000000, -80.507640, -105.485288, -32.106903, -36.323521, -170.491034]] + joints: [156.000000, 60.000000, -14.000000, -113.000000, 19.000000, 97.000000] + pose: {translation: [-1.264704572633305, 0.5909668626504435, 0.4678758674425791], quaternion: [0.8841711985146732, -0.1188791503417422, -0.3551963207769312, -0.2791856246974105]} + solutions: [[156.000000, 60.000000, -14.000000, -113.000000, 19.000000, 97.000000], [156.000000, 128.986344, -145.724392, -20.962966, 56.894457, -5.358008], [-24.000000, -107.227855, -54.239104, 159.438799, 58.572912, -6.110492], [-24.000000, -80.507640, -105.485288, 149.581124, 36.291604, 8.148634], [156.000000, 60.000000, -14.000000, 67.000000, -19.000000, -83.000000], [156.000000, 128.986344, -145.724392, 159.037034, -56.894457, 174.641992], [-24.000000, -107.227855, -54.239104, -20.561201, -58.572912, 173.889508], [-24.000000, -80.507640, -105.485288, -30.418876, -36.291604, -171.851366]] - id: 839 parameters: Irb2400_10 - joints: [-154.000000, -112.000000, 20.000000, 33.000000, 88.000000, -14.000000] - pose: {translation: [0.5989566646620466, 0.2406549132439061, 1.106182008932233], quaternion: [-0.5457900545271753, -0.4123692793843619, 0.676402550949598, -0.2730281722975154]} - solutions: [[26.000000, -10.062603, 35.968754, -60.516278, 141.296938, 113.221667], [26.000000, 113.452578, 164.306853, -146.977230, 92.830849, -10.863076], [-154.000000, -112.000000, 20.000000, 33.000000, 88.000000, -14.000000], [-154.000000, -6.406814, -179.724392, 92.689908, 146.981646, 80.505349], [26.000000, -10.062603, 35.968754, 119.483722, -141.296938, -66.778333], [26.000000, 113.452578, 164.306853, 33.022770, -92.830849, 169.136924], [-154.000000, -112.000000, 20.000000, -147.000000, -88.000000, 166.000000], [-154.000000, -6.406814, -179.724392, -87.310092, -146.981646, -99.494651]] + joints: [-154.000000, -111.000000, 20.000000, 33.000000, 87.000000, -14.000000] + pose: {translation: [0.5912066701414176, 0.2369142003483387, 1.120569833919712], quaternion: [-0.5469992803097221, -0.409046958851792, 0.6760393808995068, -0.2764835045129426]} + solutions: [[26.000000, -11.144776, 35.766409, -62.127700, 142.028539, 111.802832], [26.000000, 112.138083, 164.509199, -147.033880, 91.738255, -10.926360], [-154.000000, -111.000000, 20.000000, 33.000000, 87.000000, -14.000000], [-154.000000, -5.406814, -179.724392, 90.856976, 147.046824, 78.967837], [26.000000, -11.144776, 35.766409, 117.872300, -142.028539, -68.197168], [26.000000, 112.138083, 164.509199, 32.966120, -91.738255, 169.073640], [-154.000000, -111.000000, 20.000000, -147.000000, -87.000000, 166.000000], [-154.000000, -5.406814, -179.724392, -89.143024, -147.046824, -101.032163]] - id: 840 parameters: Irb2400_10 - joints: [-71.000000, 180.000000, 41.000000, 120.000000, 153.000000, -169.000000] - pose: {translation: [-0.1357024333521733, 0.496757407847598, 0.239189962547633], quaternion: [0.85508464901826, 0.3830984539590612, 0.1839665202483757, 0.2970221153638233]} - solutions: [[109.000000, 50.246220, 56.151498, -53.696190, 29.200539, -62.027287], [109.000000, -161.837537, 144.124110, -35.036242, 136.776366, -139.005586], [-71.000000, -180.000000, 41.000000, 120.000000, 153.000000, -169.000000], [-71.000000, -50.649697, 159.275608, 151.938322, 56.696746, -95.627255], [109.000000, 50.246220, 56.151498, 126.303810, -29.200539, 117.972713], [109.000000, -161.837537, 144.124110, 144.963758, -136.776366, 40.994414], [-71.000000, -180.000000, 41.000000, -60.000000, -153.000000, 11.000000], [-71.000000, -50.649697, 159.275608, -28.061678, -56.696746, 84.372745]] + joints: [-71.000000, 179.000000, 41.000000, 120.000000, 152.000000, -169.000000] + pose: {translation: [-0.1327676833267885, 0.4917346002974179, 0.2284699262485091], quaternion: [0.8509847676569867, 0.3866624264530359, 0.1898810042510206, 0.3004368442948681]} + solutions: [[109.000000, 51.651145, 55.982768, -55.984561, 29.373870, -59.936897], [109.000000, -160.651271, 144.292840, -35.542202, 135.619546, -139.228809], [-71.000000, 179.000000, 41.000000, 120.000000, 152.000000, -169.000000], [-71.000000, -51.649697, 159.275608, 150.788123, 56.415896, -94.993344], [109.000000, 51.651145, 55.982768, 124.015439, -29.373870, 120.063103], [109.000000, -160.651271, 144.292840, 144.457798, -135.619546, 40.771191], [-71.000000, 179.000000, 41.000000, -60.000000, -152.000000, 11.000000], [-71.000000, -51.649697, 159.275608, -29.211877, -56.415896, 85.006656]] - id: 841 parameters: Irb2400_10 joints: [126.000000, -56.000000, 69.000000, 122.000000, 47.000000, 81.000000] @@ -4211,34 +4211,34 @@ cases: solutions: [[126.000000, -56.000000, 69.000000, 122.000000, 47.000000, 81.000000], [126.000000, 110.048405, 131.275608, 38.956917, 99.439067, -138.949737], [-54.000000, -122.743992, 58.883299, -141.279484, 97.463080, -140.557950], [-54.000000, 28.765711, 141.392308, -60.605550, 45.387108, 84.762947], [126.000000, -56.000000, 69.000000, -58.000000, -47.000000, -99.000000], [126.000000, 110.048405, 131.275608, -141.043083, -99.439067, 41.050263], [-54.000000, -122.743992, 58.883299, 38.720516, -97.463080, 39.442050], [-54.000000, 28.765711, 141.392308, 119.394450, -45.387108, -95.237053]] - id: 842 parameters: Irb2400_10 - joints: [112.000000, -30.000000, -166.000000, -3.000000, -96.000000, 92.000000] - pose: {translation: [0.336502233997576, -0.8446824764260852, 0.8089721129533737], quaternion: [-0.1726461706290258, 0.9659866187161155, 0.1811536211264722, -0.06516531118092082]} - solutions: [[-68.000000, 15.669972, 26.440668, -3.176717, 69.925956, -86.594786], [-68.000000, 128.403935, 173.834940, -16.354218, 169.347583, -103.773209], [112.000000, -120.645397, 6.275608, 128.330094, 176.195561, -139.294526], [112.000000, -30.000000, -166.000000, 177.000000, 96.000000, -88.000000], [-68.000000, 15.669972, 26.440668, 176.823283, -69.925956, 93.405214], [-68.000000, 128.403935, 173.834940, 163.645782, -169.347583, 76.226791], [112.000000, -120.645397, 6.275608, -51.669906, -176.195561, 40.705474], [112.000000, -30.000000, -166.000000, -3.000000, -96.000000, 92.000000]] + joints: [112.000000, -30.000000, -166.000000, -3.000000, -95.000000, 92.000000] + pose: {translation: [0.3370124181870875, -0.8459650915985808, 0.808428591654616], quaternion: [-0.173152747133628, 0.9675495636099877, 0.1727747216722449, -0.06336295186683402]} + solutions: [[-68.000000, 15.669972, 26.440668, -3.202997, 68.926258, -86.585551], [-68.000000, 128.403935, 173.834940, -15.004352, 168.382094, -102.448705], [112.000000, -120.645397, 6.275608, 138.331211, 175.502131, -129.319332], [112.000000, -30.000000, -166.000000, 177.000000, 95.000000, -88.000000], [-68.000000, 15.669972, 26.440668, 176.797003, -68.926258, 93.414449], [-68.000000, 128.403935, 173.834940, 164.995648, -168.382094, 77.551295], [112.000000, -120.645397, 6.275608, -41.668789, -175.502131, 50.680668], [112.000000, -30.000000, -166.000000, -3.000000, -95.000000, 92.000000]] - id: 843 parameters: Irb2400_10 - joints: [76.000000, 26.000000, 124.000000, -125.000000, -176.000000, 40.000000] - pose: {translation: [-0.03025124143259039, -0.1012543812122753, 0.7995781170528795], quaternion: [0.3204317958652332, 0.3613963523277996, 0.747107272603417, -0.4566693157480869]} - solutions: [[-104.000000, -78.019592, 88.688214, -171.173408, 158.136922, 173.266397], [-104.000000, 136.093564, 111.587393, -174.355140, 35.515742, 160.465999], [76.000000, -152.675800, 76.275608, 4.701369, 44.199891, 161.691537], [76.000000, 26.000000, 124.000000, 55.000000, 176.000000, -140.000000], [-104.000000, -78.019592, 88.688214, 8.826592, -158.136922, -6.733603], [-104.000000, 136.093564, 111.587393, 5.644860, -35.515742, -19.534001], [76.000000, -152.675800, 76.275608, -175.298631, -44.199891, -18.308463], [76.000000, 26.000000, 124.000000, -125.000000, -176.000000, 40.000000]] + joints: [76.000000, 26.000000, 124.000000, -125.000000, -175.000000, 40.000000] + pose: {translation: [-0.03155372561157135, -0.1014706487664812, 0.8002545550017326], quaternion: [0.312863647664223, 0.3625205518167695, 0.7471937002810487, -0.4608652316469709]} + solutions: [[-104.000000, -78.019592, 88.688214, -169.275114, 157.440352, 175.023885], [-104.000000, 136.093564, 111.587393, -172.852986, 35.017931, 159.239497], [76.000000, -152.675800, 76.275608, 5.933423, 43.681124, 160.804358], [76.000000, 26.000000, 124.000000, 55.000000, 175.000000, -140.000000], [-104.000000, -78.019592, 88.688214, 10.724886, -157.440352, -4.976115], [-104.000000, 136.093564, 111.587393, 7.147014, -35.017931, -20.760503], [76.000000, -152.675800, 76.275608, -174.066577, -43.681124, -19.195642], [76.000000, 26.000000, 124.000000, -125.000000, -175.000000, 40.000000]] - id: 844 parameters: Irb2400_10 - joints: [-34.000000, -119.000000, -59.000000, -52.000000, -167.000000, -100.000000] - pose: {translation: [-0.98102927930465, 0.6798872053349559, 0.1499853558089508], quaternion: [-0.1545074879093435, 0.7498897347601978, -0.3714873754193624, 0.5251570734411354]} - solutions: [[146.000000, 78.270128, -17.412433, -10.788661, 108.739590, 127.772857], [146.000000, 143.644033, -142.311960, -42.287950, 164.725156, 90.011907], [-34.000000, -119.000000, -59.000000, 128.000000, 167.000000, 80.000000], [-34.000000, -97.249625, -100.724392, 159.050271, 150.279106, 112.884475], [146.000000, 78.270128, -17.412433, 169.211339, -108.739590, -52.227143], [146.000000, 143.644033, -142.311960, 137.712050, -164.725156, -89.988093], [-34.000000, -119.000000, -59.000000, -52.000000, -167.000000, -100.000000], [-34.000000, -97.249625, -100.724392, -20.949729, -150.279106, -67.115525]] + joints: [-34.000000, -118.000000, -59.000000, -52.000000, -166.000000, -100.000000] + pose: {translation: [-0.987283715767273, 0.6854770110303094, 0.1717620737967283], quaternion: [-0.1596491535549744, 0.7578072055435539, -0.3599553194506527, 0.5202620061032988]} + solutions: [[146.000000, 77.024547, -17.229719, -11.571650, 108.127509, 127.513700], [146.000000, 142.591689, -142.494673, -43.463439, 163.910867, 88.836901], [-34.000000, -118.000000, -59.000000, 128.000000, 166.000000, 80.000000], [-34.000000, -96.249625, -100.724392, 157.982555, 149.434957, 111.961109], [146.000000, 77.024547, -17.229719, 168.428350, -108.127509, -52.486300], [146.000000, 142.591689, -142.494673, 136.536561, -163.910867, -91.163099], [-34.000000, -118.000000, -59.000000, -52.000000, -166.000000, -100.000000], [-34.000000, -96.249625, -100.724392, -22.017445, -149.434957, -68.038891]] - id: 845 parameters: Irb2400_10 - joints: [-35.000000, -139.000000, -83.000000, 96.000000, -154.000000, -107.000000] - pose: {translation: [-0.6594526227689664, 0.4165149350082717, -0.4685740428000056], quaternion: [0.3514144915251889, -0.2424381652807832, 0.7427761462819418, 0.5157666019392184]} - solutions: [[145.000000, 122.989314, -33.515582, 34.623940, 129.888058, 0.213538], [145.000000, 171.400892, -126.208810, 89.435320, 154.151638, 65.702720], [-35.000000, -142.269948, -76.724392, -77.972476, 153.528340, 79.718221], [-35.000000, -139.000000, -83.000000, -84.000000, 154.000000, 73.000000], [145.000000, 122.989314, -33.515582, -145.376060, -129.888058, -179.786462], [145.000000, 171.400892, -126.208810, -90.564680, -154.151638, -114.297280], [-35.000000, -142.269948, -76.724392, 102.027524, -153.528340, -100.281779], [-35.000000, -139.000000, -83.000000, 96.000000, -154.000000, -107.000000]] + joints: [-35.000000, -138.000000, -83.000000, 96.000000, -153.000000, -107.000000] + pose: {translation: [-0.6760750496106439, 0.4265422069732987, -0.4533962191683643], quaternion: [0.3568603718134801, -0.2499337764506375, 0.7360541240617279, 0.5180811798067847]} + solutions: [[145.000000, 121.606349, -32.940962, 35.770938, 129.430101, 0.860542], [145.000000, 170.621226, -126.783431, 90.416760, 153.159046, 66.739488], [-35.000000, -141.269948, -76.724392, -78.226117, 152.534976, 79.492153], [-35.000000, -138.000000, -83.000000, -84.000000, 153.000000, 73.000000], [145.000000, 121.606349, -32.940962, -144.229062, -129.430101, -179.139458], [145.000000, 170.621226, -126.783431, -89.583240, -153.159046, -113.260512], [-35.000000, -141.269948, -76.724392, 101.773883, -152.534976, -100.507847], [-35.000000, -138.000000, -83.000000, 96.000000, -153.000000, -107.000000]] - id: 846 parameters: Irb2400_10 - joints: [151.000000, 145.000000, -48.000000, -139.000000, 12.000000, 15.000000] - pose: {translation: [-0.4749470579296143, 0.2765237278410506, -0.8124751557976797], quaternion: [0.6708030880962997, 0.7382499402008973, 0.06234927469952772, -0.0335083681829268]} - solutions: [[151.000000, 145.000000, -48.000000, -139.000000, 12.000000, 15.000000], [151.000000, 178.239299, -111.724392, -20.698513, 22.700638, -105.408817], [151.000000, 145.000000, -48.000000, 41.000000, -12.000000, -165.000000], [151.000000, 178.239299, -111.724392, 159.301487, -22.700638, 74.591183]] + joints: [151.000000, 144.000000, -48.000000, -139.000000, 12.000000, 15.000000] + pose: {translation: [-0.4966764788058757, 0.2885685425155891, -0.8044135959389792], quaternion: [0.6711116564360734, 0.7377022990408197, 0.06035038338751975, -0.04197968330631126]} + solutions: [[151.000000, 144.000000, -48.000000, -139.000000, 12.000000, 15.000000], [151.000000, 177.239299, -111.724392, -20.698513, 22.700638, -105.408817], [151.000000, 144.000000, -48.000000, 41.000000, -12.000000, -165.000000], [151.000000, 177.239299, -111.724392, 159.301487, -22.700638, 74.591183]] - id: 847 parameters: Irb2400_10 - joints: [-134.000000, 145.000000, 1.000000, -116.000000, 52.000000, -54.000000] - pose: {translation: [0.007422524503032268, 0.09435049925395109, -0.550218771327841], quaternion: [-0.4490321195702355, 0.7833892884721075, 0.4256048213001659, 0.05942991155538366]} - solutions: [[46.000000, 139.762692, 1.987375, 134.320913, 81.876764, -174.153448], [46.000000, -134.206695, -161.711767, 90.782582, 45.098832, -93.495166], [-134.000000, 145.000000, 1.000000, -116.000000, 52.000000, -54.000000], [-134.000000, -130.028949, -160.724392, -53.707543, 61.489174, -149.363590], [46.000000, 139.762692, 1.987375, -45.679087, -81.876764, 5.846552], [46.000000, -134.206695, -161.711767, -89.217418, -45.098832, 86.504834], [-134.000000, 145.000000, 1.000000, 64.000000, -52.000000, 126.000000], [-134.000000, -130.028949, -160.724392, 126.292457, -61.489174, 30.636410]] + joints: [-134.000000, 144.000000, 1.000000, -116.000000, 52.000000, -54.000000] + pose: {translation: [-0.006722265056518233, 0.07970314088284819, -0.553061026223616], quaternion: [-0.4468080840218281, 0.7863913892106459, 0.4233930264503619, 0.05186004416982835]} + solutions: [[46.000000, 140.975738, 1.571342, 134.299997, 81.734968, -174.006700], [46.000000, -133.440229, -161.295734, 90.964424, 45.101614, -93.752780], [-134.000000, 144.000000, 1.000000, -116.000000, 52.000000, -54.000000], [-134.000000, -131.028949, -160.724392, -53.707543, 61.489174, -149.363590], [46.000000, 140.975738, 1.571342, -45.700003, -81.734968, 5.993300], [46.000000, -133.440229, -161.295734, -89.035576, -45.101614, 86.247220], [-134.000000, 144.000000, 1.000000, 64.000000, -52.000000, 126.000000], [-134.000000, -131.028949, -160.724392, 126.292457, -61.489174, 30.636410]] - id: 848 parameters: Irb2400_10 joints: [89.000000, -122.000000, -161.000000, 78.000000, 134.000000, -152.000000] @@ -4246,9 +4246,9 @@ cases: solutions: [[-91.000000, 130.000628, 5.469983, -70.674138, 131.786258, -107.228735], [-91.000000, -140.222647, -165.194376, -131.333005, 110.437047, 156.666494], [89.000000, 152.733298, 1.275608, 44.721289, 90.597476, 135.605099], [89.000000, -122.000000, -161.000000, 78.000000, 134.000000, -152.000000], [-91.000000, 130.000628, 5.469983, 109.325862, -131.786258, 72.771265], [-91.000000, -140.222647, -165.194376, 48.666995, -110.437047, -23.333506], [89.000000, 152.733298, 1.275608, -135.278711, -90.597476, -44.394901], [89.000000, -122.000000, -161.000000, -102.000000, -134.000000, 28.000000]] - id: 849 parameters: Irb2400_10 - joints: [102.000000, -80.000000, 94.000000, 150.000000, 177.000000, -134.000000] - pose: {translation: [-0.02078650793864647, 0.08709464415528381, 0.7100341620496823], quaternion: [0.1243781706577174, -0.5845903899708539, 0.801434972309145, 0.02204839625471006]} - solutions: [[102.000000, -80.000000, 94.000000, 150.000000, 177.000000, -134.000000], [102.000000, 170.147506, 106.275608, 178.476563, 79.827966, -103.764906], [-78.000000, -167.222131, 78.735204, -1.577617, 71.894675, -103.543633], [-78.000000, 16.495558, 121.540404, -176.503259, 154.593278, 79.125263], [102.000000, -80.000000, 94.000000, -30.000000, -177.000000, 46.000000], [102.000000, 170.147506, 106.275608, -1.523437, -79.827966, 76.235094], [-78.000000, -167.222131, 78.735204, 178.422383, -71.894675, 76.456367], [-78.000000, 16.495558, 121.540404, 3.496741, -154.593278, -100.874737]] + joints: [102.000000, -79.000000, 94.000000, 150.000000, 176.000000, -134.000000] + pose: {translation: [-0.02194306418280683, 0.08897482087839831, 0.7114179344491661], quaternion: [0.1179751844109129, -0.57254812427924, 0.8109602129385912, 0.02477971505344607]} + solutions: [[102.000000, -79.000000, 94.000000, 150.000000, 176.000000, -134.000000], [102.000000, 171.147506, 106.275608, 177.963546, 78.964408, -103.670499], [-78.000000, -167.455050, 78.664224, -2.122596, 70.337782, -103.345983], [-78.000000, 16.109344, 121.611383, -175.059912, 156.107370, 80.458114], [102.000000, -79.000000, 94.000000, -30.000000, -176.000000, 46.000000], [102.000000, 171.147506, 106.275608, -2.036454, -78.964408, 76.329501], [-78.000000, -167.455050, 78.664224, 177.877404, -70.337782, 76.654017], [-78.000000, 16.109344, 121.611383, 4.940088, -156.107370, -99.541886]] - id: 850 parameters: Irb2400_10 joints: [-87.000000, 3.000000, 158.000000, -37.000000, 31.000000, -127.000000] @@ -4256,14 +4256,14 @@ cases: solutions: [[93.000000, -21.837440, 56.949609, 153.912463, 44.818203, -140.706466], [93.000000, 127.118046, 143.325998, 18.186277, 83.271357, 17.936384], [-87.000000, -127.849620, 42.275608, -161.930767, 87.899938, 19.455725], [-87.000000, 3.000000, 158.000000, -37.000000, 31.000000, -127.000000], [93.000000, -21.837440, 56.949609, -26.087537, -44.818203, 39.293534], [93.000000, 127.118046, 143.325998, -161.813723, -83.271357, -162.063616], [-87.000000, -127.849620, 42.275608, 18.069233, -87.899938, -160.544275], [-87.000000, 3.000000, 158.000000, 143.000000, -31.000000, 53.000000]] - id: 851 parameters: Irb2400_10 - joints: [56.000000, 1.000000, -57.000000, 155.000000, -99.000000, -8.000000] - pose: {translation: [0.2968309071586462, 0.3766208179739591, 1.967735667697896], quaternion: [0.8209020514438049, 0.3758264333750243, 0.429887675910027, 0.008420214524395229]} - solutions: [[56.000000, 1.000000, -57.000000, -25.000000, 99.000000, 172.000000], [56.000000, 24.837718, -102.724392, -28.389992, 118.610049, 161.662190], [56.000000, 1.000000, -57.000000, 155.000000, -99.000000, -8.000000], [56.000000, 24.837718, -102.724392, 151.610008, -118.610049, -18.337810]] + joints: [56.000000, 1.000000, -57.000000, 155.000000, -98.000000, -8.000000] + pose: {translation: [0.2974586587230859, 0.3773857762045982, 1.968840915122172], quaternion: [0.8171456462622634, 0.3753627891064217, 0.437421662863525, 0.006169133373875626]} + solutions: [[56.000000, 1.000000, -57.000000, -25.000000, 98.000000, 172.000000], [56.000000, 24.837718, -102.724392, -28.187459, 117.626131, 161.757646], [56.000000, 1.000000, -57.000000, 155.000000, -98.000000, -8.000000], [56.000000, 24.837718, -102.724392, 151.812541, -117.626131, -18.242354]] - id: 852 parameters: Irb2400_10 - joints: [7.000000, 106.000000, 87.000000, 72.000000, -103.000000, -75.000000] - pose: {translation: [0.03396168625284857, -0.07518944728238842, 0.4297352141625539], quaternion: [0.6305528023521119, -0.5238268408092605, 0.4748066923281807, 0.3202611578291393]} - solutions: [[7.000000, 106.000000, 87.000000, -108.000000, 103.000000, 105.000000], [7.000000, -46.970578, 113.275608, -90.027835, 67.923233, -19.621888], [-173.000000, 113.989868, 85.952699, 112.032410, 88.564784, -106.154328], [-173.000000, -42.805465, 114.322909, 74.747275, 73.845581, 24.727416], [7.000000, 106.000000, 87.000000, 72.000000, -103.000000, -75.000000], [7.000000, -46.970578, 113.275608, 89.972165, -67.923233, 160.378112], [-173.000000, 113.989868, 85.952699, -67.967590, -88.564784, 73.845672], [-173.000000, -42.805465, 114.322909, -105.252725, -73.845581, -155.272584]] + joints: [7.000000, 105.000000, 87.000000, 72.000000, -102.000000, -75.000000] + pose: {translation: [0.03579291232522238, -0.07527226957337085, 0.4286506378192539], quaternion: [0.622994018672729, -0.5303975912157696, 0.4766474707076834, 0.3215027785237335]} + solutions: [[7.000000, 105.000000, 87.000000, -108.000000, 102.000000, 105.000000], [7.000000, -47.970578, 113.275608, -89.143344, 68.493759, -19.950248], [-173.000000, 114.788749, 85.717948, 111.510391, 89.260770, -105.739701], [-173.000000, -42.814577, 114.557660, 75.555959, 73.870813, 25.221606], [7.000000, 105.000000, 87.000000, 72.000000, -102.000000, -75.000000], [7.000000, -47.970578, 113.275608, 90.856656, -68.493759, 160.049752], [-173.000000, 114.788749, 85.717948, -68.489609, -89.260770, 74.260299], [-173.000000, -42.814577, 114.557660, -104.444041, -73.870813, -154.778394]] - id: 853 parameters: Irb2400_10 joints: [5.000000, -9.000000, 172.000000, 82.000000, -86.000000, -68.000000] @@ -4271,9 +4271,9 @@ cases: solutions: [[-175.000000, -7.177673, 44.718440, 83.902274, 83.452044, 91.528556], [-175.000000, 126.569196, 155.557168, 86.656661, 98.294345, -153.648673], [5.000000, -123.787712, 28.275608, -92.359776, 98.623771, -146.969875], [5.000000, -9.000000, 172.000000, -98.000000, 86.000000, 112.000000], [-175.000000, -7.177673, 44.718440, -96.097726, -83.452044, -88.471444], [-175.000000, 126.569196, 155.557168, -93.343339, -98.294345, 26.351327], [5.000000, -123.787712, 28.275608, 87.640224, -98.623771, 33.030125], [5.000000, -9.000000, 172.000000, 82.000000, -86.000000, -68.000000]] - id: 854 parameters: Irb2400_10 - joints: [-42.000000, -78.000000, 50.000000, -46.000000, 135.000000, -158.000000] - pose: {translation: [-0.0436552636749471, -0.0188713973149835, 1.170144891183165], quaternion: [-0.6488962171993027, 0.6795350255631654, 0.1885337198974809, -0.2856936905129719]} - solutions: [[-42.000000, -78.000000, 50.000000, -46.000000, 135.000000, -158.000000], [-42.000000, 62.148574, 150.275608, -149.322053, 94.484310, 60.868362], [138.000000, -80.226802, 49.624086, 30.617885, 92.917239, 59.937939], [138.000000, 59.459010, 150.651522, 132.422242, 136.445281, -160.203362], [-42.000000, -78.000000, 50.000000, 134.000000, -135.000000, 22.000000], [-42.000000, 62.148574, 150.275608, 30.677947, -94.484310, -119.131638], [138.000000, -80.226802, 49.624086, -149.382115, -92.917239, -120.062061], [138.000000, 59.459010, 150.651522, -47.577758, -136.445281, 19.796638]] + joints: [-42.000000, -78.000000, 50.000000, -46.000000, 134.000000, -158.000000] + pose: {translation: [-0.04320946215319565, -0.02027929749651034, 1.170003883835103], quaternion: [-0.6513308926736529, 0.6778138940005848, 0.1810548430476308, -0.2890597466921054]} + solutions: [[-42.000000, -78.000000, 50.000000, -46.000000, 134.000000, -158.000000], [-42.000000, 62.148574, 150.275608, -148.691883, 95.262614, 60.921900], [138.000000, -80.226802, 49.624086, 31.233961, 93.705733, 59.973527], [138.000000, 59.459010, 150.651522, 132.477038, 135.446007, -160.163979], [-42.000000, -78.000000, 50.000000, 134.000000, -134.000000, 22.000000], [-42.000000, 62.148574, 150.275608, 31.308117, -95.262614, -119.078100], [138.000000, -80.226802, 49.624086, -148.766039, -93.705733, -120.026473], [138.000000, 59.459010, 150.651522, -47.522962, -135.446007, 19.836021]] - id: 855 parameters: Irb2400_10 joints: [-174.000000, -129.000000, -51.000000, -153.000000, -17.000000, -64.000000] @@ -4286,19 +4286,19 @@ cases: solutions: [[2.000000, 36.000000, 64.000000, 130.000000, 121.000000, 166.000000], [2.000000, -165.430876, 136.275608, 94.482857, 41.196477, -78.406822], [-178.000000, -176.673666, 48.210224, -109.993530, 44.326039, -45.500414], [-178.000000, -38.717938, 152.065384, -41.454053, 97.316970, -168.876978], [2.000000, 36.000000, 64.000000, -50.000000, -121.000000, -14.000000], [2.000000, -165.430876, 136.275608, -85.517143, -41.196477, 101.593178], [-178.000000, -176.673666, 48.210224, 70.006470, -44.326039, 134.499586], [-178.000000, -38.717938, 152.065384, 138.545947, -97.316970, 11.123022]] - id: 857 parameters: Irb2400_10 - joints: [107.000000, -170.000000, 155.000000, 178.000000, -10.000000, 109.000000] - pose: {translation: [-0.2207116347986391, 0.7236770950365881, 0.2539358229362353], quaternion: [-0.6755480861673664, 0.002413136156584787, 0.2137977259738037, 0.7056341066147021]} - solutions: [[107.000000, 55.587161, 45.275608, -179.639016, 105.868438, 107.129065], [107.000000, -170.000000, 155.000000, -2.000000, 10.000000, -71.000000], [-73.000000, -173.445509, 29.225736, 179.321389, 30.776026, -72.386588], [-73.000000, -57.590552, 171.049871, 0.366049, 71.547000, 106.914495], [107.000000, 55.587161, 45.275608, 0.360984, -105.868438, -72.870935], [107.000000, -170.000000, 155.000000, 178.000000, -10.000000, 109.000000], [-73.000000, -173.445509, 29.225736, -0.678611, -30.776026, 107.613412], [-73.000000, -57.590552, 171.049871, -179.633951, -71.547000, -73.085505]] + joints: [107.000000, -169.000000, 155.000000, 178.000000, -10.000000, 109.000000] + pose: {translation: [-0.2188400348883382, 0.7175553675692257, 0.2425318145292618], quaternion: [-0.6819565222677516, 0.002396885655775949, 0.212045859018353, 0.6999757926877154]} + solutions: [[107.000000, 56.587161, 45.275608, -179.639016, 105.868438, 107.129065], [107.000000, -169.000000, 155.000000, -2.000000, 10.000000, -71.000000], [-73.000000, -174.317260, 29.371970, 179.326796, 31.050489, -72.392890], [-73.000000, -58.297803, 170.903637, 0.366363, 71.400489, 106.913507], [107.000000, 56.587161, 45.275608, 0.360984, -105.868438, -72.870935], [107.000000, -169.000000, 155.000000, 178.000000, -10.000000, 109.000000], [-73.000000, -174.317260, 29.371970, -0.673204, -31.050489, 107.607110], [-73.000000, -58.297803, 170.903637, -179.633637, -71.400489, -73.086493]] - id: 858 parameters: Irb2400_10 - joints: [46.000000, 61.000000, -24.000000, 172.000000, 127.000000, 83.000000] - pose: {translation: [0.9660203001747768, 1.013943701168345, 0.6947086210103124], quaternion: [-0.01767704145252333, -0.05283110797494007, -0.3915714174249097, 0.9184597004177555]} - solutions: [[46.000000, 61.000000, -24.000000, 172.000000, 127.000000, 83.000000], [46.000000, 119.419646, -135.724392, 173.362392, 74.066933, 89.664238], [46.000000, 61.000000, -24.000000, -8.000000, -127.000000, -97.000000], [46.000000, 119.419646, -135.724392, -6.637608, -74.066933, -90.335762]] + joints: [46.000000, 61.000000, -24.000000, 172.000000, 126.000000, 83.000000] + pose: {translation: [0.9669588620395648, 1.015092402349391, 0.6946888166478058], quaternion: [-0.0260480322516971, -0.0504142839900276, -0.3919953041744728, 0.9182154330497555]} + solutions: [[46.000000, 61.000000, -24.000000, 172.000000, 126.000000, 83.000000], [46.000000, 119.419646, -135.724392, 173.241092, 73.073725, 89.698547], [46.000000, 61.000000, -24.000000, -8.000000, -126.000000, -97.000000], [46.000000, 119.419646, -135.724392, -6.758908, -73.073725, -90.301453]] - id: 859 parameters: Irb2400_10 - joints: [-37.000000, -27.000000, -135.000000, 173.000000, -173.000000, 12.000000] - pose: {translation: [-0.7166676555487292, 0.5384670787524173, 1.331782601476449], quaternion: [0.6794871886900026, -0.366242577910233, 0.6269418482362569, 0.1053919041574364]} - solutions: [[143.000000, 9.286100, -1.936880, 2.694106, 161.580128, 21.504600], [143.000000, 91.111630, -157.787512, 178.968965, 124.371460, -161.633785], [-37.000000, -84.656331, -24.724392, -0.986949, 120.428676, -161.551557], [-37.000000, -27.000000, -135.000000, -7.000000, 173.000000, -168.000000], [143.000000, 9.286100, -1.936880, -177.305894, -161.580128, -158.495400], [143.000000, 91.111630, -157.787512, -1.031035, -124.371460, 18.366215], [-37.000000, -84.656331, -24.724392, 179.013051, -120.428676, 18.448443], [-37.000000, -27.000000, -135.000000, 173.000000, -173.000000, 12.000000]] + joints: [-37.000000, -27.000000, -135.000000, 173.000000, -172.000000, 12.000000] + pose: {translation: [-0.7165623253665044, 0.5381632642130024, 1.333230844297422], quaternion: [0.6743010584138709, -0.3641915329502082, 0.6333824617372639, 0.1072812523834167]} + solutions: [[143.000000, 9.286100, -1.936880, 3.245220, 162.565646, 22.028977], [143.000000, 91.111630, -157.787512, 178.836188, 123.377555, -161.707794], [-37.000000, -84.656331, -24.724392, -1.115898, 119.434939, -161.615901], [-37.000000, -27.000000, -135.000000, -7.000000, 172.000000, -168.000000], [143.000000, 9.286100, -1.936880, -176.754780, -162.565646, -157.971023], [143.000000, 91.111630, -157.787512, -1.163812, -123.377555, 18.292206], [-37.000000, -84.656331, -24.724392, 178.884102, -119.434939, 18.384099], [-37.000000, -27.000000, -135.000000, 173.000000, -172.000000, 12.000000]] - id: 860 parameters: Irb2400_10 joints: [-80.000000, 6.000000, -58.000000, -119.000000, 81.000000, -157.000000] @@ -4306,14 +4306,14 @@ cases: solutions: [[-80.000000, 6.000000, -58.000000, -119.000000, 81.000000, -157.000000], [-80.000000, 28.793973, -101.724392, -114.372505, 71.508116, -176.235640], [-80.000000, 6.000000, -58.000000, 61.000000, -81.000000, 23.000000], [-80.000000, 28.793973, -101.724392, 65.627495, -71.508116, 3.764360]] - id: 861 parameters: Irb2400_10 - joints: [-151.000000, -35.000000, 19.000000, 62.000000, 171.000000, 37.000000] - pose: {translation: [-0.2612328755995227, -0.1582272866768825, 1.501237295348919], quaternion: [0.7480744657111856, 0.334372189650508, 0.5721259164935402, 0.03538033656815057]} - solutions: [[-151.000000, -35.000000, 19.000000, 62.000000, 171.000000, 37.000000], [-151.000000, 69.492864, -178.724392, 172.059483, 91.011200, 155.154198], [29.000000, -75.658225, 10.823189, -7.968167, 85.134751, 155.975395], [29.000000, 19.906921, -170.547582, -41.383984, 167.940402, 114.544540], [-151.000000, -35.000000, 19.000000, -118.000000, -171.000000, -143.000000], [-151.000000, 69.492864, -178.724392, -7.940517, -91.011200, -24.845802], [29.000000, -75.658225, 10.823189, 172.031833, -85.134751, -24.024605], [29.000000, 19.906921, -170.547582, 138.616016, -167.940402, -65.455460]] + joints: [-151.000000, -35.000000, 19.000000, 62.000000, 170.000000, 37.000000] + pose: {translation: [-0.2609780054354129, -0.15956310726709, 1.500644480419644], quaternion: [0.7518475015237072, 0.3311082127584597, 0.5686466030572362, 0.04163804423749574]} + solutions: [[-151.000000, -35.000000, 19.000000, 62.000000, 170.000000, 37.000000], [-151.000000, 69.492864, -178.724392, 171.177517, 91.482908, 155.135003], [29.000000, -75.658225, 10.823189, -8.845548, 85.619734, 156.046109], [29.000000, 19.906921, -170.547582, -45.967381, 167.686519, 110.064310], [-151.000000, -35.000000, 19.000000, -118.000000, -170.000000, -143.000000], [-151.000000, 69.492864, -178.724392, -8.822483, -91.482908, -24.864997], [29.000000, -75.658225, 10.823189, 171.154452, -85.619734, -23.953891], [29.000000, 19.906921, -170.547582, 134.032619, -167.686519, -69.935690]] - id: 862 parameters: Irb2400_10 - joints: [38.000000, -132.000000, -143.000000, 131.000000, 179.000000, -97.000000] - pose: {translation: [-0.1819836141209221, -0.1407604179112086, -0.5123495736718069], quaternion: [-0.03220424754315557, -0.0210342990638473, 0.9954323837220257, 0.08737742351750644]} - solutions: [[-142.000000, 138.370191, -11.524216, -1.404324, 147.490127, -49.188654], [-142.000000, -150.017706, -148.200177, -178.597968, 147.430432, 133.177294], [38.000000, 161.898321, -16.724392, 0.875713, 120.479243, 132.439889], [38.000000, -132.000000, -143.000000, 131.000000, 179.000000, -97.000000], [-142.000000, 138.370191, -11.524216, 178.595676, -147.490127, 130.811346], [-142.000000, -150.017706, -148.200177, 1.402032, -147.430432, -46.822706], [38.000000, 161.898321, -16.724392, -179.124287, -120.479243, -47.560111], [38.000000, -132.000000, -143.000000, -49.000000, -179.000000, 83.000000]] + joints: [38.000000, -131.000000, -143.000000, 131.000000, 178.000000, -97.000000] + pose: {translation: [-0.1973702013113299, -0.1513614060413503, -0.5063883006982847], quaternion: [-0.02612869785376981, -0.006366624604860506, 0.9957942187067484, 0.08758213990205854]} + solutions: [[-142.000000, 137.097027, -11.043761, -2.742793, 146.604139, -50.307741], [-142.000000, -150.780806, -148.680632, -177.165309, 147.819370, 134.382474], [38.000000, 162.898321, -16.724392, 1.763202, 121.126485, 132.894374], [38.000000, -131.000000, -143.000000, 131.000000, 178.000000, -97.000000], [-142.000000, 137.097027, -11.043761, 177.257207, -146.604139, 129.692259], [-142.000000, -150.780806, -148.680632, 2.834691, -147.819370, -45.617526], [38.000000, 162.898321, -16.724392, -178.236798, -121.126485, -47.105626], [38.000000, -131.000000, -143.000000, -49.000000, -178.000000, 83.000000]] - id: 863 parameters: Irb2400_10 joints: [103.000000, 69.000000, 8.000000, 70.000000, -23.000000, 121.000000] @@ -4321,14 +4321,14 @@ cases: solutions: [[103.000000, 69.000000, 8.000000, -110.000000, 23.000000, -59.000000], [103.000000, 161.507561, -167.724392, -22.232088, 76.029316, -164.938188], [-77.000000, -145.138643, -15.279592, 158.450585, 88.438613, -169.957480], [-77.000000, -77.507766, -144.444800, 138.785508, 33.866502, -134.546441], [103.000000, 69.000000, 8.000000, 70.000000, -23.000000, 121.000000], [103.000000, 161.507561, -167.724392, 157.767912, -76.029316, 15.061812], [-77.000000, -145.138643, -15.279592, -21.549415, -88.438613, 10.042520], [-77.000000, -77.507766, -144.444800, -41.214492, -33.866502, 45.453559]] - id: 864 parameters: Irb2400_10 - joints: [102.000000, -160.000000, -74.000000, -94.000000, -50.000000, 78.000000] - pose: {translation: [0.04280572938398578, -0.5138022053967608, -0.7791745721516858], quaternion: [0.6639283746072797, -0.5509151955747524, -0.08311469234420411, 0.4987820251299122]} - solutions: [[-78.000000, 146.200155, -44.829492, -123.672885, 66.670787, -48.936145], [-78.000000, -177.244511, -114.894900, -105.077339, 52.318661, -84.424732], [102.000000, -160.000000, -74.000000, 86.000000, 50.000000, -102.000000], [102.000000, -153.890773, -85.724392, 81.363102, 50.618969, -94.745272], [-78.000000, 146.200155, -44.829492, 56.327115, -66.670787, 131.063855], [-78.000000, -177.244511, -114.894900, 74.922661, -52.318661, 95.575268], [102.000000, -160.000000, -74.000000, -94.000000, -50.000000, 78.000000], [102.000000, -153.890773, -85.724392, -98.636898, -50.618969, 85.254728]] + joints: [102.000000, -159.000000, -74.000000, -94.000000, -50.000000, 78.000000] + pose: {translation: [0.04784521162085461, -0.5375111052645157, -0.7682905362418995], quaternion: [0.6597963698454605, -0.5525086366518334, -0.0772044061435169, 0.5034306669601204]} + solutions: [[-78.000000, 144.711246, -43.970368, -123.805003, 66.876409, -48.601131], [-78.000000, -177.834433, -115.754024, -104.741485, 52.203124, -84.973450], [102.000000, -159.000000, -74.000000, 86.000000, 50.000000, -102.000000], [102.000000, -152.890773, -85.724392, 81.363102, 50.618969, -94.745272], [-78.000000, 144.711246, -43.970368, 56.194997, -66.876409, 131.398869], [-78.000000, -177.834433, -115.754024, 75.258515, -52.203124, 95.026550], [102.000000, -159.000000, -74.000000, -94.000000, -50.000000, 78.000000], [102.000000, -152.890773, -85.724392, -98.636898, -50.618969, 85.254728]] - id: 865 parameters: Irb2400_10 - joints: [-135.000000, -17.000000, -24.000000, 49.000000, -45.000000, 125.000000] - pose: {translation: [-0.3111046066289276, -0.2469542923099921, 1.955596609004251], quaternion: [-0.1706219881402874, -0.2527447850781758, 0.2024838575802705, 0.9305957759404752]} - solutions: [[-135.000000, -17.000000, -24.000000, -131.000000, 45.000000, -55.000000], [-135.000000, 41.419646, -135.724392, -61.498975, 37.391232, -140.223256], [45.000000, -44.292987, -34.283803, 125.877697, 41.194743, -149.740839], [45.000000, 3.312221, -125.440589, 65.900366, 35.775965, -77.003873], [-135.000000, -17.000000, -24.000000, 49.000000, -45.000000, 125.000000], [-135.000000, 41.419646, -135.724392, 118.501025, -37.391232, 39.776744], [45.000000, -44.292987, -34.283803, -54.122303, -41.194743, 30.259161], [45.000000, 3.312221, -125.440589, -114.099634, -35.775965, 102.996127]] + joints: [-135.000000, -17.000000, -24.000000, 49.000000, -44.000000, 125.000000] + pose: {translation: [-0.3114168716670218, -0.2483959051102496, 1.955754874825779], quaternion: [-0.1629497587555328, -0.2559456776777327, 0.2051368784055528, 0.9305149366440205]} + solutions: [[-135.000000, -17.000000, -24.000000, -131.000000, 44.000000, -55.000000], [-135.000000, 41.419646, -135.724392, -59.855096, 37.319322, -141.529990], [45.000000, -44.292987, -34.283803, 127.388141, 41.287273, -150.876636], [45.000000, 3.312221, -125.440589, 66.556008, 34.850553, -77.538898], [-135.000000, -17.000000, -24.000000, 49.000000, -44.000000, 125.000000], [-135.000000, 41.419646, -135.724392, 120.144904, -37.319322, 38.470010], [45.000000, -44.292987, -34.283803, -52.611859, -41.287273, 29.123364], [45.000000, 3.312221, -125.440589, -113.443992, -34.850553, 102.461102]] - id: 866 parameters: Irb2400_10 joints: [124.000000, -27.000000, 155.000000, 41.000000, -40.000000, 119.000000] @@ -4336,39 +4336,39 @@ cases: solutions: [[-56.000000, 17.884369, 62.278703, 81.088513, 25.268408, -107.503057], [-56.000000, 174.023197, 137.996904, 32.172161, 127.628197, -6.330069], [124.000000, -161.412839, 45.275608, -138.562508, 140.415978, 6.889636], [124.000000, -27.000000, 155.000000, -139.000000, 40.000000, -61.000000], [-56.000000, 17.884369, 62.278703, -98.911487, -25.268408, 72.496943], [-56.000000, 174.023197, 137.996904, -147.827839, -127.628197, 173.669931], [124.000000, -161.412839, 45.275608, 41.437492, -140.415978, -173.110364], [124.000000, -27.000000, 155.000000, 41.000000, -40.000000, 119.000000]] - id: 867 parameters: Irb2400_10 - joints: [160.000000, 150.000000, -3.000000, -21.000000, -38.000000, 147.000000] - pose: {translation: [0.1220759672013719, -0.0643894316132656, -0.5974249207217932], quaternion: [-0.2321062241354989, 0.9495991478351511, -0.1926524081526604, 0.08528310958974854]} - solutions: [[-20.000000, 138.051719, -0.678098, -166.313865, 68.828613, 125.143868], [-20.000000, -138.775624, -159.046294, -61.929612, 14.480248, 11.324808], [160.000000, 150.000000, -3.000000, 159.000000, 38.000000, -33.000000], [160.000000, -129.310991, -156.724392, 20.631286, 38.768246, 113.810392], [-20.000000, 138.051719, -0.678098, 13.686135, -68.828613, -54.856132], [-20.000000, -138.775624, -159.046294, 118.070388, -14.480248, -168.675192], [160.000000, 150.000000, -3.000000, -21.000000, -38.000000, 147.000000], [160.000000, -129.310991, -156.724392, -159.368714, -38.768246, -66.189608]] + joints: [160.000000, 149.000000, -3.000000, -21.000000, -37.000000, 147.000000] + pose: {translation: [0.1035836265751228, -0.05720992052690767, -0.600965964758307], quaternion: [-0.2344173928161992, 0.9493358234256279, -0.1907111673435068, 0.0862509765539952]} + solutions: [[-20.000000, 139.280598, -1.106462, -166.693623, 69.563058, 125.235231], [-20.000000, -138.005350, -158.617931, -65.601335, 13.698984, 14.929564], [160.000000, 149.000000, -3.000000, 159.000000, 37.000000, -33.000000], [160.000000, -130.310991, -156.724392, 19.772661, 39.608295, 114.475913], [-20.000000, 139.280598, -1.106462, 13.306377, -69.563058, -54.764769], [-20.000000, -138.005350, -158.617931, 114.398665, -13.698984, -165.070436], [160.000000, 149.000000, -3.000000, -21.000000, -37.000000, 147.000000], [160.000000, -130.310991, -156.724392, -160.227339, -39.608295, -65.524087]] - id: 868 parameters: Irb2400_10 - joints: [-159.000000, -24.000000, 40.000000, 62.000000, 159.000000, -150.000000] - pose: {translation: [-0.4534100476282602, -0.202857015594353, 1.188839974622378], quaternion: [-0.1795166420021858, 0.6480524675428244, -0.1667180446753585, 0.7211150172722385]} - solutions: [[-159.000000, -24.000000, 40.000000, 62.000000, 159.000000, -150.000000], [-159.000000, 104.180933, 160.275608, 161.212442, 79.261480, -26.709961], [21.000000, -106.587314, 26.683859, -19.126271, 74.955082, -25.192967], [21.000000, 6.418301, 173.591748, -73.160808, 160.695074, -102.555995], [-159.000000, -24.000000, 40.000000, -118.000000, -159.000000, 30.000000], [-159.000000, 104.180933, 160.275608, -18.787558, -79.261480, 153.290039], [21.000000, -106.587314, 26.683859, 160.873729, -74.955082, 154.807033], [21.000000, 6.418301, 173.591748, 106.839192, -160.695074, 77.444005]] + joints: [-159.000000, -24.000000, 40.000000, 62.000000, 158.000000, -150.000000] + pose: {translation: [-0.4532944793468481, -0.2041180779275762, 1.188067206381439], quaternion: [-0.1751034334712037, 0.6527501118847961, -0.1708960023212088, 0.7169732459524634]} + solutions: [[-159.000000, -24.000000, 40.000000, 62.000000, 158.000000, -150.000000], [-159.000000, 104.180933, 160.275608, 160.363159, 79.811492, -26.555719], [21.000000, -106.587314, 26.683859, -19.974247, 75.527454, -24.976939], [21.000000, 6.418301, 173.591748, -75.315519, 160.005708, -104.585294], [-159.000000, -24.000000, 40.000000, -118.000000, -158.000000, 30.000000], [-159.000000, 104.180933, 160.275608, -19.636841, -79.811492, 153.444281], [21.000000, -106.587314, 26.683859, 160.025753, -75.527454, 155.023061], [21.000000, 6.418301, 173.591748, 104.684481, -160.005708, 75.414706]] - id: 869 parameters: Irb2400_10 - joints: [-77.000000, 3.000000, -161.000000, 132.000000, 119.000000, 116.000000] - pose: {translation: [-0.07981776779241516, 0.5913260477071328, 1.41513216175571], quaternion: [0.2772024299521811, 0.8861576545753569, 0.06997364449644335, 0.3646739819921269]} - solutions: [[103.000000, -18.883387, 14.320440, -42.730277, 106.688056, 129.443165], [103.000000, 80.486069, -174.044832, -112.917040, 135.116487, 23.476300], [-77.000000, -82.266702, 1.275608, 62.327720, 132.784341, 16.630361], [-77.000000, 3.000000, -161.000000, 132.000000, 119.000000, 116.000000], [103.000000, -18.883387, 14.320440, 137.269723, -106.688056, -50.556835], [103.000000, 80.486069, -174.044832, 67.082960, -135.116487, -156.523700], [-77.000000, -82.266702, 1.275608, -117.672280, -132.784341, -163.369639], [-77.000000, 3.000000, -161.000000, -48.000000, -119.000000, -64.000000]] + joints: [-77.000000, 3.000000, -161.000000, 132.000000, 118.000000, 116.000000] + pose: {translation: [-0.07961703580800863, 0.5927950912934468, 1.415181381691634], quaternion: [0.274063924809804, 0.8869701302844938, 0.07798185916587945, 0.3634443323839116]} + solutions: [[103.000000, -18.883387, 14.320440, -42.971774, 105.715317, 129.375780], [103.000000, 80.486069, -174.044832, -111.500369, 135.151766, 24.480406], [-77.000000, -82.266702, 1.275608, 63.675530, 132.939253, 17.547208], [-77.000000, 3.000000, -161.000000, 132.000000, 118.000000, 116.000000], [103.000000, -18.883387, 14.320440, 137.028226, -105.715317, -50.624220], [103.000000, 80.486069, -174.044832, 68.499631, -135.151766, -155.519594], [-77.000000, -82.266702, 1.275608, -116.324470, -132.939253, -162.452792], [-77.000000, 3.000000, -161.000000, -48.000000, -118.000000, -64.000000]] - id: 870 parameters: Irb2400_10 - joints: [19.000000, -38.000000, 118.000000, -60.000000, 153.000000, -42.000000] - pose: {translation: [-0.08569572183883703, -0.06485226264585273, 0.5216947215832869], quaternion: [0.2031468921076529, -0.1992609582027733, 0.3208451616047044, 0.9033741157670865]} - solutions: [[-161.000000, 84.779520, 88.010727, 26.634629, 118.715116, -151.394664], [-161.000000, -64.105278, 112.264880, 154.939789, 111.840705, 5.189594], [19.000000, 129.866085, 82.275608, -37.718251, 39.990625, 45.706095], [19.000000, -38.000000, 118.000000, -60.000000, 153.000000, -42.000000], [-161.000000, 84.779520, 88.010727, -153.365371, -118.715116, 28.605336], [-161.000000, -64.105278, 112.264880, -25.060211, -111.840705, -174.810406], [19.000000, 129.866085, 82.275608, 142.281749, -39.990625, -134.293905], [19.000000, -38.000000, 118.000000, 120.000000, -153.000000, 138.000000]] + joints: [19.000000, -38.000000, 118.000000, -60.000000, 152.000000, -42.000000] + pose: {translation: [-0.08582488447357528, -0.06610199559721643, 0.5209058682672579], quaternion: [0.2104948382410855, -0.2032383475981938, 0.3206790440089031, 0.900861281148741]} + solutions: [[-161.000000, 84.779520, 88.010727, 27.713559, 119.042908, -150.873569], [-161.000000, -64.105278, 112.264880, 154.153163, 111.159276, 4.901285], [19.000000, 129.866085, 82.275608, -39.274103, 39.960996, 46.898399], [19.000000, -38.000000, 118.000000, -60.000000, 152.000000, -42.000000], [-161.000000, 84.779520, 88.010727, -152.286441, -119.042908, 29.126431], [-161.000000, -64.105278, 112.264880, -25.846837, -111.159276, -175.098715], [19.000000, 129.866085, 82.275608, 140.725897, -39.960996, -133.101601], [19.000000, -38.000000, 118.000000, 120.000000, -152.000000, 138.000000]] - id: 871 parameters: Irb2400_10 - joints: [-140.000000, 40.000000, 145.000000, 40.000000, -153.000000, -70.000000] - pose: {translation: [0.08966032130603253, 0.107614119714731, 1.050328297627586], quaternion: [0.314740260891393, 0.7829390063125766, -0.3666612764208462, -0.3917966168074055]} - solutions: [[40.000000, -64.670541, 62.020555, 37.231509, 151.163182, 106.867432], [40.000000, 91.109049, 138.255052, 162.522093, 76.321213, -102.524930], [-140.000000, -106.785000, 55.275608, -17.333795, 78.368294, -103.182612], [-140.000000, 40.000000, 145.000000, -140.000000, 153.000000, 110.000000], [40.000000, -64.670541, 62.020555, -142.768491, -151.163182, -73.132568], [40.000000, 91.109049, 138.255052, -17.477907, -76.321213, 77.475070], [-140.000000, -106.785000, 55.275608, 162.666205, -78.368294, 76.817388], [-140.000000, 40.000000, 145.000000, 40.000000, -153.000000, -70.000000]] + joints: [-140.000000, 40.000000, 145.000000, 40.000000, -152.000000, -70.000000] + pose: {translation: [0.08970667907821381, 0.1087571816191261, 1.049383805473132], quaternion: [0.3190354669851388, 0.7847465364306827, -0.3592876210642244, -0.3915375457291828]} + solutions: [[40.000000, -64.670541, 62.020555, 37.341343, 150.164631, 106.963185], [40.000000, 91.109049, 138.255052, 161.970667, 77.164970, -102.398474], [-140.000000, -106.785000, 55.275608, -17.890943, 79.205748, -103.074267], [-140.000000, 40.000000, 145.000000, -140.000000, 152.000000, 110.000000], [40.000000, -64.670541, 62.020555, -142.658657, -150.164631, -73.036815], [40.000000, 91.109049, 138.255052, -18.029333, -77.164970, 77.601526], [-140.000000, -106.785000, 55.275608, 162.109057, -79.205748, 76.925733], [-140.000000, 40.000000, 145.000000, 40.000000, -152.000000, -70.000000]] - id: 872 parameters: Irb2400_10 - joints: [-71.000000, -86.000000, 81.000000, 17.000000, 148.000000, 88.000000] - pose: {translation: [0.03492346733032007, -0.06097478493578221, 0.8152735884376305], quaternion: [0.856209040280617, 0.2372344218767345, 0.05941612155240426, -0.4550776119720971]} - solutions: [[-71.000000, -86.000000, 81.000000, 17.000000, 148.000000, 88.000000], [-71.000000, 102.907969, 119.275608, 170.892730, 78.191115, -104.656298], [109.000000, -130.326326, 73.521961, -8.922432, 92.633241, -106.948522], [109.000000, 43.243531, 126.753647, -167.673644, 133.468556, 82.014008], [-71.000000, -86.000000, 81.000000, -163.000000, -148.000000, -92.000000], [-71.000000, 102.907969, 119.275608, -9.107270, -78.191115, 75.343702], [109.000000, -130.326326, 73.521961, 171.077568, -92.633241, 73.051478], [109.000000, 43.243531, 126.753647, 12.326356, -133.468556, -97.985992]] + joints: [-71.000000, -85.000000, 81.000000, 17.000000, 148.000000, 88.000000] + pose: {translation: [0.0360629474216673, -0.06428407541196783, 0.8157837131722749], quaternion: [0.8525903530129967, 0.2354422274343795, 0.05893874430104244, -0.4627989540935977]} + solutions: [[-71.000000, -85.000000, 81.000000, 17.000000, 148.000000, 88.000000], [-71.000000, 103.907969, 119.275608, 170.892730, 78.191115, -104.656298], [109.000000, -130.744432, 73.317006, -8.919934, 92.260861, -106.890015], [109.000000, 42.463757, 126.958601, -167.586676, 133.883866, 82.139943], [-71.000000, -85.000000, 81.000000, -163.000000, -148.000000, -92.000000], [-71.000000, 103.907969, 119.275608, -9.107270, -78.191115, 75.343702], [109.000000, -130.744432, 73.317006, 171.080066, -92.260861, 73.109985], [109.000000, 42.463757, 126.958601, 12.413324, -133.883866, -97.860057]] - id: 873 parameters: Irb2400_10 - joints: [-160.000000, -145.000000, 152.000000, 165.000000, -78.000000, 160.000000] - pose: {translation: [-0.4482700691033303, -0.1402570542629604, -0.002384467657001135], quaternion: [0.9233985404316244, 0.3590152026425564, -0.0432462174596362, -0.128736104010118]} - solutions: [[-160.000000, 76.964616, 48.275608, -158.114471, 42.778877, 140.383584], [-160.000000, -145.000000, 152.000000, -15.000000, 78.000000, -20.000000], [20.000000, 164.187109, 36.681038, 164.809854, 104.942229, -27.193228], [20.000000, -71.478558, 163.594570, 77.614502, 15.022337, 79.620890], [-160.000000, 76.964616, 48.275608, 21.885529, -42.778877, -39.616416], [-160.000000, -145.000000, 152.000000, 165.000000, -78.000000, 160.000000], [20.000000, 164.187109, 36.681038, -15.190146, -104.942229, 152.806772], [20.000000, -71.478558, 163.594570, -102.385498, -15.022337, -100.379110]] + joints: [-160.000000, -144.000000, 152.000000, 165.000000, -77.000000, 160.000000] + pose: {translation: [-0.4394520790931042, -0.1371360061763108, -0.008628423872096905], quaternion: [0.9226312272346284, 0.3611233783249523, -0.04324621745963596, -0.1283405190660019]} + solutions: [[-160.000000, 77.964616, 48.275608, -158.600190, 43.721877, 140.737378], [-160.000000, -144.000000, 152.000000, -15.000000, 77.000000, -20.000000], [20.000000, 163.244247, 36.903963, 164.920599, 104.220496, -27.236117], [20.000000, -72.164608, 163.371645, 74.178492, 15.195631, 82.915192], [-160.000000, 77.964616, 48.275608, 21.399810, -43.721877, -39.262622], [-160.000000, -144.000000, 152.000000, 165.000000, -77.000000, 160.000000], [20.000000, 163.244247, 36.903963, -15.079401, -104.220496, 152.763883], [20.000000, -72.164608, 163.371645, -105.821508, -15.195631, -97.084808]] - id: 874 parameters: Irb2400_10 joints: [-43.000000, -61.000000, -39.000000, -145.000000, 61.000000, -25.000000] @@ -4376,39 +4376,39 @@ cases: solutions: [[137.000000, 0.144188, -17.736622, 101.034511, 30.737837, -109.032114], [137.000000, 65.175282, -141.987771, 36.082898, 58.405995, -27.145815], [-43.000000, -61.000000, -39.000000, -145.000000, 61.000000, -25.000000], [-43.000000, -18.340698, -120.724392, -116.557002, 34.113559, -65.129719], [137.000000, 0.144188, -17.736622, -78.965489, -30.737837, 70.967886], [137.000000, 65.175282, -141.987771, -143.917102, -58.405995, 152.854185], [-43.000000, -61.000000, -39.000000, 35.000000, -61.000000, 155.000000], [-43.000000, -18.340698, -120.724392, 63.442998, -34.113559, 114.870281]] - id: 875 parameters: Irb2400_10 - joints: [-175.000000, 21.000000, 116.000000, 142.000000, -180.000000, 4.000000] - pose: {translation: [0.04511546330644668, 0.003947091589033892, 0.7175025497200652], quaternion: [-0.1265249363071757, -0.3781431745532581, 0.3656768508095853, 0.8409991800312493]} - solutions: [[-175.000000, -176.769029, 84.275608, -0.000000, 49.493421, -138.000000], [-175.000000, 21.000000, 116.000000, -4.289153, 179.999999, -144.162347], [-175.000000, -176.769029, 84.275608, 180.000000, -49.493421, 42.000000], [-175.000000, 21.000000, 116.000000, 175.710847, -179.999999, 35.837653]] + joints: [-175.000000, 21.000000, 116.000000, 142.000000, -179.000000, 4.000000] + pose: {translation: [0.04583950289958724, 0.00492723134030732, 0.7183486571161356], quaternion: [-0.1291914939025695, -0.3705850449520963, 0.364791680180061, 0.8443360186753158]} + solutions: [[-175.000000, -176.769029, 84.275608, -0.819383, 48.708285, -137.463508], [-175.000000, 21.000000, 116.000000, -38.000000, 179.000000, -176.000000], [-175.000000, -176.769029, 84.275608, 179.180617, -48.708285, 42.536492], [-175.000000, 21.000000, 116.000000, 142.000000, -179.000000, 4.000000]] - id: 876 parameters: Irb2400_10 - joints: [64.000000, 70.000000, 116.000000, -143.000000, 179.000000, -140.000000] - pose: {translation: [0.03670745126279643, 0.07322487725820484, 0.7907209194233805], quaternion: [-0.3764991312169588, 0.6460925276403874, 0.3631907619604068, 0.5557925155548156]} - solutions: [[-116.000000, -126.873571, 84.469994, 178.966403, 144.390675, 2.163843], [-116.000000, 71.488171, 115.805613, 177.529871, 14.105033, 5.399939], [64.000000, -127.769029, 84.275608, -0.782232, 50.294711, 3.503933], [64.000000, 70.000000, 116.000000, -143.000000, 179.000000, -140.000000], [-116.000000, -126.873571, 84.469994, -1.033597, -144.390675, -177.836157], [-116.000000, 71.488171, 115.805613, -2.470129, -14.105033, -174.600061], [64.000000, -127.769029, 84.275608, 179.217768, -50.294711, -176.496067], [64.000000, 70.000000, 116.000000, 37.000000, -179.000000, 40.000000]] + joints: [64.000000, 70.000000, 116.000000, -143.000000, 178.000000, -140.000000] + pose: {translation: [0.03743841765280611, 0.07268764972840315, 0.7895470882140296], quaternion: [-0.375795082401885, 0.6518206007707944, 0.3570359358844022, 0.5535641796038742]} + solutions: [[-116.000000, -126.873571, 84.469994, 177.892244, 145.175753, 1.286252], [-116.000000, 71.488171, 115.805613, 175.326667, 14.938745, 7.532828], [64.000000, -127.769029, 84.275608, -1.546448, 51.101128, 3.988011], [64.000000, 70.000000, 116.000000, -143.000000, 178.000000, -140.000000], [-116.000000, -126.873571, 84.469994, -2.107756, -145.175753, -178.713748], [-116.000000, 71.488171, 115.805613, -4.673333, -14.938745, -172.467172], [64.000000, -127.769029, 84.275608, 178.453552, -51.101128, -176.011989], [64.000000, 70.000000, 116.000000, 37.000000, -178.000000, 40.000000]] - id: 877 parameters: Irb2400_10 - joints: [168.000000, 173.000000, 25.000000, 130.000000, 18.000000, -74.000000] - pose: {translation: [0.6374301871355675, -0.1560607537529, 0.02909364158200916], quaternion: [0.4945255636034533, -0.4505035218531463, 0.7124583543316177, -0.2118823661461275]} - solutions: [[-12.000000, 78.477739, 38.090940, -163.840157, 121.729482, 66.086074], [-12.000000, -155.560057, 162.184668, -132.341089, 18.678742, 11.309008], [168.000000, 173.000000, 25.000000, 130.000000, 18.000000, -74.000000], [168.000000, -75.872080, 175.275608, 13.713660, 86.890630, 56.663015], [-12.000000, 78.477739, 38.090940, 16.159843, -121.729482, -113.913926], [-12.000000, -155.560057, 162.184668, 47.658911, -18.678742, -168.690992], [168.000000, 173.000000, 25.000000, -50.000000, -18.000000, 106.000000], [168.000000, -75.872080, 175.275608, -166.286340, -86.890630, -123.336985]] + joints: [168.000000, 172.000000, 25.000000, 130.000000, 18.000000, -74.000000] + pose: {translation: [0.6273155438905638, -0.1539108199622231, 0.01598977209193644], quaternion: [0.5002037354276138, -0.453587609909871, 0.7073926646302658, -0.208926114279199]} + solutions: [[-12.000000, 79.784571, 37.839708, -163.830577, 121.782883, 66.104278], [-12.000000, -154.543942, 162.435900, -132.919904, 18.859810, 11.920331], [168.000000, 172.000000, 25.000000, 130.000000, 18.000000, -74.000000], [168.000000, -76.872080, 175.275608, 13.713660, 86.890630, 56.663015], [-12.000000, 79.784571, 37.839708, 16.169423, -121.782883, -113.895722], [-12.000000, -154.543942, 162.435900, 47.080096, -18.859810, -168.079669], [168.000000, 172.000000, 25.000000, -50.000000, -18.000000, 106.000000], [168.000000, -76.872080, 175.275608, -166.286340, -86.890630, -123.336985]] - id: 878 parameters: Irb2400_10 - joints: [-92.000000, -129.000000, 64.000000, 89.000000, -39.000000, -124.000000] - pose: {translation: [-0.045630817501232, 0.2258217572616153, 0.9729078539308911], quaternion: [-0.3809962607765617, -0.01882259331794877, 0.8569664074282735, -0.3465488938007791]} - solutions: [[88.000000, -60.613958, 74.361778, 134.250629, 118.544748, -61.415124], [88.000000, 114.462556, 125.913830, 83.329099, 39.309826, 63.309145], [-92.000000, -129.000000, 64.000000, -91.000000, 39.000000, 56.000000], [-92.000000, 29.569124, 136.275608, -45.909285, 118.828659, -61.748264], [88.000000, -60.613958, 74.361778, -45.749371, -118.544748, 118.584876], [88.000000, 114.462556, 125.913830, -96.670901, -39.309826, -116.690855], [-92.000000, -129.000000, 64.000000, 89.000000, -39.000000, -124.000000], [-92.000000, 29.569124, 136.275608, 134.090715, -118.828659, 118.251736]] + joints: [-92.000000, -128.000000, 64.000000, 89.000000, -39.000000, -124.000000] + pose: {translation: [-0.0458505347536442, 0.219529878370913, 0.9785095229057273], quaternion: [-0.3842650731601903, -0.02619012672555262, 0.8566535877472317, -0.3432186787036643]} + solutions: [[88.000000, -61.647558, 74.107183, 134.362346, 118.343445, -61.180574], [88.000000, 112.967891, 126.168425, 83.038112, 39.338320, 63.685304], [-92.000000, -128.000000, 64.000000, -91.000000, 39.000000, 56.000000], [-92.000000, 30.569124, 136.275608, -45.909285, 118.828659, -61.748264], [88.000000, -61.647558, 74.107183, -45.637654, -118.343445, 118.819426], [88.000000, 112.967891, 126.168425, -96.961888, -39.338320, -116.314696], [-92.000000, -128.000000, 64.000000, 89.000000, -39.000000, -124.000000], [-92.000000, 30.569124, 136.275608, 134.090715, -118.828659, 118.251736]] - id: 879 parameters: Irb2400_10 - joints: [-3.000000, -135.000000, -73.000000, -85.000000, 75.000000, -149.000000] - pose: {translation: [-1.027417537744195, -0.02805884025320065, -0.3611692271845856], quaternion: [-0.4546597746681048, -0.5629144470027725, 0.6470974336422171, -0.2401597926963786]} - solutions: [[177.000000, 110.230174, -28.347018, 105.048113, 85.149859, 157.134536], [177.000000, 164.072955, -131.377374, 96.232774, 75.459826, -153.832809], [-3.000000, -135.000000, -73.000000, -85.000000, 75.000000, -149.000000], [-3.000000, -127.848539, -86.724392, -83.287040, 75.671486, -155.758999], [177.000000, 110.230174, -28.347018, -74.951887, -85.149859, -22.865464], [177.000000, 164.072955, -131.377374, -83.767226, -75.459826, 26.167191], [-3.000000, -135.000000, -73.000000, 95.000000, -75.000000, 31.000000], [-3.000000, -127.848539, -86.724392, 96.712960, -75.671486, 24.241001]] + joints: [-3.000000, -134.000000, -73.000000, -85.000000, 74.000000, -149.000000] + pose: {translation: [-1.045495317140247, -0.0267159395192121, -0.3420743970626936], quaternion: [-0.4550201251498432, -0.5640931003195386, 0.6499343382137739, -0.228781589930518]} + solutions: [[177.000000, 108.887967, -27.893637, 105.869541, 84.591069, 156.954365], [177.000000, 163.207698, -131.830755, 96.232055, 74.428564, -153.526729], [-3.000000, -134.000000, -73.000000, -85.000000, 74.000000, -149.000000], [-3.000000, -126.848539, -86.724392, -83.165016, 74.678468, -155.790223], [177.000000, 108.887967, -27.893637, -74.130459, -84.591069, -23.045635], [177.000000, 163.207698, -131.830755, -83.767945, -74.428564, 26.473271], [-3.000000, -134.000000, -73.000000, 95.000000, -74.000000, 31.000000], [-3.000000, -126.848539, -86.724392, 96.834984, -74.678468, 24.209777]] - id: 880 parameters: Irb2400_10 - joints: [-129.000000, -47.000000, -159.000000, -112.000000, 140.000000, 30.000000] - pose: {translation: [0.5695094994015394, 0.7837828067288316, 0.653649491372186], quaternion: [0.2333686533248828, -0.6211639102402393, -0.08443917988325068, 0.7433468188948082]} - solutions: [[51.000000, 34.715005, 21.346461, 45.185443, 122.845994, -3.561640], [51.000000, 141.793054, 178.929147, 134.958980, 122.622211, 119.444736], [-129.000000, -130.123086, -0.724392, -41.284403, 115.407235, 127.165508], [-129.000000, -47.000000, -159.000000, -112.000000, 140.000000, 30.000000], [51.000000, 34.715005, 21.346461, -134.814557, -122.845994, 176.438360], [51.000000, 141.793054, 178.929147, -45.041020, -122.622211, -60.555264], [-129.000000, -130.123086, -0.724392, 138.715597, -115.407235, -52.834492], [-129.000000, -47.000000, -159.000000, 68.000000, -140.000000, -150.000000]] + joints: [-129.000000, -46.000000, -159.000000, -112.000000, 139.000000, 30.000000] + pose: {translation: [0.5686069745596756, 0.784330278817653, 0.6714841884223038], quaternion: [0.2349738425658281, -0.6298247363577916, -0.09189434281761245, 0.7346179446078125]} + solutions: [[51.000000, 33.509398, 21.331980, 45.936468, 122.164207, -3.025515], [51.000000, 140.571457, 178.943628, 133.867242, 122.463531, 118.982164], [-129.000000, -129.123086, -0.724392, -42.383946, 115.527881, 126.692693], [-129.000000, -46.000000, -159.000000, -112.000000, 139.000000, 30.000000], [51.000000, 33.509398, 21.331980, -134.063532, -122.164207, 176.974485], [51.000000, 140.571457, 178.943628, -46.132758, -122.463531, -61.017836], [-129.000000, -129.123086, -0.724392, 137.616054, -115.527881, -53.307307], [-129.000000, -46.000000, -159.000000, 68.000000, -139.000000, -150.000000]] - id: 881 parameters: Irb2400_10 - joints: [86.000000, 147.000000, -56.000000, -47.000000, -176.000000, 58.000000] - pose: {translation: [0.03831602815444189, 0.6101097955570817, -0.6487943787886343], quaternion: [-0.01980524211859516, 0.03628819127224747, 0.9945238556136911, -0.09598552064812135]} - solutions: [[86.000000, 147.000000, -56.000000, 133.000000, 176.000000, -122.000000], [86.000000, 171.881618, -103.724392, 173.250981, 154.271389, -81.154922], [86.000000, 147.000000, -56.000000, -47.000000, -176.000000, 58.000000], [86.000000, 171.881618, -103.724392, -6.749019, -154.271389, 98.845078]] + joints: [86.000000, 146.000000, -56.000000, -47.000000, -175.000000, 58.000000] + pose: {translation: [0.03884052925948033, 0.6331162642448021, -0.6397949393135061], quaternion: [-0.02655380058500689, 0.03460558666774655, 0.9944488017480722, -0.09575452860150471]} + solutions: [[86.000000, 146.000000, -56.000000, 133.000000, 175.000000, -122.000000], [86.000000, 170.881618, -103.724392, 171.784763, 153.507386, -82.471550], [86.000000, 146.000000, -56.000000, -47.000000, -175.000000, 58.000000], [86.000000, 170.881618, -103.724392, -8.215237, -153.507386, 97.528450]] - id: 882 parameters: Irb2400_10 joints: [55.000000, 74.000000, 117.000000, -95.000000, 26.000000, -123.000000] @@ -4416,19 +4416,19 @@ cases: solutions: [[55.000000, -120.852642, 83.275608, -146.050817, 128.557696, -15.795816], [55.000000, 74.000000, 117.000000, -95.000000, 26.000000, -123.000000], [-125.000000, -124.659145, 82.503570, 41.265127, 41.462400, -71.886493], [-125.000000, 68.078725, 117.772037, 62.847626, 150.607479, 20.957042], [55.000000, -120.852642, 83.275608, 33.949183, -128.557696, 164.204184], [55.000000, 74.000000, 117.000000, 85.000000, -26.000000, 57.000000], [-125.000000, -124.659145, 82.503570, -138.734873, -41.462400, 108.113507], [-125.000000, 68.078725, 117.772037, -117.152374, -150.607479, -159.042958]] - id: 883 parameters: Irb2400_10 - joints: [-89.000000, -61.000000, -129.000000, 81.000000, 137.000000, -60.000000] - pose: {translation: [0.03670510916366048, 1.177868318728104, 0.7124629251488653], quaternion: [0.4921546740209284, -0.3764984055298793, 0.7776989395195741, 0.1059107498932099]} - solutions: [[91.000000, 44.787647, -1.212936, -64.897970, 131.939047, -12.751721], [91.000000, 127.387736, -158.511456, -129.807290, 118.734720, -107.801140], [-89.000000, -112.343262, -30.724392, 47.970502, 114.927589, -112.719348], [-89.000000, -61.000000, -129.000000, 81.000000, 137.000000, -60.000000], [91.000000, 44.787647, -1.212936, 115.102030, -131.939047, 167.248279], [91.000000, 127.387736, -158.511456, 50.192710, -118.734720, 72.198860], [-89.000000, -112.343262, -30.724392, -132.029498, -114.927589, 67.280652], [-89.000000, -61.000000, -129.000000, -99.000000, -137.000000, 120.000000]] + joints: [-89.000000, -60.000000, -129.000000, 81.000000, 136.000000, -60.000000] + pose: {translation: [0.03778281772697817, 1.177026479122813, 0.7347421663210298], quaternion: [0.4973065708061306, -0.3778307766313193, 0.7750243938244898, 0.0962666496778781]} + solutions: [[91.000000, 43.630721, -1.246664, -66.027659, 131.333754, -13.631939], [91.000000, 126.194713, -158.477728, -129.033654, 117.960174, -107.542098], [-89.000000, -111.343262, -30.724392, 48.843649, 114.319334, -112.355538], [-89.000000, -60.000000, -129.000000, 81.000000, 136.000000, -60.000000], [91.000000, 43.630721, -1.246664, 113.972341, -131.333754, 166.368061], [91.000000, 126.194713, -158.477728, 50.966346, -117.960174, 72.457902], [-89.000000, -111.343262, -30.724392, -131.156351, -114.319334, 67.644462], [-89.000000, -60.000000, -129.000000, -99.000000, -136.000000, 120.000000]] - id: 884 parameters: Irb2400_10 - joints: [16.000000, 142.000000, 56.000000, 10.000000, -112.000000, 159.000000] - pose: {translation: [-0.2071520218550493, -0.07363671903865129, 0.08071338546081543], quaternion: [0.9346809618100675, 0.3441732569570515, 0.03116119265214163, 0.08333815991416295]} - solutions: [[-164.000000, 85.568991, 63.378577, 168.688504, 55.169920, 161.738423], [-164.000000, -116.746532, 136.897031, 9.624352, 74.367864, -27.395311], [16.000000, 142.000000, 56.000000, -170.000000, 112.000000, -21.000000], [16.000000, -70.280101, 144.275608, -38.819238, 14.882609, -166.911037], [-164.000000, 85.568991, 63.378577, -11.311496, -55.169920, -18.261577], [-164.000000, -116.746532, 136.897031, -170.375648, -74.367864, 152.604689], [16.000000, 142.000000, 56.000000, 10.000000, -112.000000, 159.000000], [16.000000, -70.280101, 144.275608, 141.180762, -14.882609, 13.088963]] + joints: [16.000000, 141.000000, 56.000000, 10.000000, -111.000000, 159.000000] + pose: {translation: [-0.1995351889478481, -0.07155084618977436, 0.07511154088241638], quaternion: [0.9351359402955264, 0.3428134695991893, 0.03113904423564047, 0.08384544205297262]} + solutions: [[-164.000000, 86.876950, 63.099228, 168.749756, 56.196851, 161.699268], [-164.000000, -115.833519, 137.176380, 9.750375, 73.184531, -27.461603], [16.000000, 141.000000, 56.000000, -170.000000, 111.000000, -21.000000], [16.000000, -71.280101, 144.275608, -36.750289, 15.720546, -168.906711], [-164.000000, 86.876950, 63.099228, -11.250244, -56.196851, -18.300732], [-164.000000, -115.833519, 137.176380, -170.249625, -73.184531, 152.538397], [16.000000, 141.000000, 56.000000, 10.000000, -111.000000, 159.000000], [16.000000, -71.280101, 144.275608, 143.249711, -15.720546, 11.093289]] - id: 885 parameters: Irb2400_10 - joints: [-45.000000, 125.000000, -106.000000, -12.000000, 12.000000, -24.000000] - pose: {translation: [1.063934818039424, -1.069131088458474, 0.04905657350015488], quaternion: [0.08076458262392744, 0.8653601560180899, -0.3344650359454852, 0.3643652320130384]} - solutions: [[-45.000000, 97.742261, -53.724392, -169.327261, 13.497902, 133.870423], [-45.000000, 125.000000, -106.000000, -12.000000, 12.000000, -24.000000], [-45.000000, 97.742261, -53.724392, 10.672739, -13.497902, -46.129577], [-45.000000, 125.000000, -106.000000, 168.000000, -12.000000, 156.000000]] + joints: [-45.000000, 124.000000, -106.000000, -12.000000, 12.000000, -24.000000] + pose: {translation: [1.070767295982051, -1.075963566401101, 0.07372108708144545], quaternion: [0.08057700543267241, 0.8610150089956217, -0.3392937200453481, 0.3701895082488991]} + solutions: [[-45.000000, 96.742261, -53.724392, -169.327261, 13.497902, 133.870423], [-45.000000, 124.000000, -106.000000, -12.000000, 12.000000, -24.000000], [-45.000000, 96.742261, -53.724392, 10.672739, -13.497902, -46.129577], [-45.000000, 124.000000, -106.000000, 168.000000, -12.000000, 156.000000]] - id: 886 parameters: Irb2400_10 joints: [-164.000000, 37.000000, -175.000000, 58.000000, -123.000000, 46.000000] @@ -4436,14 +4436,14 @@ cases: solutions: [[16.000000, -50.084970, 17.987407, 53.231082, 117.393324, -143.454139], [16.000000, 53.295769, -177.711799, 124.082250, 120.825227, -32.213952], [-164.000000, -63.411987, 15.275608, -52.610120, 116.469594, -25.326069], [-164.000000, 37.000000, -175.000000, -122.000000, 123.000000, -134.000000], [16.000000, -50.084970, 17.987407, -126.768918, -117.393324, 36.545861], [16.000000, 53.295769, -177.711799, -55.917750, -120.825227, 147.786048], [-164.000000, -63.411987, 15.275608, 127.389880, -116.469594, 154.673931], [-164.000000, 37.000000, -175.000000, 58.000000, -123.000000, 46.000000]] - id: 887 parameters: Irb2400_10 - joints: [23.000000, 20.000000, 35.000000, -71.000000, -133.000000, -5.000000] - pose: {translation: [0.7761132698092312, 0.3932948704816112, 0.7955510465751952], quaternion: [-0.3902459476936222, -0.009595832598098214, 0.5595244080359696, 0.7311282083994939]} - solutions: [[23.000000, 20.000000, 35.000000, 109.000000, 133.000000, 175.000000], [23.000000, 142.404411, 165.275608, 129.997284, 64.510524, -94.634350], [-157.000000, -133.289004, 15.484551, -54.251704, 58.434278, -85.763668], [-157.000000, -32.648751, -175.208943, -52.898435, 119.885603, -155.164948], [23.000000, 20.000000, 35.000000, -71.000000, -133.000000, -5.000000], [23.000000, 142.404411, 165.275608, -50.002716, -64.510524, 85.365650], [-157.000000, -133.289004, 15.484551, 125.748296, -58.434278, 94.236332], [-157.000000, -32.648751, -175.208943, 127.101565, -119.885603, 24.835052]] + joints: [23.000000, 20.000000, 35.000000, -71.000000, -132.000000, -5.000000] + pose: {translation: [0.7765665199939599, 0.394516744234841, 0.7948422491490161], quaternion: [-0.3956512902358744, -0.003665085785449408, 0.556103268602242, 0.7308869805454027]} + solutions: [[23.000000, 20.000000, 35.000000, 109.000000, 132.000000, 175.000000], [23.000000, 142.404411, 165.275608, 128.889559, 64.521065, -94.157726], [-157.000000, -133.289004, 15.484551, -55.408110, 58.599991, -85.159727], [-157.000000, -32.648751, -175.208943, -53.467333, 119.016922, -155.444675], [23.000000, 20.000000, 35.000000, -71.000000, -132.000000, -5.000000], [23.000000, 142.404411, 165.275608, -51.110441, -64.521065, 85.842274], [-157.000000, -133.289004, 15.484551, 124.591890, -58.599991, 94.840273], [-157.000000, -32.648751, -175.208943, 126.532667, -119.016922, 24.555325]] - id: 888 parameters: Irb2400_10 - joints: [19.000000, 61.000000, -64.000000, 165.000000, -63.000000, -176.000000] - pose: {translation: [1.430211462286378, 0.4717300261042836, 1.060084346890466], quaternion: [-0.1519057526415514, 0.9459270545559149, -0.07395201947628466, 0.2769074729741946]} - solutions: [[19.000000, 61.000000, -64.000000, -15.000000, 63.000000, 4.000000], [19.000000, 77.534333, -95.724392, -13.650918, 77.724009, 0.020294], [19.000000, 61.000000, -64.000000, 165.000000, -63.000000, -176.000000], [19.000000, 77.534333, -95.724392, 166.349082, -77.724009, -179.979706]] + joints: [19.000000, 61.000000, -64.000000, 165.000000, -62.000000, -176.000000] + pose: {translation: [1.431363492451486, 0.4723142110864113, 1.060813976519445], quaternion: [-0.1527123039664915, 0.9435254969791088, -0.07205100539526037, 0.2850390173100938]} + solutions: [[19.000000, 61.000000, -64.000000, -15.000000, 62.000000, 4.000000], [19.000000, 77.534333, -95.724392, -13.579613, 76.726430, 0.004527], [19.000000, 61.000000, -64.000000, 165.000000, -62.000000, -176.000000], [19.000000, 77.534333, -95.724392, 166.420387, -76.726430, -179.995473]] - id: 889 parameters: Irb2400_10 joints: [-149.000000, 155.000000, -99.000000, -10.000000, -6.000000, 174.000000] @@ -4451,19 +4451,19 @@ cases: solutions: [[-149.000000, 135.048875, -60.724392, 177.467549, 24.254940, -13.637159], [-149.000000, 155.000000, -99.000000, 170.000000, 6.000000, -6.000000], [-149.000000, 135.048875, -60.724392, -2.532451, -24.254940, 166.362841], [-149.000000, 155.000000, -99.000000, -10.000000, -6.000000, 174.000000]] - id: 890 parameters: Irb2400_10 - joints: [-151.000000, 157.000000, 95.000000, 163.000000, 57.000000, -35.000000] - pose: {translation: [0.06728391483060682, 0.01346595313510606, 0.6653366306087608], quaternion: [-0.2772084680274816, 0.5367344198272901, -0.1802051694238552, 0.7762716822990767]} - solutions: [[-151.000000, 157.000000, 95.000000, 163.000000, 57.000000, -35.000000], [-151.000000, 58.223054, 105.275608, 25.099016, 35.314178, 114.628261], [29.000000, 165.499406, 92.398398, -14.228420, 86.047227, -43.452353], [29.000000, 41.559537, 107.877210, -134.484332, 159.898097, 179.261813], [-151.000000, 157.000000, 95.000000, -17.000000, -57.000000, 145.000000], [-151.000000, 58.223054, 105.275608, -154.900984, -35.314178, -65.371739], [29.000000, 165.499406, 92.398398, 165.771580, -86.047227, 136.547647], [29.000000, 41.559537, 107.877210, 45.515668, -159.898097, -0.738187]] + joints: [-151.000000, 156.000000, 95.000000, 163.000000, 57.000000, -35.000000] + pose: {translation: [0.0680302345878883, 0.01387964493184522, 0.6624427503651565], quaternion: [-0.2818574897962111, 0.541876403035622, -0.1803533086710694, 0.7709727643246246]} + solutions: [[-151.000000, 156.000000, 95.000000, 163.000000, 57.000000, -35.000000], [-151.000000, 57.223054, 105.275608, 25.099016, 35.314178, 114.628261], [29.000000, 164.546438, 92.471861, -14.203890, 87.869184, -43.914555], [29.000000, 41.172852, 107.803747, -137.187538, 158.850345, 176.373664], [-151.000000, 156.000000, 95.000000, -17.000000, -57.000000, 145.000000], [-151.000000, 57.223054, 105.275608, -154.900984, -35.314178, -65.371739], [29.000000, 164.546438, 92.471861, 165.796110, -87.869184, 136.085445], [29.000000, 41.172852, 107.803747, 42.812462, -158.850345, -3.626336]] - id: 891 parameters: Irb2400_10 - joints: [-115.000000, -10.000000, 178.000000, 30.000000, -126.000000, 109.000000] - pose: {translation: [0.2526701203076424, 0.6232104565534314, 0.9724017430977535], quaternion: [0.8383210801048657, -0.2806661240292161, -0.2733778924688687, 0.3790894635617137]} - solutions: [[65.000000, -6.090702, 38.910211, 25.093323, 107.480687, -81.737930], [65.000000, 120.821545, 161.365397, 145.360120, 134.631414, 64.364205], [-115.000000, -118.105023, 22.275608, -31.515791, 129.300646, 69.029682], [-115.000000, -10.000000, 178.000000, -150.000000, 126.000000, -71.000000], [65.000000, -6.090702, 38.910211, -154.906677, -107.480687, 98.262070], [65.000000, 120.821545, 161.365397, -34.639880, -134.631414, -115.635795], [-115.000000, -118.105023, 22.275608, 148.484209, -129.300646, -110.970318], [-115.000000, -10.000000, 178.000000, 30.000000, -126.000000, 109.000000]] + joints: [-115.000000, -9.000000, 178.000000, 30.000000, -125.000000, 109.000000] + pose: {translation: [0.250034859013073, 0.6185783372438338, 0.9848508418421763], quaternion: [0.8445538511803741, -0.2831843270033482, -0.2725687712634388, 0.3636505112439669]} + solutions: [[65.000000, -7.212017, 38.736285, 25.325330, 106.765013, -81.549438], [65.000000, 119.498279, 161.539323, 144.448343, 135.217242, 63.781110], [-115.000000, -117.105023, 22.275608, -32.355148, 130.064027, 68.493710], [-115.000000, -9.000000, 178.000000, -150.000000, 125.000000, -71.000000], [65.000000, -7.212017, 38.736285, -154.674670, -106.765013, 98.450562], [65.000000, 119.498279, 161.539323, -35.551657, -135.217242, -116.218890], [-115.000000, -117.105023, 22.275608, 147.644852, -130.064027, -111.506290], [-115.000000, -9.000000, 178.000000, 30.000000, -125.000000, 109.000000]] - id: 892 parameters: Irb2400_10 - joints: [-165.000000, 74.000000, -45.000000, 60.000000, -155.000000, 129.000000] - pose: {translation: [-1.403628338132746, -0.3438938004329127, 0.614423891487284], quaternion: [-0.4317404049702775, 0.03872067416096762, -0.6022978320483103, 0.6703269751535637]} - solutions: [[-165.000000, 74.000000, -45.000000, -120.000000, 155.000000, -51.000000], [-165.000000, 110.376938, -114.724392, -151.522927, 129.860947, -89.330757], [-165.000000, 74.000000, -45.000000, 60.000000, -155.000000, 129.000000], [-165.000000, 110.376938, -114.724392, 28.477073, -129.860947, 90.669243]] + joints: [-165.000000, 73.000000, -45.000000, 60.000000, -155.000000, 129.000000] + pose: {translation: [-1.403440208469391, -0.3438433912415443, 0.6378940997978146], quaternion: [-0.4383148422852484, 0.04300916453914261, -0.5987231324763157, 0.6689999412823973]} + solutions: [[-165.000000, 73.000000, -45.000000, -120.000000, 155.000000, -51.000000], [-165.000000, 109.376938, -114.724392, -151.522927, 129.860947, -89.330757], [-165.000000, 73.000000, -45.000000, 60.000000, -155.000000, 129.000000], [-165.000000, 109.376938, -114.724392, 28.477073, -129.860947, 90.669243]] - id: 893 parameters: Irb2400_10 joints: [-130.000000, -14.000000, 162.000000, 49.000000, -118.000000, 45.000000] @@ -4471,19 +4471,19 @@ cases: solutions: [[50.000000, -0.799648, 55.214662, 43.003114, 102.305245, -152.130388], [50.000000, 145.906986, 145.060946, 130.624571, 118.602080, -12.535732], [-130.000000, -140.176077, 38.275608, -46.158807, 112.498045, -5.096844], [-130.000000, -14.000000, 162.000000, -131.000000, 118.000000, -135.000000], [50.000000, -0.799648, 55.214662, -136.996886, -102.305245, 27.869612], [50.000000, 145.906986, 145.060946, -49.375429, -118.602080, 167.464268], [-130.000000, -140.176077, 38.275608, 133.841193, -112.498045, 174.903156], [-130.000000, -14.000000, 162.000000, 49.000000, -118.000000, 45.000000]] - id: 894 parameters: Irb2400_10 - joints: [-1.000000, -176.000000, 157.000000, 180.000000, 9.000000, 7.000000] - pose: {translation: [0.7956658529061911, -0.01388839912364319, 0.3250713917246857], quaternion: [0.5137834680452966, -0.03592723994968801, 0.8559925827069843, -0.04486067034242799]} - solutions: [[-1.000000, 51.968655, 43.275608, 180.000000, 123.244263, 7.000000], [-1.000000, -176.000000, 157.000000, 180.000000, 9.000000, 7.000000], [179.000000, -168.239441, 26.402134, 180.000000, 10.162693, -173.000000], [179.000000, -55.548507, 173.873473, 0.000000, 89.675033, 7.000000], [-1.000000, 51.968655, 43.275608, 0.000000, -123.244263, -173.000000], [-1.000000, -176.000000, 157.000000, 0.000000, -9.000000, -173.000000], [179.000000, -168.239441, 26.402134, -0.000000, -10.162693, 7.000000], [179.000000, -55.548507, 173.873473, -180.000000, -89.675033, -173.000000]] + joints: [-1.000000, -175.000000, 157.000000, 180.000000, 9.000000, 7.000000] + pose: {translation: [0.7905007160533514, -0.01379824132451374, 0.312972390776112], quaternion: [0.521225784472987, -0.03644765741095121, 0.8514716506419906, -0.04462373833261217]} + solutions: [[-1.000000, 52.968655, 43.275608, 180.000000, 123.244263, 7.000000], [-1.000000, -175.000000, 157.000000, 180.000000, 9.000000, 7.000000], [179.000000, -169.102221, 26.531342, 180.000000, 10.429121, -173.000000], [179.000000, -56.266991, 173.744266, 0.000000, 89.522726, 7.000000], [-1.000000, 52.968655, 43.275608, 0.000000, -123.244263, -173.000000], [-1.000000, -175.000000, 157.000000, 0.000000, -9.000000, -173.000000], [179.000000, -169.102221, 26.531342, -0.000000, -10.429121, 7.000000], [179.000000, -56.266991, 173.744266, -180.000000, -89.522726, -173.000000]] - id: 895 parameters: Irb2400_10 - joints: [-17.000000, -128.000000, 113.000000, -8.000000, 15.000000, -104.000000] - pose: {translation: [0.3086897827465025, -0.09757758978323075, 0.5069738290360801], quaternion: [0.5108542928316271, -0.4876591023329663, 0.6436829871225653, -0.2947688984548322]} - solutions: [[-17.000000, 23.898201, 87.275608, -177.784321, 111.298793, 69.074393], [-17.000000, -128.000000, 113.000000, -8.000000, 15.000000, -104.000000], [163.000000, 166.315271, 72.585180, 177.586056, 58.783512, -110.479136], [163.000000, -21.749839, 127.690427, 2.145270, 74.209424, 67.685212], [-17.000000, 23.898201, 87.275608, 2.215679, -111.298793, -110.925607], [-17.000000, -128.000000, 113.000000, 172.000000, -15.000000, 76.000000], [163.000000, 166.315271, 72.585180, -2.413944, -58.783512, 69.520864], [163.000000, -21.749839, 127.690427, -177.854730, -74.209424, -112.314788]] + joints: [-17.000000, -127.000000, 113.000000, -8.000000, 15.000000, -104.000000] + pose: {translation: [0.3068542591724451, -0.09701641391010075, 0.5030856474851356], quaternion: [0.5154544509396154, -0.4917427349192158, 0.6381510728430643, -0.2919914380422065]} + solutions: [[-17.000000, 24.898201, 87.275608, -177.784321, 111.298793, 69.074393], [-17.000000, -127.000000, 113.000000, -8.000000, 15.000000, -104.000000], [163.000000, 165.775532, 72.672819, 177.599851, 59.330928, -110.505965], [163.000000, -22.138542, 127.602788, 2.150918, 73.686134, 67.664788], [-17.000000, 24.898201, 87.275608, 2.215679, -111.298793, -110.925607], [-17.000000, -127.000000, 113.000000, 172.000000, -15.000000, 76.000000], [163.000000, 165.775532, 72.672819, -2.400149, -59.330928, 69.494035], [163.000000, -22.138542, 127.602788, -177.849082, -73.686134, -112.335212]] - id: 896 parameters: Irb2400_10 - joints: [54.000000, -137.000000, -150.000000, -7.000000, 149.000000, 105.000000] - pose: {translation: [-0.05083108665321573, -0.07903981545185983, -0.5261727630523063], quaternion: [-0.1680628476144072, -0.3696327451520106, 0.9076149278553876, 0.1065910676238163]} - solutions: [[-126.000000, 146.165585, -9.028124, 100.588457, 176.338908, 31.617704], [-126.000000, -139.570507, -150.696268, 176.121661, 111.876680, 109.561073], [54.000000, 149.476271, -9.724392, -3.630166, 82.452036, 111.485558], [54.000000, -137.000000, -150.000000, -7.000000, 149.000000, 105.000000], [-126.000000, 146.165585, -9.028124, -79.411543, -176.338908, -148.382296], [-126.000000, -139.570507, -150.696268, -3.878339, -111.876680, -70.438927], [54.000000, 149.476271, -9.724392, 176.369834, -82.452036, -68.514442], [54.000000, -137.000000, -150.000000, 173.000000, -149.000000, -75.000000]] + joints: [54.000000, -137.000000, -150.000000, -7.000000, 148.000000, 105.000000] + pose: {translation: [-0.05127887016109633, -0.07991839675561596, -0.5272810905368103], quaternion: [-0.1710048574858229, -0.3770283798222445, 0.9040850798255887, 0.1060052261052528]} + solutions: [[-126.000000, 146.165585, -9.028124, 114.245671, 175.938427, 45.244290], [-126.000000, -139.570507, -150.696268, 176.036554, 110.879825, 109.530049], [54.000000, 149.476271, -9.724392, -3.744380, 81.458451, 111.501542], [54.000000, -137.000000, -150.000000, -7.000000, 148.000000, 105.000000], [-126.000000, 146.165585, -9.028124, -65.754329, -175.938427, -134.755710], [-126.000000, -139.570507, -150.696268, -3.963446, -110.879825, -70.469951], [54.000000, 149.476271, -9.724392, 176.255620, -81.458451, -68.498458], [54.000000, -137.000000, -150.000000, 173.000000, -148.000000, -75.000000]] - id: 897 parameters: Irb2400_10 joints: [148.000000, 18.000000, -164.000000, -110.000000, -6.000000, -17.000000] @@ -4491,24 +4491,24 @@ cases: solutions: [[-32.000000, -32.521581, 12.414977, -160.245167, 16.894404, -146.065753], [-32.000000, 64.772701, -172.139369, -5.948633, 71.401613, 54.801992], [148.000000, -70.490362, 4.275608, 174.232081, 77.786747, 54.122794], [148.000000, 18.000000, -164.000000, 70.000000, 6.000000, 163.000000], [-32.000000, -32.521581, 12.414977, 19.754833, -16.894404, 33.934247], [-32.000000, 64.772701, -172.139369, 174.051367, -71.401613, -125.198008], [148.000000, -70.490362, 4.275608, -5.767919, -77.786747, -125.877206], [148.000000, 18.000000, -164.000000, -110.000000, -6.000000, -17.000000]] - id: 898 parameters: Irb2400_10 - joints: [-69.000000, -180.000000, -24.000000, 17.000000, 37.000000, -175.000000] - pose: {translation: [-0.2070534673320073, 0.5811265426072527, -0.503335918227006], quaternion: [-0.4055808639723604, 0.4848093839822324, 0.6760108310640282, 0.3787788012367165]} - solutions: [[111.000000, 123.050790, -11.169341, -167.880142, 123.065800, -154.596137], [111.000000, -164.960378, -148.555052, -168.130865, 58.813393, -167.489879], [-69.000000, -180.000000, -24.000000, 17.000000, 37.000000, -175.000000], [-69.000000, -121.580354, -135.724392, 10.135435, 89.096617, -161.440199], [111.000000, 123.050790, -11.169341, 12.119858, -123.065800, 25.403863], [111.000000, -164.960378, -148.555052, 11.869135, -58.813393, 12.510121], [-69.000000, -180.000000, -24.000000, -163.000000, -37.000000, 5.000000], [-69.000000, -121.580354, -135.724392, -169.864565, -89.096617, 18.559801]] + joints: [-69.000000, -179.000000, -24.000000, 17.000000, 37.000000, -175.000000] + pose: {translation: [-0.2140088486613839, 0.5992459304491871, -0.4906569323588995], quaternion: [-0.4003654432093416, 0.4804680748922084, 0.6812031725827649, 0.3805524649195411]} + solutions: [[111.000000, 121.752666, -10.721462, -167.859597, 123.212211, -154.558556], [111.000000, -165.782910, -149.002930, -168.096977, 58.548780, -167.555074], [-69.000000, -179.000000, -24.000000, 17.000000, 37.000000, -175.000000], [-69.000000, -120.580354, -135.724392, 10.135435, 89.096617, -161.440199], [111.000000, 121.752666, -10.721462, 12.140403, -123.212211, 25.441444], [111.000000, -165.782910, -149.002930, 11.903023, -58.548780, 12.444926], [-69.000000, -179.000000, -24.000000, -163.000000, -37.000000, 5.000000], [-69.000000, -120.580354, -135.724392, -169.864565, -89.096617, 18.559801]] - id: 899 parameters: Irb2400_10 - joints: [41.000000, -91.000000, 117.000000, 72.000000, 77.000000, -72.000000] - pose: {translation: [0.05311002030552927, 0.1505363073124305, 0.361677960228669], quaternion: [-0.5619974350232353, 0.6072700909534408, 0.5583940427055147, 0.05981649213800726]} - solutions: [[41.000000, 74.147358, 83.275608, 111.652851, 85.586965, 153.665038], [41.000000, -91.000000, 117.000000, 72.000000, 77.000000, -72.000000], [-139.000000, 137.927085, 75.348634, -110.539956, 98.273850, -16.293593], [-139.000000, -45.171250, 124.926974, -81.727109, 69.459672, -149.813442], [41.000000, 74.147358, 83.275608, -68.347149, -85.586965, -26.334962], [41.000000, -91.000000, 117.000000, -108.000000, -77.000000, 108.000000], [-139.000000, 137.927085, 75.348634, 69.460044, -98.273850, 163.706407], [-139.000000, -45.171250, 124.926974, 98.272891, -69.459672, 30.186558]] + joints: [41.000000, -91.000000, 117.000000, 72.000000, 76.000000, -72.000000] + pose: {translation: [0.05434001532315272, 0.1511691078272138, 0.3611417879100455], quaternion: [-0.5599738011357029, 0.6117200153635324, 0.5548482952319126, 0.06611606554773665]} + solutions: [[41.000000, 74.147358, 83.275608, 112.369605, 86.286142, 153.614247], [41.000000, -91.000000, 117.000000, 72.000000, 76.000000, -72.000000], [-139.000000, 137.927085, 75.348634, -111.373640, 97.709571, -16.409503], [-139.000000, -45.171250, 124.926974, -80.681849, 69.251715, -150.181974], [41.000000, 74.147358, 83.275608, -67.630395, -86.286142, -26.385753], [41.000000, -91.000000, 117.000000, -108.000000, -76.000000, 108.000000], [-139.000000, 137.927085, 75.348634, 68.626360, -97.709571, 163.590497], [-139.000000, -45.171250, 124.926974, 99.318151, -69.251715, 29.818026]] - id: 900 parameters: Irb2400_10 - joints: [-90.000000, 14.000000, -51.000000, -114.000000, 94.000000, -10.000000] - pose: {translation: [-0.07746220907990546, -0.7667887328681854, 1.885219940318452], quaternion: [-0.5606643975833736, -0.2112443065759346, 0.6234440776884518, 0.5023432673152104]} - solutions: [[-90.000000, 14.000000, -51.000000, -114.000000, 94.000000, -10.000000], [-90.000000, 44.103699, -108.724392, -113.266542, 82.743960, -35.274380], [-90.000000, 14.000000, -51.000000, 66.000000, -94.000000, 170.000000], [-90.000000, 44.103699, -108.724392, 66.733458, -82.743960, 144.725620]] + joints: [-90.000000, 14.000000, -51.000000, -114.000000, 93.000000, -10.000000] + pose: {translation: [-0.07754494540413666, -0.7679491387877989, 1.886140493300374], quaternion: [-0.5545239714936887, -0.2146086467885781, 0.628558774574672, 0.5013583156462339]} + solutions: [[-90.000000, 14.000000, -51.000000, -114.000000, 93.000000, -10.000000], [-90.000000, 44.103699, -108.724392, -112.835239, 81.839898, -35.332231], [-90.000000, 14.000000, -51.000000, 66.000000, -93.000000, 170.000000], [-90.000000, 44.103699, -108.724392, 67.164761, -81.839898, 144.667769]] - id: 901 parameters: Irb2400_10 - joints: [-77.000000, -7.000000, 5.000000, 148.000000, 28.000000, -36.000000] - pose: {translation: [0.2090537558870134, -0.8115065300033442, 1.512451959068773], quaternion: [0.5320558319220898, 0.05063015192859394, 0.3376728855247637, 0.7748097842791871]} - solutions: [[-77.000000, -7.000000, 5.000000, 148.000000, 28.000000, -36.000000], [-77.000000, 82.270336, -164.724392, 17.179673, 57.381137, 105.651696], [103.000000, -80.804932, -11.707765, -163.665769, 62.201043, 107.330404], [103.000000, -9.387646, -148.016627, -75.986213, 14.857360, 10.634838], [-77.000000, -7.000000, 5.000000, -32.000000, -28.000000, 144.000000], [-77.000000, 82.270336, -164.724392, -162.820327, -57.381137, -74.348304], [103.000000, -80.804932, -11.707765, 16.334231, -62.201043, -72.669596], [103.000000, -9.387646, -148.016627, 104.013787, -14.857360, -169.365162]] + joints: [-77.000000, -6.000000, 5.000000, 148.000000, 28.000000, -36.000000] + pose: {translation: [0.2125518203217334, -0.8266583117090249, 1.499440029875515], quaternion: [0.5392865500951419, 0.04927801896808609, 0.3370460811583652, 0.7701568885031476]} + solutions: [[-77.000000, -6.000000, 5.000000, 148.000000, 28.000000, -36.000000], [-77.000000, 83.270336, -164.724392, 17.179673, 57.381137, 105.651696], [103.000000, -81.506984, -12.048957, -163.659350, 62.159544, 107.316650], [103.000000, -10.451770, -147.675435, -77.004093, 14.792654, 11.687767], [-77.000000, -6.000000, 5.000000, -32.000000, -28.000000, 144.000000], [-77.000000, 83.270336, -164.724392, -162.820327, -57.381137, -74.348304], [103.000000, -81.506984, -12.048957, 16.340650, -62.159544, -72.683350], [103.000000, -10.451770, -147.675435, 102.995907, -14.792654, -168.312233]] - id: 902 parameters: Irb2400_10 joints: [-66.000000, -6.000000, -165.000000, -65.000000, -101.000000, 43.000000] @@ -4516,69 +4516,69 @@ cases: solutions: [[114.000000, -10.330135, 21.040516, -62.918363, 92.276012, -119.187201], [114.000000, 96.410178, 179.235092, -95.120496, 116.719167, 143.982660], [-66.000000, -95.567260, 5.275608, 82.234430, 116.117817, 138.042016], [-66.000000, -6.000000, -165.000000, 115.000000, 101.000000, -137.000000], [114.000000, -10.330135, 21.040516, 117.081637, -92.276012, 60.812799], [114.000000, 96.410178, 179.235092, 84.879504, -116.719167, -36.017340], [-66.000000, -95.567260, 5.275608, -97.765570, -116.117817, -41.957984], [-66.000000, -6.000000, -165.000000, -65.000000, -101.000000, 43.000000]] - id: 903 parameters: Irb2400_10 - joints: [73.000000, -149.000000, -37.000000, 92.000000, 154.000000, -122.000000] - pose: {translation: [-0.3056870158836814, -0.8724890071646973, -0.1957899654735664], quaternion: [0.256983501439116, 0.6281657913170123, 0.6273985220263737, -0.3817568770386272]} - solutions: [[-107.000000, 96.252935, -11.156985, -26.325071, 98.916653, -38.610359], [-107.000000, 168.254885, -148.567408, -62.553557, 150.417870, -93.378116], [73.000000, -149.000000, -37.000000, 92.000000, 154.000000, -122.000000], [73.000000, -104.244195, -122.724392, 143.902317, 131.960721, -60.215399], [-107.000000, 96.252935, -11.156985, 153.674929, -98.916653, 141.389641], [-107.000000, 168.254885, -148.567408, 117.446443, -150.417870, 86.621884], [73.000000, -149.000000, -37.000000, -88.000000, -154.000000, 58.000000], [73.000000, -104.244195, -122.724392, -36.097683, -131.960721, 119.784601]] + joints: [73.000000, -149.000000, -37.000000, 92.000000, 153.000000, -122.000000] + pose: {translation: [-0.3071469318148894, -0.8727259942324401, -0.1959052372987208], quaternion: [0.2512472000264094, 0.631019568184266, 0.6239142620080305, -0.3865490172156785]} + solutions: [[-107.000000, 96.252935, -11.156985, -27.330256, 98.800191, -38.765155], [-107.000000, 168.254885, -148.567408, -63.498403, 149.536645, -94.196217], [73.000000, -149.000000, -37.000000, 92.000000, 153.000000, -122.000000], [73.000000, -104.244195, -122.724392, 142.726082, 131.481905, -60.998214], [-107.000000, 96.252935, -11.156985, 152.669744, -98.800191, 141.234845], [-107.000000, 168.254885, -148.567408, 116.501597, -149.536645, 85.803783], [73.000000, -149.000000, -37.000000, -88.000000, -153.000000, 58.000000], [73.000000, -104.244195, -122.724392, -37.273918, -131.481905, 119.001786]] - id: 904 parameters: Irb2400_10 - joints: [-29.000000, -67.000000, 51.000000, 160.000000, -1.000000, 103.000000] - pose: {translation: [0.1936262941021883, -0.1079089125019971, 1.250427594613272], quaternion: [0.3382039074697109, -0.5056705708058552, 0.7079806629362211, -0.3587182344145454]} - solutions: [[-29.000000, -67.000000, 51.000000, -20.000000, 1.000000, -77.000000], [-29.000000, 74.385594, 149.275608, -0.400166, 121.277882, -97.204960], [151.000000, -89.698311, 47.195012, 179.594777, 122.435756, -97.214541], [151.000000, 47.024770, 153.080595, 176.116811, 5.056618, -93.129073], [-29.000000, -67.000000, 51.000000, 160.000000, -1.000000, 103.000000], [-29.000000, 74.385594, 149.275608, 179.599834, -121.277882, 82.795040], [151.000000, -89.698311, 47.195012, -0.405223, -122.435756, 82.785459], [151.000000, 47.024770, 153.080595, -3.883189, -5.056618, 86.870927]] + joints: [-29.000000, -66.000000, 51.000000, 160.000000, -1.000000, 103.000000] + pose: {translation: [0.2033093930109319, -0.1132763418732261, 1.248207474965238], quaternion: [0.3420769890241585, -0.5113844571544544, 0.703233053013146, -0.3562759375972785]} + solutions: [[-29.000000, -66.000000, 51.000000, -20.000000, 1.000000, -77.000000], [-29.000000, 75.385594, 149.275608, -0.400166, 121.277882, -97.204960], [151.000000, -90.414417, 46.911439, 179.594775, 122.436077, -97.214543], [151.000000, 45.965721, 153.364169, 176.281353, 5.280649, -93.294287], [-29.000000, -66.000000, 51.000000, 160.000000, -1.000000, 103.000000], [-29.000000, 75.385594, 149.275608, 179.599834, -121.277882, 82.795040], [151.000000, -90.414417, 46.911439, -0.405225, -122.436077, 82.785457], [151.000000, 45.965721, 153.364169, -3.718647, -5.280649, 86.705713]] - id: 905 parameters: Irb2400_10 - joints: [22.000000, 165.000000, 63.000000, -143.000000, -9.000000, -170.000000] - pose: {translation: [-0.3472933819893904, -0.1316848844914228, 0.4742593852258904], quaternion: [-0.1077013128124988, -0.2821419255335417, 0.5259292500239289, 0.7951067758760187]} - solutions: [[-158.000000, 43.667303, 76.582607, -129.936822, 172.947225, 96.508283], [-158.000000, -137.055435, 123.693001, -171.932281, 42.130075, 40.658414], [22.000000, 165.000000, 63.000000, 37.000000, 9.000000, 10.000000], [22.000000, -37.850361, 137.275608, 7.722345, 135.522965, 52.185986], [-158.000000, 43.667303, 76.582607, 50.063178, -172.947225, -83.491717], [-158.000000, -137.055435, 123.693001, 8.067719, -42.130075, -139.341586], [22.000000, 165.000000, 63.000000, -143.000000, -9.000000, -170.000000], [22.000000, -37.850361, 137.275608, -172.277655, -135.522965, -127.814014]] + joints: [22.000000, 164.000000, 63.000000, -143.000000, -9.000000, -170.000000] + pose: {translation: [-0.3449494157816084, -0.1307378606710075, 0.4660548934627659], quaternion: [-0.109353341362869, -0.2902837451562325, 0.5241154748953074, 0.7931457388186068]} + solutions: [[-158.000000, 45.328104, 76.385394, -126.939591, 173.235523, 99.527416], [-158.000000, -135.781833, 123.890214, -172.004415, 42.596272, 40.756039], [22.000000, 164.000000, 63.000000, 37.000000, 9.000000, 10.000000], [22.000000, -38.850361, 137.275608, 7.722345, 135.522965, 52.185986], [-158.000000, 45.328104, 76.385394, 53.060409, -173.235523, -80.472584], [-158.000000, -135.781833, 123.890214, 7.995585, -42.596272, -139.243961], [22.000000, 164.000000, 63.000000, -143.000000, -9.000000, -170.000000], [22.000000, -38.850361, 137.275608, -172.277655, -135.522965, -127.814014]] - id: 906 parameters: Irb2400_10 - joints: [84.000000, 121.000000, 135.000000, -50.000000, 140.000000, -11.000000] - pose: {translation: [0.08766891334595089, 0.4337031555375592, 0.8971286399005591], quaternion: [-0.3171717469901407, 0.8491576754268716, 0.1683214796579714, 0.3872998898277732]} - solutions: [[84.000000, -39.412928, 65.275608, -56.722063, 36.085132, 82.312608], [84.000000, 121.000000, 135.000000, -50.000000, 140.000000, -11.000000], [-96.000000, -127.269933, 52.672104, 128.687039, 140.889017, -12.702813], [-96.000000, 16.204767, 147.603504, 132.697934, 42.066510, 70.212650], [84.000000, -39.412928, 65.275608, 123.277937, -36.085132, -97.687392], [84.000000, 121.000000, 135.000000, 130.000000, -140.000000, 169.000000], [-96.000000, -127.269933, 52.672104, -51.312961, -140.889017, 167.297187], [-96.000000, 16.204767, 147.603504, -47.302066, -42.066510, -109.787350]] + joints: [84.000000, 121.000000, 135.000000, -50.000000, 139.000000, -11.000000] + pose: {translation: [0.08857751107251061, 0.4340807377391204, 0.8982389042125594], quaternion: [-0.3150729002352107, 0.8460879244034519, 0.1696180948313037, 0.3950873240460019]} + solutions: [[84.000000, -39.412928, 65.275608, -58.414395, 36.154828, 83.679682], [84.000000, 121.000000, 135.000000, -50.000000, 139.000000, -11.000000], [-96.000000, -127.269933, 52.672104, 128.733159, 139.889449, -12.667281], [-96.000000, 16.204767, 147.603504, 131.218708, 41.923220, 71.312047], [84.000000, -39.412928, 65.275608, 121.585605, -36.154828, -96.320318], [84.000000, 121.000000, 135.000000, 130.000000, -139.000000, 169.000000], [-96.000000, -127.269933, 52.672104, -51.266841, -139.889449, 167.332719], [-96.000000, 16.204767, 147.603504, -48.781292, -41.923220, -108.687953]] - id: 907 parameters: Irb2400_10 - joints: [-141.000000, -95.000000, -1.000000, -3.000000, -85.000000, 55.000000] - pose: {translation: [0.7025065420399101, 0.5631761410046415, 1.288836565415704], quaternion: [0.7037497965267796, -0.1157198053656797, 0.4926276138478645, -0.4986613927398079]} - solutions: [[39.000000, -4.146157, 16.364692, -164.987224, 11.611448, 40.019286], [39.000000, 97.456484, -176.089084, -3.038149, 79.640039, -124.714853], [-141.000000, -95.000000, -1.000000, 177.000000, 85.000000, -125.000000], [-141.000000, -12.171988, -158.724392, 163.416467, 10.525405, -108.942241], [39.000000, -4.146157, 16.364692, 15.012776, -11.611448, -139.980714], [39.000000, 97.456484, -176.089084, 176.961851, -79.640039, 55.285147], [-141.000000, -95.000000, -1.000000, -3.000000, -85.000000, 55.000000], [-141.000000, -12.171988, -158.724392, -16.583533, -10.525405, 71.057759]] + joints: [-141.000000, -94.000000, -1.000000, -3.000000, -85.000000, 55.000000] + pose: {translation: [0.6932488447412154, 0.5556794055480061, 1.306192771897404], quaternion: [-0.6976435599484204, 0.1150389871495254, -0.4967460322195102, 0.5032920366668633]} + solutions: [[39.000000, -5.153377, 16.110528, -164.650343, 11.359185, 39.675521], [39.000000, 96.171206, -175.834921, -3.037848, 79.671109, -124.716529], [-141.000000, -94.000000, -1.000000, 177.000000, 85.000000, -125.000000], [-141.000000, -11.171988, -158.724392, 163.416467, 10.525405, -108.942241], [39.000000, -5.153377, 16.110528, 15.349657, -11.359185, -140.324479], [39.000000, 96.171206, -175.834921, 176.962152, -79.671109, 55.283471], [-141.000000, -94.000000, -1.000000, -3.000000, -85.000000, 55.000000], [-141.000000, -11.171988, -158.724392, -16.583533, -10.525405, 71.057759]] - id: 908 parameters: Irb2400_10 - joints: [29.000000, 46.000000, 146.000000, -66.000000, -167.000000, -108.000000] - pose: {translation: [-0.07847336801643519, -0.02352666810394723, 1.104830805974181], quaternion: [-0.5182008982509306, 0.6144163974459761, 0.01312050694481285, 0.5948009514946559]} - solutions: [[-151.000000, -69.375354, 59.194477, -59.225497, 166.161680, 78.964002], [-151.000000, 82.550536, 141.081131, -166.499069, 61.671931, -49.057252], [29.000000, -99.504651, 54.275608, 13.307729, 63.225800, -48.639594], [29.000000, 46.000000, 146.000000, 114.000000, 167.000000, 72.000000], [-151.000000, -69.375354, 59.194477, 120.774503, -166.161680, -101.035998], [-151.000000, 82.550536, 141.081131, 13.500931, -61.671931, 130.942748], [29.000000, -99.504651, 54.275608, -166.692271, -63.225800, 131.360406], [29.000000, 46.000000, 146.000000, -66.000000, -167.000000, -108.000000]] + joints: [29.000000, 46.000000, 146.000000, -66.000000, -166.000000, -108.000000] + pose: {translation: [-0.07951522514484996, -0.02259745669397634, 1.104328904719254], quaternion: [-0.5230822933019396, 0.6126801409835719, 0.01961671758267873, 0.5921343966276705]} + solutions: [[-151.000000, -69.375354, 59.194477, -59.699139, 165.168571, 78.505090], [-151.000000, 82.550536, 141.081131, -165.530567, 62.191242, -49.512971], [29.000000, -99.504651, 54.275608, 14.267141, 63.738662, -49.067961], [29.000000, 46.000000, 146.000000, 114.000000, 166.000000, 72.000000], [-151.000000, -69.375354, 59.194477, 120.300861, -165.168571, -101.494910], [-151.000000, 82.550536, 141.081131, 14.469433, -62.191242, 130.487029], [29.000000, -99.504651, 54.275608, -165.732859, -63.738662, 130.932039], [29.000000, 46.000000, 146.000000, -66.000000, -166.000000, -108.000000]] - id: 909 parameters: Irb2400_10 - joints: [62.000000, 138.000000, -168.000000, 9.000000, -112.000000, -173.000000] - pose: {translation: [0.5233562869164843, 0.9580292205505864, 0.6369872575050903], quaternion: [0.3515011642001696, 0.2712178244451989, -0.735336361821572, 0.5120236891513446]} - solutions: [[62.000000, 45.194443, 8.275608, -28.419633, 162.256221, 156.338017], [62.000000, 138.000000, -168.000000, -171.000000, 112.000000, 7.000000], [-118.000000, -124.087690, -17.304021, 8.578261, 103.492364, 5.620217], [-118.000000, -58.599131, -142.420371, 26.983605, 161.357314, 29.359475], [62.000000, 45.194443, 8.275608, 151.580367, -162.256221, -23.661983], [62.000000, 138.000000, -168.000000, 9.000000, -112.000000, -173.000000], [-118.000000, -124.087690, -17.304021, -171.421739, -103.492364, -174.379783], [-118.000000, -58.599131, -142.420371, -153.016395, -161.357314, -150.640525]] + joints: [62.000000, 138.000000, -168.000000, 9.000000, -111.000000, -173.000000] + pose: {translation: [0.523866517559108, 0.958807653538852, 0.6381424682063281], quaternion: [0.3445741364025839, 0.2675546377605333, -0.738064446629079, 0.5147271636093774]} + solutions: [[62.000000, 45.194443, 8.275608, -30.174999, 163.108959, 154.662163], [62.000000, 138.000000, -168.000000, -171.000000, 111.000000, 7.000000], [-118.000000, -124.087690, -17.304021, 8.602923, 102.492653, 5.625762], [-118.000000, -58.599131, -142.420371, 25.847935, 160.428933, 28.286331], [62.000000, 45.194443, 8.275608, 149.825001, -163.108959, -25.337837], [62.000000, 138.000000, -168.000000, 9.000000, -111.000000, -173.000000], [-118.000000, -124.087690, -17.304021, -171.397077, -102.492653, -174.374238], [-118.000000, -58.599131, -142.420371, -154.152065, -160.428933, -151.713669]] - id: 910 parameters: Irb2400_10 - joints: [177.000000, -172.000000, -117.000000, -120.000000, 37.000000, 2.000000] - pose: {translation: [-0.4187201214155896, 0.06630589123840314, -0.8089123107561071], quaternion: [0.5267279247103801, 0.7423860832940772, 0.08176223930686591, -0.4058762531672709]} - solutions: [[177.000000, 149.241545, -42.724392, -143.675925, 61.625577, 36.876646], [177.000000, -172.000000, -117.000000, -120.000000, 37.000000, 2.000000], [-3.000000, -171.582475, -59.254657, 89.210150, 31.415238, -32.938454], [-3.000000, -150.097837, -100.469735, 60.500167, 36.785420, 1.374608], [177.000000, 149.241545, -42.724392, 36.324075, -61.625577, -143.123354], [177.000000, -172.000000, -117.000000, 60.000000, -37.000000, -178.000000], [-3.000000, -171.582475, -59.254657, -90.789850, -31.415238, 147.061546], [-3.000000, -150.097837, -100.469735, -119.499833, -36.785420, -178.625392]] + joints: [177.000000, -171.000000, -117.000000, -120.000000, 36.000000, 2.000000] + pose: {translation: [-0.3936146221920274, 0.06395598874211855, -0.8153319164867124], quaternion: [0.5270323548511184, 0.749358679863426, 0.08164524269888299, -0.3924697697887938]} + solutions: [[177.000000, 150.241545, -42.724392, -144.330918, 60.806759, 37.192040], [177.000000, -171.000000, -117.000000, -120.000000, 36.000000, 2.000000], [-3.000000, -173.266151, -57.859549, 91.537753, 30.611912, -35.299945], [-3.000000, -150.325593, -101.864843, 59.773660, 36.095544, 2.279941], [177.000000, 150.241545, -42.724392, 35.669082, -60.806759, -142.807960], [177.000000, -171.000000, -117.000000, 60.000000, -36.000000, -178.000000], [-3.000000, -173.266151, -57.859549, -88.462247, -30.611912, 144.700055], [-3.000000, -150.325593, -101.864843, -120.226340, -36.095544, -177.720059]] - id: 911 parameters: Irb2400_10 - joints: [-27.000000, -143.000000, 109.000000, 28.000000, 92.000000, -130.000000] - pose: {translation: [0.2547885417350521, -0.08506200750966432, 0.522232038608243], quaternion: [0.7764829139959677, -0.5221182509178445, 0.216209763136284, -0.2787833471629421]} - solutions: [[-27.000000, -11.170237, 91.275608, 125.000564, 34.943877, 98.432039], [-27.000000, -143.000000, 109.000000, 28.000000, 92.000000, -130.000000], [153.000000, 176.916028, 74.882081, -145.231775, 124.637952, -109.530216], [153.000000, -7.052922, 125.393526, -83.640832, 28.170068, 131.731756], [-27.000000, -11.170237, 91.275608, -54.999436, -34.943877, -81.567961], [-27.000000, -143.000000, 109.000000, -152.000000, -92.000000, 50.000000], [153.000000, 176.916028, 74.882081, 34.768225, -124.637952, 70.469784], [153.000000, -7.052922, 125.393526, 96.359168, -28.170068, -48.268244]] + joints: [-27.000000, -142.000000, 109.000000, 28.000000, 91.000000, -130.000000] + pose: {translation: [0.254456609247021, -0.08487241792485276, 0.5201343725093827], quaternion: [0.7739761346904227, -0.5252697044202792, 0.2159566328294531, -0.2800275223703382]} + solutions: [[-27.000000, -10.170237, 91.275608, 126.285403, 35.614243, 97.383130], [-27.000000, -142.000000, 109.000000, 28.000000, 91.000000, -130.000000], [153.000000, 176.500444, 74.908125, -145.419518, 124.203686, -109.349845], [153.000000, -7.420281, 125.367483, -82.671601, 28.246510, 131.162314], [-27.000000, -10.170237, 91.275608, -53.714597, -35.614243, -82.616870], [-27.000000, -142.000000, 109.000000, -152.000000, -91.000000, 50.000000], [153.000000, 176.500444, 74.908125, 34.580482, -124.203686, 70.650155], [153.000000, -7.420281, 125.367483, 97.328399, -28.246510, -48.837686]] - id: 912 parameters: Irb2400_10 - joints: [71.000000, -54.000000, -41.000000, -87.000000, -4.000000, 127.000000] - pose: {translation: [-0.2264461679901267, -0.6394602205082727, 1.854192810387417], quaternion: [-0.02141484494872297, -0.05307059769783044, 0.8219135312454054, 0.5667301502757068]} - solutions: [[-109.000000, -4.015357, -21.908156, -175.336094, 58.950839, 37.597888], [-109.000000, 56.610018, -137.816236, -131.835475, 5.364796, -8.032185], [71.000000, -54.000000, -41.000000, 93.000000, 4.000000, -53.000000], [71.000000, -13.435957, -118.724392, 6.626120, 37.135309, 34.716304], [-109.000000, -4.015357, -21.908156, 4.663906, -58.950839, -142.402112], [-109.000000, 56.610018, -137.816236, 48.164525, -5.364796, 171.967815], [71.000000, -54.000000, -41.000000, -87.000000, -4.000000, 127.000000], [71.000000, -13.435957, -118.724392, -173.373880, -37.135309, -145.283696]] + joints: [71.000000, -53.000000, -41.000000, -87.000000, -4.000000, 127.000000] + pose: {translation: [-0.2193665444656203, -0.6188995008585517, 1.86758807171246], quaternion: [-0.02375505369549932, -0.04467675817084864, 0.8223809675120813, 0.5666826527935724]} + solutions: [[-109.000000, -4.814712, -22.416384, -175.320921, 58.644278, 37.568601], [-109.000000, 55.274558, -137.308009, -133.177095, 5.481538, -6.684533], [71.000000, -53.000000, -41.000000, 93.000000, 4.000000, -53.000000], [71.000000, -12.435957, -118.724392, 6.626120, 37.135309, 34.716304], [-109.000000, -4.814712, -22.416384, 4.679079, -58.644278, -142.431399], [-109.000000, 55.274558, -137.308009, 46.822905, -5.481538, 173.315467], [71.000000, -53.000000, -41.000000, -87.000000, -4.000000, 127.000000], [71.000000, -12.435957, -118.724392, -173.373880, -37.135309, -145.283696]] - id: 913 parameters: Irb2400_10 - joints: [-57.000000, 58.000000, -88.000000, 141.000000, 58.000000, 69.000000] - pose: {translation: [0.7434737153759543, -1.061557287301679, 1.554042699677571], quaternion: [0.2624109661211696, 0.1152412697682915, 0.9553056922983354, 0.07246356921891567]} - solutions: [[-57.000000, 49.518994, -71.724392, 143.635954, 64.173953, 63.559016], [-57.000000, 58.000000, -88.000000, 141.000000, 58.000000, 69.000000], [-57.000000, 49.518994, -71.724392, -36.364046, -64.173953, -116.440984], [-57.000000, 58.000000, -88.000000, -39.000000, -58.000000, -111.000000]] + joints: [-57.000000, 57.000000, -88.000000, 141.000000, 58.000000, 69.000000] + pose: {translation: [0.7344487236466936, -1.047660018739074, 1.574759173118135], quaternion: [0.2573302477896349, 0.1218840607893267, 0.9556730921863665, 0.0749290342189021]} + solutions: [[-57.000000, 48.518994, -71.724392, 143.635954, 64.173953, 63.559016], [-57.000000, 57.000000, -88.000000, 141.000000, 58.000000, 69.000000], [-57.000000, 48.518994, -71.724392, -36.364046, -64.173953, -116.440984], [-57.000000, 57.000000, -88.000000, -39.000000, -58.000000, -111.000000]] - id: 914 parameters: Irb2400_10 - joints: [180.000000, -34.000000, 3.000000, 25.000000, -136.000000, 109.000000] - pose: {translation: [-0.2034279857008117, 0.02495390160729573, 1.71842168508409], quaternion: [-0.5276265632161569, 0.3701738175440317, -0.4666898941935885, 0.605625376987426]} - solutions: [[180.000000, -34.000000, 3.000000, -155.000000, 136.000000, -71.000000], [180.000000, 53.118396, -162.724392, -160.511025, 61.636902, -99.086723], [0.000000, -59.683091, -3.105111, 21.136865, 54.502104, -102.195887], [0.000000, 20.893608, -156.619281, 20.675668, 123.749400, -77.702087], [180.000000, -34.000000, 3.000000, 25.000000, -136.000000, 109.000000], [180.000000, 53.118396, -162.724392, 19.488975, -61.636902, 80.913277], [0.000000, -59.683091, -3.105111, -158.863135, -54.502104, 77.804113], [0.000000, 20.893608, -156.619281, -159.324332, -123.749400, 102.297913]] + joints: [180.000000, -34.000000, 3.000000, 25.000000, -135.000000, 109.000000] + pose: {translation: [-0.2038253638694791, 0.02540108029206021, 1.719779229486718], quaternion: [-0.5239353006933286, 0.3645883854214678, -0.4682274354203689, 0.6110075111018056]} + solutions: [[180.000000, -34.000000, 3.000000, -155.000000, 135.000000, -71.000000], [180.000000, 53.118396, -162.724392, -159.971464, 60.755730, -99.346697], [0.000000, -59.683091, -3.105111, 21.779966, 53.648402, -102.573222], [0.000000, 20.893608, -156.619281, 20.814436, 122.756155, -77.625993], [180.000000, -34.000000, 3.000000, 25.000000, -135.000000, 109.000000], [180.000000, 53.118396, -162.724392, 20.028536, -60.755730, 80.653303], [0.000000, -59.683091, -3.105111, -158.220034, -53.648402, 77.426778], [0.000000, 20.893608, -156.619281, -159.185564, -122.756155, 102.374007]] - id: 915 parameters: Irb2400_10 - joints: [140.000000, 124.000000, 54.000000, 60.000000, 111.000000, -176.000000] - pose: {translation: [-0.01636744991203347, -0.07597741568664007, 0.1002182024537497], quaternion: [0.4007406318269842, -0.3160705409156642, -0.3587514536741082, 0.7815393487566081]} - solutions: [[-40.000000, 109.738760, 55.953413, -55.839782, 77.709051, -10.411402], [-40.000000, -102.601661, 144.322195, -99.136420, 125.025807, -133.481832], [140.000000, 124.000000, 54.000000, 60.000000, 111.000000, -176.000000], [140.000000, -90.846223, 146.275608, 124.385699, 101.563517, -44.154328], [-40.000000, 109.738760, 55.953413, 124.160218, -77.709051, 169.588598], [-40.000000, -102.601661, 144.322195, 80.863580, -125.025807, 46.518168], [140.000000, 124.000000, 54.000000, -120.000000, -111.000000, 4.000000], [140.000000, -90.846223, 146.275608, -55.614301, -101.563517, 135.845672]] + joints: [140.000000, 123.000000, 54.000000, 60.000000, 111.000000, -176.000000] + pose: {translation: [-0.02326563429571522, -0.07018915171449983, 0.09791785809802619], quaternion: [0.4027110458469428, -0.3088216348436487, -0.3631896474848411, 0.7813746165349847]} + solutions: [[-40.000000, 110.903943, 55.658640, -55.816494, 77.781839, -10.521119], [-40.000000, -101.817517, 144.616967, -99.081794, 125.038301, -133.386670], [140.000000, 123.000000, 54.000000, 60.000000, 111.000000, -176.000000], [140.000000, -91.846223, 146.275608, 124.385699, 101.563517, -44.154328], [-40.000000, 110.903943, 55.658640, 124.183506, -77.781839, 169.478881], [-40.000000, -101.817517, 144.616967, 80.918206, -125.038301, 46.613330], [140.000000, 123.000000, 54.000000, -120.000000, -111.000000, 4.000000], [140.000000, -91.846223, 146.275608, -55.614301, -101.563517, 135.845672]] - id: 916 parameters: Irb2400_10 joints: [-106.000000, 47.000000, -129.000000, 169.000000, 139.000000, -112.000000] @@ -4586,14 +4586,14 @@ cases: solutions: [[-106.000000, -4.343262, -30.724392, 48.286741, 170.346149, 124.226322], [-106.000000, 47.000000, -129.000000, 169.000000, 139.000000, -112.000000], [74.000000, -44.170276, -50.479120, -10.326667, 135.707167, -111.084971], [74.000000, -13.522289, -109.245272, -24.988866, 162.762737, -127.649860], [-106.000000, -4.343262, -30.724392, -131.713259, -170.346149, -55.773678], [-106.000000, 47.000000, -129.000000, -11.000000, -139.000000, 68.000000], [74.000000, -44.170276, -50.479120, 169.673333, -135.707167, 68.915029], [74.000000, -13.522289, -109.245272, 155.011134, -162.762737, 52.350140]] - id: 917 parameters: Irb2400_10 - joints: [-42.000000, -50.000000, 53.000000, -120.000000, -156.000000, 71.000000] - pose: {translation: [0.2002615255898939, -0.1400270174920583, 1.150267946393407], quaternion: [0.611777344934415, -0.450963023802442, -0.5816399247431957, -0.2899238336747869]} - solutions: [[-42.000000, -50.000000, 53.000000, 60.000000, 156.000000, -109.000000], [-42.000000, 93.887596, 147.275608, 158.260630, 71.993540, 20.319341], [138.000000, -104.130818, 44.298613, -21.906123, 70.757915, 20.841454], [138.000000, 29.115553, 155.976995, -101.667998, 158.919661, -89.187062], [-42.000000, -50.000000, 53.000000, -120.000000, -156.000000, 71.000000], [-42.000000, 93.887596, 147.275608, -21.739370, -71.993540, -159.680659], [138.000000, -104.130818, 44.298613, 158.093877, -70.757915, -159.158546], [138.000000, 29.115553, 155.976995, 78.332002, -158.919661, 90.812938]] + joints: [-42.000000, -49.000000, 53.000000, -120.000000, -155.000000, 71.000000] + pose: {translation: [0.208390988861605, -0.1457736664607597, 1.146982872193291], quaternion: [0.6055397948649338, -0.4550915681306669, -0.5827652571816041, -0.2942751713504953]} + solutions: [[-42.000000, -49.000000, 53.000000, 60.000000, 155.000000, -109.000000], [-42.000000, 94.887596, 147.275608, 157.450047, 72.628855, 20.565642], [138.000000, -104.808251, 44.054673, -22.726484, 71.327825, 21.136203], [138.000000, 28.147813, 156.220935, -101.903605, 158.034914, -89.307052], [-42.000000, -49.000000, 53.000000, -120.000000, -155.000000, 71.000000], [-42.000000, 94.887596, 147.275608, -22.549953, -72.628855, -159.434358], [138.000000, -104.808251, 44.054673, 157.273516, -71.327825, -158.863797], [138.000000, 28.147813, 156.220935, 78.096395, -158.034914, 90.692948]] - id: 918 parameters: Irb2400_10 - joints: [147.000000, -159.000000, -117.000000, 118.000000, -58.000000, -145.000000] - pose: {translation: [0.00817721731879284, 0.0705793700754728, -0.8282606682055247], quaternion: [0.8829471606249086, -0.06870705185291306, 0.3709369221093571, -0.2794449004475295]} - solutions: [[147.000000, 162.241545, -42.724392, -88.760331, 48.500139, 78.226123], [147.000000, -159.000000, -117.000000, -62.000000, 58.000000, 35.000000], [-33.000000, 168.326328, -44.904424, 128.586143, 73.320326, 9.881441], [-33.000000, -155.196737, -114.819968, 114.446525, 55.338151, 41.460525], [147.000000, 162.241545, -42.724392, 91.239669, -48.500139, -101.773877], [147.000000, -159.000000, -117.000000, 118.000000, -58.000000, -145.000000], [-33.000000, 168.326328, -44.904424, -51.413857, -73.320326, -170.118559], [-33.000000, -155.196737, -114.819968, -65.553475, -55.338151, -138.539475]] + joints: [147.000000, -158.000000, -117.000000, 118.000000, -58.000000, -145.000000] + pose: {translation: [0.02929322414229812, 0.05686647490627803, -0.826846798906855], quaternion: [0.8815269179635711, -0.06489627211699418, 0.3777113648749983, -0.275740623802933]} + solutions: [[147.000000, 163.241545, -42.724392, -88.760331, 48.500139, 78.226123], [147.000000, -158.000000, -117.000000, -62.000000, 58.000000, 35.000000], [-33.000000, 166.875585, -44.014065, 128.688138, 73.594818, 9.523223], [-33.000000, -155.715822, -115.710328, 114.187719, 55.169546, 41.914615], [147.000000, 163.241545, -42.724392, 91.239669, -48.500139, -101.773877], [147.000000, -158.000000, -117.000000, 118.000000, -58.000000, -145.000000], [-33.000000, 166.875585, -44.014065, -51.311862, -73.594818, -170.476777], [-33.000000, -155.715822, -115.710328, -65.812281, -55.169546, -138.085385]] - id: 919 parameters: Irb2400_10 joints: [-111.000000, 9.000000, -26.000000, 83.000000, -100.000000, -178.000000] @@ -4601,14 +4601,14 @@ cases: solutions: [[-111.000000, 9.000000, -26.000000, -97.000000, 100.000000, 2.000000], [-111.000000, 65.312801, -133.724392, -102.158183, 90.830619, -48.886876], [69.000000, -55.533463, -56.783481, 77.853096, 90.983989, -48.174577], [69.000000, -31.469735, -102.940911, 79.085901, 95.453828, -26.497585], [-111.000000, 9.000000, -26.000000, 83.000000, -100.000000, -178.000000], [-111.000000, 65.312801, -133.724392, 77.841817, -90.830619, 131.113124], [69.000000, -55.533463, -56.783481, -102.146904, -90.983989, 131.825423], [69.000000, -31.469735, -102.940911, -100.914099, -95.453828, 153.502415]] - id: 920 parameters: Irb2400_10 - joints: [153.000000, 167.000000, -115.000000, 117.000000, -89.000000, -64.000000] - pose: {translation: [-0.6786995231711345, 0.4308017337037201, -0.6086879543458321], quaternion: [-0.4652814769685014, 0.6558356765605233, 0.06593292439612108, 0.5908007803151467]} - solutions: [[153.000000, 130.334699, -44.724392, -67.534915, 74.585566, 146.771294], [153.000000, 167.000000, -115.000000, -63.000000, 89.000000, 116.000000], [153.000000, 130.334699, -44.724392, 112.465085, -74.585566, -33.228706], [153.000000, 167.000000, -115.000000, 117.000000, -89.000000, -64.000000]] + joints: [153.000000, 166.000000, -115.000000, 117.000000, -88.000000, -64.000000] + pose: {translation: [-0.6984925691357552, 0.4408479605540372, -0.5974209773365153], quaternion: [-0.4672770257411425, 0.6617997431697358, 0.07555248881396431, 0.5813476606893669]} + solutions: [[153.000000, 129.334699, -44.724392, -68.067860, 73.726993, 146.916801], [153.000000, 166.000000, -115.000000, -63.000000, 88.000000, 116.000000], [153.000000, 129.334699, -44.724392, 111.932140, -73.726993, -33.083199], [153.000000, 166.000000, -115.000000, 117.000000, -88.000000, -64.000000]] - id: 921 parameters: Irb2400_10 - joints: [-153.000000, -179.000000, 155.000000, 103.000000, 93.000000, -141.000000] - pose: {translation: [-0.5956745484055738, -0.3963366461484132, 0.3561566035982969], quaternion: [0.117714529961999, -0.6278344331416843, 0.7000015970710584, -0.3193195548278456]} - solutions: [[-153.000000, 46.587161, 45.275608, 81.519234, 100.329748, 102.027388], [-153.000000, -179.000000, 155.000000, 103.000000, 93.000000, -141.000000], [27.000000, -165.746605, 28.094750, -76.717769, 88.794404, -123.134113], [27.000000, -51.161742, 172.180858, -91.441888, 103.259080, 135.509638], [-153.000000, 46.587161, 45.275608, -98.480766, -100.329748, -77.972612], [-153.000000, -179.000000, 155.000000, -77.000000, -93.000000, 39.000000], [27.000000, -165.746605, 28.094750, 103.282231, -88.794404, 56.865887], [27.000000, -51.161742, 172.180858, 88.558112, -103.259080, -44.490362]] + joints: [-153.000000, -178.000000, 155.000000, 103.000000, 93.000000, -141.000000] + pose: {translation: [-0.5915666072571613, -0.3942435455882718, 0.3455381391130437], quaternion: [0.1110021865072229, -0.6281009311192107, 0.6984028887305832, -0.3246554172204321]} + solutions: [[-153.000000, 47.587161, 45.275608, 81.519234, 100.329748, 102.027388], [-153.000000, -178.000000, 155.000000, 103.000000, 93.000000, -141.000000], [27.000000, -166.589221, 28.203613, -76.723360, 88.733247, -122.874925], [27.000000, -51.882269, 172.071995, -91.401692, 103.263313, 135.684868], [-153.000000, 47.587161, 45.275608, -98.480766, -100.329748, -77.972612], [-153.000000, -178.000000, 155.000000, -77.000000, -93.000000, 39.000000], [27.000000, -166.589221, 28.203613, 103.276640, -88.733247, 57.125075], [27.000000, -51.882269, 172.071995, 88.598308, -103.263313, -44.315132]] - id: 922 parameters: Irb2400_10 joints: [-154.000000, -116.000000, -170.000000, -78.000000, -1.000000, 100.000000] @@ -4626,9 +4626,9 @@ cases: solutions: [[-44.000000, 47.943794, 11.275608, 105.447146, 135.519066, 137.776754], [-44.000000, 144.000000, -171.000000, 137.000000, 82.000000, -146.000000], [136.000000, -129.906727, -13.225281, -44.399425, 74.856778, -139.045299], [136.000000, -60.099193, -146.499111, -51.261604, 120.021786, 174.655450], [-44.000000, 47.943794, 11.275608, -74.552854, -135.519066, -42.223246], [-44.000000, 144.000000, -171.000000, -43.000000, -82.000000, 34.000000], [136.000000, -129.906727, -13.225281, 135.600575, -74.856778, 40.954701], [136.000000, -60.099193, -146.499111, 128.738396, -120.021786, -5.344550]] - id: 925 parameters: Irb2400_10 - joints: [-117.000000, 101.000000, -11.000000, -6.000000, 158.000000, -84.000000] - pose: {translation: [-0.4094596106912483, -0.7962784140726528, -0.1957097141022871], quaternion: [0.04454347535265731, 0.1855369276454517, 0.9732292268140331, 0.1281280584351176]} - solutions: [[-117.000000, 101.000000, -11.000000, -6.000000, 158.000000, -84.000000], [-117.000000, 173.168633, -148.724392, -176.751560, 136.289121, 103.915244], [63.000000, -154.547410, -34.571310, 2.617832, 120.983210, 102.914268], [63.000000, -107.243932, -125.153082, 8.233932, 164.132461, 109.490205], [-117.000000, 101.000000, -11.000000, 174.000000, -158.000000, 96.000000], [-117.000000, 173.168633, -148.724392, 3.248440, -136.289121, -76.084756], [63.000000, -154.547410, -34.571310, -177.382168, -120.983210, -77.085732], [63.000000, -107.243932, -125.153082, -171.766068, -164.132461, -70.509795]] + joints: [-117.000000, 101.000000, -11.000000, -6.000000, 157.000000, -84.000000] + pose: {translation: [-0.4089684367826613, -0.7949988622945298, -0.1962774291970066], quaternion: [0.04654151999122291, 0.1938593825190993, 0.9715413129295706, 0.1279058403565157]} + solutions: [[-117.000000, 101.000000, -11.000000, -6.000000, 157.000000, -84.000000], [-117.000000, 173.168633, -148.724392, -176.548587, 137.279416, 104.063172], [63.000000, -154.547410, -34.571310, 2.759741, 121.975860, 102.988375], [63.000000, -107.243932, -125.153082, 9.141340, 165.103091, 110.365141], [-117.000000, 101.000000, -11.000000, 174.000000, -157.000000, 96.000000], [-117.000000, 173.168633, -148.724392, 3.451413, -137.279416, -75.936828], [63.000000, -154.547410, -34.571310, -177.240259, -121.975860, -77.011625], [63.000000, -107.243932, -125.153082, -170.858660, -165.103091, -69.634859]] - id: 926 parameters: Irb2400_10 joints: [-18.000000, 9.000000, 78.000000, -99.000000, 97.000000, -118.000000] @@ -4636,9 +4636,9 @@ cases: solutions: [[-18.000000, 9.000000, 78.000000, -99.000000, 97.000000, -118.000000], [-18.000000, -168.846042, 122.275608, -88.906007, 78.667977, 108.872617], [162.000000, -173.673024, 61.767855, 95.216890, 79.867653, 86.993956], [162.000000, -18.243846, 138.507753, 78.814832, 92.132097, -144.921112], [-18.000000, 9.000000, 78.000000, 81.000000, -97.000000, 62.000000], [-18.000000, -168.846042, 122.275608, 91.093993, -78.667977, -71.127383], [162.000000, -173.673024, 61.767855, -84.783110, -79.867653, -93.006044], [162.000000, -18.243846, 138.507753, -101.185168, -92.132097, 35.078888]] - id: 927 parameters: Irb2400_10 - joints: [145.000000, -61.000000, 139.000000, -139.000000, 113.000000, 29.000000] - pose: {translation: [0.1742103671757321, -0.05931864870530822, 0.2911211286532489], quaternion: [-0.4181044258824286, -0.2487423716426787, -0.3133410067735272, 0.8155570704011171]} - solutions: [[-35.000000, 77.271820, 69.774293, 38.202713, 77.551271, 0.611002], [-35.000000, -115.452307, 130.501315, 120.323490, 135.603337, 139.543429], [145.000000, 144.249946, 61.275608, -39.482866, 108.237982, 175.781818], [145.000000, -61.000000, 139.000000, -139.000000, 113.000000, 29.000000], [-35.000000, 77.271820, 69.774293, -141.797287, -77.551271, -179.388998], [-35.000000, -115.452307, 130.501315, -59.676510, -135.603337, -40.456571], [145.000000, 144.249946, 61.275608, 140.517134, -108.237982, -4.218182], [145.000000, -61.000000, 139.000000, 41.000000, -113.000000, -151.000000]] + joints: [145.000000, -61.000000, 139.000000, -139.000000, 112.000000, 29.000000] + pose: {translation: [0.173847267909038, -0.05860972073367497, 0.2898695756005545], quaternion: [-0.4239304337393155, -0.253631903598603, -0.3111902919521082, 0.8118586373386112]} + solutions: [[-35.000000, 77.271820, 69.774293, 38.691310, 76.671978, 0.502015], [-35.000000, -115.452307, 130.501315, 118.976729, 135.946375, 138.578307], [145.000000, 144.249946, 61.275608, -40.062499, 109.073692, 175.596397], [145.000000, -61.000000, 139.000000, -139.000000, 112.000000, 29.000000], [-35.000000, 77.271820, 69.774293, -141.308690, -76.671978, -179.497985], [-35.000000, -115.452307, 130.501315, -61.023271, -135.946375, -41.421693], [145.000000, 144.249946, 61.275608, 139.937501, -109.073692, -4.403603], [145.000000, -61.000000, 139.000000, 41.000000, -112.000000, -151.000000]] - id: 928 parameters: Irb2400_10 joints: [-168.000000, -61.000000, -176.000000, 126.000000, 44.000000, -15.000000] @@ -4646,19 +4646,19 @@ cases: solutions: [[12.000000, 56.290277, 34.230845, -95.776351, 34.392472, 37.274406], [12.000000, 177.815412, 166.044763, -34.858329, 100.493484, -66.944190], [-168.000000, -162.505169, 16.275608, 141.785260, 114.704945, -77.929137], [-168.000000, -61.000000, -176.000000, 126.000000, 44.000000, -15.000000], [12.000000, 56.290277, 34.230845, 84.223649, -34.392472, -142.725594], [12.000000, 177.815412, 166.044763, 145.141671, -100.493484, 113.055810], [-168.000000, -162.505169, 16.275608, -38.214740, -114.704945, 102.070863], [-168.000000, -61.000000, -176.000000, -54.000000, -44.000000, 165.000000]] - id: 929 parameters: Irb2400_10 - joints: [53.000000, 158.000000, -35.000000, 113.000000, 159.000000, 179.000000] - pose: {translation: [0.04941332442649829, 0.1121656739932949, -0.6853174053811558], quaternion: [-0.1204650661976678, 0.3635060313130621, 0.8190688681837921, 0.4271741122740708]} - solutions: [[53.000000, 158.000000, -35.000000, 113.000000, 159.000000, 179.000000], [53.000000, -155.146363, -124.724392, 155.909470, 126.082254, -130.202927], [-127.000000, 164.595824, -37.022609, -19.588420, 100.279913, -119.083759], [-127.000000, -150.672078, -122.701784, -29.493065, 137.928822, -138.225740], [53.000000, 158.000000, -35.000000, -67.000000, -159.000000, -1.000000], [53.000000, -155.146363, -124.724392, -24.090530, -126.082254, 49.797073], [-127.000000, 164.595824, -37.022609, 160.411580, -100.279913, 60.916241], [-127.000000, -150.672078, -122.701784, 150.506935, -137.928822, 41.774260]] + joints: [53.000000, 157.000000, -35.000000, 113.000000, 158.000000, 179.000000] + pose: {translation: [0.06215608657823549, 0.1311871020106617, -0.6855291168421348], quaternion: [-0.1290086132243204, 0.3591528766740305, 0.8198987082718119, 0.4267693722198451]} + solutions: [[53.000000, 157.000000, -35.000000, 113.000000, 158.000000, 179.000000], [53.000000, -156.146363, -124.724392, 154.958264, 125.446416, -130.758879], [-127.000000, 165.967675, -37.768007, -20.506779, 100.157842, -119.372713], [-127.000000, -150.081737, -121.956385, -30.309910, 136.900830, -138.713917], [53.000000, 157.000000, -35.000000, -67.000000, -158.000000, -1.000000], [53.000000, -156.146363, -124.724392, -25.041736, -125.446416, 49.241121], [-127.000000, 165.967675, -37.768007, 159.493221, -100.157842, 60.627287], [-127.000000, -150.081737, -121.956385, 149.690090, -136.900830, 41.286083]] - id: 930 parameters: Irb2400_10 - joints: [-85.000000, 158.000000, 80.000000, -35.000000, 170.000000, 125.000000] - pose: {translation: [-0.01678905666005509, 0.09476284891509762, 0.4654907532987265], quaternion: [0.7836343440495532, -0.5155680344146516, 0.1708132803488417, 0.3015454194185463]} - solutions: [[95.000000, 23.485280, 94.140022, 24.659614, 13.811030, -44.439376], [95.000000, -84.936828, 106.135585, 6.043890, 108.921941, -18.444586], [-85.000000, 158.000000, 80.000000, -35.000000, 170.000000, 125.000000], [-85.000000, -15.459637, 120.275608, -173.036081, 55.233844, -24.395287], [95.000000, 23.485280, 94.140022, -155.340386, -13.811030, 135.560624], [95.000000, -84.936828, 106.135585, -173.956110, -108.921941, 161.555414], [-85.000000, 158.000000, 80.000000, 145.000000, -170.000000, -55.000000], [-85.000000, -15.459637, 120.275608, 6.963919, -55.233844, 155.604713]] + joints: [-85.000000, 157.000000, 80.000000, -35.000000, 169.000000, 125.000000] + pose: {translation: [-0.01731801015696353, 0.09120923583404954, 0.4629727070356723], quaternion: [0.7777416951195837, -0.5139891038925861, 0.1761101702214003, 0.3160985047367391]} + solutions: [[95.000000, 26.988599, 93.839185, 29.505676, 12.839222, -49.385512], [95.000000, -84.462576, 106.436422, 6.686033, 109.947525, -18.207403], [-85.000000, 157.000000, 80.000000, -35.000000, 169.000000, 125.000000], [-85.000000, -16.459637, 120.275608, -172.422693, 56.096087, -24.741268], [95.000000, 26.988599, 93.839185, -150.494324, -12.839222, 130.614488], [95.000000, -84.462576, 106.436422, -173.313967, -109.947525, 161.792597], [-85.000000, 157.000000, 80.000000, 145.000000, -169.000000, -55.000000], [-85.000000, -16.459637, 120.275608, 7.577307, -56.096087, 155.258732]] - id: 931 parameters: Irb2400_10 - joints: [-100.000000, 118.000000, 3.000000, -98.000000, -157.000000, -21.000000] - pose: {translation: [-0.05194781838610346, -0.484010503470117, -0.3632210095430031], quaternion: [0.2300752961979891, 0.1963372924556268, -0.1380374345828721, 0.9431132977136844]} - solutions: [[-100.000000, 118.000000, 3.000000, 82.000000, 157.000000, 159.000000], [-100.000000, -154.881604, -162.724392, 156.541036, 103.600916, -108.146053], [80.000000, 169.324647, -6.747599, -23.090753, 80.605491, -98.338268], [80.000000, -113.984391, -152.976794, -39.451346, 142.487758, -135.453817], [-100.000000, 118.000000, 3.000000, -98.000000, -157.000000, -21.000000], [-100.000000, -154.881604, -162.724392, -23.458964, -103.600916, 71.853947], [80.000000, 169.324647, -6.747599, 156.909247, -80.605491, 81.661732], [80.000000, -113.984391, -152.976794, 140.548654, -142.487758, 44.546183]] + joints: [-100.000000, 117.000000, 3.000000, -98.000000, -156.000000, -21.000000] + pose: {translation: [-0.05349559807072403, -0.5005467794250315, -0.3567586394026848], quaternion: [0.2199304148823165, 0.2047000872539358, -0.1376414613578748, 0.9438131780194595]} + solutions: [[-100.000000, 117.000000, 3.000000, 82.000000, 156.000000, 159.000000], [-100.000000, -155.881604, -162.724392, 155.513250, 103.648597, -108.388166], [80.000000, 170.460284, -7.151806, -24.061625, 81.071266, -98.289735], [80.000000, -113.279243, -152.572586, -40.840439, 141.981811, -136.508781], [-100.000000, 117.000000, 3.000000, -98.000000, -156.000000, -21.000000], [-100.000000, -155.881604, -162.724392, -24.486750, -103.648597, 71.611834], [80.000000, 170.460284, -7.151806, 155.938375, -81.071266, 81.710265], [80.000000, -113.279243, -152.572586, 139.159561, -141.981811, 43.491219]] - id: 932 parameters: Irb2400_10 joints: [19.000000, -121.000000, -61.000000, -117.000000, 45.000000, -33.000000] @@ -4666,19 +4666,19 @@ cases: solutions: [[-161.000000, 82.430954, -18.705882, 126.761640, 51.853399, -119.191141], [-161.000000, 146.437489, -141.018510, 66.169607, 43.531744, -37.424719], [19.000000, -121.000000, -61.000000, -117.000000, 45.000000, -33.000000], [19.000000, -101.336411, -98.724392, -97.771133, 39.485030, -58.748169], [-161.000000, 82.430954, -18.705882, -53.238360, -51.853399, 60.808859], [-161.000000, 146.437489, -141.018510, -113.830393, -43.531744, 142.575281], [19.000000, -121.000000, -61.000000, 63.000000, -45.000000, 147.000000], [19.000000, -101.336411, -98.724392, 82.228867, -39.485030, 121.251831]] - id: 933 parameters: Irb2400_10 - joints: [-129.000000, 144.000000, -33.000000, -38.000000, 100.000000, -125.000000] - pose: {translation: [-0.2373818783013295, -0.211250379670648, -0.6711709993721919], quaternion: [-0.2348143043947282, 0.4740793204953501, 0.7818550471100717, 0.3298692553706618]} - solutions: [[-129.000000, 144.000000, -33.000000, -38.000000, 100.000000, -125.000000], [-129.000000, -167.047113, -126.724392, -54.741613, 132.053658, -160.729372], [51.000000, -178.642941, -45.002761, 102.870902, 141.542449, 168.993093], [51.000000, -142.268892, -114.721631, 132.012773, 125.310471, -149.960337], [-129.000000, 144.000000, -33.000000, 142.000000, -100.000000, 55.000000], [-129.000000, -167.047113, -126.724392, 125.258387, -132.053658, 19.270628], [51.000000, -178.642941, -45.002761, -77.129098, -141.542449, -11.006907], [51.000000, -142.268892, -114.721631, -47.987227, -125.310471, 30.039663]] + joints: [-129.000000, 143.000000, -33.000000, -38.000000, 100.000000, -125.000000] + pose: {translation: [-0.2514876244858008, -0.2286695255246568, -0.667247944830175], quaternion: [-0.2327486868289566, 0.4811752187705127, 0.7798997192892551, 0.3256606907090367]} + solutions: [[-129.000000, 143.000000, -33.000000, -38.000000, 100.000000, -125.000000], [-129.000000, -168.047113, -126.724392, -54.741613, 132.053658, -160.729372], [51.000000, -177.239510, -45.867127, 103.434978, 141.437561, 169.713953], [51.000000, -141.769705, -113.857265, 131.820293, 125.553342, -150.292349], [-129.000000, 143.000000, -33.000000, 142.000000, -100.000000, 55.000000], [-129.000000, -168.047113, -126.724392, 125.258387, -132.053658, 19.270628], [51.000000, -177.239510, -45.867127, -76.565022, -141.437561, -10.286047], [51.000000, -141.769705, -113.857265, -48.179707, -125.553342, 29.707651]] - id: 934 parameters: Irb2400_10 - joints: [-174.000000, 74.000000, 30.000000, -18.000000, 36.000000, -35.000000] - pose: {translation: [-0.6612675366947236, -0.05397794754382329, -0.01113691229322712], quaternion: [0.7846838089224335, 0.4573236934628531, 0.4115930913821917, 0.07561406310288503]} - solutions: [[-174.000000, 74.000000, 30.000000, -18.000000, 36.000000, -35.000000], [-174.000000, -169.273317, 170.275608, -15.330557, 136.606462, -60.994087], [6.000000, -174.281098, 14.221653, 153.166598, 156.272650, -74.577108], [6.000000, -75.019375, -173.946045, 168.857218, 70.030952, -45.879582], [-174.000000, 74.000000, 30.000000, 162.000000, -36.000000, 145.000000], [-174.000000, -169.273317, 170.275608, 164.669443, -136.606462, 119.005913], [6.000000, -174.281098, 14.221653, -26.833402, -156.272650, 105.422892], [6.000000, -75.019375, -173.946045, -11.142782, -70.030952, 134.120418]] + joints: [-174.000000, 74.000000, 30.000000, -18.000000, 35.000000, -35.000000] + pose: {translation: [-0.6621296690916596, -0.05444383215872196, -0.01225068257739739], quaternion: [0.7879746196348795, 0.4588259248404286, 0.4036791589524024, 0.07495269263391098]} + solutions: [[-174.000000, 74.000000, 30.000000, -18.000000, 35.000000, -35.000000], [-174.000000, -169.273317, 170.275608, -14.702977, 135.705887, -60.541441], [6.000000, -174.281098, 14.221653, 154.702711, 155.494078, -73.175028], [6.000000, -75.019375, -173.946045, 169.059316, 69.049041, -45.950229], [-174.000000, 74.000000, 30.000000, 162.000000, -35.000000, 145.000000], [-174.000000, -169.273317, 170.275608, 165.297023, -135.705887, 119.458559], [6.000000, -174.281098, 14.221653, -25.297289, -155.494078, 106.824972], [6.000000, -75.019375, -173.946045, -10.940684, -69.049041, 134.049771]] - id: 935 parameters: Irb2400_10 - joints: [-136.000000, -154.000000, -127.000000, -113.000000, -165.000000, 13.000000] - pose: {translation: [-0.01716973983071077, -0.04473248857827064, -0.6550640745564169], quaternion: [-0.03156774750858805, 0.18590880009993, -0.09705830915868477, 0.9772517996841426]} - solutions: [[-136.000000, 156.757712, -32.724392, 17.516043, 127.666553, 137.638854], [-136.000000, -154.000000, -127.000000, 67.000000, 165.000000, -167.000000], [44.000000, 163.499630, -34.709103, -33.431139, 154.377707, -84.039837], [44.000000, -149.341490, -125.015289, -146.008370, 154.777006, 158.106464], [-136.000000, 156.757712, -32.724392, -162.483957, -127.666553, -42.361146], [-136.000000, -154.000000, -127.000000, -113.000000, -165.000000, 13.000000], [44.000000, 163.499630, -34.709103, 146.568861, -154.377707, 95.960163], [44.000000, -149.341490, -125.015289, 33.991630, -154.777006, -21.893536]] + joints: [-136.000000, -153.000000, -127.000000, -113.000000, -165.000000, 13.000000] + pose: {translation: [-0.001231286343882643, -0.02934090295825605, -0.6538832620772251], quaternion: [-0.02503321485389903, 0.1803555389230473, -0.09612580321308543, 0.9785729649292867]} + solutions: [[-136.000000, 157.757712, -32.724392, 17.516043, 127.666553, 137.638854], [-136.000000, -153.000000, -127.000000, 67.000000, 165.000000, -167.000000], [44.000000, 162.149540, -34.009737, -33.034610, 154.085553, -83.599525], [44.000000, -149.957600, -125.714655, -146.378798, 154.514867, 157.696554], [-136.000000, 157.757712, -32.724392, -162.483957, -127.666553, -42.361146], [-136.000000, -153.000000, -127.000000, -113.000000, -165.000000, 13.000000], [44.000000, 162.149540, -34.009737, 146.965390, -154.085553, 96.400475], [44.000000, -149.957600, -125.714655, 33.621202, -154.514867, -22.303446]] - id: 936 parameters: Irb2400_10 joints: [117.000000, -8.000000, -166.000000, -141.000000, -2.000000, 145.000000] @@ -4691,24 +4691,24 @@ cases: solutions: [[25.000000, 31.000000, 58.000000, -51.000000, 123.000000, 122.000000], [25.000000, -178.663702, 142.275608, -138.995907, 96.596414, -18.372852], [-155.000000, -166.543689, 41.164792, 41.068395, 82.793254, -30.314811], [-155.000000, -37.000187, 159.110816, 104.657348, 137.647196, 85.413540], [25.000000, 31.000000, 58.000000, 129.000000, -123.000000, -58.000000], [25.000000, -178.663702, 142.275608, 41.004093, -96.596414, 161.627148], [-155.000000, -166.543689, 41.164792, -138.931605, -82.793254, 149.685189], [-155.000000, -37.000187, 159.110816, -75.342652, -137.647196, -94.586460]] - id: 938 parameters: Irb2400_10 - joints: [-66.000000, 60.000000, 58.000000, -58.000000, -101.000000, -106.000000] - pose: {translation: [0.2769380208175826, -0.4480436509073685, 0.2310582737015587], quaternion: [-0.436592589076282, 0.5892837507451182, -0.4884522646525603, 0.4728064693161671]} - solutions: [[-66.000000, 60.000000, 58.000000, 122.000000, 101.000000, 74.000000], [-66.000000, -149.663702, 142.275608, 80.073369, 57.684697, -160.892420], [114.000000, 169.930054, 44.590919, -114.161430, 65.838702, -131.396567], [114.000000, -56.475219, 155.684689, -57.532445, 80.641882, 105.316026], [-66.000000, 60.000000, 58.000000, -58.000000, -101.000000, -106.000000], [-66.000000, -149.663702, 142.275608, -99.926631, -57.684697, 19.107580], [114.000000, 169.930054, 44.590919, 65.838570, -65.838702, 48.603433], [114.000000, -56.475219, 155.684689, 122.467555, -80.641882, -74.683974]] + joints: [-66.000000, 60.000000, 58.000000, -58.000000, -100.000000, -106.000000] + pose: {translation: [0.2769203827261134, -0.447440357205037, 0.2297030871473887], quaternion: [-0.4417169977531433, 0.5922214174084551, -0.4824403064003084, 0.4705435552837234]} + solutions: [[-66.000000, 60.000000, 58.000000, 122.000000, 100.000000, 74.000000], [-66.000000, -149.663702, 142.275608, 79.111472, 58.263462, -160.382308], [114.000000, 169.930054, 44.590919, -114.628225, 66.742770, -131.208863], [114.000000, -56.475219, 155.684689, -58.060550, 79.787970, 105.405782], [-66.000000, 60.000000, 58.000000, -58.000000, -100.000000, -106.000000], [-66.000000, -149.663702, 142.275608, -100.888528, -58.263462, 19.617692], [114.000000, 169.930054, 44.590919, 65.371775, -66.742770, 48.791137], [114.000000, -56.475219, 155.684689, 121.939450, -79.787970, -74.594218]] - id: 939 parameters: Irb2400_10 - joints: [-123.000000, -163.000000, 37.000000, 73.000000, 83.000000, -138.000000] - pose: {translation: [0.4190925696749183, 0.497211133555034, 0.4951410098090451], quaternion: [0.5499705041807575, -0.2508980868906256, 0.7566252639570742, 0.2492003299911043]} - solutions: [[57.000000, 31.606877, 54.216039, -81.426619, 106.280082, 2.004017], [57.000000, 177.035619, 146.059569, -108.261120, 88.213234, -121.665049], [-123.000000, -163.000000, 37.000000, 73.000000, 83.000000, -138.000000], [-123.000000, -38.298154, 163.275608, 88.754970, 108.304513, -30.225479], [57.000000, 31.606877, 54.216039, 98.573381, -106.280082, -177.995983], [57.000000, 177.035619, 146.059569, 71.738880, -88.213234, 58.334951], [-123.000000, -163.000000, 37.000000, -107.000000, -83.000000, 42.000000], [-123.000000, -38.298154, 163.275608, -91.245030, -108.304513, 149.774521]] + joints: [-123.000000, -162.000000, 37.000000, 73.000000, 83.000000, -138.000000] + pose: {translation: [0.4201700413587419, 0.4988702944504563, 0.5081656798253043], quaternion: [0.5481772850362924, -0.2576104403523534, 0.7573741153886073, 0.2439733070051526]} + solutions: [[57.000000, 30.225164, 54.286158, -81.516746, 106.326291, 1.682959], [57.000000, 175.743263, 145.989450, -108.250040, 88.099686, -122.009458], [-123.000000, -162.000000, 37.000000, 73.000000, 83.000000, -138.000000], [-123.000000, -37.298154, 163.275608, 88.754970, 108.304513, -30.225479], [57.000000, 30.225164, 54.286158, 98.483254, -106.326291, -178.317041], [57.000000, 175.743263, 145.989450, 71.749960, -88.099686, 57.990542], [-123.000000, -162.000000, 37.000000, -107.000000, -83.000000, 42.000000], [-123.000000, -37.298154, 163.275608, -91.245030, -108.304513, 149.774521]] - id: 940 parameters: Irb2400_10 - joints: [-75.000000, -89.000000, -74.000000, -23.000000, -15.000000, -140.000000] - pose: {translation: [-0.3671941701247785, 1.403599445070352, 0.7235823446996151], quaternion: [-0.4472651893801351, 0.5221744773316227, 0.6198395651992099, 0.378267866737122]} - solutions: [[105.000000, 53.545341, -19.161871, -170.526265, 37.908868, -169.794583], [105.000000, 117.070061, -140.562521, -16.295412, 21.125656, 32.958764], [-75.000000, -89.000000, -74.000000, 157.000000, 15.000000, 40.000000], [-75.000000, -82.890773, -85.724392, 144.654465, 10.067603, 52.632907], [105.000000, 53.545341, -19.161871, 9.473735, -37.908868, 10.205417], [105.000000, 117.070061, -140.562521, 163.704588, -21.125656, -147.041236], [-75.000000, -89.000000, -74.000000, -23.000000, -15.000000, -140.000000], [-75.000000, -82.890773, -85.724392, -35.345535, -10.067603, -127.367093]] + joints: [-75.000000, -88.000000, -74.000000, -23.000000, -15.000000, -140.000000] + pose: {translation: [-0.3666425700439559, 1.401540845543263, 0.7506311699883471], quaternion: [-0.4426597030156375, 0.5177842049120804, 0.6252276596953732, 0.3808441650091531]} + solutions: [[105.000000, 52.414787, -19.211395, -170.488005, 37.731256, -169.843018], [105.000000, 115.887186, -140.512997, -16.199170, 21.253682, 32.855544], [-75.000000, -88.000000, -74.000000, 157.000000, 15.000000, 40.000000], [-75.000000, -81.890773, -85.724392, 144.654465, 10.067603, 52.632907], [105.000000, 52.414787, -19.211395, 9.511995, -37.731256, 10.156982], [105.000000, 115.887186, -140.512997, 163.800830, -21.253682, -147.144456], [-75.000000, -88.000000, -74.000000, -23.000000, -15.000000, -140.000000], [-75.000000, -81.890773, -85.724392, -35.345535, -10.067603, -127.367093]] - id: 941 parameters: Irb2400_10 - joints: [113.000000, 52.000000, 20.000000, 54.000000, 21.000000, -37.000000] - pose: {translation: [-0.4230830423851523, 0.9336504762715579, 0.2917076528879771], quaternion: [0.7495896079042357, -0.6438986630497093, -0.1050596175643438, 0.1116799364344605]} - solutions: [[113.000000, 52.000000, 20.000000, 54.000000, 21.000000, -37.000000], [113.000000, 157.593186, -179.724392, 17.563612, 106.102219, 20.125774], [-67.000000, -143.280364, -1.690513, -160.765886, 118.347255, 24.515256], [-67.000000, -61.191299, -158.033879, -156.984027, 47.861174, -0.799469], [113.000000, 52.000000, 20.000000, -126.000000, -21.000000, 143.000000], [113.000000, 157.593186, -179.724392, -162.436388, -106.102219, -159.874226], [-67.000000, -143.280364, -1.690513, 19.234114, -118.347255, -155.484744], [-67.000000, -61.191299, -158.033879, 23.015973, -47.861174, 179.200531]] + joints: [113.000000, 51.000000, 20.000000, 54.000000, 21.000000, -37.000000] + pose: {translation: [-0.4252326054690603, 0.9387145295482702, 0.3078958565503779], quaternion: [0.750099945632381, -0.6426494222201437, -0.1127838356385461, 0.1078498868848375]} + solutions: [[113.000000, 51.000000, 20.000000, 54.000000, 21.000000, -37.000000], [113.000000, 156.593186, -179.724392, 17.563612, 106.102219, 20.125774], [-67.000000, -142.404180, -1.779060, -160.803436, 118.146722, 24.435914], [-67.000000, -60.409840, -157.945332, -156.937899, 47.741549, -0.868141], [113.000000, 51.000000, 20.000000, -126.000000, -21.000000, 143.000000], [113.000000, 156.593186, -179.724392, -162.436388, -106.102219, -159.874226], [-67.000000, -142.404180, -1.779060, 19.196564, -118.146722, -155.564086], [-67.000000, -60.409840, -157.945332, 23.062101, -47.741549, 179.131859]] - id: 942 parameters: Irb2400_10 joints: [40.000000, -53.000000, -79.000000, 158.000000, 14.000000, 67.000000] @@ -4721,9 +4721,9 @@ cases: solutions: [[146.000000, 37.365670, 71.164829, 45.199951, 141.256924, 119.729330], [146.000000, -153.096310, 129.110779, 153.036573, 78.343001, -92.548846], [-34.000000, 174.922691, 56.275608, -32.996596, 54.629056, -77.817732], [-34.000000, -37.000000, 144.000000, -78.000000, 153.000000, -175.000000], [146.000000, 37.365670, 71.164829, -134.800049, -141.256924, -60.270670], [146.000000, -153.096310, 129.110779, -26.963427, -78.343001, 87.451154], [-34.000000, 174.922691, 56.275608, 147.003404, -54.629056, 102.182268], [-34.000000, -37.000000, 144.000000, 102.000000, -153.000000, 5.000000]] - id: 944 parameters: Irb2400_10 - joints: [75.000000, 53.000000, -63.000000, -122.000000, 80.000000, 137.000000] - pose: {translation: [0.4283177868650401, 1.324223428589966, 1.349580996407905], quaternion: [0.245901979115792, 0.4092496185117982, 0.322002935731361, 0.8175335319087953]} - solutions: [[75.000000, 53.000000, -63.000000, -122.000000, 80.000000, 137.000000], [75.000000, 70.577305, -96.724392, -118.475190, 71.824315, 122.627125], [75.000000, 53.000000, -63.000000, 58.000000, -80.000000, -43.000000], [75.000000, 70.577305, -96.724392, 61.524810, -71.824315, -57.372875]] + joints: [75.000000, 53.000000, -63.000000, -122.000000, 79.000000, 137.000000] + pose: {translation: [0.4284745651655345, 1.325694358467752, 1.349693205361555], quaternion: [0.2389719970905148, 0.4125352900336636, 0.3259957086384852, 0.8163539777772287]} + solutions: [[75.000000, 53.000000, -63.000000, -122.000000, 79.000000, 137.000000], [75.000000, 70.577305, -96.724392, -118.212439, 70.855795, 122.543054], [75.000000, 53.000000, -63.000000, 58.000000, -79.000000, -43.000000], [75.000000, 70.577305, -96.724392, 61.787561, -70.855795, -57.456946]] - id: 945 parameters: Irb2400_10 joints: [133.000000, 149.000000, -180.000000, -103.000000, -23.000000, -28.000000] @@ -4741,64 +4741,64 @@ cases: solutions: [[112.000000, 52.120140, 58.805760, -7.273090, 30.223054, 100.663867], [112.000000, -156.473630, 141.469847, -8.905758, 155.692160, 86.243560], [-68.000000, 175.781022, 44.275608, 74.645824, 176.210880, -11.015376], [-68.000000, -51.000000, 156.000000, 176.000000, 66.000000, 96.000000], [112.000000, 52.120140, 58.805760, 172.726910, -30.223054, -79.336133], [112.000000, -156.473630, 141.469847, 171.094242, -155.692160, -93.756440], [-68.000000, 175.781022, 44.275608, -105.354176, -176.210880, 168.984624], [-68.000000, -51.000000, 156.000000, -4.000000, -66.000000, -84.000000]] - id: 948 parameters: Irb2400_10 - joints: [-124.000000, 161.000000, 60.000000, -116.000000, -105.000000, 180.000000] - pose: {translation: [0.2225792377110691, 0.1980215374513165, 0.3545785541649336], quaternion: [0.1091261095804893, 0.6428117338081154, -0.6051715078097131, 0.4567844275166901]} - solutions: [[56.000000, 54.124615, 72.528747, -61.622167, 80.660043, 168.768872], [56.000000, -134.037549, 127.746861, -103.017364, 116.992346, 35.054180], [-124.000000, 161.000000, 60.000000, 64.000000, 105.000000, -0.000000], [-124.000000, -45.989625, 140.275608, 117.948603, 100.644203, 132.851881], [56.000000, 54.124615, 72.528747, 118.377833, -80.660043, -11.231128], [56.000000, -134.037549, 127.746861, 76.982636, -116.992346, -144.945820], [-124.000000, 161.000000, 60.000000, -116.000000, -105.000000, 180.000000], [-124.000000, -45.989625, 140.275608, -62.051397, -100.644203, -47.148119]] + joints: [-124.000000, 160.000000, 60.000000, -116.000000, -104.000000, 180.000000] + pose: {translation: [0.2208381085526246, 0.1948431872116403, 0.3488835966493767], quaternion: [0.09753416784148403, 0.6366481890542161, -0.6112058907309548, 0.459992965830171]} + solutions: [[56.000000, 55.667179, 72.308571, -61.861165, 81.488799, 169.086492], [56.000000, -132.872146, 127.967037, -103.472731, 116.262732, 35.185612], [-124.000000, 160.000000, 60.000000, 64.000000, 104.000000, 0.000000], [-124.000000, -46.989625, 140.275608, 117.200951, 101.323407, 132.709425], [56.000000, 55.667179, 72.308571, 118.138835, -81.488799, -10.913508], [56.000000, -132.872146, 127.967037, 76.527269, -116.262732, -144.814388], [-124.000000, 160.000000, 60.000000, -116.000000, -104.000000, -180.000000], [-124.000000, -46.989625, 140.275608, -62.799049, -101.323407, -47.290575]] - id: 949 parameters: Irb2400_10 - joints: [-117.000000, 130.000000, -83.000000, -36.000000, -126.000000, 89.000000] - pose: {translation: [-0.5361573566734457, -1.141300544895608, -0.2237860563942894], quaternion: [0.1408811200440777, 0.2050029003211498, -0.030343562935258, 0.9680937914600202]} - solutions: [[-117.000000, 126.730052, -76.724392, 142.636538, 128.410805, -93.254188], [-117.000000, 130.000000, -83.000000, 144.000000, 126.000000, -91.000000], [-117.000000, 126.730052, -76.724392, -37.363462, -128.410805, 86.745812], [-117.000000, 130.000000, -83.000000, -36.000000, -126.000000, 89.000000]] + joints: [-117.000000, 129.000000, -83.000000, -36.000000, -125.000000, 89.000000] + pose: {translation: [-0.542880336056457, -1.155610499156733, -0.2037926277949304], quaternion: [0.1416770689118534, 0.2084505336390843, -0.03429302731126137, 0.9671090793948509]} + solutions: [[-117.000000, 125.730052, -76.724392, 142.686054, 127.411569, -93.223761], [-117.000000, 129.000000, -83.000000, 144.000000, 125.000000, -91.000000], [-117.000000, 125.730052, -76.724392, -37.313946, -127.411569, 86.776239], [-117.000000, 129.000000, -83.000000, -36.000000, -125.000000, 89.000000]] - id: 950 parameters: Irb2400_10 - joints: [-155.000000, 12.000000, -164.000000, 72.000000, -138.000000, 48.000000] - pose: {translation: [0.3722029493359035, 0.2332454310536702, 1.494673501493871], quaternion: [0.8528783116999649, 0.1957702947824242, -0.3884399623323787, -0.2887680258890181]} - solutions: [[25.000000, -27.283755, 14.535167, 58.173645, 131.496882, -151.513113], [25.000000, 72.319931, -174.259559, 135.910570, 113.846869, -39.771421], [-155.000000, -76.490362, 4.275608, -42.491403, 109.589767, -35.457678], [-155.000000, 12.000000, -164.000000, -108.000000, 138.000000, -132.000000], [25.000000, -27.283755, 14.535167, -121.826355, -131.496882, 28.486887], [25.000000, 72.319931, -174.259559, -44.089430, -113.846869, 140.228579], [-155.000000, -76.490362, 4.275608, 137.508597, -109.589767, 144.542322], [-155.000000, 12.000000, -164.000000, 72.000000, -138.000000, 48.000000]] + joints: [-155.000000, 12.000000, -164.000000, 72.000000, -137.000000, 48.000000] + pose: {translation: [0.3727091597245556, 0.234629243990412, 1.494845599688728], quaternion: [0.8532413285609589, 0.1915576043915199, -0.384714637487764, -0.2954311546502334]} + solutions: [[25.000000, -27.283755, 14.535167, 58.613246, 130.553473, -151.224552], [25.000000, 72.319931, -174.259559, 134.817751, 113.881900, -40.213557], [-155.000000, -76.490362, 4.275608, -43.546664, 109.700631, -35.812460], [-155.000000, 12.000000, -164.000000, -108.000000, 137.000000, -132.000000], [25.000000, -27.283755, 14.535167, -121.386754, -130.553473, 28.775448], [25.000000, 72.319931, -174.259559, -45.182249, -113.881900, 139.786443], [-155.000000, -76.490362, 4.275608, 136.453336, -109.700631, 144.187540], [-155.000000, 12.000000, -164.000000, 72.000000, -137.000000, 48.000000]] - id: 951 parameters: Irb2400_10 - joints: [52.000000, 171.000000, -131.000000, -28.000000, 14.000000, -177.000000] - pose: {translation: [0.578285624897392, 0.7244912921593004, -0.5301315081158051], quaternion: [0.7546387396786104, 0.5693703738337287, 0.3251551821279579, -0.02473575371912381]} - solutions: [[52.000000, 117.554142, -28.724392, -169.099861, 36.914131, -33.042914], [52.000000, 171.000000, -131.000000, -28.000000, 14.000000, -177.000000], [-128.000000, -147.228423, -61.898360, 163.873236, 24.135298, 170.491555], [-128.000000, -128.502009, -97.826032, 132.849971, 8.911988, -157.487003], [52.000000, 117.554142, -28.724392, 10.900139, -36.914131, 146.957086], [52.000000, 171.000000, -131.000000, 152.000000, -14.000000, 3.000000], [-128.000000, -147.228423, -61.898360, -16.126764, -24.135298, -9.508445], [-128.000000, -128.502009, -97.826032, -47.150029, -8.911988, 22.512997]] + joints: [52.000000, 170.000000, -131.000000, -28.000000, 14.000000, -177.000000] + pose: {translation: [0.5905122642531446, 0.7401406768925385, -0.5155250914018268], quaternion: [0.7526929813303435, 0.5672456256944371, 0.3331125015434369, -0.0268651689374852]} + solutions: [[52.000000, 116.554142, -28.724392, -169.099861, 36.914131, -33.042914], [52.000000, 170.000000, -131.000000, -28.000000, 14.000000, -177.000000], [-128.000000, -145.626305, -63.231190, 163.406225, 23.434166, 171.001901], [-128.000000, -128.290134, -96.493202, 135.293085, 9.290948, -159.961245], [52.000000, 116.554142, -28.724392, 10.900139, -36.914131, 146.957086], [52.000000, 170.000000, -131.000000, 152.000000, -14.000000, 3.000000], [-128.000000, -145.626305, -63.231190, -16.593775, -23.434166, -8.998099], [-128.000000, -128.290134, -96.493202, -44.706915, -9.290948, 20.038755]] - id: 952 parameters: Irb2400_10 - joints: [128.000000, 90.000000, -177.000000, 80.000000, 68.000000, 52.000000] - pose: {translation: [-0.5075342052938647, 0.5235492350832478, 1.407112341114342], quaternion: [0.5460283853345665, -0.1379113553247304, -0.6236486688937848, 0.5421215714841392]} - solutions: [[128.000000, -12.600171, 17.275608, 112.550130, 81.374099, -43.346849], [128.000000, 90.000000, -177.000000, 80.000000, 68.000000, 52.000000], [-52.000000, -89.899552, 2.191408, -102.046954, 69.012717, 57.582651], [-52.000000, -3.649856, -161.915800, -71.294812, 74.582871, -25.068415], [128.000000, -12.600171, 17.275608, -67.449870, -81.374099, 136.653151], [128.000000, 90.000000, -177.000000, -100.000000, -68.000000, -128.000000], [-52.000000, -89.899552, 2.191408, 77.953046, -69.012717, -122.417349], [-52.000000, -3.649856, -161.915800, 108.705188, -74.582871, 154.931585]] + joints: [128.000000, 89.000000, -177.000000, 80.000000, 67.000000, 52.000000] + pose: {translation: [-0.4984927519346853, 0.5128848155741138, 1.419273196613036], quaternion: [0.5392857088901344, -0.1292811230310942, -0.631317287222718, 0.5421215714841392]} + solutions: [[128.000000, -13.600171, 17.275608, 113.556920, 81.468591, -43.497033], [128.000000, 89.000000, -177.000000, 80.000000, 67.000000, 52.000000], [-52.000000, -89.183539, 2.477500, -102.152688, 68.017936, 57.623294], [-52.000000, -2.626568, -162.201893, -70.213673, 74.450197, -25.596165], [128.000000, -13.600171, 17.275608, -66.443080, -81.468591, 136.502967], [128.000000, 89.000000, -177.000000, -100.000000, -67.000000, -128.000000], [-52.000000, -89.183539, 2.477500, 77.847312, -68.017936, -122.376706], [-52.000000, -2.626568, -162.201893, 109.786327, -74.450197, 154.403835]] - id: 953 parameters: Irb2400_10 - joints: [57.000000, 68.000000, 55.000000, -171.000000, -91.000000, 127.000000] - pose: {translation: [0.1991307329317678, 0.331044926333543, 0.2193366235597528], quaternion: [0.3440232053587092, -0.3246594784616056, -0.007295116838693425, 0.8810170477862886]} - solutions: [[57.000000, 68.000000, 55.000000, 9.000000, 91.000000, -53.000000], [57.000000, -145.569035, 145.275608, 164.306047, 144.673829, 113.930289], [-123.000000, 165.840469, 42.607707, -10.126024, 117.172257, 122.178967], [-123.000000, -62.918097, 157.667901, -168.519921, 128.198263, -46.000198], [57.000000, 68.000000, 55.000000, -171.000000, -91.000000, 127.000000], [57.000000, -145.569035, 145.275608, -15.693953, -144.673829, -66.069711], [-123.000000, 165.840469, 42.607707, 169.873976, -117.172257, -57.821033], [-123.000000, -62.918097, 157.667901, 11.480079, -128.198263, 133.999802]] + joints: [57.000000, 67.000000, 55.000000, -171.000000, -90.000000, 127.000000] + pose: {translation: [0.2024321341247801, 0.3361323567639659, 0.2231386140082442], quaternion: [0.3565486752438801, -0.3334299068948211, -0.007584859915797588, 0.8727198916433627]} + solutions: [[57.000000, 67.000000, 55.000000, 9.000000, 90.000000, -53.000000], [57.000000, -146.569035, 145.275608, 163.905317, 145.647276, 113.601374], [-123.000000, 166.732998, 42.415230, -10.250073, 118.463862, 122.074150], [-123.000000, -62.252730, 157.860378, -168.694045, 127.066224, -46.128760], [57.000000, 67.000000, 55.000000, -171.000000, -90.000000, 127.000000], [57.000000, -146.569035, 145.275608, -16.094683, -145.647276, -66.398626], [-123.000000, 166.732998, 42.415230, 169.749927, -118.463862, -57.925850], [-123.000000, -62.252730, 157.860378, 11.305955, -127.066224, 133.871240]] - id: 954 parameters: Irb2400_10 - joints: [160.000000, 47.000000, -160.000000, 105.000000, 121.000000, -126.000000] - pose: {translation: [-0.208326494580178, 0.0009314266107875863, 1.690375071636254], quaternion: [-0.326092810692747, 0.8210073640739199, -0.3512157681698322, -0.3102545263807973]} - solutions: [[160.000000, -37.194368, 0.275608, 61.660344, 109.829814, 148.682920], [160.000000, 47.000000, -160.000000, 105.000000, 121.000000, -126.000000], [-20.000000, -54.603280, -3.978975, -70.397909, 118.490492, -116.741726], [-20.000000, 25.040110, -155.745417, -113.701118, 115.280584, 160.724288], [160.000000, -37.194368, 0.275608, -118.339656, -109.829814, -31.317080], [160.000000, 47.000000, -160.000000, -75.000000, -121.000000, 54.000000], [-20.000000, -54.603280, -3.978975, 109.602091, -118.490492, 63.258274], [-20.000000, 25.040110, -155.745417, 66.298882, -115.280584, -19.275712]] + joints: [160.000000, 46.000000, -160.000000, 105.000000, 120.000000, -126.000000] + pose: {translation: [-0.1902696057158861, -0.00641470185772712, 1.692976603350171], quaternion: [-0.3303296947512747, 0.8153848290242447, -0.353542307858301, -0.3178642948128326]} + solutions: [[160.000000, -38.194368, 0.275608, 62.719272, 109.745052, 149.041409], [160.000000, 46.000000, -160.000000, 105.000000, 120.000000, -126.000000], [-20.000000, -53.874515, -3.550750, -70.502304, 117.451100, -116.660028], [-20.000000, 26.226142, -156.173643, -112.748418, 114.895610, 160.926677], [160.000000, -38.194368, 0.275608, -117.280728, -109.745052, -30.958591], [160.000000, 46.000000, -160.000000, -75.000000, -120.000000, 54.000000], [-20.000000, -53.874515, -3.550750, 109.497696, -117.451100, 63.339972], [-20.000000, 26.226142, -156.173643, 67.251582, -114.895610, -19.073323]] - id: 955 parameters: Irb2400_10 - joints: [-156.000000, 150.000000, -58.000000, 44.000000, 43.000000, 29.000000] - pose: {translation: [-0.4561291013297405, -0.2471619408743174, -0.8154713014941234], quaternion: [0.8404855601211413, -0.3879142515964213, 0.3760754191927803, -0.04091253738420964]} - solutions: [[-156.000000, 150.000000, -58.000000, 44.000000, 43.000000, 29.000000], [-156.000000, 172.793973, -101.724392, 33.363646, 59.479913, 45.742258], [-156.000000, 150.000000, -58.000000, -136.000000, -43.000000, -151.000000], [-156.000000, 172.793973, -101.724392, -146.636354, -59.479913, -134.257742]] + joints: [-156.000000, 149.000000, -58.000000, 44.000000, 43.000000, 29.000000] + pose: {translation: [-0.4788778643017916, -0.2572903427047593, -0.8079718624679894], quaternion: [0.8435968779481505, -0.3868907965596426, 0.3707375390238264, -0.03483527252850852]} + solutions: [[-156.000000, 149.000000, -58.000000, 44.000000, 43.000000, 29.000000], [-156.000000, 171.793973, -101.724392, 33.363646, 59.479913, 45.742258], [-156.000000, 149.000000, -58.000000, -136.000000, -43.000000, -151.000000], [-156.000000, 171.793973, -101.724392, -146.636354, -59.479913, -134.257742]] - id: 956 parameters: Irb2400_10 - joints: [-124.000000, -2.000000, -139.000000, 112.000000, -173.000000, 42.000000] - pose: {translation: [0.2874593110580757, 0.4433517795965976, 1.639714935974617], quaternion: [0.4262434414662069, 0.7828740315731766, -0.4407664488501398, -0.1055922197107454]} - solutions: [[56.000000, -13.497025, -6.864683, 22.414399, 162.762087, 131.352045], [56.000000, 63.069226, -152.859709, 171.939846, 126.304197, -74.942006], [-124.000000, -63.874604, -20.724392, -7.554809, 120.745549, -74.028112], [-124.000000, -2.000000, -139.000000, -68.000000, 173.000000, -138.000000], [56.000000, -13.497025, -6.864683, -157.585601, -162.762087, -48.647955], [56.000000, 63.069226, -152.859709, -8.060154, -126.304197, 105.057994], [-124.000000, -63.874604, -20.724392, 172.445191, -120.745549, 105.971888], [-124.000000, -2.000000, -139.000000, 112.000000, -173.000000, 42.000000]] + joints: [-124.000000, -2.000000, -139.000000, 112.000000, -172.000000, 42.000000] + pose: {translation: [0.2862189899504775, 0.4439516570111497, 1.640264986542932], quaternion: [0.4284690437284187, 0.7795857282510552, -0.4425567948987592, -0.113154116861314]} + solutions: [[56.000000, -13.497025, -6.864683, 25.787274, 162.745278, 134.573354], [56.000000, 63.069226, -152.859709, 170.840065, 125.846061, -75.589626], [-124.000000, -63.874604, -20.724392, -8.595591, 120.302583, -74.556740], [-124.000000, -2.000000, -139.000000, -68.000000, 172.000000, -138.000000], [56.000000, -13.497025, -6.864683, -154.212726, -162.745278, -45.426646], [56.000000, 63.069226, -152.859709, -9.159935, -125.846061, 104.410374], [-124.000000, -63.874604, -20.724392, 171.404409, -120.302583, 105.443260], [-124.000000, -2.000000, -139.000000, 112.000000, -172.000000, 42.000000]] - id: 957 parameters: Irb2400_10 - joints: [151.000000, -148.000000, -12.000000, -38.000000, -167.000000, -116.000000] - pose: {translation: [0.8309193999315373, -0.4740456677126788, 0.1060074403419222], quaternion: [0.7705867769177331, 0.3951074280072183, -0.3414106088426838, -0.3654106398871392]} - solutions: [[-29.000000, 69.127529, 10.358774, -8.453726, 70.401465, 104.134622], [-29.000000, 164.188912, -170.083166, -18.690527, 154.394238, 84.315104], [151.000000, -148.000000, -12.000000, 142.000000, 167.000000, 64.000000], [151.000000, -76.892838, -147.724392, 171.759535, 104.923272, 99.144723], [-29.000000, 69.127529, 10.358774, 171.546274, -70.401465, -75.865378], [-29.000000, 164.188912, -170.083166, 161.309473, -154.394238, -95.684896], [151.000000, -148.000000, -12.000000, -38.000000, -167.000000, -116.000000], [151.000000, -76.892838, -147.724392, -8.240465, -104.923272, -80.855277]] + joints: [151.000000, -147.000000, -12.000000, -38.000000, -166.000000, -116.000000] + pose: {translation: [0.8387565369502037, -0.479405282071473, 0.1235873713027409], quaternion: [0.7762064806276314, 0.4004403277033479, -0.3370291508550206, -0.3515144305066941]} + solutions: [[-29.000000, 67.863038, 10.527674, -9.135635, 69.732624, 104.353366], [-29.000000, 163.107594, -170.252066, -19.635844, 153.690115, 83.429172], [151.000000, -147.000000, -12.000000, 142.000000, 166.000000, 64.000000], [151.000000, -75.892838, -147.724392, 171.166017, 104.104817, 98.995972], [-29.000000, 67.863038, 10.527674, 170.864365, -69.732624, -75.646634], [-29.000000, 163.107594, -170.252066, 160.364156, -153.690115, -96.570828], [151.000000, -147.000000, -12.000000, -38.000000, -166.000000, -116.000000], [151.000000, -75.892838, -147.724392, -8.833983, -104.104817, -81.004028]] - id: 958 parameters: Irb2400_10 - joints: [-139.000000, 23.000000, -107.000000, 43.000000, -97.000000, -34.000000] - pose: {translation: [-0.2322198407723738, -0.1256273455101509, 2.025078731574618], quaternion: [0.3518766145234386, 0.6315417541936145, 0.6369935542253735, -0.2675389181724818]} - solutions: [[-139.000000, -5.302198, -52.724392, -131.515543, 115.307235, 165.292576], [-139.000000, 23.000000, -107.000000, -137.000000, 97.000000, 146.000000], [-139.000000, -5.302198, -52.724392, 48.484457, -115.307235, -14.707424], [-139.000000, 23.000000, -107.000000, 43.000000, -97.000000, -34.000000]] + joints: [-139.000000, 23.000000, -107.000000, 43.000000, -96.000000, -34.000000] + pose: {translation: [-0.2323190740996381, -0.1255618492326289, 2.026557470217698], quaternion: [0.3485603470211046, 0.626473751259061, 0.6425968031119007, -0.270380605995128]} + solutions: [[-139.000000, -5.302198, -52.724392, -131.878216, 114.362949, 165.140244], [-139.000000, 23.000000, -107.000000, -137.000000, 96.000000, 146.000000], [-139.000000, -5.302198, -52.724392, 48.121784, -114.362949, -14.859756], [-139.000000, 23.000000, -107.000000, 43.000000, -96.000000, -34.000000]] - id: 959 parameters: Irb2400_10 - joints: [-34.000000, -154.000000, 100.000000, -52.000000, 148.000000, -101.000000] - pose: {translation: [0.06767660424614327, -0.08846252081668862, 0.596891721270248], quaternion: [-0.1927195641828797, 0.9496233765217166, -0.06482897951556829, -0.2384781242789894]} - solutions: [[-34.000000, -154.000000, 100.000000, -52.000000, 148.000000, -101.000000], [-34.000000, -157.409932, 100.275608, -56.214472, 149.839105, -105.919462], [146.000000, -172.444487, 82.610581, 60.415372, 151.302512, -176.565539], [146.000000, 20.580003, 117.665026, 152.757865, 65.817526, -41.743926], [-34.000000, -154.000000, 100.000000, 128.000000, -148.000000, 79.000000], [-34.000000, -157.409932, 100.275608, 123.785528, -149.839105, 74.080538], [146.000000, -172.444487, 82.610581, -119.584628, -151.302512, 3.434461], [146.000000, 20.580003, 117.665026, -27.242135, -65.817526, 138.256074]] + joints: [-34.000000, -153.000000, 100.000000, -52.000000, 147.000000, -101.000000] + pose: {translation: [0.06777027147876652, -0.0897149631520104, 0.5969702024534873], quaternion: [-0.1963332337117529, 0.9472315408376225, -0.06724192323627602, -0.2443034857347648]} + solutions: [[-34.000000, -153.000000, 100.000000, -52.000000, 147.000000, -101.000000], [-34.000000, -156.409932, 100.275608, -56.048734, 148.842681, -105.776886], [146.000000, -172.518700, 82.541586, 61.063310, 150.632713, -176.361775], [146.000000, 20.320761, 117.734021, 151.984419, 66.023546, -41.771206], [-34.000000, -153.000000, 100.000000, 128.000000, -147.000000, 79.000000], [-34.000000, -156.409932, 100.275608, 123.951266, -148.842681, 74.223114], [146.000000, -172.518700, 82.541586, -118.936690, -150.632713, 3.638225], [146.000000, 20.320761, 117.734021, -28.015581, -66.023546, 138.228794]] - id: 960 parameters: Irb2400_10 joints: [-30.000000, 90.000000, 22.000000, -158.000000, 100.000000, -87.000000] @@ -4806,54 +4806,54 @@ cases: solutions: [[-30.000000, 90.000000, 22.000000, -158.000000, 100.000000, -87.000000], [-30.000000, -162.199805, 178.275608, -102.009236, 22.158508, -168.077368], [150.000000, 178.515662, 8.196265, 127.819398, 27.840557, 137.709156], [150.000000, -88.764580, -167.920657, 23.574045, 67.285618, -100.577204], [-30.000000, 90.000000, 22.000000, 22.000000, -100.000000, 93.000000], [-30.000000, -162.199805, 178.275608, 77.990764, -22.158508, 11.922632], [150.000000, 178.515662, 8.196265, -52.180602, -27.840557, -42.290844], [150.000000, -88.764580, -167.920657, -156.425955, -67.285618, 79.422796]] - id: 961 parameters: Irb2400_10 - joints: [91.000000, 135.000000, -56.000000, 16.000000, 76.000000, -74.000000] - pose: {translation: [-0.03671247417327668, 0.8006720520747843, -0.6341925174987191], quaternion: [0.8148615480587259, -0.2091022745713889, -0.01610310693725875, 0.5403865155713784]} - solutions: [[91.000000, 135.000000, -56.000000, 16.000000, 76.000000, -74.000000], [91.000000, 159.881618, -103.724392, 15.668822, 97.997617, -67.796828], [91.000000, 135.000000, -56.000000, -164.000000, -76.000000, 106.000000], [91.000000, 159.881618, -103.724392, -164.331178, -97.997617, 112.203172]] + joints: [91.000000, 134.000000, -56.000000, 16.000000, 76.000000, -74.000000] + pose: {translation: [-0.0370910975125373, 0.8223633686535357, -0.6217647921271842], quaternion: [0.8195430520267579, -0.2088715093158352, -0.01805105692063917, 0.5332879501871758]} + solutions: [[91.000000, 134.000000, -56.000000, 16.000000, 76.000000, -74.000000], [91.000000, 158.881618, -103.724392, 15.668822, 97.997617, -67.796828], [91.000000, 134.000000, -56.000000, -164.000000, -76.000000, 106.000000], [91.000000, 158.881618, -103.724392, -164.331178, -97.997617, 112.203172]] - id: 962 parameters: Irb2400_10 - joints: [-8.000000, -178.000000, 124.000000, 97.000000, -147.000000, 118.000000] - pose: {translation: [0.362598133905169, -0.09736066110932032, 0.5395997126739899], quaternion: [0.1466608352689003, 0.9150120410259339, -0.296192515681066, -0.2313299760737998]} - solutions: [[-8.000000, 3.324200, 76.275608, -43.908905, 51.212888, 50.761383], [-8.000000, -178.000000, 124.000000, -83.000000, 147.000000, -62.000000], [172.000000, -168.027430, 59.857153, 70.295343, 144.956171, -93.955974], [172.000000, -15.210139, 140.418454, 145.019431, 70.549261, 32.786666], [-8.000000, 3.324200, 76.275608, 136.091095, -51.212888, -129.238617], [-8.000000, -178.000000, 124.000000, 97.000000, -147.000000, 118.000000], [172.000000, -168.027430, 59.857153, -109.704657, -144.956171, 86.044026], [172.000000, -15.210139, 140.418454, -34.980569, -70.549261, -147.213334]] + joints: [-8.000000, -177.000000, 124.000000, 97.000000, -146.000000, 118.000000] + pose: {translation: [0.3616902273417718, -0.09847298784565886, 0.5354165286070108], quaternion: [0.1407505476968044, 0.9120005990941203, -0.3039525825915249, -0.2367636334215148]} + solutions: [[-8.000000, 4.324200, 76.275608, -45.085474, 51.605697, 51.495291], [-8.000000, -177.000000, 124.000000, -83.000000, 146.000000, -62.000000], [172.000000, -168.642189, 59.866946, 70.683375, 143.975315, -93.856611], [172.000000, -15.811672, 140.408662, 144.042743, 70.950217, 32.895752], [-8.000000, 4.324200, 76.275608, 134.914526, -51.605697, -128.504709], [-8.000000, -177.000000, 124.000000, 97.000000, -146.000000, 118.000000], [172.000000, -168.642189, 59.866946, -109.316625, -143.975315, 86.143389], [172.000000, -15.811672, 140.408662, -35.957257, -70.950217, -147.104248]] - id: 963 parameters: Irb2400_10 - joints: [-155.000000, 83.000000, -133.000000, -23.000000, -74.000000, -11.000000] - pose: {translation: [-1.018862932080321, -0.5103295498921394, 1.43235084540454], quaternion: [0.3241487212061056, -0.07048640546759992, 0.9433546116988271, -0.006430378780350058]} - solutions: [[-155.000000, 27.449822, -26.724392, 154.100298, 120.696433, 148.404965], [-155.000000, 83.000000, -133.000000, 157.000000, 74.000000, 169.000000], [-155.000000, 27.449822, -26.724392, -25.899702, -120.696433, -31.595035], [-155.000000, 83.000000, -133.000000, -23.000000, -74.000000, -11.000000]] + joints: [-155.000000, 82.000000, -133.000000, -23.000000, -73.000000, -11.000000] + pose: {translation: [-1.006945295495149, -0.5045906149013315, 1.451222119087754], quaternion: [0.3235552508567236, -0.0686598915435051, 0.9437082247013573, -0.003550431986307624]} + solutions: [[-155.000000, 26.449822, -26.724392, 154.505481, 119.759714, 148.608960], [-155.000000, 82.000000, -133.000000, 157.000000, 73.000000, 169.000000], [-155.000000, 26.449822, -26.724392, -25.494519, -119.759714, -31.391040], [-155.000000, 82.000000, -133.000000, -23.000000, -73.000000, -11.000000]] - id: 964 parameters: Irb2400_10 - joints: [-121.000000, 66.000000, -125.000000, -42.000000, -122.000000, 87.000000] - pose: {translation: [-0.4469474389095712, -0.8374961394250158, 1.607421312911002], quaternion: [-0.5617956688077526, 0.499205422216111, -0.2713187577750428, 0.6013033382730317]} - solutions: [[-121.000000, 18.857164, -34.724392, 99.760844, 144.845019, -145.610276], [-121.000000, 66.000000, -125.000000, 138.000000, 122.000000, -93.000000], [-121.000000, 18.857164, -34.724392, -80.239156, -144.845019, 34.389724], [-121.000000, 66.000000, -125.000000, -42.000000, -122.000000, 87.000000]] + joints: [-121.000000, 65.000000, -125.000000, -42.000000, -121.000000, 87.000000] + pose: {translation: [-0.4375846033135085, -0.8229208059171063, 1.623454465931056], quaternion: [-0.5621617280452451, 0.4977372388058319, -0.2771224109516004, 0.599528983432413]} + solutions: [[-121.000000, 17.857164, -34.724392, 101.120151, 144.230099, -144.503092], [-121.000000, 65.000000, -125.000000, 138.000000, 121.000000, -93.000000], [-121.000000, 17.857164, -34.724392, -78.879849, -144.230099, 35.496908], [-121.000000, 65.000000, -125.000000, -42.000000, -121.000000, 87.000000]] - id: 965 parameters: Irb2400_10 - joints: [-14.000000, 82.000000, 138.000000, 121.000000, -146.000000, 48.000000] - pose: {translation: [0.1868386046096779, -0.08857372671072325, 1.068462734884679], quaternion: [-0.3032673940999035, 0.7511084267672711, -0.5368974759736441, 0.235809497705625]} - solutions: [[-14.000000, -74.134513, 62.275608, -45.310221, 42.393832, -41.189557], [-14.000000, 82.000000, 138.000000, -59.000000, 146.000000, -132.000000], [166.000000, -100.990752, 57.894407, 124.737758, 144.318374, -127.447154], [166.000000, 49.206039, 142.381200, 134.477126, 42.203137, -40.902053], [-14.000000, -74.134513, 62.275608, 134.689779, -42.393832, 138.810443], [-14.000000, 82.000000, 138.000000, 121.000000, -146.000000, 48.000000], [166.000000, -100.990752, 57.894407, -55.262242, -144.318374, 52.552846], [166.000000, 49.206039, 142.381200, -45.522874, -42.203137, 139.097947]] + joints: [-14.000000, 81.000000, 138.000000, 121.000000, -145.000000, 48.000000] + pose: {translation: [0.1786418495165846, -0.08761010138494468, 1.071204479257769], quaternion: [-0.2944707388386761, 0.7458228630416379, -0.5476076328247779, 0.2390839212582513]} + solutions: [[-14.000000, -75.134513, 62.275608, -46.792681, 42.417529, -40.094898], [-14.000000, 81.000000, 138.000000, -59.000000, 145.000000, -132.000000], [166.000000, -100.327591, 58.159320, 124.684265, 143.280566, -127.455400], [166.000000, 50.219502, 142.116288, 132.785942, 42.060785, -39.525740], [-14.000000, -75.134513, 62.275608, 133.207319, -42.417529, 139.905102], [-14.000000, 81.000000, 138.000000, 121.000000, -145.000000, 48.000000], [166.000000, -100.327591, 58.159320, -55.315735, -143.280566, 52.544600], [166.000000, 50.219502, 142.116288, -47.214058, -42.060785, 140.474260]] - id: 966 parameters: Irb2400_10 - joints: [101.000000, 160.000000, 174.000000, 30.000000, -59.000000, 28.000000] - pose: {translation: [-0.1497481984084364, 0.9613095658718762, 0.4807272792276718], quaternion: [0.1577792217832255, 0.169164158244827, 0.9241678096245102, 0.3039787235854411]} - solutions: [[101.000000, 47.450323, 26.275608, -131.727991, 144.951622, -92.889422], [101.000000, 160.000000, 174.000000, -150.000000, 59.000000, -152.000000], [-79.000000, -146.223287, 5.702528, 35.456008, 47.632554, -161.075911], [-79.000000, -56.195903, -165.426920, 29.456570, 119.363825, -119.960320], [101.000000, 47.450323, 26.275608, 48.272009, -144.951622, 87.110578], [101.000000, 160.000000, 174.000000, 30.000000, -59.000000, 28.000000], [-79.000000, -146.223287, 5.702528, -144.543992, -47.632554, 18.924089], [-79.000000, -56.195903, -165.426920, -150.543430, -119.363825, 60.039680]] + joints: [101.000000, 159.000000, 174.000000, 30.000000, -59.000000, 28.000000] + pose: {translation: [-0.1501699890632575, 0.9634794906790352, 0.4959700833482246], quaternion: [0.1619159911121892, 0.1617472619970676, 0.9253189964990111, 0.3023339044445276]} + solutions: [[101.000000, 46.450323, 26.275608, -131.727991, 144.951622, -92.889422], [101.000000, 159.000000, 174.000000, -150.000000, 59.000000, -152.000000], [-79.000000, -145.364414, 5.627341, 35.342073, 47.808880, -160.906553], [-79.000000, -55.418082, -165.351733, 29.497372, 119.491788, -119.877275], [101.000000, 46.450323, 26.275608, 48.272009, -144.951622, 87.110578], [101.000000, 159.000000, 174.000000, 30.000000, -59.000000, 28.000000], [-79.000000, -145.364414, 5.627341, -144.657927, -47.808880, 19.093447], [-79.000000, -55.418082, -165.351733, -150.502628, -119.491788, 60.122725]] - id: 967 parameters: Irb2400_10 - joints: [-57.000000, -118.000000, 9.000000, -79.000000, -38.000000, -159.000000] - pose: {translation: [-0.4618934660664898, 0.8055724630581365, 1.014018184960574], quaternion: [-0.2200673134227547, 0.3132951172788684, 0.4510641939058992, 0.8061995038624947]} - solutions: [[123.000000, 9.532330, 28.289122, -142.365015, 98.223556, 131.150456], [123.000000, 124.335203, 171.986486, -88.474772, 37.197491, 32.942132], [-57.000000, -118.000000, 9.000000, 101.000000, 38.000000, 21.000000], [-57.000000, -24.410707, -168.724392, 38.059394, 78.616194, 116.071647], [123.000000, 9.532330, 28.289122, 37.634985, -98.223556, -48.849544], [123.000000, 124.335203, 171.986486, 91.525228, -37.197491, -147.057868], [-57.000000, -118.000000, 9.000000, -79.000000, -38.000000, -159.000000], [-57.000000, -24.410707, -168.724392, -141.940606, -78.616194, -63.928353]] + joints: [-57.000000, -117.000000, 9.000000, -79.000000, -38.000000, -159.000000] + pose: {translation: [-0.4580154883837811, 0.7996009010940786, 1.031884090352667], quaternion: [-0.2120147876539557, 0.3138137042137827, 0.454385866670086, 0.806290377614757]} + solutions: [[123.000000, 8.396624, 28.153867, -142.388604, 98.008944, 130.983370], [123.000000, 123.047782, 172.121741, -88.274379, 37.201807, 32.690549], [-57.000000, -117.000000, 9.000000, 101.000000, 38.000000, 21.000000], [-57.000000, -23.410707, -168.724392, 38.059394, 78.616194, 116.071647], [123.000000, 8.396624, 28.153867, 37.611396, -98.008944, -49.016630], [123.000000, 123.047782, 172.121741, 91.725621, -37.201807, -147.309451], [-57.000000, -117.000000, 9.000000, -79.000000, -38.000000, -159.000000], [-57.000000, -23.410707, -168.724392, -141.940606, -78.616194, -63.928353]] - id: 968 parameters: Irb2400_10 - joints: [-75.000000, 149.000000, -39.000000, 166.000000, -98.000000, 116.000000] - pose: {translation: [0.04737357867700403, -0.2554781198992332, -0.7058936622477113], quaternion: [-0.04527798224929255, 0.5179231770501899, 0.7700410836857537, -0.3697867174923142]} - solutions: [[-75.000000, 149.000000, -39.000000, -14.000000, 98.000000, -64.000000], [-75.000000, -168.340698, -120.724392, -19.996592, 135.527802, -76.569562], [105.000000, -177.239108, -51.382630, 144.680249, 155.519905, -94.829063], [105.000000, -147.535199, -108.341762, 161.532774, 130.860822, -74.337200], [-75.000000, 149.000000, -39.000000, 166.000000, -98.000000, 116.000000], [-75.000000, -168.340698, -120.724392, 160.003408, -135.527802, 103.430438], [105.000000, -177.239108, -51.382630, -35.319751, -155.519905, 85.170937], [105.000000, -147.535199, -108.341762, -18.467226, -130.860822, 105.662800]] + joints: [-75.000000, 148.000000, -39.000000, 166.000000, -97.000000, 116.000000] + pose: {translation: [0.05311864258655408, -0.2770999856434695, -0.7042464736406435], quaternion: [-0.04386231487510721, 0.5326254448645015, 0.7615630469756683, -0.3666169094543034]} + solutions: [[-75.000000, 148.000000, -39.000000, -14.000000, 97.000000, -64.000000], [-75.000000, -169.340698, -120.724392, -19.691220, 134.551358, -76.353474], [105.000000, -175.722727, -52.454430, 146.523151, 154.194788, -93.027404], [105.000000, -147.138532, -107.269963, 161.642753, 130.321601, -74.378004], [-75.000000, 148.000000, -39.000000, 166.000000, -97.000000, 116.000000], [-75.000000, -169.340698, -120.724392, 160.308780, -134.551358, 103.646526], [105.000000, -175.722727, -52.454430, -33.476849, -154.194788, 86.972596], [105.000000, -147.138532, -107.269963, -18.357247, -130.321601, 105.621996]] - id: 969 parameters: Irb2400_10 - joints: [-155.000000, 25.000000, 179.000000, 160.000000, -11.000000, 51.000000] - pose: {translation: [0.3753287675032675, 0.1811392750312151, 1.48556496665871], quaternion: [-0.003035167872829111, 0.4673956999797408, 0.4307124725920992, 0.7720225471772389]} - solutions: [[25.000000, -41.044774, 28.885594, 170.176846, 22.489742, -139.571896], [25.000000, 74.427804, 171.390013, 3.801358, 79.852687, 30.668376], [-155.000000, -81.999816, 21.275608, -176.243500, 84.935237, 31.006949], [-155.000000, 25.000000, 179.000000, -20.000000, 11.000000, -129.000000], [25.000000, -41.044774, 28.885594, -9.823154, -22.489742, 40.428104], [25.000000, 74.427804, 171.390013, -176.198642, -79.852687, -149.331624], [-155.000000, -81.999816, 21.275608, 3.756500, -84.935237, -148.993051], [-155.000000, 25.000000, 179.000000, 160.000000, -11.000000, 51.000000]] + joints: [-155.000000, 25.000000, 179.000000, 160.000000, -10.000000, 51.000000] + pose: {translation: [0.376268724806842, 0.1810271153069137, 1.484422729619454], quaternion: [-0.0001647371500165016, 0.474538688488755, 0.4275096235514058, 0.7694468972969994]} + solutions: [[25.000000, -41.044774, 28.885594, 170.677258, 21.507459, -140.035892], [25.000000, 74.427804, 171.390013, 3.449383, 80.790566, 30.727551], [-155.000000, -81.999816, 21.275608, -176.586279, 85.875056, 31.034409], [-155.000000, 25.000000, 179.000000, -20.000000, 10.000000, -129.000000], [25.000000, -41.044774, 28.885594, -9.322742, -21.507459, 39.964108], [25.000000, 74.427804, 171.390013, -176.550617, -80.790566, -149.272449], [-155.000000, -81.999816, 21.275608, 3.413721, -85.875056, -148.965591], [-155.000000, 25.000000, 179.000000, 160.000000, -10.000000, 51.000000]] - id: 970 parameters: Irb2400_10 - joints: [-19.000000, 53.000000, -118.000000, 133.000000, -172.000000, 83.000000] - pose: {translation: [0.7833841181081878, -0.278891005619205, 1.70089936586285], quaternion: [-0.2736603576162046, 0.9454683603777071, 0.05493920298682109, -0.1678727856718722]} - solutions: [[-19.000000, 13.194561, -41.724392, -8.702819, 137.724771, -56.741427], [-19.000000, 53.000000, -118.000000, -47.000000, 172.000000, -97.000000], [-19.000000, 13.194561, -41.724392, 171.297181, -137.724771, 123.258573], [-19.000000, 53.000000, -118.000000, 133.000000, -172.000000, 83.000000]] + joints: [-19.000000, 53.000000, -118.000000, 133.000000, -171.000000, 83.000000] + pose: {translation: [0.7839798658760035, -0.2802310219316966, 1.700675209958297], quaternion: [-0.2751623934786525, 0.9457296829250226, 0.04645691004253766, -0.1665015902594785]} + solutions: [[-19.000000, 13.194561, -41.724392, -9.649630, 136.957700, -57.437737], [-19.000000, 53.000000, -118.000000, -47.000000, 171.000000, -97.000000], [-19.000000, 13.194561, -41.724392, 170.350370, -136.957700, 122.562263], [-19.000000, 53.000000, -118.000000, 133.000000, -171.000000, 83.000000]] - id: 971 parameters: Irb2400_10 joints: [3.000000, 14.000000, 46.000000, -97.000000, 88.000000, 136.000000] @@ -4871,9 +4871,9 @@ cases: solutions: [[-19.000000, 37.830647, -55.724392, -63.517816, 44.757026, -111.531147], [-19.000000, 63.000000, -104.000000, -48.000000, 58.000000, -136.000000], [-19.000000, 37.830647, -55.724392, 116.482184, -44.757026, 68.468853], [-19.000000, 63.000000, -104.000000, 132.000000, -58.000000, 44.000000]] - id: 974 parameters: Irb2400_10 - joints: [-109.000000, -79.000000, -39.000000, -166.000000, -175.000000, -48.000000] - pose: {translation: [0.3336425929926682, 0.9634635635551568, 1.281376804906788], quaternion: [0.8806007108207746, -0.3801123242922227, 0.0323924162032069, 0.2810831556597247]} - solutions: [[71.000000, 16.585526, -11.091814, -1.360264, 117.351896, -62.573881], [71.000000, 88.656671, -148.632578, -156.856390, 176.924832, 141.164975], [-109.000000, -79.000000, -39.000000, 14.000000, 175.000000, 132.000000], [-109.000000, -36.340698, -120.724392, 177.851960, 145.768379, -63.725008], [71.000000, 16.585526, -11.091814, 178.639736, -117.351896, 117.426119], [71.000000, 88.656671, -148.632578, 23.143610, -176.924832, -38.835025], [-109.000000, -79.000000, -39.000000, -166.000000, -175.000000, -48.000000], [-109.000000, -36.340698, -120.724392, -2.148040, -145.768379, 116.274992]] + joints: [-109.000000, -78.000000, -39.000000, -166.000000, -174.000000, -48.000000] + pose: {translation: [0.3297439170590091, 0.9510437000459263, 1.301592134840794], quaternion: [0.8808066950857565, -0.3797626324024014, 0.03443841611093465, 0.280666892273877]} + solutions: [[71.000000, 15.613553, -11.388888, -1.650282, 118.588364, -62.716150], [71.000000, 87.369306, -148.335504, -159.054620, 175.943550, 138.971145], [-109.000000, -78.000000, -39.000000, 14.000000, 174.000000, 132.000000], [-109.000000, -35.340698, -120.724392, 177.357944, 146.729983, -64.135779], [71.000000, 15.613553, -11.388888, 178.349718, -118.588364, 117.283850], [71.000000, 87.369306, -148.335504, 20.945380, -175.943550, -41.028855], [-109.000000, -78.000000, -39.000000, -166.000000, -174.000000, -48.000000], [-109.000000, -35.340698, -120.724392, -2.642056, -146.729983, 115.864221]] - id: 975 parameters: Irb2400_10 joints: [-39.000000, -36.000000, -99.000000, -5.000000, 3.000000, 174.000000] @@ -4881,14 +4881,14 @@ cases: solutions: [[141.000000, 11.974752, -26.422803, 179.527001, 33.541454, 169.401058], [141.000000, 67.842407, -133.301590, 0.870475, 17.472471, -11.823500], [-39.000000, -55.951125, -60.724392, -179.011919, 15.338051, -11.946076], [-39.000000, -36.000000, -99.000000, -5.000000, 3.000000, 174.000000], [141.000000, 11.974752, -26.422803, -0.472999, -33.541454, -10.598942], [141.000000, 67.842407, -133.301590, -179.129525, -17.472471, 168.176500], [-39.000000, -55.951125, -60.724392, 0.988081, -15.338051, 168.053924], [-39.000000, -36.000000, -99.000000, 175.000000, -3.000000, -6.000000]] - id: 976 parameters: Irb2400_10 - joints: [-124.000000, 73.000000, -55.000000, -26.000000, 105.000000, -151.000000] - pose: {translation: [-0.8631664820274131, -1.215332937376653, 0.6528225451388855], quaternion: [-0.2238210531688984, 0.907057326109535, 0.352754646508172, 0.05210856624664077]} - solutions: [[-124.000000, 73.000000, -55.000000, -26.000000, 105.000000, -151.000000], [-124.000000, 98.925679, -104.724392, -31.539737, 125.954227, -163.622458], [-124.000000, 73.000000, -55.000000, 154.000000, -105.000000, 29.000000], [-124.000000, 98.925679, -104.724392, 148.460263, -125.954227, 16.377542]] + joints: [-124.000000, 73.000000, -55.000000, -26.000000, 104.000000, -151.000000] + pose: {translation: [-0.864007620765087, -1.216288790675421, 0.6520612074441894], quaternion: [-0.226284439138588, 0.9089129035952638, 0.3471954278898934, 0.04613047944814062]} + solutions: [[-124.000000, 73.000000, -55.000000, -26.000000, 104.000000, -151.000000], [-124.000000, 98.925679, -104.724392, -31.273050, 124.978100, -163.467715], [-124.000000, 73.000000, -55.000000, 154.000000, -104.000000, 29.000000], [-124.000000, 98.925679, -104.724392, 148.726950, -124.978100, 16.532285]] - id: 977 parameters: Irb2400_10 - joints: [85.000000, 103.000000, 3.000000, 178.000000, -179.000000, 113.000000] - pose: {translation: [0.06372716900027758, 0.7278108597967329, -0.2244506706346635], quaternion: [-0.1260056482612922, 0.03407533838041624, 0.1721207234884143, 0.9763892177130677]} - solutions: [[85.000000, 103.000000, 3.000000, -2.000000, 179.000000, -67.000000], [85.000000, -169.881604, -162.724392, -179.964270, 102.393392, 115.007364], [-95.000000, -173.976174, -12.589818, 0.035279, 81.565385, 114.994521], [-95.000000, -103.494751, -147.134574, 0.061815, 145.628700, 115.050717], [85.000000, 103.000000, 3.000000, 178.000000, -179.000000, 113.000000], [85.000000, -169.881604, -162.724392, 0.035730, -102.393392, -64.992636], [-95.000000, -173.976174, -12.589818, -179.964721, -81.565385, -65.005479], [-95.000000, -103.494751, -147.134574, -179.938185, -145.628700, -64.949283]] + joints: [85.000000, 102.000000, 3.000000, 178.000000, -178.000000, 113.000000] + pose: {translation: [0.06492157892518084, 0.7408691936686811, -0.2129713241650283], quaternion: [-0.1091997963053594, 0.02988516887616534, 0.1724534080271278, 0.9784897052232794]} + solutions: [[85.000000, 102.000000, 3.000000, -2.000000, 178.000000, -67.000000], [85.000000, -170.881604, -162.724392, -179.928264, 103.392776, 115.015398], [-95.000000, -172.889505, -12.957726, 0.070332, 82.846019, 114.990024], [-95.000000, -102.798271, -146.766666, 0.126649, 146.563655, 115.104471], [85.000000, 102.000000, 3.000000, 178.000000, -178.000000, 113.000000], [85.000000, -170.881604, -162.724392, 0.071736, -103.392776, -64.984602], [-95.000000, -172.889505, -12.957726, -179.929668, -82.846019, -65.009976], [-95.000000, -102.798271, -146.766666, -179.873351, -146.563655, -64.895529]] - id: 978 parameters: Irb2400_10 joints: [-153.000000, 11.000000, 140.000000, -112.000000, 34.000000, -90.000000] @@ -4906,9 +4906,9 @@ cases: solutions: [[36.000000, -42.806908, 16.294565, -168.770736, 77.254212, 100.433117], [36.000000, 58.719001, -176.018957, -39.095400, 17.529310, -39.289833], [-144.000000, -67.056206, 11.275608, 151.300392, 23.298559, -50.364093], [-144.000000, 29.000000, -171.000000, 12.000000, 66.000000, 98.000000], [36.000000, -42.806908, 16.294565, 11.229264, -77.254212, -79.566883], [36.000000, 58.719001, -176.018957, 140.904600, -17.529310, 140.710167], [-144.000000, -67.056206, 11.275608, -28.699608, -23.298559, 129.635907], [-144.000000, 29.000000, -171.000000, -168.000000, -66.000000, -82.000000]] - id: 981 parameters: Irb2400_10 - joints: [103.000000, -2.000000, 87.000000, 25.000000, -173.000000, -11.000000] - pose: {translation: [-0.05819972861850733, 0.2715520999826778, 0.6640731927493029], quaternion: [-0.001967900430561247, 0.02825411613614974, 0.5526536650994426, 0.8329296241228389]} - solutions: [[103.000000, -2.000000, 87.000000, -155.000000, 173.000000, 169.000000], [103.000000, -154.970578, 113.275608, -175.963435, 47.026228, 141.409779], [-77.000000, -179.920987, 70.812863, 9.597311, 17.994266, 135.027800], [-77.000000, -10.962984, 129.462744, 5.915703, 150.018207, 149.292430], [103.000000, -2.000000, 87.000000, 25.000000, -173.000000, -11.000000], [103.000000, -154.970578, 113.275608, 4.036565, -47.026228, -38.590221], [-77.000000, -179.920987, 70.812863, -170.402689, -17.994266, -44.972200], [-77.000000, -10.962984, 129.462744, -174.084297, -150.018207, -30.707570]] + joints: [103.000000, -2.000000, 87.000000, 25.000000, -172.000000, -11.000000] + pose: {translation: [-0.05789658340659764, 0.2730022799608792, 0.6639964724686307], quaternion: [-0.008088882133983262, 0.03446786133809141, 0.5526628102742071, 0.8326526014253584]} + solutions: [[103.000000, -2.000000, 87.000000, -155.000000, 172.000000, 169.000000], [103.000000, -154.970578, 113.275608, -175.321140, 46.141725, 140.968320], [-77.000000, -179.920987, 70.812863, 11.490030, 17.173750, 133.223457], [-77.000000, -10.962984, 129.462744, 6.571863, 149.075113, 149.858088], [103.000000, -2.000000, 87.000000, 25.000000, -172.000000, -11.000000], [103.000000, -154.970578, 113.275608, 4.678860, -46.141725, -39.031680], [-77.000000, -179.920987, 70.812863, -168.509970, -17.173750, -46.776543], [-77.000000, -10.962984, 129.462744, -173.428137, -149.075113, -30.141912]] - id: 982 parameters: Irb2400_10 joints: [52.000000, 48.000000, -99.000000, -31.000000, -37.000000, -99.000000] @@ -4916,44 +4916,44 @@ cases: solutions: [[52.000000, 28.048875, -60.724392, 157.294758, 53.419367, 69.366666], [52.000000, 48.000000, -99.000000, 149.000000, 37.000000, 81.000000], [52.000000, 28.048875, -60.724392, -22.705242, -53.419367, -110.633334], [52.000000, 48.000000, -99.000000, -31.000000, -37.000000, -99.000000]] - id: 983 parameters: Irb2400_10 - joints: [6.000000, -38.000000, 25.000000, 180.000000, 123.000000, 57.000000] - pose: {translation: [0.308397046295498, 0.03241383570908175, 1.530971547557379], quaternion: [-0.3526681667118332, 0.1682140866830603, 0.7848594095364283, -0.4809624647429649]} - solutions: [[6.000000, -38.000000, 25.000000, 180.000000, 123.000000, 57.000000], [6.000000, 73.127920, 175.275608, 180.000000, 24.403528, 57.000000], [-174.000000, -79.946830, 16.982659, -0.000000, 18.964171, 57.000000], [-174.000000, 22.332368, -176.707051, -0.000000, 110.374683, 57.000000], [6.000000, -38.000000, 25.000000, 0.000000, -123.000000, -123.000000], [6.000000, 73.127920, 175.275608, 0.000000, -24.403528, -123.000000], [-174.000000, -79.946830, 16.982659, 180.000000, -18.964171, -123.000000], [-174.000000, 22.332368, -176.707051, 180.000000, -110.374683, -123.000000]] + joints: [6.000000, -38.000000, 25.000000, 180.000000, 122.000000, 57.000000] + pose: {translation: [0.3094311567539223, 0.03252252509799466, 1.53202966246922], quaternion: [-0.3454044346172251, 0.1647494641978579, 0.7877367964438056, -0.4827257297075891]} + solutions: [[6.000000, -38.000000, 25.000000, 180.000000, 122.000000, 57.000000], [6.000000, 73.127920, 175.275608, 180.000000, 23.403528, 57.000000], [-174.000000, -79.946830, 16.982659, -0.000000, 17.964171, 57.000000], [-174.000000, 22.332368, -176.707051, -0.000000, 109.374683, 57.000000], [6.000000, -38.000000, 25.000000, 0.000000, -122.000000, -123.000000], [6.000000, 73.127920, 175.275608, 0.000000, -23.403528, -123.000000], [-174.000000, -79.946830, 16.982659, 180.000000, -17.964171, -123.000000], [-174.000000, 22.332368, -176.707051, 180.000000, -109.374683, -123.000000]] - id: 984 parameters: Irb2400_10 - joints: [74.000000, -139.000000, 30.000000, 168.000000, -114.000000, 56.000000] - pose: {translation: [-0.1644439917909487, -0.6320563346071877, 0.7448838851542631], quaternion: [-0.7392067049621771, -0.02002506694915042, -0.3217281456955723, 0.5913234684163411]} - solutions: [[-106.000000, 8.999269, 47.870560, 12.320634, 117.111094, 66.625372], [-106.000000, 146.541718, 152.405048, 166.801480, 123.708931, -126.474332], [74.000000, -139.000000, 30.000000, -12.000000, 114.000000, -124.000000], [74.000000, -22.273317, 170.275608, -162.359548, 141.188107, 74.857927], [-106.000000, 8.999269, 47.870560, -167.679366, -117.111094, -113.374628], [-106.000000, 146.541718, 152.405048, -13.198520, -123.708931, 53.525668], [74.000000, -139.000000, 30.000000, 168.000000, -114.000000, 56.000000], [74.000000, -22.273317, 170.275608, 17.640452, -141.188107, -105.142073]] + joints: [74.000000, -139.000000, 30.000000, 168.000000, -113.000000, 56.000000] + pose: {translation: [-0.1642970525141613, -0.6319900982307376, 0.7463586144790947], quaternion: [-0.733330579825892, -0.0194663370518217, -0.3251782146478044, 0.5967465551911233]} + solutions: [[-106.000000, 8.999269, 47.870560, 12.529637, 118.093793, 66.722213], [-106.000000, 146.541718, 152.405048, 166.852785, 122.709853, -126.446230], [74.000000, -139.000000, 30.000000, -12.000000, 113.000000, -124.000000], [74.000000, -22.273317, 170.275608, -161.832998, 142.133268, 75.270942], [-106.000000, 8.999269, 47.870560, -167.470363, -118.093793, -113.277787], [-106.000000, 146.541718, 152.405048, -13.147215, -122.709853, 53.553770], [74.000000, -139.000000, 30.000000, 168.000000, -113.000000, 56.000000], [74.000000, -22.273317, 170.275608, 18.167002, -142.133268, -104.729058]] - id: 985 parameters: Irb2400_10 - joints: [-53.000000, 165.000000, 152.000000, 52.000000, -54.000000, 117.000000] - pose: {translation: [0.4082261199764037, -0.6317764739755525, 0.6127008456382417], quaternion: [-0.02518014353194659, -0.3417530210454743, 0.711868228475808, 0.613037077398029]} - solutions: [[-53.000000, 26.964616, 48.275608, -113.872816, 135.800507, 32.267151], [-53.000000, 165.000000, 152.000000, -128.000000, 54.000000, -63.000000], [127.000000, -153.040289, 30.191087, 61.979284, 46.233787, -78.471819], [127.000000, -36.098178, 170.084521, 46.914521, 119.201900, 1.503351], [-53.000000, 26.964616, 48.275608, 66.127184, -135.800507, -147.732849], [-53.000000, 165.000000, 152.000000, 52.000000, -54.000000, 117.000000], [127.000000, -153.040289, 30.191087, -118.020716, -46.233787, 101.528181], [127.000000, -36.098178, 170.084521, -133.085479, -119.201900, -178.496649]] + joints: [-53.000000, 164.000000, 152.000000, 52.000000, -53.000000, 117.000000] + pose: {translation: [0.4094893857369802, -0.6322974439969569, 0.6244869756037297], quaternion: [-0.02560876835807532, -0.3368538168645596, 0.7168385932984686, 0.6099312487525402]} + solutions: [[-53.000000, 25.964616, 48.275608, -115.303358, 135.883390, 31.240824], [-53.000000, 164.000000, 152.000000, -128.000000, 53.000000, -63.000000], [127.000000, -152.262531, 30.166784, 62.139060, 45.385440, -78.427016], [127.000000, -35.347825, 170.108823, 45.973999, 118.924240, 1.189210], [-53.000000, 25.964616, 48.275608, 64.696642, -135.883390, -148.759176], [-53.000000, 164.000000, 152.000000, 52.000000, -53.000000, 117.000000], [127.000000, -152.262531, 30.166784, -117.860940, -45.385440, 101.572984], [127.000000, -35.347825, 170.108823, -134.026001, -118.924240, -178.810790]] - id: 986 parameters: Irb2400_10 - joints: [178.000000, -80.000000, 38.000000, -1.000000, 119.000000, -39.000000] - pose: {translation: [0.1044161532567642, -0.002348042979013471, 1.260127083431532], quaternion: [0.9437997660071039, 0.3104473181648665, -0.1035422484978015, -0.04629759286612641]} - solutions: [[-2.000000, -62.825079, 41.004630, 1.065280, 124.812107, 142.093049], [-2.000000, 66.530649, 159.270978, 178.959472, 122.801025, -39.078875], [178.000000, -80.000000, 38.000000, -1.000000, 119.000000, -39.000000], [178.000000, 45.856938, 162.275608, -178.838927, 131.123016, 142.248518], [-2.000000, -62.825079, 41.004630, -178.934720, -124.812107, -37.906951], [-2.000000, 66.530649, 159.270978, -1.040528, -122.801025, 140.921125], [178.000000, -80.000000, 38.000000, 179.000000, -119.000000, 141.000000], [178.000000, 45.856938, 162.275608, 1.161073, -131.123016, -37.751482]] + joints: [178.000000, -79.000000, 38.000000, -1.000000, 118.000000, -39.000000] + pose: {translation: [0.09168591271928422, -0.001891131613356073, 1.263917873205957], quaternion: [0.9437601788167127, 0.3105656318055062, -0.1035116549169893, -0.04637941911494247]} + solutions: [[-2.000000, -63.647665, 40.690639, 1.090682, 125.948474, 142.109852], [-2.000000, 65.340331, 159.584969, 178.959697, 121.924679, -39.080651], [178.000000, -79.000000, 38.000000, -1.000000, 118.000000, -39.000000], [178.000000, 46.856938, 162.275608, -178.809552, 132.122775, 142.268031], [-2.000000, -63.647665, 40.690639, -178.909318, -125.948474, -37.890148], [-2.000000, 65.340331, 159.584969, -1.040303, -121.924679, 140.919349], [178.000000, -79.000000, 38.000000, 179.000000, -118.000000, 141.000000], [178.000000, 46.856938, 162.275608, 1.190448, -132.122775, -37.731969]] - id: 987 parameters: Irb2400_10 - joints: [-33.000000, -122.000000, 78.000000, 70.000000, -155.000000, -87.000000] - pose: {translation: [-0.1127363266913802, 0.03296222374996631, 0.8183090256554346], quaternion: [0.8052617721663241, -0.3381604832315797, -0.4642174413320168, 0.1473198324438747]} - solutions: [[147.000000, -106.070011, 80.913762, 26.527602, 62.769764, 12.014027], [147.000000, 82.628556, 119.361846, 117.375725, 153.434877, 144.948212], [-33.000000, -122.000000, 78.000000, -110.000000, 155.000000, 93.000000], [-33.000000, 60.153958, 122.275608, -144.512705, 43.164310, -2.595477], [147.000000, -106.070011, 80.913762, -153.472398, -62.769764, -167.985973], [147.000000, 82.628556, 119.361846, -62.624275, -153.434877, -35.051788], [-33.000000, -122.000000, 78.000000, 70.000000, -155.000000, -87.000000], [-33.000000, 60.153958, 122.275608, 35.487295, -43.164310, 177.404523]] + joints: [-33.000000, -121.000000, 78.000000, 70.000000, -154.000000, -87.000000] + pose: {translation: [-0.1102888801069633, 0.0298725494713043, 0.8227572208815652], quaternion: [0.8014467081925916, -0.3306729985975583, -0.4742341409673999, 0.1531029766747546]} + solutions: [[147.000000, -106.570918, 80.635679, 27.693266, 62.421741, 11.388082], [147.000000, 81.459333, 119.639929, 115.461011, 152.854893, 143.195902], [-33.000000, -121.000000, 78.000000, -110.000000, 154.000000, 93.000000], [-33.000000, 61.153958, 122.275608, -143.060679, 43.271008, -3.653679], [147.000000, -106.570918, 80.635679, -152.306734, -62.421741, -168.611918], [147.000000, 81.459333, 119.639929, -64.538989, -152.854893, -36.804098], [-33.000000, -121.000000, 78.000000, 70.000000, -154.000000, -87.000000], [-33.000000, 61.153958, 122.275608, 36.939321, -43.271008, 176.346321]] - id: 988 parameters: Irb2400_10 - joints: [79.000000, 39.000000, 80.000000, 132.000000, 167.000000, 131.000000] - pose: {translation: [0.05227294079966749, 0.3433910049168006, 0.5033351837278168], quaternion: [-0.2694372717905987, 0.1943941734293099, 0.6097924941665975, 0.7195606826146456]} - solutions: [[79.000000, 39.000000, 80.000000, 132.000000, 167.000000, 131.000000], [79.000000, -134.459637, 120.275608, 164.613313, 39.053457, -169.677683], [-101.000000, 164.917541, 66.184097, -83.443380, 9.687353, -98.391286], [-101.000000, -33.331678, 134.091511, -12.748345, 130.750038, 169.858349], [79.000000, 39.000000, 80.000000, -48.000000, -167.000000, -49.000000], [79.000000, -134.459637, 120.275608, -15.386687, -39.053457, 10.322317], [-101.000000, 164.917541, 66.184097, 96.556620, -9.687353, 81.608714], [-101.000000, -33.331678, 134.091511, 167.251655, -130.750038, -10.141651]] + joints: [79.000000, 39.000000, 80.000000, 132.000000, 166.000000, 131.000000] + pose: {translation: [0.05134968112091003, 0.3442594419367618, 0.502564331149117], quaternion: [-0.277657175730483, 0.1944902511493201, 0.6095069937904009, 0.7166458396543125]} + solutions: [[79.000000, 39.000000, 80.000000, 132.000000, 166.000000, 131.000000], [79.000000, -134.459637, 120.275608, 163.233227, 38.551312, -168.602135], [-101.000000, 164.917541, 66.184097, -87.666200, 10.365814, -94.232831], [-101.000000, -33.331678, 134.091511, -13.566962, 129.968429, 169.328213], [79.000000, 39.000000, 80.000000, -48.000000, -166.000000, -49.000000], [79.000000, -134.459637, 120.275608, -16.766773, -38.551312, 11.397865], [-101.000000, 164.917541, 66.184097, 92.333800, -10.365814, 85.767169], [-101.000000, -33.331678, 134.091511, 166.433038, -129.968429, -10.671787]] - id: 989 parameters: Irb2400_10 - joints: [37.000000, -167.000000, 9.000000, 139.000000, 143.000000, -42.000000] - pose: {translation: [-0.6277250886249721, -0.4310028281202874, 0.02450202369642011], quaternion: [0.8320801224290114, 0.4096231565751128, 0.2621956424749317, -0.266655179066749]} - solutions: [[-143.000000, 70.409707, 26.364829, -39.358070, 38.505690, 25.463712], [-143.000000, -176.941012, 173.910779, -29.809510, 127.417382, -26.423944], [37.000000, -167.000000, 9.000000, 139.000000, 143.000000, -42.000000], [37.000000, -73.410707, -168.724392, 154.847741, 68.271368, 2.631323], [-143.000000, 70.409707, 26.364829, 140.641930, -38.505690, -154.536288], [-143.000000, -176.941012, 173.910779, 150.190490, -127.417382, 153.576056], [37.000000, -167.000000, 9.000000, -41.000000, -143.000000, 138.000000], [37.000000, -73.410707, -168.724392, -25.152259, -68.271368, -177.368677]] + joints: [37.000000, -166.000000, 9.000000, 139.000000, 142.000000, -42.000000] + pose: {translation: [-0.6372566087484428, -0.4372185101104462, 0.03914860552338688], quaternion: [0.8353449614104859, 0.4123144821413777, 0.2464199035566283, -0.2673439627030007]} + solutions: [[-143.000000, 69.114789, 26.565755, -40.775835, 38.203010, 26.537992], [-143.000000, -178.011543, 173.709853, -30.244616, 126.688263, -26.794541], [37.000000, -166.000000, 9.000000, 139.000000, 142.000000, -42.000000], [37.000000, -72.410707, -168.724392, 154.087669, 67.561469, 2.917088], [-143.000000, 69.114789, 26.565755, 139.224165, -38.203010, -153.462008], [-143.000000, -178.011543, 173.709853, 149.755384, -126.688263, 153.205459], [37.000000, -166.000000, 9.000000, -41.000000, -142.000000, 138.000000], [37.000000, -72.410707, -168.724392, -25.912331, -67.561469, -177.082912]] - id: 990 parameters: Irb2400_10 - joints: [179.000000, -156.000000, 165.000000, -139.000000, 117.000000, 82.000000] - pose: {translation: [-0.5499503941809123, 0.05929398294246285, 0.04867167138550404], quaternion: [-0.1523601776335415, 0.3304397232350568, 0.5185393392963151, 0.7737654161190947]} - solutions: [[179.000000, 81.279961, 35.275608, -42.600844, 120.277877, -144.411084], [179.000000, -156.000000, 165.000000, -139.000000, 117.000000, 82.000000], [-1.000000, 173.190745, 22.274193, 36.152231, 97.743728, 66.085752], [-1.000000, -78.705797, 178.001415, 110.619433, 141.349936, 176.187524], [179.000000, 81.279961, 35.275608, 137.399156, -120.277877, 35.588916], [179.000000, -156.000000, 165.000000, 41.000000, -117.000000, -98.000000], [-1.000000, 173.190745, 22.274193, -143.847769, -97.743728, -113.914248], [-1.000000, -78.705797, 178.001415, -69.380567, -141.349936, -3.812476]] + joints: [179.000000, -155.000000, 165.000000, -139.000000, 116.000000, 82.000000] + pose: {translation: [-0.541385876775368, 0.05957882619328038, 0.04115004968157555], quaternion: [-0.1630735773914451, 0.318330427629849, 0.5201086393294733, 0.7756028303820183]} + solutions: [[179.000000, 82.279961, 35.275608, -43.445517, 120.964646, -144.841341], [179.000000, -155.000000, 165.000000, -139.000000, 116.000000, 82.000000], [-1.000000, 172.215842, 22.513778, 36.409957, 96.568981, 65.962449], [-1.000000, -79.415573, 177.761829, 108.960265, 141.428561, 174.861276], [179.000000, 82.279961, 35.275608, 136.554483, -120.964646, 35.158659], [179.000000, -155.000000, 165.000000, 41.000000, -116.000000, -98.000000], [-1.000000, 172.215842, 22.513778, -143.590043, -96.568981, -114.037551], [-1.000000, -79.415573, 177.761829, -71.039735, -141.428561, -5.138724]] - id: 991 parameters: Irb2400_10 joints: [-180.000000, -40.000000, -29.000000, -167.000000, -72.000000, 92.000000] @@ -4961,9 +4961,9 @@ cases: solutions: [[0.000000, -24.669170, -23.505403, -162.962273, 133.099241, -72.093179], [0.000000, 34.271798, -136.218989, -167.484097, 80.830284, -85.945331], [-180.000000, -40.000000, -29.000000, 13.000000, 72.000000, -88.000000], [-180.000000, 13.156012, -130.724392, 14.209585, 119.359702, -76.842252], [0.000000, -24.669170, -23.505403, 17.037727, -133.099241, 107.906821], [0.000000, 34.271798, -136.218989, 12.515903, -80.830284, 94.054669], [-180.000000, -40.000000, -29.000000, -167.000000, -72.000000, 92.000000], [-180.000000, 13.156012, -130.724392, -165.790415, -119.359702, 103.157748]] - id: 992 parameters: Irb2400_10 - joints: [-172.000000, 84.000000, -128.000000, 16.000000, -138.000000, -80.000000] - pose: {translation: [-1.157867174745648, -0.1468963723694302, 1.305719142458377], quaternion: [0.4157950969249166, 0.5948841767695005, 0.5536662599750298, 0.4082657543411348]} - solutions: [[-172.000000, 33.707421, -31.724392, -64.626513, 168.221486, -156.180676], [-172.000000, 84.000000, -128.000000, -164.000000, 138.000000, 100.000000], [-172.000000, 33.707421, -31.724392, 115.373487, -168.221486, 23.819324], [-172.000000, 84.000000, -128.000000, 16.000000, -138.000000, -80.000000]] + joints: [-172.000000, 83.000000, -128.000000, 16.000000, -138.000000, -80.000000] + pose: {translation: [-1.145768844946665, -0.1451960630009764, 1.324236409220026], quaternion: [0.4200679939558764, 0.5990620257280189, 0.5493295529782007, 0.4036144348376285]} + solutions: [[-172.000000, 32.707421, -31.724392, -64.626513, 168.221486, -156.180676], [-172.000000, 83.000000, -128.000000, -164.000000, 138.000000, 100.000000], [-172.000000, 32.707421, -31.724392, 115.373487, -168.221486, 23.819324], [-172.000000, 83.000000, -128.000000, 16.000000, -138.000000, -80.000000]] - id: 993 parameters: Irb2400_10 joints: [34.000000, 127.000000, -150.000000, -91.000000, 4.000000, 80.000000] @@ -4971,19 +4971,19 @@ cases: solutions: [[34.000000, 53.476271, -9.724392, -175.650750, 66.881527, 167.287118], [34.000000, 127.000000, -150.000000, -91.000000, 4.000000, 80.000000], [-146.000000, -108.286404, -45.203225, 130.640468, 5.273762, 38.236930], [-146.000000, -72.122084, -114.521168, 8.029002, 29.956755, 162.029868], [34.000000, 53.476271, -9.724392, 4.349250, -66.881527, -12.712882], [34.000000, 127.000000, -150.000000, 89.000000, -4.000000, -100.000000], [-146.000000, -108.286404, -45.203225, -49.359532, -5.273762, -141.763070], [-146.000000, -72.122084, -114.521168, -171.970998, -29.956755, -17.970132]] - id: 994 parameters: Irb2400_10 - joints: [-10.000000, 173.000000, 68.000000, -157.000000, -25.000000, 13.000000] - pose: {translation: [-0.299518469756241, 0.06706577565702834, 0.5935520319340899], quaternion: [-0.01546730574610283, 0.09551227000845926, 0.9743421456491886, -0.203213070304356]} - solutions: [[170.000000, 20.439591, 83.287289, -50.413439, 167.627281, -15.708832], [170.000000, -144.674902, 116.988318, -168.652687, 57.062490, -152.185148], [-10.000000, 173.000000, 68.000000, 23.000000, 25.000000, -167.000000], [-10.000000, -22.506071, 132.275608, 21.224040, 152.861646, -126.892770], [170.000000, 20.439591, 83.287289, 129.586561, -167.627281, 164.291168], [170.000000, -144.674902, 116.988318, 11.347313, -57.062490, 27.814852], [-10.000000, 173.000000, 68.000000, -157.000000, -25.000000, 13.000000], [-10.000000, -22.506071, 132.275608, -158.775960, -152.861646, 53.107230]] + joints: [-10.000000, 172.000000, 68.000000, -157.000000, -25.000000, 13.000000] + pose: {translation: [-0.2990888494109001, 0.06699002199868347, 0.5864589064545856], quaternion: [-0.0235322357312492, 0.09873150458847529, 0.9740273860512495, -0.2024079422981099]} + solutions: [[170.000000, 22.411365, 83.149612, -47.607110, 167.080007, -12.832791], [170.000000, -143.088775, 117.125995, -168.743345, 57.772259, -152.016803], [-10.000000, 172.000000, 68.000000, 23.000000, 25.000000, -167.000000], [-10.000000, -23.506071, 132.275608, 21.224040, 152.861646, -126.892770], [170.000000, 22.411365, 83.149612, 132.392890, -167.080007, 167.167209], [170.000000, -143.088775, 117.125995, 11.256655, -57.772259, 27.983197], [-10.000000, 172.000000, 68.000000, -157.000000, -25.000000, 13.000000], [-10.000000, -23.506071, 132.275608, -158.775960, -152.861646, 53.107230]] - id: 995 parameters: Irb2400_10 - joints: [-30.000000, 25.000000, -163.000000, -109.000000, 49.000000, 33.000000] - pose: {translation: [-0.297823485958102, 0.101909746266439, 1.680609323963882], quaternion: [0.5225335826506701, -0.3142656576550346, -0.5240639557915256, 0.5946029949983787]} - solutions: [[150.000000, -38.248800, 8.663318, 82.107584, 46.088834, 16.611032], [150.000000, 54.976138, -168.387710, 45.544405, 91.361526, 96.694852], [-30.000000, -62.414662, 3.275608, -134.085495, 96.565327, 102.039950], [-30.000000, 25.000000, -163.000000, -109.000000, 49.000000, 33.000000], [150.000000, -38.248800, 8.663318, -97.892416, -46.088834, -163.388968], [150.000000, 54.976138, -168.387710, -134.455595, -91.361526, -83.305148], [-30.000000, -62.414662, 3.275608, 45.914505, -96.565327, -77.960050], [-30.000000, 25.000000, -163.000000, 71.000000, -49.000000, -147.000000]] + joints: [-30.000000, 25.000000, -163.000000, -109.000000, 48.000000, 33.000000] + pose: {translation: [-0.2978883805502457, 0.1030204480758303, 1.681590616566866], quaternion: [0.5158521891613032, -0.316114628081756, -0.5293619071039716, 0.5947638457047221]} + solutions: [[150.000000, -38.248800, 8.663318, 82.505694, 45.130149, 16.332526], [150.000000, 54.976138, -168.387710, 44.647852, 90.918226, 96.677016], [-30.000000, -62.414662, 3.275608, -135.024825, 96.206750, 101.935469], [-30.000000, 25.000000, -163.000000, -109.000000, 48.000000, 33.000000], [150.000000, -38.248800, 8.663318, -97.494306, -45.130149, -163.667474], [150.000000, 54.976138, -168.387710, -135.352148, -90.918226, -83.322984], [-30.000000, -62.414662, 3.275608, 44.975175, -96.206750, -78.064531], [-30.000000, 25.000000, -163.000000, 71.000000, -48.000000, -147.000000]] - id: 996 parameters: Irb2400_10 - joints: [139.000000, 180.000000, 123.000000, -122.000000, -135.000000, 139.000000] - pose: {translation: [-0.3292551689850785, 0.2186797189493122, 0.5489681076514626], quaternion: [0.869828448870716, 0.3767678384499286, -0.2691615428978447, 0.1702836729395523]} - solutions: [[139.000000, -0.662414, 77.275608, 67.085528, 40.619733, -150.419525], [139.000000, 180.000000, 123.000000, 58.000000, 135.000000, -41.000000], [-41.000000, -166.901228, 60.873685, -104.221436, 141.784639, -17.410933], [-41.000000, -12.702394, 139.401923, -131.641599, 53.361740, -123.401170], [139.000000, -0.662414, 77.275608, -112.914472, -40.619733, 29.580475], [139.000000, 180.000000, 123.000000, -122.000000, -135.000000, 139.000000], [-41.000000, -166.901228, 60.873685, 75.778564, -141.784639, 162.589067], [-41.000000, -12.702394, 139.401923, 48.358401, -53.361740, 56.598830]] + joints: [139.000000, 179.000000, 123.000000, -122.000000, -134.000000, 139.000000] + pose: {translation: [-0.3314457078402261, 0.2194155208758286, 0.5546788885046838], quaternion: [0.8681004244708673, 0.3767678384499286, -0.2806079782034053, 0.1603334385331572]} + solutions: [[139.000000, -1.662414, 77.275608, 68.524265, 40.961189, -151.508827], [139.000000, 179.000000, 123.000000, 58.000000, 134.000000, -41.000000], [-41.000000, -166.304568, 60.876211, -105.330215, 140.762101, -18.518434], [-41.000000, -12.102278, 139.399397, -130.173833, 52.975680, -124.524493], [139.000000, -1.662414, 77.275608, -111.475735, -40.961189, 28.491173], [139.000000, 179.000000, 123.000000, -122.000000, -134.000000, 139.000000], [-41.000000, -166.304568, 60.876211, 74.669785, -140.762101, 161.481566], [-41.000000, -12.102278, 139.399397, 49.826167, -52.975680, 55.475507]] - id: 997 parameters: Irb2400_10 joints: [60.000000, -2.000000, -153.000000, -106.000000, -128.000000, 11.000000] @@ -4991,34 +4991,34 @@ cases: solutions: [[-120.000000, -13.929120, 7.629690, -90.631068, 130.753027, -144.992827], [-120.000000, 78.178213, -167.354082, -130.580490, 94.167608, 130.823708], [60.000000, -78.715681, -6.724392, 49.247319, 90.657564, 126.736837], [60.000000, -2.000000, -153.000000, 74.000000, 128.000000, -169.000000], [-120.000000, -13.929120, 7.629690, 89.368932, -130.753027, 35.007173], [-120.000000, 78.178213, -167.354082, 49.419510, -94.167608, -49.176292], [60.000000, -78.715681, -6.724392, -130.752681, -90.657564, -53.263163], [60.000000, -2.000000, -153.000000, -106.000000, -128.000000, 11.000000]] - id: 998 parameters: Irb2400_10 - joints: [-30.000000, 22.000000, -114.000000, 148.000000, -139.000000, -110.000000] - pose: {translation: [0.2037506070273483, -0.1517579738006904, 1.95603247078133], quaternion: [0.852144532128896, 0.3758538312141085, 0.03403414482744732, 0.3625262347891057]} - solutions: [[-30.000000, -13.619112, -45.724392, -21.654252, 109.583966, 87.668081], [-30.000000, 22.000000, -114.000000, -32.000000, 139.000000, 70.000000], [150.000000, -25.462955, -54.379216, 141.916370, 145.692214, 62.333233], [150.000000, 1.110947, -105.345177, 154.988808, 124.685789, 80.379352], [-30.000000, -13.619112, -45.724392, 158.345748, -109.583966, -92.331919], [-30.000000, 22.000000, -114.000000, 148.000000, -139.000000, -110.000000], [150.000000, -25.462955, -54.379216, -38.083630, -145.692214, -117.666767], [150.000000, 1.110947, -105.345177, -25.011192, -124.685789, -99.620648]] + joints: [-30.000000, 21.000000, -114.000000, 148.000000, -138.000000, -110.000000] + pose: {translation: [0.183937794924066, -0.1409989115899229, 1.959517758988183], quaternion: [0.8473301243068584, 0.3718140633862997, 0.03935438254151027, 0.3771434677746247]} + solutions: [[-30.000000, -14.619112, -45.724392, -21.974524, 108.630856, 87.563239], [-30.000000, 21.000000, -114.000000, -32.000000, 138.000000, 70.000000], [150.000000, -25.108324, -53.197412, 141.676180, 145.123143, 61.947140], [150.000000, 2.699801, -106.526980, 154.938599, 123.165199, 80.559550], [-30.000000, -14.619112, -45.724392, 158.025476, -108.630856, -92.436761], [-30.000000, 21.000000, -114.000000, 148.000000, -138.000000, -110.000000], [150.000000, -25.108324, -53.197412, -38.323820, -145.123143, -118.052860], [150.000000, 2.699801, -106.526980, -25.061401, -123.165199, -99.440450]] - id: 999 parameters: Irb2400_10 - joints: [-87.000000, -155.000000, 49.000000, -84.000000, -50.000000, -76.000000] - pose: {translation: [0.03549496133806623, 0.5600501635027204, 0.7152388968458224], quaternion: [0.2335273463322746, 0.3841315418005102, 0.7109899643048126, 0.5407413501544063]} - solutions: [[93.000000, 2.923211, 65.791133, -120.741687, 117.575068, -118.818540], [93.000000, 164.092660, 134.484474, -94.638898, 49.849363, 120.458821], [-87.000000, -155.000000, 49.000000, 96.000000, 50.000000, 104.000000], [-87.000000, -16.079847, 151.275608, 51.692323, 103.859447, -139.844799], [93.000000, 2.923211, 65.791133, 59.258313, -117.575068, 61.181460], [93.000000, 164.092660, 134.484474, 85.361102, -49.849363, -59.541179], [-87.000000, -155.000000, 49.000000, -84.000000, -50.000000, -76.000000], [-87.000000, -16.079847, 151.275608, -128.307677, -103.859447, 40.155201]] + joints: [-87.000000, -154.000000, 49.000000, -84.000000, -49.000000, -76.000000] + pose: {translation: [0.03462469729146295, 0.5583474333037808, 0.7278129758423563], quaternion: [0.232478897170428, 0.3732429809363969, 0.7178822789429365, 0.5397112868301255]} + solutions: [[93.000000, 1.497719, 65.755001, -121.724311, 118.064425, -119.626247], [93.000000, 162.613920, 134.520607, -94.629794, 48.853734, 120.118161], [-87.000000, -154.000000, 49.000000, 96.000000, 49.000000, 104.000000], [-87.000000, -15.079847, 151.275608, 50.766032, 104.298495, -140.070134], [93.000000, 1.497719, 65.755001, 58.275689, -118.064425, 60.373753], [93.000000, 162.613920, 134.520607, 85.370206, -48.853734, -59.881839], [-87.000000, -154.000000, 49.000000, -84.000000, -49.000000, -76.000000], [-87.000000, -15.079847, 151.275608, -129.233968, -104.298495, 39.929866]] - id: 1000 parameters: Irb2400_10 - joints: [91.000000, 107.000000, 96.000000, 63.000000, 99.000000, 48.000000] - pose: {translation: [-0.07572713210610109, 0.05228358031246147, 0.6095004805610985], quaternion: [-0.568653144130414, 0.02859727328581807, 0.7900062027965576, 0.227389527406552]} - solutions: [[91.000000, 107.000000, 96.000000, 63.000000, 99.000000, 48.000000], [91.000000, 21.602287, 104.275608, 93.418096, 118.163405, 128.144655], [-89.000000, 140.818137, 91.107164, -92.240581, 61.728139, -54.345437], [-89.000000, 7.915848, 109.168444, -63.212553, 99.656297, -167.446319], [91.000000, 107.000000, 96.000000, -117.000000, -99.000000, -132.000000], [91.000000, 21.602287, 104.275608, -86.581904, -118.163405, -51.855345], [-89.000000, 140.818137, 91.107164, 87.759419, -61.728139, 125.654563], [-89.000000, 7.915848, 109.168444, 116.787447, -99.656297, 12.553681]] + joints: [91.000000, 106.000000, 96.000000, 63.000000, 99.000000, 48.000000] + pose: {translation: [-0.07572893052795983, 0.052386611831745, 0.6086914783015734], quaternion: [-0.5665271538105531, 0.0217378484165553, 0.7903122442234944, 0.2323381298279653]} + solutions: [[91.000000, 106.000000, 96.000000, 63.000000, 99.000000, 48.000000], [91.000000, 20.602287, 104.275608, 93.418096, 118.163405, 128.144655], [-89.000000, 140.622605, 91.022657, -91.551896, 61.685780, -55.798357], [-89.000000, 7.192011, 109.252951, -63.471537, 100.391846, -168.934092], [91.000000, 106.000000, 96.000000, -117.000000, -99.000000, -132.000000], [91.000000, 20.602287, 104.275608, -86.581904, -118.163405, -51.855345], [-89.000000, 140.622605, 91.022657, 88.448104, -61.685780, 124.201643], [-89.000000, 7.192011, 109.252951, 116.528463, -100.391846, 11.065908]] - id: 1001 parameters: Irb2400_10 - joints: [13.000000, -170.000000, -106.000000, 138.000000, 158.000000, 80.000000] - pose: {translation: [0.1959788262735271, 0.06711187936441959, -0.7351898139418591], quaternion: [-0.1561974973658495, -0.0005826671396877553, -0.3841510124257357, 0.9099615387300345]} - solutions: [[13.000000, 162.742261, -53.724392, 60.843604, 163.319810, -0.359554], [13.000000, -170.000000, -106.000000, 138.000000, 158.000000, 80.000000], [-167.000000, -176.054408, -65.395803, -22.251015, 138.550546, 102.807780], [-167.000000, -160.975685, -94.328590, -31.109754, 150.978477, 92.035984], [13.000000, 162.742261, -53.724392, -119.156396, -163.319810, 179.640446], [13.000000, -170.000000, -106.000000, -42.000000, -158.000000, -100.000000], [-167.000000, -176.054408, -65.395803, 157.748985, -138.550546, -77.192220], [-167.000000, -160.975685, -94.328590, 148.890246, -150.978477, -87.964016]] + joints: [13.000000, -169.000000, -106.000000, 138.000000, 157.000000, 80.000000] + pose: {translation: [0.1738335423501392, 0.06294046193270661, -0.7373118327340188], quaternion: [-0.1696354603507813, 0.008311726531920841, -0.3824931904836162, 0.9082145589161744]} + solutions: [[13.000000, 163.742261, -53.724392, 64.241541, 163.124343, 2.893819], [13.000000, -169.000000, -106.000000, 138.000000, 157.000000, 80.000000], [-167.000000, -178.064244, -63.409003, -22.420658, 136.725487, 102.932609], [-167.000000, -160.913531, -96.315389, -32.388043, 150.784333, 90.682469], [13.000000, 163.742261, -53.724392, -115.758459, -163.124343, -177.106181], [13.000000, -169.000000, -106.000000, -42.000000, -157.000000, -100.000000], [-167.000000, -178.064244, -63.409003, 157.579342, -136.725487, -77.067391], [-167.000000, -160.913531, -96.315389, 147.611957, -150.784333, -89.317531]] - id: 1002 parameters: Irb2400_10 - joints: [161.000000, 154.000000, 66.000000, 61.000000, 69.000000, -96.000000] - pose: {translation: [0.2182216602660838, -0.148543765456512, 0.4122900404057258], quaternion: [0.1609372115951285, -0.4307699591682896, 0.6738574680153132, 0.5783187434297163]} - solutions: [[-19.000000, 57.724611, 77.419083, -62.744115, 113.290799, 79.376266], [-19.000000, -121.321222, 122.856524, -125.220103, 91.825815, -60.532671], [161.000000, 154.000000, 66.000000, 61.000000, 69.000000, -96.000000], [161.000000, -44.522077, 134.275608, 91.325119, 125.239604, 29.178948], [-19.000000, 57.724611, 77.419083, 117.255885, -113.290799, -100.623734], [-19.000000, -121.321222, 122.856524, 54.779897, -91.825815, 119.467329], [161.000000, 154.000000, 66.000000, -119.000000, -69.000000, 84.000000], [161.000000, -44.522077, 134.275608, -88.674881, -125.239604, -150.821052]] + joints: [161.000000, 153.000000, 66.000000, 61.000000, 69.000000, -96.000000] + pose: {translation: [0.2148255483668087, -0.1473743903517699, 0.4061306545770746], quaternion: [0.1681342009118455, -0.4278962745277063, 0.6712800475318413, 0.5813938136192144]} + solutions: [[-19.000000, 59.318257, 77.176231, -62.610472, 113.129783, 79.715369], [-19.000000, -120.220384, 123.099377, -125.210666, 92.024005, -60.251722], [161.000000, 153.000000, 66.000000, 61.000000, 69.000000, -96.000000], [161.000000, -45.522077, 134.275608, 91.325119, 125.239604, 29.178948], [-19.000000, 59.318257, 77.176231, 117.389528, -113.129783, -100.284631], [-19.000000, -120.220384, 123.099377, 54.789334, -92.024005, 119.748278], [161.000000, 153.000000, 66.000000, -119.000000, -69.000000, 84.000000], [161.000000, -45.522077, 134.275608, -88.674881, -125.239604, -150.821052]] - id: 1003 parameters: Irb2400_10 - joints: [-175.000000, 106.000000, 150.000000, 45.000000, -171.000000, 38.000000] - pose: {translation: [-0.4742467278456082, -0.03205294791639678, 1.036855116538325], quaternion: [0.9914968347123559, 0.09741208982604789, -0.06545709244858448, -0.05621637269762909]} - solutions: [[-175.000000, -34.488626, 50.275608, -6.914500, 66.755259, -3.905009], [-175.000000, 106.000000, 150.000000, -135.000000, 171.000000, -142.000000], [5.000000, -111.268763, 38.366122, 34.028031, 168.599255, -153.144640], [5.000000, 15.012200, 161.909486, 173.537997, 79.378237, -5.449108], [-175.000000, -34.488626, 50.275608, 173.085500, -66.755259, 176.094991], [-175.000000, 106.000000, 150.000000, 45.000000, -171.000000, 38.000000], [5.000000, -111.268763, 38.366122, -145.971969, -168.599255, 26.855360], [5.000000, 15.012200, 161.909486, -6.462003, -79.378237, 174.550892]] + joints: [-175.000000, 105.000000, 150.000000, 45.000000, -170.000000, 38.000000] + pose: {translation: [-0.4658869083576864, -0.03028299212468134, 1.043308360459426], quaternion: [0.9911024389582864, 0.09608063207419919, -0.06785146289029065, -0.06229483618090727]} + solutions: [[-175.000000, -35.488626, 50.275608, -7.637404, 67.501159, -3.624029], [-175.000000, 105.000000, 150.000000, -135.000000, 170.000000, -142.000000], [5.000000, -110.588374, 38.579909, 35.207254, 167.703238, -151.978155], [5.000000, 15.940472, 161.695699, 172.833620, 79.821690, -5.288629], [-175.000000, -35.488626, 50.275608, 172.362596, -67.501159, 176.375971], [-175.000000, 105.000000, 150.000000, 45.000000, -170.000000, 38.000000], [5.000000, -110.588374, 38.579909, -144.792746, -167.703238, 28.021845], [5.000000, 15.940472, 161.695699, -7.166380, -79.821690, 174.711371]] - id: 1004 parameters: Irb2400_10 joints: [-32.000000, -15.000000, -114.000000, 126.000000, 117.000000, -3.000000] @@ -5026,29 +5026,29 @@ cases: solutions: [[148.000000, -2.984840, -25.498513, -47.624454, 102.639871, 15.512375], [148.000000, 53.856058, -134.225879, -72.033389, 130.730064, -34.573889], [-32.000000, -50.619112, -45.724392, 105.208111, 131.668842, -38.760600], [-32.000000, -15.000000, -114.000000, 126.000000, 117.000000, -3.000000], [148.000000, -2.984840, -25.498513, 132.375546, -102.639871, -164.487625], [148.000000, 53.856058, -134.225879, 107.966611, -130.730064, 145.426111], [-32.000000, -50.619112, -45.724392, -74.791889, -131.668842, 141.239400], [-32.000000, -15.000000, -114.000000, -54.000000, -117.000000, 177.000000]] - id: 1005 parameters: Irb2400_10 - joints: [-52.000000, 57.000000, 69.000000, -59.000000, -113.000000, 154.000000] - pose: {translation: [0.3045479110038393, -0.2808682525150276, 0.3119942537809225], quaternion: [0.6932920168992327, -0.02500312612776369, 0.7196863494179971, -0.02779534941370175]} - solutions: [[-52.000000, 57.000000, 69.000000, 121.000000, 113.000000, -26.000000], [-52.000000, -136.951595, 131.275608, 88.301990, 52.126982, 99.799919], [128.000000, 161.961540, 56.522644, -114.060444, 59.780500, 138.611829], [128.000000, -49.639968, 143.752964, -52.096265, 89.619750, 7.523749], [-52.000000, 57.000000, 69.000000, -59.000000, -113.000000, 154.000000], [-52.000000, -136.951595, 131.275608, -91.698010, -52.126982, -80.200081], [128.000000, 161.961540, 56.522644, 65.939556, -59.780500, -41.388171], [128.000000, -49.639968, 143.752964, 127.903735, -89.619750, -172.476251]] + joints: [-52.000000, 57.000000, 69.000000, -59.000000, -112.000000, 154.000000] + pose: {translation: [0.3045810313883981, -0.2801202317039658, 0.3107135614304762], quaternion: [0.6988040462227341, -0.02203103287392312, 0.7143168568686813, -0.03064256135656799]} + solutions: [[-52.000000, 57.000000, 69.000000, 121.000000, 112.000000, -26.000000], [-52.000000, -136.951595, 131.275608, 87.282609, 52.716349, 100.421602], [128.000000, 161.961540, 56.522644, -114.364580, 60.745001, 138.762693], [128.000000, -49.639968, 143.752964, -52.648652, 88.786124, 7.531433], [-52.000000, 57.000000, 69.000000, -59.000000, -112.000000, 154.000000], [-52.000000, -136.951595, 131.275608, -92.717391, -52.716349, -79.578398], [128.000000, 161.961540, 56.522644, 65.635420, -60.745001, -41.237307], [128.000000, -49.639968, 143.752964, 127.351348, -88.786124, -172.468567]] - id: 1006 parameters: Irb2400_10 - joints: [173.000000, 105.000000, 63.000000, -63.000000, 86.000000, 81.000000] - pose: {translation: [-0.04711071832540258, 0.08190291073800557, 0.1799305285498668], quaternion: [-0.4474340062574483, -0.2925071109636768, -0.6523870186961171, 0.5372462916734605]} - solutions: [[173.000000, 105.000000, 63.000000, -63.000000, 86.000000, 81.000000], [173.000000, -97.850361, 137.275608, -104.378219, 113.425648, -49.610073], [-7.000000, 122.980015, 60.589933, 63.779067, 97.781550, -91.424227], [-7.000000, -83.208575, 139.685674, 112.711623, 105.517251, 40.618364], [173.000000, 105.000000, 63.000000, 117.000000, -86.000000, -99.000000], [173.000000, -97.850361, 137.275608, 75.621781, -113.425648, 130.389927], [-7.000000, 122.980015, 60.589933, -116.220933, -97.781550, 88.575773], [-7.000000, -83.208575, 139.685674, -67.288377, -105.517251, -139.381636]] + joints: [173.000000, 105.000000, 63.000000, -63.000000, 85.000000, 81.000000] + pose: {translation: [-0.0456984252061681, 0.08162501546783349, 0.1795713526120236], quaternion: [-0.4529381411247431, -0.2876063974753362, -0.6542725190738023, 0.5329700472170479]} + solutions: [[173.000000, 105.000000, 63.000000, -63.000000, 85.000000, 81.000000], [173.000000, -97.850361, 137.275608, -103.546751, 114.074346, -49.275191], [-7.000000, 122.980015, 60.589933, 63.912458, 98.772800, -91.405023], [-7.000000, -83.208575, 139.685674, 113.381571, 104.754508, 40.793300], [173.000000, 105.000000, 63.000000, 117.000000, -85.000000, -99.000000], [173.000000, -97.850361, 137.275608, 76.453249, -114.074346, 130.724809], [-7.000000, 122.980015, 60.589933, -116.087542, -98.772800, 88.594977], [-7.000000, -83.208575, 139.685674, -66.618429, -104.754508, -139.206700]] - id: 1007 parameters: Irb2400_10 - joints: [-163.000000, 134.000000, -7.000000, -176.000000, -180.000000, -109.000000] - pose: {translation: [-0.2981129818126212, -0.09114228508124586, -0.4910649710308059], quaternion: [0.2875756809629236, -0.1340987423321499, -0.7047418172442957, 0.6345523824325728]} - solutions: [[-163.000000, 134.000000, -7.000000, 0.000000, 180.000000, 69.443955], [-163.000000, -149.577867, -152.724392, 180.000000, 110.697741, -113.000000], [17.000000, 161.988798, -12.882296, -0.000000, 83.893498, -113.000000], [17.000000, -127.839977, -146.842097, -0.000000, 147.682074, -113.000000], [-163.000000, 134.000000, -7.000000, 180.000000, -180.000000, -110.556045], [-163.000000, -149.577867, -152.724392, 0.000000, -110.697741, 67.000000], [17.000000, 161.988798, -12.882296, 180.000000, -83.893498, 67.000000], [17.000000, -127.839977, -146.842097, 180.000000, -147.682074, 67.000000]] + joints: [-163.000000, 133.000000, -7.000000, -176.000000, -179.000000, -109.000000] + pose: {translation: [-0.3153597317224461, -0.09652335445075898, -0.4863418839250321], quaternion: [0.2727950006496424, -0.1265676095516919, -0.7086190660277741, 0.6382965980599122]} + solutions: [[-163.000000, 133.000000, -7.000000, 4.000000, 179.000000, 71.000000], [-163.000000, -150.577867, -152.724392, 179.924929, 111.695289, -113.027144], [17.000000, 163.190012, -13.354329, -0.070002, 85.161885, -112.993489], [17.000000, -127.139271, -146.370063, -0.133525, 148.506830, -113.113250], [-163.000000, 133.000000, -7.000000, -176.000000, -179.000000, -109.000000], [-163.000000, -150.577867, -152.724392, -0.075071, -111.695289, 66.972856], [17.000000, 163.190012, -13.354329, 179.929998, -85.161885, 67.006511], [17.000000, -127.139271, -146.370063, 179.866475, -148.506830, 66.886750]] - id: 1008 parameters: Irb2400_10 - joints: [56.000000, 102.000000, -51.000000, -177.000000, 16.000000, 73.000000] - pose: {translation: [0.805834175854201, 1.192505513934053, -0.08213889399152144], quaternion: [0.8731756432320326, -0.1564333007272474, 0.194009330386221, -0.4188714578638595]} - solutions: [[56.000000, 102.000000, -51.000000, -177.000000, 16.000000, 73.000000], [56.000000, 132.103699, -108.724392, -4.089532, 11.670403, -100.110746], [56.000000, 102.000000, -51.000000, 3.000000, -16.000000, -107.000000], [56.000000, 132.103699, -108.724392, 175.910468, -11.670403, 79.889254]] + joints: [56.000000, 101.000000, -51.000000, -177.000000, 16.000000, 73.000000] + pose: {translation: [0.8125236760083678, 1.20242310576148, -0.05865960496667816], quaternion: [0.8691652871457225, -0.1557869131900923, 0.197131143816568, -0.4259359734011298]} + solutions: [[56.000000, 101.000000, -51.000000, -177.000000, 16.000000, 73.000000], [56.000000, 131.103699, -108.724392, -4.089532, 11.670403, -100.110746], [56.000000, 101.000000, -51.000000, 3.000000, -16.000000, -107.000000], [56.000000, 131.103699, -108.724392, 175.910468, -11.670403, 79.889254]] - id: 1009 parameters: Irb2400_10 - joints: [-24.000000, 140.000000, 170.000000, 129.000000, -1.000000, 169.000000] - pose: {translation: [0.9043044006308578, -0.4038842225692002, 0.8045823239160089], quaternion: [-0.1070011506674499, 0.3303283009203393, -0.6412598071417287, 0.6842659038060251]} - solutions: [[-24.000000, 22.962565, 30.275608, -179.203667, 102.607634, 118.178097], [-24.000000, 140.000000, 170.000000, -51.000000, 1.000000, -11.000000], [156.000000, -130.471548, 10.047405, 175.622025, 10.234450, -57.687150], [156.000000, -35.747737, -169.771797, 0.804956, 74.891598, 117.794447], [-24.000000, 22.962565, 30.275608, 0.796333, -102.607634, -61.821903], [-24.000000, 140.000000, 170.000000, 129.000000, -1.000000, 169.000000], [156.000000, -130.471548, 10.047405, -4.377975, -10.234450, 122.312850], [156.000000, -35.747737, -169.771797, -179.195044, -74.891598, -62.205553]] + joints: [-24.000000, 139.000000, 170.000000, 129.000000, -1.000000, 169.000000] + pose: {translation: [0.9011578946005683, -0.402483307826019, 0.8200930319935211], quaternion: [-0.1043136321049872, 0.322584607122159, -0.6432608802518101, 0.6864934648942949]} + solutions: [[-24.000000, 21.962565, 30.275608, -179.203667, 102.607634, 118.178097], [-24.000000, 139.000000, 170.000000, -51.000000, 1.000000, -11.000000], [156.000000, -129.688398, 10.096362, 175.549853, 10.067055, -57.613831], [156.000000, -34.911519, -169.820754, 0.804155, 75.104316, 117.797539], [-24.000000, 21.962565, 30.275608, 0.796333, -102.607634, -61.821903], [-24.000000, 139.000000, 170.000000, 129.000000, -1.000000, 169.000000], [156.000000, -129.688398, 10.096362, -4.450147, -10.067055, 122.386169], [156.000000, -34.911519, -169.820754, -179.195845, -75.104316, -62.202461]] - id: 1010 parameters: Irb2400_10 joints: [-117.000000, -42.000000, 112.000000, -81.000000, -28.000000, -8.000000] @@ -5056,14 +5056,14 @@ cases: solutions: [[-117.000000, 105.739617, 88.275608, 146.128249, 123.697450, 71.743398], [-117.000000, -42.000000, 112.000000, 99.000000, 28.000000, 172.000000], [63.000000, 115.661321, 86.970281, -152.358255, 88.118960, -88.815213], [63.000000, -37.423146, 113.305327, -39.825151, 46.386766, 122.078097], [-117.000000, 105.739617, 88.275608, -33.871751, -123.697450, -108.256602], [-117.000000, -42.000000, 112.000000, -81.000000, -28.000000, -8.000000], [63.000000, 115.661321, 86.970281, 27.641745, -88.118960, 91.184787], [63.000000, -37.423146, 113.305327, 140.174849, -46.386766, -57.921903]] - id: 1011 parameters: Irb2400_10 - joints: [-36.000000, -28.000000, -11.000000, 5.000000, -130.000000, -101.000000] - pose: {translation: [0.1483769201345713, -0.1148168774414368, 1.833555858264364], quaternion: [-0.3782261118760592, 0.5125165486606134, 0.717389262345116, -0.2821780323059582]} - solutions: [[-36.000000, -28.000000, -11.000000, -175.000000, 130.000000, 79.000000], [-36.000000, 44.168633, -148.724392, -175.761871, 64.612660, 73.961523], [144.000000, -49.884182, -17.299589, 4.598889, 56.376615, 73.230922], [144.000000, 15.609064, -142.424804, 4.255006, 115.861212, 77.640039], [-36.000000, -28.000000, -11.000000, 5.000000, -130.000000, -101.000000], [-36.000000, 44.168633, -148.724392, 4.238129, -64.612660, -106.038477], [144.000000, -49.884182, -17.299589, -175.401111, -56.376615, -106.769078], [144.000000, 15.609064, -142.424804, -175.744994, -115.861212, -102.359961]] + joints: [-36.000000, -28.000000, -11.000000, 5.000000, -129.000000, -101.000000] + pose: {translation: [0.1485696858089289, -0.1150585874591337, 1.835006796806233], quaternion: [-0.3745999895486887, 0.5068215855572457, 0.7223820527619322, -0.2845538579791511]} + solutions: [[-36.000000, -28.000000, -11.000000, -175.000000, 129.000000, 79.000000], [-36.000000, 44.168633, -148.724392, -175.663840, 63.616556, 73.918724], [144.000000, -49.884182, -17.299589, 4.721027, 55.381739, 73.162407], [144.000000, 15.609064, -142.424804, 4.281162, 114.861491, 77.651242], [-36.000000, -28.000000, -11.000000, 5.000000, -129.000000, -101.000000], [-36.000000, 44.168633, -148.724392, 4.336160, -63.616556, -106.081276], [144.000000, -49.884182, -17.299589, -175.278973, -55.381739, -106.837593], [144.000000, 15.609064, -142.424804, -175.718838, -114.861491, -102.348758]] - id: 1012 parameters: Irb2400_10 - joints: [-149.000000, -173.000000, -133.000000, -45.000000, 127.000000, 53.000000] - pose: {translation: [-0.45174240522607, -0.2154343602226708, -0.6030316058712297], quaternion: [-0.6464512615362463, 0.06803448815682639, -0.236448308010343, 0.7221940684597737]} - solutions: [[-149.000000, 131.449822, -26.724392, -34.444955, 86.778807, 86.247216], [-149.000000, -173.000000, -133.000000, -45.000000, 127.000000, 53.000000], [31.000000, -170.302562, -43.923218, 120.134990, 139.233856, 31.508579], [31.000000, -132.798897, -115.801174, 141.032650, 116.105942, 64.448696], [-149.000000, 131.449822, -26.724392, 145.555045, -86.778807, -93.752784], [-149.000000, -173.000000, -133.000000, 135.000000, -127.000000, -127.000000], [31.000000, -170.302562, -43.923218, -59.865010, -139.233856, -148.491421], [31.000000, -132.798897, -115.801174, -38.967350, -116.105942, -115.551304]] + joints: [-149.000000, -172.000000, -133.000000, -45.000000, 127.000000, 53.000000] + pose: {translation: [-0.4334691183647472, -0.2044546617675082, -0.6097952181915933], quaternion: [-0.6414120896289076, 0.06369252958447982, -0.2409690445581233, 0.7255809482874764]} + solutions: [[-149.000000, 132.449822, -26.724392, -34.444955, 86.778807, 86.247216], [-149.000000, -172.000000, -133.000000, -45.000000, 127.000000, 53.000000], [31.000000, -171.639102, -43.151923, 119.696229, 139.450681, 30.930212], [31.000000, -133.328181, -116.572469, 141.124708, 115.872088, 64.658779], [-149.000000, 132.449822, -26.724392, 145.555045, -86.778807, -93.752784], [-149.000000, -172.000000, -133.000000, 135.000000, -127.000000, -127.000000], [31.000000, -171.639102, -43.151923, -60.303771, -139.450681, -149.069788], [31.000000, -133.328181, -116.572469, -38.875292, -115.872088, -115.341221]] - id: 1013 parameters: Irb2400_10 joints: [62.000000, 2.000000, -105.000000, -82.000000, -160.000000, 16.000000] @@ -5076,29 +5076,29 @@ cases: solutions: [[-34.000000, 12.174884, -8.467112, 176.509634, 33.488076, -159.974715], [-34.000000, 87.035460, -151.257280, 3.396788, 34.537488, 14.314045], [146.000000, -79.192377, -33.724392, -176.829142, 37.394207, 14.593102], [146.000000, -31.000000, -126.000000, -16.000000, 7.000000, -147.000000], [-34.000000, 12.174884, -8.467112, -3.490366, -33.488076, 20.025285], [-34.000000, 87.035460, -151.257280, -176.603212, -34.537488, -165.685955], [146.000000, -79.192377, -33.724392, 3.170858, -37.394207, -165.406898], [146.000000, -31.000000, -126.000000, 164.000000, -7.000000, 33.000000]] - id: 1015 parameters: Irb2400_10 - joints: [-110.000000, -170.000000, -84.000000, -153.000000, 116.000000, 148.000000] - pose: {translation: [-0.02402326933377905, 0.03540507121231044, -0.8251978092761075], quaternion: [-0.4671330660919561, -0.4259830063551624, 0.7737281540680186, -0.04086466031478012]} - solutions: [[70.000000, 171.508854, -63.627623, 24.169661, 85.267231, 133.288421], [70.000000, -171.568447, -96.096770, 24.434868, 99.450796, 139.675675], [-110.000000, -174.312094, -75.724392, -152.036974, 119.516693, 150.066568], [-110.000000, -170.000000, -84.000000, -153.000000, 116.000000, 148.000000], [70.000000, 171.508854, -63.627623, -155.830339, -85.267231, -46.711579], [70.000000, -171.568447, -96.096770, -155.565132, -99.450796, -40.324325], [-110.000000, -174.312094, -75.724392, 27.963026, -119.516693, -29.933432], [-110.000000, -170.000000, -84.000000, 27.000000, -116.000000, -32.000000]] + joints: [-110.000000, -169.000000, -84.000000, -153.000000, 116.000000, 148.000000] + pose: {translation: [-0.01543313544136668, 0.05900627011180529, -0.8227959766754627], quaternion: [-0.4697596884252893, -0.4321895922978311, 0.7688112918952402, -0.03830390181667302]} + solutions: [[70.000000, 169.555288, -61.801660, 24.201754, 84.471409, 132.929569], [70.000000, -171.617425, -97.922732, 24.497779, 100.247174, 140.043457], [-110.000000, -173.312094, -75.724392, -152.036974, 119.516693, 150.066568], [-110.000000, -169.000000, -84.000000, -153.000000, 116.000000, 148.000000], [70.000000, 169.555288, -61.801660, -155.798246, -84.471409, -47.070431], [70.000000, -171.617425, -97.922732, -155.502221, -100.247174, -39.956543], [-110.000000, -173.312094, -75.724392, 27.963026, -119.516693, -29.933432], [-110.000000, -169.000000, -84.000000, 27.000000, -116.000000, -32.000000]] - id: 1016 parameters: Irb2400_10 - joints: [11.000000, 85.000000, -32.000000, 175.000000, -22.000000, -96.000000] - pose: {translation: [1.361653570230972, 0.2618515249684281, 0.07268924141322969], quaternion: [0.5586547701352377, 0.8188032852550705, 0.0816312632799827, 0.1039344250764048]} - solutions: [[11.000000, 85.000000, -32.000000, -5.000000, 22.000000, 84.000000], [11.000000, 135.003072, -127.724392, -2.022900, 67.658114, 80.131674], [11.000000, 85.000000, -32.000000, 175.000000, -22.000000, -96.000000], [11.000000, 135.003072, -127.724392, 177.977100, -67.658114, -99.868326]] + joints: [11.000000, 84.000000, -32.000000, 175.000000, -22.000000, -96.000000] + pose: {translation: [1.370751951008439, 0.263620071036605, 0.09522610034532694], quaternion: [0.5581072895457551, 0.817745859862409, 0.08777709655175082, 0.1100142870482051]} + solutions: [[11.000000, 84.000000, -32.000000, -5.000000, 22.000000, 84.000000], [11.000000, 134.003072, -127.724392, -2.022900, 67.658114, 80.131674], [11.000000, 84.000000, -32.000000, 175.000000, -22.000000, -96.000000], [11.000000, 134.003072, -127.724392, 177.977100, -67.658114, -99.868326]] - id: 1017 parameters: Irb2400_10 - joints: [133.000000, -90.000000, -139.000000, 174.000000, 78.000000, -70.000000] - pose: {translation: [0.6399248837793506, -0.6989785063979048, -0.1109589093506361], quaternion: [-0.2148354762463682, 0.9227165119859054, 0.2466142720634768, -0.2040131306292861]} - solutions: [[-47.000000, 83.277625, 1.877346, -8.769495, 42.115825, -64.723838], [-47.000000, 169.190112, -161.601738, -6.725024, 119.178768, -74.542062], [133.000000, -151.874604, -20.724392, 171.822387, 134.044168, -76.957022], [133.000000, -90.000000, -139.000000, 174.000000, 78.000000, -70.000000], [-47.000000, 83.277625, 1.877346, 171.230505, -42.115825, 115.276162], [-47.000000, 169.190112, -161.601738, 173.274976, -119.178768, 105.457938], [133.000000, -151.874604, -20.724392, -8.177613, -134.044168, 103.042978], [133.000000, -90.000000, -139.000000, -6.000000, -78.000000, 110.000000]] + joints: [133.000000, -90.000000, -139.000000, 174.000000, 77.000000, -70.000000] + pose: {translation: [0.6407618287800773, -0.699826807150315, -0.1118424895051017], quaternion: [-0.2157641993764683, 0.9253125871473149, 0.2396795744107492, -0.199489668766221]} + solutions: [[-47.000000, 83.277625, 1.877346, -8.909316, 41.120145, -64.619306], [-47.000000, 169.190112, -161.601738, -6.635187, 118.181878, -74.498945], [133.000000, -151.874604, -20.724392, 171.988135, 133.051410, -76.842824], [133.000000, -90.000000, -139.000000, 174.000000, 77.000000, -70.000000], [-47.000000, 83.277625, 1.877346, 171.090684, -41.120145, 115.380694], [-47.000000, 169.190112, -161.601738, 173.364813, -118.181878, 105.501055], [133.000000, -151.874604, -20.724392, -8.011865, -133.051410, 103.157176], [133.000000, -90.000000, -139.000000, -6.000000, -77.000000, 110.000000]] - id: 1018 parameters: Irb2400_10 - joints: [88.000000, -45.000000, 160.000000, 94.000000, -144.000000, -76.000000] - pose: {translation: [0.02994027421464973, -0.5707247557986821, 0.4359908906012264], quaternion: [-0.3330160801369381, 0.117588388546488, -0.6625746801360284, 0.6605059079916761]} - solutions: [[-92.000000, 42.012702, 56.378088, 54.971377, 134.270196, 53.940803], [-92.000000, -169.776845, 143.897519, 144.042030, 86.938227, -168.721131], [88.000000, -173.502711, 40.275608, -38.539917, 70.234925, -155.863960], [88.000000, -45.000000, 160.000000, -86.000000, 144.000000, 104.000000], [-92.000000, 42.012702, 56.378088, -125.028623, -134.270196, -126.059197], [-92.000000, -169.776845, 143.897519, -35.957970, -86.938227, 11.278869], [88.000000, -173.502711, 40.275608, 141.460083, -70.234925, 24.136040], [88.000000, -45.000000, 160.000000, 94.000000, -144.000000, -76.000000]] + joints: [88.000000, -45.000000, 160.000000, 94.000000, -143.000000, -76.000000] + pose: {translation: [0.03111352888677851, -0.5712143222158976, 0.4352262971225666], quaternion: [-0.3371973269387427, 0.1245885634964051, -0.6622568363673496, 0.6574127586501334]} + solutions: [[-92.000000, 42.012702, 56.378088, 56.030531, 133.623272, 54.675867], [-92.000000, -169.776845, 143.897519, 143.041685, 86.891220, -168.667288], [88.000000, -173.502711, 40.275608, -39.584770, 70.413937, -155.512155], [88.000000, -45.000000, 160.000000, -86.000000, 143.000000, 104.000000], [-92.000000, 42.012702, 56.378088, -123.969469, -133.623272, -125.324133], [-92.000000, -169.776845, 143.897519, -36.958315, -86.891220, 11.332712], [88.000000, -173.502711, 40.275608, 140.415230, -70.413937, 24.487845], [88.000000, -45.000000, 160.000000, 94.000000, -143.000000, -76.000000]] - id: 1019 parameters: Irb2400_10 - joints: [-95.000000, -93.000000, -180.000000, -157.000000, 112.000000, -51.000000] - pose: {translation: [0.0006058328438346555, 0.3602435358949925, -0.1332021295815127], quaternion: [0.44480496645102, -0.3045786664810877, 0.08641713376946746, 0.8378021584695156]} - solutions: [[85.000000, 98.987236, 29.707622, 21.671017, 78.828553, -64.437378], [85.000000, -144.615481, 170.567986, 91.916048, 158.747281, 32.020730], [-95.000000, 161.103192, 20.275608, -39.551507, 145.324233, 85.782033], [-95.000000, -93.000000, -180.000000, -157.000000, 112.000000, -51.000000], [85.000000, 98.987236, 29.707622, -158.328983, -78.828553, 115.562622], [85.000000, -144.615481, 170.567986, -88.083952, -158.747281, -147.979270], [-95.000000, 161.103192, 20.275608, 140.448493, -145.324233, -94.217967], [-95.000000, -93.000000, -180.000000, 23.000000, -112.000000, 129.000000]] + joints: [-95.000000, -92.000000, -180.000000, -157.000000, 112.000000, -51.000000] + pose: {translation: [0.001737814339950981, 0.3731821436013602, -0.1250788203827464], quaternion: [0.4520055928562678, -0.305955526828123, 0.08410434518232604, 0.8336717691942266]} + solutions: [[85.000000, 97.721338, 30.013768, 21.673958, 78.791150, -64.452530], [85.000000, -145.536461, 170.261840, 92.499457, 158.738532, 32.646729], [-95.000000, 162.103192, 20.275608, -39.551507, 145.324233, 85.782033], [-95.000000, -92.000000, -180.000000, -157.000000, 112.000000, -51.000000], [85.000000, 97.721338, 30.013768, -158.326042, -78.791150, 115.547470], [85.000000, -145.536461, 170.261840, -87.500543, -158.738532, -147.353271], [-95.000000, 162.103192, 20.275608, 140.448493, -145.324233, -94.217967], [-95.000000, -92.000000, -180.000000, 23.000000, -112.000000, 129.000000]] - id: 1020 parameters: Irb2400_10 joints: [-105.000000, 165.000000, -71.000000, 169.000000, 30.000000, 88.000000] @@ -5106,14 +5106,14 @@ cases: solutions: [[-105.000000, 165.000000, -71.000000, 169.000000, 30.000000, 88.000000], [-105.000000, 174.236066, -88.724392, 165.062126, 21.722563, 92.364327], [-105.000000, 165.000000, -71.000000, -11.000000, -30.000000, -92.000000], [-105.000000, 174.236066, -88.724392, -14.937874, -21.722563, -87.635673]] - id: 1021 parameters: Irb2400_10 - joints: [-66.000000, -174.000000, 87.000000, -30.000000, 147.000000, 133.000000] - pose: {translation: [-0.03444125487462862, 0.02044687416210868, 0.6016051586180308], quaternion: [0.8795902716730587, -0.3967672317775904, 0.07129048906068326, 0.2526150904739291]} - solutions: [[114.000000, 176.918930, 98.064916, 142.163694, 153.644111, 124.000186], [114.000000, 128.340417, 102.210692, 162.762072, 113.228144, 151.859904], [-66.000000, -174.000000, 87.000000, -30.000000, 147.000000, 133.000000], [-66.000000, 33.029422, 113.275608, -164.073648, 82.937479, -23.172825], [114.000000, 176.918930, 98.064916, -37.836306, -153.644111, -55.999814], [114.000000, 128.340417, 102.210692, -17.237928, -113.228144, -28.140096], [-66.000000, -174.000000, 87.000000, 150.000000, -147.000000, -47.000000], [-66.000000, 33.029422, 113.275608, 15.926352, -82.937479, 156.827175]] + joints: [-66.000000, -174.000000, 87.000000, -30.000000, 146.000000, 133.000000] + pose: {translation: [-0.03455373215439551, 0.01917876539903144, 0.6023667713914855], quaternion: [0.8775202594457834, -0.3957036787276218, 0.07399039950335534, 0.2605805320528878]} + solutions: [[114.000000, 176.918930, 98.064916, 142.504242, 152.656007, 124.304031], [114.000000, 128.340417, 102.210692, 162.412748, 112.281448, 151.724785], [-66.000000, -174.000000, 87.000000, -30.000000, 146.000000, 133.000000], [-66.000000, 33.029422, 113.275608, -163.667350, 83.852416, -23.219561], [114.000000, 176.918930, 98.064916, -37.495758, -152.656007, -55.695969], [114.000000, 128.340417, 102.210692, -17.587252, -112.281448, -28.275215], [-66.000000, -174.000000, 87.000000, 150.000000, -146.000000, -47.000000], [-66.000000, 33.029422, 113.275608, 16.332650, -83.852416, 156.780439]] - id: 1022 parameters: Irb2400_10 - joints: [-137.000000, 146.000000, -150.000000, -5.000000, 78.000000, 119.000000] - pose: {translation: [-0.9274582743059495, -0.8549606987190027, 0.1364741634531756], quaternion: [0.7814724690581095, -0.6066919218919876, -0.06472816184199078, 0.1305218643744626]} - solutions: [[-137.000000, 72.476271, -9.724392, -23.767353, 12.211962, 141.245303], [-137.000000, 146.000000, -150.000000, -5.000000, 78.000000, 119.000000], [43.000000, -125.887455, -42.769439, 175.093102, 85.315758, 118.359604], [43.000000, -87.176156, -116.954953, 173.610486, 50.000277, 122.074996], [-137.000000, 72.476271, -9.724392, 156.232647, -12.211962, -38.754697], [-137.000000, 146.000000, -150.000000, 175.000000, -78.000000, -61.000000], [43.000000, -125.887455, -42.769439, -4.906898, -85.315758, -61.640396], [43.000000, -87.176156, -116.954953, -6.389514, -50.000277, -57.925004]] + joints: [-137.000000, 145.000000, -150.000000, -5.000000, 78.000000, 119.000000] + pose: {translation: [-0.9334367568156307, -0.8605357238514906, 0.1568159530945687], quaternion: [0.780252807295909, -0.6062210349113336, -0.06610248171285123, 0.1390398340379009]} + solutions: [[-137.000000, 71.476271, -9.724392, -23.767353, 12.211962, 141.245303], [-137.000000, 145.000000, -150.000000, -5.000000, 78.000000, 119.000000], [43.000000, -124.900458, -43.007550, 175.091294, 85.065564, 118.381164], [43.000000, -86.438414, -116.716842, 173.608230, 49.976281, 122.078506], [-137.000000, 71.476271, -9.724392, 156.232647, -12.211962, -38.754697], [-137.000000, 145.000000, -150.000000, 175.000000, -78.000000, -61.000000], [43.000000, -124.900458, -43.007550, -4.908706, -85.065564, -61.618836], [43.000000, -86.438414, -116.716842, -6.391770, -49.976281, -57.921494]] - id: 1023 parameters: Irb2400_10 joints: [-109.000000, -31.000000, -128.000000, -1.000000, 120.000000, 34.000000] @@ -5121,19 +5121,19 @@ cases: solutions: [[71.000000, 12.429178, -6.805198, 178.425923, 146.617824, 33.185553], [71.000000, 89.058786, -152.919194, 179.111720, 77.144865, 34.697684], [-109.000000, -81.292579, -31.724392, -0.900815, 74.022624, 34.748013], [-109.000000, -31.000000, -128.000000, -1.000000, 120.000000, 34.000000], [71.000000, 12.429178, -6.805198, -1.574077, -146.617824, -146.814447], [71.000000, 89.058786, -152.919194, -0.888280, -77.144865, -145.302316], [-109.000000, -81.292579, -31.724392, 179.099185, -74.022624, -145.251987], [-109.000000, -31.000000, -128.000000, 179.000000, -120.000000, -146.000000]] - id: 1024 parameters: KukaKR6_R700_sixx - joints: [99.000000, 124.000000, 49.000000, -169.000000, -55.000000, 82.000000] - pose: {translation: [0.07565099601195059, 0.5575736330449641, 0.1178882891250586], quaternion: [-0.3665459409396786, -0.03925092185870406, -0.03129571915410764, 0.9290446793758171]} - solutions: [[-81.000000, 2.772624, 65.166491, -170.060634, 115.103860, -87.386381], [-81.000000, 67.442447, -54.211754, -169.717916, 61.123871, -96.644870], [99.000000, 124.000000, 49.000000, 11.000000, 55.000000, -98.000000], [99.000000, 170.989165, -38.045263, 9.020319, 94.499233, -90.924780], [-81.000000, 2.772624, 65.166491, 9.939366, -115.103860, 92.613619], [-81.000000, 67.442447, -54.211754, 10.282084, -61.123871, 83.355130], [99.000000, 124.000000, 49.000000, -169.000000, -55.000000, 82.000000], [99.000000, 170.989165, -38.045263, -170.979681, -94.499233, 89.075220]] + joints: [99.000000, 123.000000, 49.000000, -169.000000, -54.000000, 82.000000] + pose: {translation: [0.07517835311242588, 0.5536005151240443, 0.106730849574331], quaternion: [-0.3825322790005418, -0.03686174762760237, -0.03124015622589107, 0.922677798434249]} + solutions: [[-81.000000, 3.936529, 64.993336, -170.263130, 114.111715, -87.472141], [-81.000000, 68.415797, -54.038598, -169.760117, 60.268323, -96.601455], [99.000000, 123.000000, 49.000000, 11.000000, 54.000000, -98.000000], [99.000000, 169.989165, -38.045263, 8.896922, 93.506838, -90.933395], [-81.000000, 3.936529, 64.993336, 9.736870, -114.111715, 92.527859], [-81.000000, 68.415797, -54.038598, 10.239883, -60.268323, 83.398545], [99.000000, 123.000000, 49.000000, -169.000000, -54.000000, 82.000000], [99.000000, 169.989165, -38.045263, -171.103078, -93.506838, 89.066605]] - id: 1025 parameters: KukaKR6_R700_sixx - joints: [-46.000000, -155.000000, 73.000000, -111.000000, 59.000000, 78.000000] - pose: {translation: [-0.2287110721128687, -0.1446786105074759, 0.9436658266464544], quaternion: [-0.442593946344585, -0.1664993470633148, 0.5848403880580633, 0.6590525673895145]} - solutions: [[134.000000, -106.528833, 79.423426, 115.758061, 62.687930, -5.138557], [134.000000, -26.050447, -68.468688, 71.012734, 57.809331, 74.159543], [-46.000000, -155.000000, 73.000000, -111.000000, 59.000000, 78.000000], [-46.000000, -81.675648, -62.045263, -68.946673, 59.034138, 4.501203], [134.000000, -106.528833, 79.423426, -64.241939, -62.687930, 174.861443], [134.000000, -26.050447, -68.468688, -108.987266, -57.809331, -105.840457], [-46.000000, -155.000000, 73.000000, 69.000000, -59.000000, -102.000000], [-46.000000, -81.675648, -62.045263, 111.053327, -59.034138, -175.498797]] + joints: [-46.000000, -154.000000, 73.000000, -111.000000, 59.000000, 78.000000] + pose: {translation: [-0.2220894961208378, -0.13782176784266, 0.9486084291926059], quaternion: [-0.4431689140204638, -0.158826611886485, 0.5885462800660627, 0.6572584706361588]} + solutions: [[134.000000, -107.438460, 79.197271, 115.694813, 62.628990, -5.000850], [134.000000, -27.212962, -68.242533, 71.050636, 57.788645, 74.088419], [-46.000000, -154.000000, 73.000000, -111.000000, 59.000000, 78.000000], [-46.000000, -80.675648, -62.045263, -68.946673, 59.034138, 4.501203], [134.000000, -107.438460, 79.197271, -64.305187, -62.628990, 174.999150], [134.000000, -27.212962, -68.242533, -108.949364, -57.788645, -105.911581], [-46.000000, -154.000000, 73.000000, 69.000000, -59.000000, -102.000000], [-46.000000, -80.675648, -62.045263, 111.053327, -59.034138, -175.498797]] - id: 1026 parameters: KukaKR6_R700_sixx - joints: [111.000000, 178.000000, 59.000000, -94.000000, 75.000000, 137.000000] - pose: {translation: [0.2632456494295862, 0.470675894761635, 0.6904883589229199], quaternion: [0.6314923826275081, -0.1050437408801527, 0.7682337290472696, -0.0003474758451162257]} - solutions: [[-69.000000, -66.324287, 73.744051, 101.974024, 80.065244, 71.008918], [-69.000000, 7.825866, -62.789314, 86.547115, 74.867623, 134.895404], [111.000000, 178.000000, 59.000000, -94.000000, 75.000000, 137.000000], [111.000000, -124.098942, -48.045263, -81.054062, 77.275019, 86.329451], [-69.000000, -66.324287, 73.744051, -78.025976, -80.065244, -108.991082], [-69.000000, 7.825866, -62.789314, -93.452885, -74.867623, -45.104596], [111.000000, 178.000000, 59.000000, 86.000000, -75.000000, -43.000000], [111.000000, -124.098942, -48.045263, 98.945938, -77.275019, -93.670549]] + joints: [111.000000, 177.000000, 59.000000, -94.000000, 75.000000, 137.000000] + pose: {translation: [0.2650319775416516, 0.4753294385923317, 0.6806925385577886], quaternion: [0.6338736737010621, -0.09878208697029384, 0.7670853874583743, 0.005125761440878563]} + solutions: [[-69.000000, -65.316809, 73.870429, 101.996926, 80.093041, 70.875993], [-69.000000, 8.973678, -62.915692, 86.552901, 74.866333, 134.873240], [111.000000, 177.000000, 59.000000, -94.000000, 75.000000, 137.000000], [111.000000, -125.098942, -48.045263, -81.054062, 77.275019, 86.329451], [-69.000000, -65.316809, 73.870429, -78.003074, -80.093041, -109.124007], [-69.000000, 8.973678, -62.915692, -93.447099, -74.866333, -45.126760], [111.000000, 177.000000, 59.000000, 86.000000, -75.000000, -43.000000], [111.000000, -125.098942, -48.045263, 98.945938, -77.275019, -93.670549]] - id: 1027 parameters: KukaKR6_R700_sixx joints: [-79.000000, 38.000000, -38.000000, 35.000000, -43.000000, 16.000000] @@ -5151,14 +5151,14 @@ cases: solutions: [[16.000000, -88.529050, 97.954737, 112.323793, 65.375058, -22.310134], [16.000000, 13.000000, -87.000000, 66.000000, 67.000000, 71.000000], [-164.000000, 169.256600, 88.039480, -115.230156, 68.373276, 74.239078], [-164.000000, -100.566240, -77.084743, -73.255492, 61.420934, -9.896893], [16.000000, -88.529050, 97.954737, -67.676207, -65.375058, 157.689866], [16.000000, 13.000000, -87.000000, -114.000000, -67.000000, -109.000000], [-164.000000, 169.256600, 88.039480, 64.769844, -68.373276, -105.760922], [-164.000000, -100.566240, -77.084743, 106.744508, -61.420934, 170.103107]] - id: 1030 parameters: KukaKR6_R700_sixx - joints: [-10.000000, 175.000000, 88.000000, 5.000000, -79.000000, -97.000000] - pose: {translation: [-0.4419207802029825, -0.07097261596452492, 0.7361767956045491], quaternion: [-0.4876076250932487, -0.4765846750053213, 0.5663535389178056, 0.4629789632977636]} - solutions: [[170.000000, -94.238948, 97.149460, 144.644571, 8.502502, -60.986463], [170.000000, 6.358926, -86.194722, 5.061918, 75.847980, 82.715733], [-10.000000, 175.000000, 88.000000, -175.000000, 79.000000, 83.000000], [-10.000000, -94.867595, -77.045263, -129.410444, 6.357583, 33.540302], [170.000000, -94.238948, 97.149460, -35.355429, -8.502502, 119.013537], [170.000000, 6.358926, -86.194722, -174.938082, -75.847980, -97.284267], [-10.000000, 175.000000, 88.000000, 5.000000, -79.000000, -97.000000], [-10.000000, -94.867595, -77.045263, 50.589556, -6.357583, -146.459698]] + joints: [-10.000000, 174.000000, 88.000000, 5.000000, -79.000000, -97.000000] + pose: {translation: [-0.4476278644981466, -0.07197892890693991, 0.7278787863674057], quaternion: [-0.4917547042670472, -0.481403572855917, 0.561419302423403, 0.4596044796770441]} + solutions: [[170.000000, -93.244487, 97.291130, 145.164658, 8.613885, -61.512406], [170.000000, 7.517075, -86.336392, 5.062285, 75.831565, 82.714234], [-10.000000, 174.000000, 88.000000, -175.000000, 79.000000, 83.000000], [-10.000000, -95.867595, -77.045263, -129.410444, 6.357583, 33.540302], [170.000000, -93.244487, 97.291130, -34.835342, -8.613885, 118.487594], [170.000000, 7.517075, -86.336392, -174.937715, -75.831565, -97.285766], [-10.000000, 174.000000, 88.000000, 5.000000, -79.000000, -97.000000], [-10.000000, -95.867595, -77.045263, 50.589556, -6.357583, -146.459698]] - id: 1031 parameters: KukaKR6_R700_sixx - joints: [138.000000, -34.000000, -104.000000, -24.000000, 119.000000, 98.000000] - pose: {translation: [-0.02782960091006625, -0.06335350366386319, 0.8159183968256325], quaternion: [-0.0001547617847776556, -0.6044106962815805, 0.7141629765803876, 0.3530707140942815]} - solutions: [[-42.000000, -153.388626, 115.179057, 155.066600, 122.450388, 96.174045], [-42.000000, -31.397008, -104.224319, 140.618812, 34.102995, 144.384321], [138.000000, -155.716720, 114.954737, -43.090484, 31.381416, 148.792429], [138.000000, -34.000000, -104.000000, -24.000000, 119.000000, 98.000000], [-42.000000, -153.388626, 115.179057, -24.933400, -122.450388, -83.825955], [-42.000000, -31.397008, -104.224319, -39.381188, -34.102995, -35.615679], [138.000000, -155.716720, 114.954737, 136.909516, -31.381416, -31.207571], [138.000000, -34.000000, -104.000000, 156.000000, -119.000000, -82.000000]] + joints: [138.000000, -34.000000, -104.000000, -24.000000, 118.000000, 98.000000] + pose: {translation: [-0.02727327573212171, -0.06321722645697125, 0.8171917517712226], quaternion: [0.002028993104058852, -0.5977873606123171, 0.7193586766720802, 0.3537926638240781]} + solutions: [[-42.000000, -153.388626, 115.179057, 155.103949, 121.450891, 96.193811], [-42.000000, -31.397008, -104.224319, 139.304278, 33.420073, 145.477203], [138.000000, -155.716720, 114.954737, -44.605719, 30.758052, 150.090327], [138.000000, -34.000000, -104.000000, -24.000000, 118.000000, 98.000000], [-42.000000, -153.388626, 115.179057, -24.896051, -121.450891, -83.806189], [-42.000000, -31.397008, -104.224319, -40.695722, -33.420073, -34.522797], [138.000000, -155.716720, 114.954737, 135.394281, -30.758052, -29.909673], [138.000000, -34.000000, -104.000000, 156.000000, -118.000000, -82.000000]] - id: 1032 parameters: KukaKR6_R700_sixx joints: [-156.000000, 98.000000, -126.000000, 78.000000, -110.000000, -46.000000] @@ -5171,9 +5171,9 @@ cases: solutions: [[82.000000, 20.682746, -178.045263, -97.663301, 26.174230, -94.694541], [82.000000, -27.000000, -171.000000, -39.000000, 44.000000, -163.000000], [82.000000, 20.682746, -178.045263, 82.336699, -26.174230, 85.305459], [82.000000, -27.000000, -171.000000, 141.000000, -44.000000, 17.000000]] - id: 1034 parameters: KukaKR6_R700_sixx - joints: [156.000000, -114.000000, -128.000000, 85.000000, -103.000000, 52.000000] - pose: {translation: [0.2409039038875409, 0.02225555564806805, 0.3617595672990792], quaternion: [-0.2884390056045296, -0.5808848109493436, 0.5842180826751787, -0.4879190591989142]} - solutions: [[-24.000000, -70.731953, 147.992114, 81.727110, 101.225317, -143.504537], [-24.000000, 96.969911, -137.037377, 103.761952, 92.064030, -25.113393], [156.000000, 92.520670, 138.954737, -76.102970, 89.328626, -14.036381], [156.000000, -114.000000, -128.000000, -95.000000, 103.000000, -128.000000], [-24.000000, -70.731953, 147.992114, -98.272890, -101.225317, 36.495463], [-24.000000, 96.969911, -137.037377, -76.238048, -92.064030, 154.886607], [156.000000, 92.520670, 138.954737, 103.897030, -89.328626, 165.963619], [156.000000, -114.000000, -128.000000, 85.000000, -103.000000, 52.000000]] + joints: [156.000000, -113.000000, -128.000000, 85.000000, -103.000000, 52.000000] + pose: {translation: [0.2414782339517192, 0.0225112638674753, 0.3662005509059866], quaternion: [-0.2948172807991754, -0.5790465841999438, 0.5798345830656337, -0.4915075589954446]} + solutions: [[-24.000000, -71.978927, 148.026695, 81.768885, 101.255801, -143.290231], [-24.000000, 95.781720, -137.071957, 103.769650, 92.011021, -24.896883], [156.000000, 93.520670, 138.954737, -76.102970, 89.328626, -14.036381], [156.000000, -113.000000, -128.000000, -95.000000, 103.000000, -128.000000], [-24.000000, -71.978927, 148.026695, -98.231115, -101.255801, 36.709769], [-24.000000, 95.781720, -137.071957, -76.230350, -92.011021, 155.103117], [156.000000, 93.520670, 138.954737, 103.897030, -89.328626, 165.963619], [156.000000, -113.000000, -128.000000, 85.000000, -103.000000, 52.000000]] - id: 1035 parameters: KukaKR6_R700_sixx joints: [57.000000, 33.000000, -134.000000, -45.000000, 72.000000, 44.000000] @@ -5186,59 +5186,59 @@ cases: solutions: [[38.000000, -79.000000, 132.000000, 107.000000, 65.000000, 178.000000], [38.000000, 64.636616, -121.045263, 60.685809, 83.714477, -67.150555], [-142.000000, 120.752315, 122.292214, -119.784034, 86.989890, -61.359505], [-142.000000, -108.379750, -111.337476, -79.490034, 61.823248, -167.566517], [38.000000, -79.000000, 132.000000, -73.000000, -65.000000, -2.000000], [38.000000, 64.636616, -121.045263, -119.314191, -83.714477, 112.849445], [-142.000000, 120.752315, 122.292214, 60.215966, -86.989890, 118.640495], [-142.000000, -108.379750, -111.337476, 100.509966, -61.823248, 12.433483]] - id: 1037 parameters: KukaKR6_R700_sixx - joints: [2.000000, -161.000000, 25.000000, -98.000000, -5.000000, 120.000000] - pose: {translation: [-0.616230033844443, 0.01461041437977933, 0.7869866118019524], quaternion: [0.1059718564713956, -0.3720211986524924, -0.1751859590932139, 0.9053618465153916]} - solutions: [[-178.000000, -56.353994, 51.033057, -172.224233, 39.636447, 15.966689], [-178.000000, -7.151977, -40.078320, -62.974351, 5.559957, -95.165327], [2.000000, -161.000000, 25.000000, 82.000000, 5.000000, -60.000000], [2.000000, -139.983056, -14.045263, 15.101192, 19.346709, 7.685522], [-178.000000, -56.353994, 51.033057, 7.775767, -39.636447, -164.033311], [-178.000000, -7.151977, -40.078320, 117.025649, -5.559957, 84.834673], [2.000000, -161.000000, 25.000000, -98.000000, -5.000000, 120.000000], [2.000000, -139.983056, -14.045263, -164.898808, -19.346709, -172.314478]] + joints: [2.000000, -160.000000, 25.000000, -98.000000, -5.000000, 120.000000] + pose: {translation: [-0.6093826770509343, 0.01437129941156546, 0.7981210264802995], quaternion: [0.1047157156668331, -0.3640578206276798, -0.1762167920601594, 0.9085395777445437]} + solutions: [[-178.000000, -57.310054, 50.828959, -172.197956, 39.477766, 15.932607], [-178.000000, -8.330303, -39.874222, -63.210687, 5.548294, -94.927876], [2.000000, -160.000000, 25.000000, 82.000000, 5.000000, -60.000000], [2.000000, -138.983056, -14.045263, 15.101192, 19.346709, 7.685522], [-178.000000, -57.310054, 50.828959, 7.802044, -39.477766, -164.067393], [-178.000000, -8.330303, -39.874222, 116.789313, -5.548294, 85.072124], [2.000000, -160.000000, 25.000000, -98.000000, -5.000000, 120.000000], [2.000000, -138.983056, -14.045263, -164.898808, -19.346709, -172.314478]] - id: 1038 parameters: KukaKR6_R700_sixx - joints: [-21.000000, -119.000000, -64.000000, 98.000000, 136.000000, 114.000000] - pose: {translation: [-0.3840611820426713, -0.2063743551987609, 0.6167387156277548], quaternion: [0.04066678672718897, 0.7264951323358779, -0.2273385616681167, 0.6472002885724267]} - solutions: [[159.000000, -70.246145, 87.528190, -68.487217, 132.318963, 133.292564], [159.000000, 19.351659, -76.573453, -129.957195, 116.178401, 40.714669], [-21.000000, 165.504602, 74.954737, 48.888485, 114.073878, 37.997021], [-21.000000, -119.000000, -64.000000, 98.000000, 136.000000, 114.000000], [159.000000, -70.246145, 87.528190, 111.512783, -132.318963, -46.707436], [159.000000, 19.351659, -76.573453, 50.042805, -116.178401, -139.285331], [-21.000000, 165.504602, 74.954737, -131.111515, -114.073878, -142.002979], [-21.000000, -119.000000, -64.000000, -82.000000, -136.000000, -66.000000]] + joints: [-21.000000, -119.000000, -64.000000, 98.000000, 135.000000, 114.000000] + pose: {translation: [-0.3846133829043648, -0.2076426681892022, 0.6165490887182319], quaternion: [0.04663169107003687, 0.7269522807054851, -0.2329772448504839, 0.6442728229150443]} + solutions: [[159.000000, -70.246145, 87.528190, -68.927482, 131.374270, 132.998836], [159.000000, 19.351659, -76.573453, -128.892618, 115.886884, 41.181907], [-21.000000, 165.504602, 74.954737, 49.949217, 113.828354, 38.427644], [-21.000000, -119.000000, -64.000000, 98.000000, 135.000000, 114.000000], [159.000000, -70.246145, 87.528190, 111.072518, -131.374270, -47.001164], [159.000000, 19.351659, -76.573453, 51.107382, -115.886884, -138.818093], [-21.000000, 165.504602, 74.954737, -130.050783, -113.828354, -141.572356], [-21.000000, -119.000000, -64.000000, -82.000000, -135.000000, -66.000000]] - id: 1039 parameters: KukaKR6_R700_sixx - joints: [24.000000, -4.000000, 46.000000, -159.000000, -147.000000, -97.000000] - pose: {translation: [0.5023307547952987, -0.2407442530822235, 0.2184160868420776], quaternion: [0.2937456567615985, -0.5674986686076851, -0.4935515035426424, 0.589970900649345]} - solutions: [[24.000000, -4.000000, 46.000000, 21.000000, 147.000000, 83.000000], [24.000000, 39.728400, -35.045263, 118.059945, 167.221679, -176.184654], [24.000000, -4.000000, 46.000000, -159.000000, -147.000000, -97.000000], [24.000000, 39.728400, -35.045263, -61.940055, -167.221679, 3.815346]] + joints: [24.000000, -4.000000, 46.000000, -159.000000, -146.000000, -97.000000] + pose: {translation: [0.5020197797022695, -0.2410625363508478, 0.2170926472890109], quaternion: [0.2983196078086653, -0.5723793833999867, -0.4889297246789567, 0.5868006283064929]} + solutions: [[24.000000, -4.000000, 46.000000, 21.000000, 146.000000, 83.000000], [24.000000, 39.728400, -35.045263, 113.562767, 167.371703, 179.428138], [24.000000, -4.000000, 46.000000, -159.000000, -146.000000, -97.000000], [24.000000, 39.728400, -35.045263, -66.437233, -167.371703, -0.571862]] - id: 1040 parameters: KukaKR6_R700_sixx - joints: [138.000000, 151.000000, 156.000000, -111.000000, -147.000000, -16.000000] - pose: {translation: [0.03721429515131465, 0.08824440275877266, 0.4968700518259714], quaternion: [0.2668061117319951, 0.9068858961192718, 0.298087958671689, -0.1323481736078928]} - solutions: [[-42.000000, -172.816516, 159.114790, -30.962533, 81.231448, -76.180350], [-42.000000, 16.691454, -148.160053, -117.076475, 145.176400, 156.682063], [138.000000, 151.000000, 156.000000, 69.000000, 147.000000, 164.000000], [138.000000, -26.327820, -145.045263, 148.528787, 76.890608, -73.502141], [-42.000000, -172.816516, 159.114790, 149.037467, -81.231448, 103.819650], [-42.000000, 16.691454, -148.160053, 62.923525, -145.176400, -23.317937], [138.000000, 151.000000, 156.000000, -111.000000, -147.000000, -16.000000], [138.000000, -26.327820, -145.045263, -31.471213, -76.890608, 106.497859]] + joints: [138.000000, 150.000000, 156.000000, -111.000000, -146.000000, -16.000000] + pose: {translation: [0.037143213847132, 0.08964307207032948, 0.4952840246030457], quaternion: [0.2667214138366109, 0.9072527630097315, 0.2911170731254109, -0.1449239840299105]} + solutions: [[-42.000000, -171.931191, 159.270329, -31.842376, 81.694998, -76.028682], [-42.000000, 17.938639, -148.315592, -116.745377, 144.225672, 156.999522], [138.000000, 150.000000, 156.000000, 69.000000, 146.000000, 164.000000], [138.000000, -27.327820, -145.045263, 147.664671, 77.429299, -73.310103], [-42.000000, -171.931191, 159.270329, 148.157624, -81.694998, 103.971318], [-42.000000, 17.938639, -148.315592, 63.254623, -144.225672, -23.000478], [138.000000, 150.000000, 156.000000, -111.000000, -146.000000, -16.000000], [138.000000, -27.327820, -145.045263, -32.335329, -77.429299, 106.689897]] - id: 1041 parameters: KukaKR6_R700_sixx - joints: [-103.000000, -156.000000, -116.000000, 17.000000, 101.000000, 173.000000] - pose: {translation: [0.08775031927755438, -0.2780217386385396, 0.1772003842583214], quaternion: [0.3614128661735226, 0.5389017028842767, -0.3366032735484129, 0.682395729052548]} - solutions: [[77.000000, -21.725498, 133.447819, -160.694188, 119.762327, 179.526143], [77.000000, 123.902381, -122.493081, -122.255349, 19.838659, 113.519033], [-103.000000, 67.112347, 126.954737, 104.916080, 17.277987, 64.073944], [-103.000000, -156.000000, -116.000000, 17.000000, 101.000000, 173.000000], [77.000000, -21.725498, 133.447819, 19.305812, -119.762327, -0.473857], [77.000000, 123.902381, -122.493081, 57.744651, -19.838659, -66.480967], [-103.000000, 67.112347, 126.954737, -75.083920, -17.277987, -115.926056], [-103.000000, -156.000000, -116.000000, -163.000000, -101.000000, -7.000000]] + joints: [-103.000000, -155.000000, -116.000000, 17.000000, 101.000000, 173.000000] + pose: {translation: [0.08861420255009841, -0.2817636281917617, 0.1827429182576445], quaternion: [0.3562575459438609, 0.5346795152074001, -0.3404632013943619, 0.6865006813339224]} + solutions: [[77.000000, -22.919492, 133.576057, -160.706600, 119.700266, 179.501115], [77.000000, 122.886077, -122.621319, -121.915196, 19.761881, 113.157507], [-103.000000, 68.112347, 126.954737, 104.916080, 17.277987, 64.073944], [-103.000000, -155.000000, -116.000000, 17.000000, 101.000000, 173.000000], [77.000000, -22.919492, 133.576057, 19.293400, -119.700266, -0.498885], [77.000000, 122.886077, -122.621319, 58.084804, -19.761881, -66.842493], [-103.000000, 68.112347, 126.954737, -75.083920, -17.277987, -115.926056], [-103.000000, -155.000000, -116.000000, -163.000000, -101.000000, -7.000000]] - id: 1042 parameters: KukaKR6_R700_sixx - joints: [59.000000, -4.000000, -97.000000, -28.000000, -39.000000, 85.000000] - pose: {translation: [0.0723087928449124, -0.1662334867052099, 0.8261363572897125], quaternion: [-0.1492706658521584, 0.3863892304923388, 0.7638089844349341, -0.4949923900142973]} - solutions: [[59.000000, -117.264296, 107.954737, 158.767126, 125.333907, -130.115502], [59.000000, -4.000000, -97.000000, 152.000000, 39.000000, -95.000000], [-121.000000, -177.998937, 102.036278, -29.904916, 36.341747, -92.594168], [-121.000000, -71.720809, -91.081541, -19.537403, 117.937605, -126.890409], [59.000000, -117.264296, 107.954737, -21.232874, -125.333907, 49.884498], [59.000000, -4.000000, -97.000000, -28.000000, -39.000000, 85.000000], [-121.000000, -177.998937, 102.036278, 150.095084, -36.341747, 87.405832], [-121.000000, -71.720809, -91.081541, 160.462597, -117.937605, 53.109591]] + joints: [59.000000, -4.000000, -97.000000, -28.000000, -38.000000, 85.000000] + pose: {translation: [0.07315088318707241, -0.1666389217882254, 0.8271736654634454], quaternion: [-0.1455427791121115, 0.3793580004255884, 0.7670253789542059, -0.4965650763007598]} + solutions: [[59.000000, -117.264296, 107.954737, 159.465208, 124.513900, -129.715845], [59.000000, -4.000000, -97.000000, 152.000000, 38.000000, -95.000000], [-121.000000, -177.998937, 102.036278, -29.977479, 35.342650, -92.535344], [-121.000000, -71.720809, -91.081541, -18.944040, 117.087275, -126.616301], [59.000000, -117.264296, 107.954737, -20.534792, -124.513900, 50.284155], [59.000000, -4.000000, -97.000000, -28.000000, -38.000000, 85.000000], [-121.000000, -177.998937, 102.036278, 150.022521, -35.342650, 87.464656], [-121.000000, -71.720809, -91.081541, 161.055960, -117.087275, 53.383699]] - id: 1043 parameters: KukaKR6_R700_sixx - joints: [132.000000, 43.000000, -15.000000, -57.000000, -45.000000, 21.000000] - pose: {translation: [-0.4758757148432086, -0.4576120124892419, 0.04536235756766865], quaternion: [0.6981011522119301, -0.09283619144482708, -0.6704595200805856, 0.2334957275234512]} - solutions: [[132.000000, 20.953708, 25.954737, 135.021693, 57.033438, -177.901013], [132.000000, 43.000000, -15.000000, 123.000000, 45.000000, -159.000000], [132.000000, 20.953708, 25.954737, -44.978307, -57.033438, 2.098987], [132.000000, 43.000000, -15.000000, -57.000000, -45.000000, 21.000000]] + joints: [132.000000, 42.000000, -15.000000, -57.000000, -44.000000, 21.000000] + pose: {translation: [-0.4797506084225917, -0.4631637184388473, 0.05554481481271815], quaternion: [0.6973632560946657, -0.09176254593198498, -0.6685393489433987, 0.2414938159197097]} + solutions: [[132.000000, 19.953708, 25.954737, 135.412008, 56.087964, -178.116105], [132.000000, 42.000000, -15.000000, 123.000000, 44.000000, -159.000000], [132.000000, 19.953708, 25.954737, -44.587992, -56.087964, 1.883895], [132.000000, 42.000000, -15.000000, -57.000000, -44.000000, 21.000000]] - id: 1044 parameters: KukaKR6_R700_sixx - joints: [172.000000, 152.000000, -149.000000, -22.000000, 58.000000, 39.000000] - pose: {translation: [-0.1472276617424315, -0.04635601646577399, 0.2029296480463353], quaternion: [0.8944164237118881, 0.326336685063854, -0.2854723621787671, 0.1096775246258141]} - solutions: [[172.000000, -39.488395, 159.954737, -159.121007, 63.047392, -162.893569], [172.000000, 152.000000, -149.000000, -22.000000, 58.000000, 39.000000], [-8.000000, 46.930132, 154.061947, 161.211992, 80.536525, 30.116812], [-8.000000, -134.314716, -143.107209, 28.342142, 42.003934, -174.926693], [172.000000, -39.488395, 159.954737, 20.878993, -63.047392, 17.106431], [172.000000, 152.000000, -149.000000, 158.000000, -58.000000, -141.000000], [-8.000000, 46.930132, 154.061947, -18.788008, -80.536525, -149.883188], [-8.000000, -134.314716, -143.107209, -151.657858, -42.003934, 5.073307]] + joints: [172.000000, 151.000000, -149.000000, -22.000000, 58.000000, 39.000000] + pose: {translation: [-0.1506143504551543, -0.04683198452433722, 0.2051804180570478], quaternion: [0.8917822231664032, 0.3269253435965301, -0.2935870252692246, 0.1079395421161583]} + solutions: [[172.000000, -40.488395, 159.954737, -159.121007, 63.047392, -162.893569], [172.000000, 151.000000, -149.000000, -22.000000, 58.000000, 39.000000], [-8.000000, 47.846741, 153.953106, 161.201569, 80.354541, 30.179612], [-8.000000, -133.611565, -142.998369, 28.243475, 42.169482, -174.793741], [172.000000, -40.488395, 159.954737, 20.878993, -63.047392, 17.106431], [172.000000, 151.000000, -149.000000, 158.000000, -58.000000, -141.000000], [-8.000000, 47.846741, 153.953106, -18.798431, -80.354541, -149.820388], [-8.000000, -133.611565, -142.998369, -151.756525, -42.169482, 5.206259]] - id: 1045 parameters: KukaKR6_R700_sixx - joints: [-49.000000, 176.000000, -105.000000, -44.000000, -29.000000, -50.000000] - pose: {translation: [-0.03749668659462843, -0.08420168158836426, -0.01276705286618841], quaternion: [0.3805584828671519, 0.8437357685018125, 0.2655601258872982, 0.2697462022109484]} - solutions: [[131.000000, 8.719104, 119.636761, -83.368819, 19.818716, 172.770614], [131.000000, 136.234697, -108.682023, -20.171137, 102.403353, 85.303615], [-49.000000, 53.055649, 115.954737, 157.610008, 117.854033, 78.920224], [-49.000000, 176.000000, -105.000000, 136.000000, 29.000000, 130.000000], [131.000000, 8.719104, 119.636761, 96.631181, -19.818716, -7.229386], [131.000000, 136.234697, -108.682023, 159.828863, -102.403353, -94.696385], [-49.000000, 53.055649, 115.954737, -22.389992, -117.854033, -101.079776], [-49.000000, 176.000000, -105.000000, -44.000000, -29.000000, -50.000000]] + joints: [-49.000000, 175.000000, -105.000000, -44.000000, -28.000000, -50.000000] + pose: {translation: [-0.03379723705095708, -0.07864671374059964, -0.01560682921712191], quaternion: [0.3810714316857595, 0.8437312920652892, 0.269793150910129, 0.2647899666996235]} + solutions: [[131.000000, 9.864299, 119.467452, -85.375405, 19.098160, 174.654656], [131.000000, 137.167813, -108.512714, -19.445875, 101.595000, 85.488352], [-49.000000, 52.055649, 115.954737, 158.484934, 117.223039, 79.324754], [-49.000000, 175.000000, -105.000000, 136.000000, 28.000000, 130.000000], [131.000000, 9.864299, 119.467452, 94.624595, -19.098160, -5.345344], [131.000000, 137.167813, -108.512714, 160.554125, -101.595000, -94.511648], [-49.000000, 52.055649, 115.954737, -21.515066, -117.223039, -100.675246], [-49.000000, 175.000000, -105.000000, -44.000000, -28.000000, -50.000000]] - id: 1046 parameters: KukaKR6_R700_sixx - joints: [4.000000, 74.000000, 174.000000, 110.000000, 28.000000, -6.000000] - pose: {translation: [-0.09795655968058875, -0.02852910834814266, 0.4831938136968857], quaternion: [0.3474875604601234, -0.0002678845341508928, -0.7322942344630456, 0.5856598652251411]} - solutions: [[4.000000, 74.000000, 174.000000, 110.000000, 28.000000, -6.000000], [4.000000, -43.421884, -163.045263, 26.296067, 84.761001, 103.819055], [4.000000, 74.000000, 174.000000, -70.000000, -28.000000, 174.000000], [4.000000, -43.421884, -163.045263, -153.703933, -84.761001, -76.180945]] + joints: [4.000000, 73.000000, 174.000000, 110.000000, 28.000000, -6.000000] + pose: {translation: [-0.09938661245049638, -0.02842910931703203, 0.4810741513272441], quaternion: [0.353492644055281, -0.005811977516781838, -0.7292412120236141, 0.585846759999986]} + solutions: [[4.000000, 73.000000, 174.000000, 110.000000, 28.000000, -6.000000], [4.000000, -44.421884, -163.045263, 26.296067, 84.761001, 103.819055], [4.000000, 73.000000, 174.000000, -70.000000, -28.000000, 174.000000], [4.000000, -44.421884, -163.045263, -153.703933, -84.761001, -76.180945]] - id: 1047 parameters: KukaKR6_R700_sixx - joints: [146.000000, 77.000000, 12.000000, 32.000000, -77.000000, 86.000000] - pose: {translation: [-0.1457211605775256, -0.148115405587446, -0.2880997967942164], quaternion: [0.1854151010015172, 0.7555587763841786, -0.6181091734541263, -0.1126642154426016]} - solutions: [[146.000000, 77.000000, 12.000000, -148.000000, 77.000000, -94.000000], [146.000000, 84.017610, -1.045263, -147.099552, 71.912011, -97.355953], [146.000000, 77.000000, 12.000000, 32.000000, -77.000000, 86.000000], [146.000000, 84.017610, -1.045263, 32.900448, -71.912011, 82.644047]] + joints: [146.000000, 77.000000, 12.000000, 32.000000, -76.000000, 86.000000] + pose: {translation: [-0.1456082645402799, -0.1478309114850435, -0.2894620814886414], quaternion: [0.1867650773357989, 0.7608422369180545, -0.6113954203150085, -0.1115057685822496]} + solutions: [[146.000000, 77.000000, 12.000000, -148.000000, 76.000000, -94.000000], [146.000000, 84.017610, -1.045263, -147.037611, 70.913735, -97.375697], [146.000000, 77.000000, 12.000000, 32.000000, -76.000000, 86.000000], [146.000000, 84.017610, -1.045263, 32.962389, -70.913735, 82.624303]] - id: 1048 parameters: KukaKR6_R700_sixx joints: [-159.000000, 69.000000, -148.000000, -95.000000, -80.000000, 136.000000] @@ -5246,14 +5246,14 @@ cases: solutions: [[-159.000000, -120.137844, 158.954737, 101.165150, 90.293312, -162.225943], [-159.000000, 69.000000, -148.000000, 85.000000, 80.000000, -44.000000], [21.000000, 113.608014, 150.541386, -95.881969, 80.488609, -38.798550], [21.000000, -74.239920, -139.586648, -78.851079, 89.327103, -157.329964], [-159.000000, -120.137844, 158.954737, -78.834850, -90.293312, 17.774057], [-159.000000, 69.000000, -148.000000, -95.000000, -80.000000, 136.000000], [21.000000, 113.608014, 150.541386, 84.118031, -80.488609, 141.201450], [21.000000, -74.239920, -139.586648, 101.148921, -89.327103, 22.670036]] - id: 1049 parameters: KukaKR6_R700_sixx - joints: [-162.000000, 87.000000, 73.000000, 44.000000, 118.000000, 86.000000] - pose: {translation: [0.2734858824867748, -0.03726805917237135, -0.01170253852859974], quaternion: [-0.2449868065800117, 0.2475464019104474, 0.6895070896205846, 0.6350450510521835]} - solutions: [[18.000000, 19.856948, 80.586258, -59.763000, 134.770491, -168.775388], [18.000000, 101.636879, -69.631521, -130.486404, 126.250333, 96.321496], [-162.000000, 87.000000, 73.000000, 44.000000, 118.000000, 86.000000], [-162.000000, 160.324352, -62.045263, 100.396574, 141.421610, 164.820076], [18.000000, 19.856948, 80.586258, 120.237000, -134.770491, 11.224612], [18.000000, 101.636879, -69.631521, 49.513596, -126.250333, -83.678504], [-162.000000, 87.000000, 73.000000, -136.000000, -118.000000, -94.000000], [-162.000000, 160.324352, -62.045263, -79.603426, -141.421610, -15.179924]] + joints: [-162.000000, 87.000000, 73.000000, 44.000000, 117.000000, 86.000000] + pose: {translation: [0.2748819677076931, -0.03725077074707289, -0.01169032523762546], quaternion: [-0.2390295091927629, 0.2531527546039316, 0.6874750064260717, 0.6373042382653525]} + solutions: [[18.000000, 19.856948, 80.586258, -61.128235, 135.024986, -169.739056], [18.000000, 101.636879, -69.631521, -130.705838, 125.266314, 96.193261], [-162.000000, 87.000000, 73.000000, 44.000000, 117.000000, 86.000000], [-162.000000, 160.324352, -62.045263, 98.830253, 141.217246, 163.597308], [18.000000, 19.856948, 80.586258, 118.871765, -135.024986, 10.260944], [18.000000, 101.636879, -69.631521, 49.294162, -125.266314, -83.806739], [-162.000000, 87.000000, 73.000000, -136.000000, -117.000000, -94.000000], [-162.000000, 160.324352, -62.045263, -81.169747, -141.217246, -16.402692]] - id: 1050 parameters: KukaKR6_R700_sixx - joints: [99.000000, 98.000000, -67.000000, 116.000000, -154.000000, 151.000000] - pose: {translation: [-0.006803240825305645, -0.2444468472842592, -0.04606712767350467], quaternion: [0.4489716215404222, 0.3864304715156759, 0.7748354765778193, -0.2207395704715399]} - solutions: [[99.000000, 19.162528, 77.954737, -23.651479, 100.846371, 27.802126], [99.000000, 98.000000, -67.000000, -64.000000, 154.000000, -29.000000], [-81.000000, 90.860508, 69.617761, 91.376745, 156.788951, -55.988629], [-81.000000, 160.439613, -58.663023, 153.499394, 117.992412, 19.342223], [99.000000, 19.162528, 77.954737, 156.348521, -100.846371, -152.197874], [99.000000, 98.000000, -67.000000, 116.000000, -154.000000, 151.000000], [-81.000000, 90.860508, 69.617761, -88.623255, -156.788951, 124.011371], [-81.000000, 160.439613, -58.663023, -26.500606, -117.992412, -160.657777]] + joints: [99.000000, 98.000000, -67.000000, 116.000000, -153.000000, 151.000000] + pose: {translation: [-0.005733386655783178, -0.2448713319125199, -0.04685752431729688], quaternion: [0.4558022650541455, 0.3848224271786608, 0.7730141168747053, -0.2158823054913352]} + solutions: [[99.000000, 19.162528, 77.954737, -24.501951, 100.297690, 27.646084], [99.000000, 98.000000, -67.000000, -64.000000, 153.000000, -29.000000], [-81.000000, 90.860508, 69.617761, 92.487879, 155.893819, -54.970847], [-81.000000, 160.439613, -58.663023, 152.658440, 117.325178, 18.951835], [99.000000, 19.162528, 77.954737, 155.498049, -100.297690, -152.353916], [99.000000, 98.000000, -67.000000, 116.000000, -153.000000, 151.000000], [-81.000000, 90.860508, 69.617761, -87.512121, -155.893819, 125.029153], [-81.000000, 160.439613, -58.663023, -27.341560, -117.325178, -161.048165]] - id: 1051 parameters: KukaKR6_R700_sixx joints: [-89.000000, -13.000000, 119.000000, -46.000000, -156.000000, 170.000000] @@ -5261,14 +5261,14 @@ cases: solutions: [[-89.000000, -13.000000, 119.000000, 134.000000, 156.000000, -10.000000], [-89.000000, 113.718961, -108.045263, 160.966365, 63.786123, 42.075123], [91.000000, 75.970296, 112.001013, -22.116151, 50.999450, 47.756520], [91.000000, -165.908048, -101.046276, -27.369406, 140.474091, 11.643756], [-89.000000, -13.000000, 119.000000, -46.000000, -156.000000, 170.000000], [-89.000000, 113.718961, -108.045263, -19.033635, -63.786123, -137.924877], [91.000000, 75.970296, 112.001013, 157.883849, -50.999450, -132.243480], [91.000000, -165.908048, -101.046276, 152.630594, -140.474091, -168.356244]] - id: 1052 parameters: KukaKR6_R700_sixx - joints: [136.000000, 130.000000, -152.000000, -20.000000, 116.000000, -94.000000] - pose: {translation: [-0.0840758556841901, -0.1153786435121372, 0.2520942773710136], quaternion: [0.9218443623763721, -0.3519325219585586, 0.1604158551727081, 0.02476337925238368]} - solutions: [[136.000000, -69.161424, 162.954737, -84.944814, 17.975245, -0.247781], [136.000000, 130.000000, -152.000000, -20.000000, 116.000000, -94.000000], [-44.000000, 67.275783, 154.763958, 154.456672, 134.527160, -103.462131], [-44.000000, -112.576230, -143.809221, 135.288451, 25.908966, -43.250281], [136.000000, -69.161424, 162.954737, 95.055186, -17.975245, 179.752219], [136.000000, 130.000000, -152.000000, 160.000000, -116.000000, 86.000000], [-44.000000, 67.275783, 154.763958, -25.543328, -134.527160, 76.537869], [-44.000000, -112.576230, -143.809221, -44.711549, -25.908966, 136.749719]] + joints: [136.000000, 129.000000, -152.000000, -20.000000, 115.000000, -94.000000] + pose: {translation: [-0.08677044395409694, -0.1182665781855268, 0.2541072539413295], quaternion: [0.9222521349772014, -0.3521226694451111, 0.1542583663983432, 0.04080418592445649]} + solutions: [[136.000000, -70.161424, 162.954737, -88.163837, 18.067352, 2.813400], [136.000000, 129.000000, -152.000000, -20.000000, 115.000000, -94.000000], [-44.000000, 68.089181, 154.703795, 154.783153, 133.317382, -103.159463], [-44.000000, -111.883313, -143.749058, 133.093412, 25.118004, -41.192972], [136.000000, -70.161424, 162.954737, 91.836163, -18.067352, -177.186600], [136.000000, 129.000000, -152.000000, 160.000000, -115.000000, 86.000000], [-44.000000, 68.089181, 154.703795, -25.216847, -133.317382, 76.840537], [-44.000000, -111.883313, -143.749058, -46.906588, -25.118004, 138.807028]] - id: 1053 parameters: KukaKR6_R700_sixx - joints: [91.000000, -12.000000, -142.000000, -159.000000, -8.000000, -101.000000] - pose: {translation: [-0.002646731783975419, 0.076991424463854, 0.6381106287554836], quaternion: [-0.05827715848577733, 0.4702780723775612, 0.8777084470137967, 0.07120526300982423]} - solutions: [[-89.000000, 176.898961, 153.432409, -143.047056, 4.759017, 62.955283], [-89.000000, -5.571626, -142.477672, -3.143017, 114.541833, -81.493346], [91.000000, 171.386678, 152.954737, 176.940881, 110.839374, -81.275969], [91.000000, -12.000000, -142.000000, 21.000000, 8.000000, 79.000000], [-89.000000, 176.898961, 153.432409, 36.952944, -4.759017, -117.044717], [-89.000000, -5.571626, -142.477672, 176.856983, -114.541833, 98.506654], [91.000000, 171.386678, 152.954737, -3.059119, -110.839374, 98.724031], [91.000000, -12.000000, -142.000000, -159.000000, -8.000000, -101.000000]] + joints: [91.000000, -11.000000, -142.000000, -159.000000, -8.000000, -101.000000] + pose: {translation: [-0.002719528012757217, 0.0728209313100808, 0.6398533483376949], quaternion: [-0.05778733301094859, 0.4625911337726841, 0.881769424259163, 0.07178265486904631]} + solutions: [[-89.000000, 176.072886, 153.274202, -143.160254, 4.771587, 63.068873], [-89.000000, -6.702419, -142.319465, -3.142331, 114.514459, -81.491694], [91.000000, 172.386678, 152.954737, 176.940881, 110.839374, -81.275969], [91.000000, -11.000000, -142.000000, 21.000000, 8.000000, 79.000000], [-89.000000, 176.072886, 153.274202, 36.839746, -4.771587, -116.931127], [-89.000000, -6.702419, -142.319465, 176.857669, -114.514459, 98.508306], [91.000000, 172.386678, 152.954737, -3.059119, -110.839374, 98.724031], [91.000000, -11.000000, -142.000000, -159.000000, -8.000000, -101.000000]] - id: 1054 parameters: KukaKR6_R700_sixx joints: [110.000000, 101.000000, -57.000000, 157.000000, -13.000000, 91.000000] @@ -5281,34 +5281,34 @@ cases: solutions: [[101.000000, -130.215208, 130.954737, -70.200196, 44.728752, 26.884001], [101.000000, 12.000000, -120.000000, -48.000000, 117.000000, -63.000000], [-79.000000, 164.486788, 125.438610, 131.246215, 118.278998, -64.624675], [-79.000000, -60.603458, -114.483873, 114.888550, 46.881159, 19.590504], [101.000000, -130.215208, 130.954737, 109.799804, -44.728752, -153.115999], [101.000000, 12.000000, -120.000000, 132.000000, -117.000000, 117.000000], [-79.000000, 164.486788, 125.438610, -48.753785, -118.278998, 115.375325], [-79.000000, -60.603458, -114.483873, -65.111450, -46.881159, -160.409496]] - id: 1056 parameters: KukaKR6_R700_sixx - joints: [-62.000000, 167.000000, -117.000000, 131.000000, 44.000000, -169.000000] - pose: {translation: [0.05788689103201995, 0.019532311748568, 0.05138342434342738], quaternion: [-0.06908786549836426, 0.7901132704927418, 0.2490681183540726, 0.5557993874157338]} - solutions: [[118.000000, 21.284092, 128.559429, -70.612443, 33.764526, -141.551481], [118.000000, 160.288962, -117.604692, -35.320183, 114.932394, 134.761371], [-62.000000, 28.795949, 127.954737, 136.758174, 130.069648, 120.202313], [-62.000000, 167.000000, -117.000000, 131.000000, 44.000000, -169.000000], [118.000000, 21.284092, 128.559429, 109.387557, -33.764526, 38.448519], [118.000000, 160.288962, -117.604692, 144.679817, -114.932394, -45.238629], [-62.000000, 28.795949, 127.954737, -43.241826, -130.069648, -59.797687], [-62.000000, 167.000000, -117.000000, -49.000000, -44.000000, 11.000000]] + joints: [-62.000000, 166.000000, -117.000000, 131.000000, 44.000000, -169.000000] + pose: {translation: [0.06074186030917223, 0.02490172802585899, 0.05177548545674551], quaternion: [-0.06582315698167221, 0.7858870648171632, 0.2548634721050141, 0.5595475350178989]} + solutions: [[118.000000, 22.393088, 128.389953, -70.527162, 33.784645, -141.654077], [118.000000, 161.173139, -117.435215, -35.305780, 114.888612, 134.795566], [-62.000000, 27.795949, 127.954737, 136.758174, 130.069648, 120.202313], [-62.000000, 166.000000, -117.000000, 131.000000, 44.000000, -169.000000], [118.000000, 22.393088, 128.389953, 109.472838, -33.784645, 38.345923], [118.000000, 161.173139, -117.435215, 144.694220, -114.888612, -45.204434], [-62.000000, 27.795949, 127.954737, -43.241826, -130.069648, -59.797687], [-62.000000, 166.000000, -117.000000, -49.000000, -44.000000, 11.000000]] - id: 1057 parameters: KukaKR6_R700_sixx - joints: [130.000000, 175.000000, 11.000000, -23.000000, 150.000000, 42.000000] - pose: {translation: [0.3865308611938408, 0.4363347534168209, 0.4052671086826731], quaternion: [-0.2429606389849193, -0.5073132388578128, 0.8261458007599005, 0.03296242512950701]} - solutions: [[-50.000000, -21.909009, 50.110895, 61.484173, 167.153579, -56.945531], [-50.000000, 26.288971, -39.156157, 160.783691, 143.589105, 46.514323], [130.000000, 175.000000, 11.000000, -23.000000, 150.000000, 42.000000], [130.000000, -179.058404, -0.045263, -27.123755, 154.626701, 37.347375], [-50.000000, -21.909009, 50.110895, -118.515827, -167.153579, 123.054469], [-50.000000, 26.288971, -39.156157, -19.216309, -143.589105, -133.485677], [130.000000, 175.000000, 11.000000, 157.000000, -150.000000, -138.000000], [130.000000, -179.058404, -0.045263, 152.876245, -154.626701, -142.652625]] + joints: [130.000000, 174.000000, 11.000000, -23.000000, 149.000000, 42.000000] + pose: {translation: [0.3872822836730819, 0.4364989686174154, 0.3958252793504708], quaternion: [-0.2329407011509985, -0.4969372894884908, 0.835312687718466, 0.03232141394904803]} + solutions: [[-50.000000, -20.819776, 50.092378, 65.686603, 167.242375, -52.861500], [-50.000000, 27.358049, -39.137641, 160.616098, 142.674775, 46.362870], [130.000000, 174.000000, 11.000000, -23.000000, 149.000000, 42.000000], [130.000000, 179.941596, -0.045263, -26.941143, 153.629880, 37.511690], [-50.000000, -20.819776, 50.092378, -114.313397, -167.242375, 127.138500], [-50.000000, 27.358049, -39.137641, -19.383902, -142.674775, -133.637130], [130.000000, 174.000000, 11.000000, 157.000000, -149.000000, -138.000000], [130.000000, 179.941596, -0.045263, 153.058857, -153.629880, -142.488310]] - id: 1058 parameters: KukaKR6_R700_sixx - joints: [-14.000000, 75.000000, 165.000000, 143.000000, 97.000000, -53.000000] - pose: {translation: [-0.1401226437287192, -0.08418574687446738, 0.3541819772312909], quaternion: [0.8584683011876273, -0.1182108287641578, -0.2068101594893942, 0.4541893148797002]} - solutions: [[166.000000, -119.851745, 174.841315, -110.590719, 39.649749, 68.256431], [166.000000, 127.828609, -163.886578, -37.661300, 77.860244, -38.533718], [-14.000000, 75.000000, 165.000000, 143.000000, 97.000000, -53.000000], [-14.000000, -79.943744, -154.045263, 70.550639, 39.307182, 66.777767], [166.000000, -119.851745, 174.841315, 69.409281, -39.649749, -111.743569], [166.000000, 127.828609, -163.886578, 142.338700, -77.860244, 141.466282], [-14.000000, 75.000000, 165.000000, -37.000000, -97.000000, 127.000000], [-14.000000, -79.943744, -154.045263, -109.449361, -39.307182, -113.222233]] + joints: [-14.000000, 75.000000, 165.000000, 143.000000, 96.000000, -53.000000] + pose: {translation: [-0.1408787355526877, -0.08447229636686925, 0.3553202726851711], quaternion: [0.8541841047996878, -0.1191502945942009, -0.2121346036441363, 0.4595341470907429]} + solutions: [[166.000000, -119.851745, 174.841315, -111.915836, 40.176211, 69.272851], [166.000000, 127.828609, -163.886578, -37.917781, 76.892070, -38.477662], [-14.000000, 75.000000, 165.000000, 143.000000, 96.000000, -53.000000], [-14.000000, -79.943744, -154.045263, 69.194962, 39.811746, 67.822974], [166.000000, -119.851745, 174.841315, 68.084164, -40.176211, -110.727149], [166.000000, 127.828609, -163.886578, 142.082219, -76.892070, 141.522338], [-14.000000, 75.000000, 165.000000, -37.000000, -96.000000, 127.000000], [-14.000000, -79.943744, -154.045263, -110.805038, -39.811746, -112.177026]] - id: 1059 parameters: KukaKR6_R700_sixx - joints: [145.000000, -48.000000, -60.000000, -170.000000, -63.000000, -111.000000] - pose: {translation: [-0.1260704275980077, -0.07316504215742543, 1.026644558171462], quaternion: [-0.2793107770938359, -0.2655627734924877, 0.8607717987937177, 0.3324662592439164]} - solutions: [[145.000000, -119.057937, 70.954737, 72.985737, 9.311592, 0.804897], [145.000000, -48.000000, -60.000000, 10.000000, 63.000000, 69.000000], [-35.000000, -135.532912, 68.484338, -170.385670, 67.879184, 69.927009], [-35.000000, -67.205886, -57.529600, -137.693240, 13.289087, 32.043110], [145.000000, -119.057937, 70.954737, -107.014263, -9.311592, -179.195103], [145.000000, -48.000000, -60.000000, -170.000000, -63.000000, -111.000000], [-35.000000, -135.532912, 68.484338, 9.614330, -67.879184, -110.072991], [-35.000000, -67.205886, -57.529600, 42.306760, -13.289087, -147.956890]] + joints: [145.000000, -47.000000, -60.000000, -170.000000, -62.000000, -111.000000] + pose: {translation: [-0.1341558493146973, -0.07896318537993401, 1.025449435826924], quaternion: [-0.2783925418151953, -0.2662801775174409, 0.8604859273990793, 0.3334013024436187]} + solutions: [[145.000000, -118.057937, 70.954737, 78.939230, 8.987804, -5.073001], [145.000000, -47.000000, -60.000000, 10.000000, 62.000000, 69.000000], [-35.000000, -136.362279, 68.207169, -170.395655, 66.774273, 69.914448], [-35.000000, -68.341220, -57.252432, -135.364727, 12.604738, 29.795584], [145.000000, -118.057937, 70.954737, -101.060770, -8.987804, 174.926999], [145.000000, -47.000000, -60.000000, -170.000000, -62.000000, -111.000000], [-35.000000, -136.362279, 68.207169, 9.604345, -66.774273, -110.085552], [-35.000000, -68.341220, -57.252432, 44.635273, -12.604738, -150.204416]] - id: 1060 parameters: KukaKR6_R700_sixx - joints: [124.000000, -165.000000, -86.000000, -50.000000, 39.000000, 154.000000] - pose: {translation: [0.264511294923489, 0.3231850934706989, 0.07677024776164819], quaternion: [0.1968568502908951, 0.8733848193410457, 0.2328778443979165, 0.3797555100676447]} - solutions: [[-56.000000, -16.547151, 106.067965, 142.594924, 52.526022, 136.145059], [-56.000000, 94.475842, -95.113228, 38.313202, 51.042328, -95.222504], [124.000000, 94.627021, 96.954737, -146.136626, 59.902572, -87.403424], [124.000000, -165.000000, -86.000000, -50.000000, 39.000000, 154.000000], [-56.000000, -16.547151, 106.067965, -37.405076, -52.526022, -43.854941], [-56.000000, 94.475842, -95.113228, -141.686798, -51.042328, 84.777496], [124.000000, 94.627021, 96.954737, 33.863374, -59.902572, 92.596576], [124.000000, -165.000000, -86.000000, 130.000000, -39.000000, -26.000000]] + joints: [124.000000, -164.000000, -86.000000, -50.000000, 39.000000, 154.000000] + pose: {translation: [0.2676282328767353, 0.3278061440214579, 0.08451329074091357], quaternion: [0.1984603423990818, 0.8698136421719902, 0.2401482148260942, 0.3825788223388433]} + solutions: [[-56.000000, -17.707631, 106.187583, 142.575880, 52.493568, 136.176348], [-56.000000, 93.457043, -95.232846, 38.244005, 51.150986, -95.112318], [124.000000, 95.627021, 96.954737, -146.136626, 59.902572, -87.403424], [124.000000, -164.000000, -86.000000, -50.000000, 39.000000, 154.000000], [-56.000000, -17.707631, 106.187583, -37.424120, -52.493568, -43.823652], [-56.000000, 93.457043, -95.232846, -141.755995, -51.150986, 84.887682], [124.000000, 95.627021, 96.954737, 33.863374, -59.902572, 92.596576], [124.000000, -164.000000, -86.000000, 130.000000, -39.000000, -26.000000]] - id: 1061 parameters: KukaKR6_R700_sixx - joints: [163.000000, 26.000000, 144.000000, -131.000000, -132.000000, -114.000000] - pose: {translation: [-0.01377555487563276, 0.04270720063380073, 0.2117698925984404], quaternion: [-0.4348268374995417, 0.1129557264364817, 0.8713399543352804, 0.1973152534254394]} - solutions: [[-17.000000, 3.127139, 145.724406, -34.784939, 79.452633, -144.340853], [-17.000000, 167.058347, -134.769669, -109.384257, 143.518591, 94.778978], [163.000000, 26.000000, 144.000000, 49.000000, 132.000000, 66.000000], [163.000000, -172.835146, -133.045263, 145.459933, 98.428655, -157.348299], [-17.000000, 3.127139, 145.724406, 145.215061, -79.452633, 35.659147], [-17.000000, 167.058347, -134.769669, 70.615743, -143.518591, -85.221022], [163.000000, 26.000000, 144.000000, -131.000000, -132.000000, -114.000000], [163.000000, -172.835146, -133.045263, -34.540067, -98.428655, 22.651701]] + joints: [163.000000, 26.000000, 144.000000, -131.000000, -131.000000, -114.000000] + pose: {translation: [-0.01289406676570446, 0.04370684501638141, 0.2121860558099598], quaternion: [-0.4301445307232577, 0.1191974721272168, 0.8719496586564807, 0.2011751428387629]} + solutions: [[-17.000000, 3.127139, 145.724406, -35.297365, 80.316071, -144.250850], [-17.000000, 167.058347, -134.769669, -110.177599, 142.639438, 94.144707], [163.000000, 26.000000, 144.000000, 49.000000, 131.000000, 66.000000], [163.000000, -172.835146, -133.045263, 144.764662, 99.155222, -157.454572], [-17.000000, 3.127139, 145.724406, 144.702635, -80.316071, 35.749150], [-17.000000, 167.058347, -134.769669, 69.822401, -142.639438, -85.855293], [163.000000, 26.000000, 144.000000, -131.000000, -131.000000, -114.000000], [163.000000, -172.835146, -133.045263, -35.235338, -99.155222, 22.545428]] - id: 1062 parameters: KukaKR6_R700_sixx joints: [-18.000000, -55.000000, 152.000000, 141.000000, 59.000000, 38.000000] @@ -5316,29 +5316,29 @@ cases: solutions: [[-18.000000, -55.000000, 152.000000, 141.000000, 59.000000, 38.000000], [-18.000000, 119.816370, -141.045263, 35.053360, 69.921591, -178.181962], [162.000000, 73.254832, 144.005925, -147.098045, 83.245515, -168.991032], [162.000000, -125.570945, -133.051187, -48.947709, 45.669705, 54.103672], [-18.000000, -55.000000, 152.000000, -39.000000, -59.000000, -142.000000], [-18.000000, 119.816370, -141.045263, -144.946640, -69.921591, 1.818038], [162.000000, 73.254832, 144.005925, 32.901955, -83.245515, 11.008968], [162.000000, -125.570945, -133.051187, 131.052291, -45.669705, -125.896328]] - id: 1063 parameters: KukaKR6_R700_sixx - joints: [8.000000, -109.000000, 145.000000, 6.000000, 124.000000, 113.000000] - pose: {translation: [0.1607933377012109, -0.02959880281191989, 0.4845446531500897], quaternion: [0.6495424123015419, -0.4972601219401217, -0.4727638281403443, 0.3275994330759386]} - solutions: [[8.000000, -109.000000, 145.000000, 6.000000, 124.000000, 113.000000], [8.000000, 53.759209, -134.045263, 174.288879, 119.445678, -73.178252], [-172.000000, 127.948911, 136.586869, -5.496549, 115.216236, -72.711228], [-172.000000, -82.006454, -125.632131, -173.270454, 132.310226, 114.177762], [8.000000, -109.000000, 145.000000, -174.000000, -124.000000, -67.000000], [8.000000, 53.759209, -134.045263, -5.711121, -119.445678, 106.821748], [-172.000000, 127.948911, 136.586869, 174.503451, -115.216236, 107.288772], [-172.000000, -82.006454, -125.632131, 6.729546, -132.310226, -65.822238]] + joints: [8.000000, -108.000000, 145.000000, 6.000000, 124.000000, 113.000000] + pose: {translation: [0.1622336198231177, -0.0298012212635396, 0.4821172734173422], quaternion: [0.6458301085354747, -0.4938360302407948, -0.4789628405176166, 0.3310952182505299]} + solutions: [[8.000000, -108.000000, 145.000000, 6.000000, 124.000000, 113.000000], [8.000000, 54.759209, -134.045263, 174.288879, 119.445678, -73.178252], [-172.000000, 127.155345, 136.523846, -5.490105, 115.073484, -72.696062], [-172.000000, -82.890155, -125.569108, -173.251239, 132.488309, 114.206259], [8.000000, -108.000000, 145.000000, -174.000000, -124.000000, -67.000000], [8.000000, 54.759209, -134.045263, -5.711121, -119.445678, 106.821748], [-172.000000, 127.155345, 136.523846, 174.509895, -115.073484, 107.303938], [-172.000000, -82.890155, -125.569108, 6.748761, -132.488309, -65.793741]] - id: 1064 parameters: KukaKR6_R700_sixx - joints: [22.000000, 103.000000, -180.000000, -88.000000, -89.000000, -70.000000] - pose: {translation: [-0.03018799436587764, -0.07402034356718278, 0.4585801569632074], quaternion: [-0.05643810379204927, 0.6959794880622693, -0.6299256266770589, -0.340030877263307]} - solutions: [[22.000000, 103.000000, 180.000000, 92.000000, 89.000000, 110.000000], [22.000000, 33.015960, -169.045263, 90.171577, 87.770612, 169.043420], [-158.000000, 102.077473, 179.468443, -88.596002, 88.259600, 134.542045], [-158.000000, 26.672543, -168.513706, -87.815042, 90.475039, 71.185352], [22.000000, 103.000000, 180.000000, -88.000000, -89.000000, -70.000000], [22.000000, 33.015960, -169.045263, -89.828423, -87.770612, -10.956580], [-158.000000, 102.077473, 179.468443, 91.403998, -88.259600, -45.457955], [-158.000000, 26.672543, -168.513706, 92.184958, -90.475039, -108.814648]] + joints: [22.000000, 102.000000, -180.000000, -88.000000, -89.000000, -70.000000] + pose: {translation: [-0.03113234715116162, -0.07363880027548758, 0.4581303642333746], quaternion: [-0.05022759481899955, 0.6966449740404405, -0.6326334568300933, -0.334571185492862]} + solutions: [[22.000000, 102.000000, 180.000000, 92.000000, 89.000000, 110.000000], [22.000000, 32.015960, -169.045263, 90.171577, 87.770612, 169.043420], [-158.000000, 101.538895, 179.706319, -88.556858, 88.291916, 133.241156], [-158.000000, 28.526033, -168.751582, -87.810068, 90.451541, 71.800537], [22.000000, 102.000000, 180.000000, -88.000000, -89.000000, -70.000000], [22.000000, 32.015960, -169.045263, -89.828423, -87.770612, -10.956580], [-158.000000, 101.538895, 179.706319, 91.443142, -88.291916, -46.758844], [-158.000000, 28.526033, -168.751582, 92.189932, -90.451541, -108.199463]] - id: 1065 parameters: KukaKR6_R700_sixx - joints: [7.000000, -49.000000, -27.000000, -145.000000, 85.000000, -47.000000] - pose: {translation: [0.2282415233006653, 0.01803025458859053, 1.022917409028135], quaternion: [-0.3896540246416082, 0.4551680579169434, 0.7964050329263465, -0.0820414752567262]} - solutions: [[7.000000, -84.007010, 37.954737, -142.719372, 109.381328, -29.329889], [7.000000, -49.000000, -27.000000, -145.000000, 85.000000, -47.000000], [-173.000000, -125.278058, 20.145112, 34.948480, 85.928356, -46.348554], [-173.000000, -109.492350, -9.190375, 35.150903, 97.038009, -38.576657], [7.000000, -84.007010, 37.954737, 37.280628, -109.381328, 150.670111], [7.000000, -49.000000, -27.000000, 35.000000, -85.000000, 133.000000], [-173.000000, -125.278058, 20.145112, -145.051520, -85.928356, 133.651446], [-173.000000, -109.492350, -9.190375, -144.849097, -97.038009, 141.423343]] + joints: [7.000000, -49.000000, -27.000000, -145.000000, 84.000000, -47.000000] + pose: {translation: [0.22867146322504, 0.01790012974345215, 1.024239423091713], quaternion: [-0.3843757930823197, 0.4505561914592441, 0.8015986938414849, -0.08181627015272912]} + solutions: [[7.000000, -84.007010, 37.954737, -143.039300, 108.428231, -29.433549], [7.000000, -49.000000, -27.000000, -145.000000, 84.000000, -47.000000], [-173.000000, -125.278058, 20.145112, 34.937066, 84.928421, -46.347644], [-173.000000, -109.492350, -9.190375, 35.003604, 96.048774, -38.593443], [7.000000, -84.007010, 37.954737, 36.960700, -108.428231, 150.566451], [7.000000, -49.000000, -27.000000, 35.000000, -84.000000, 133.000000], [-173.000000, -125.278058, 20.145112, -145.062934, -84.928421, 133.652356], [-173.000000, -109.492350, -9.190375, -144.996396, -96.048774, 141.406557]] - id: 1066 parameters: KukaKR6_R700_sixx - joints: [79.000000, -39.000000, -176.000000, 9.000000, 158.000000, -176.000000] - pose: {translation: [0.002013067305180025, -0.03492598521913585, 0.4270016115732231], quaternion: [0.1948968356794642, -0.211113514192756, 0.7565865000776593, 0.5873867341603445]} - solutions: [[79.000000, -39.000000, -176.000000, 9.000000, 158.000000, -176.000000], [79.000000, -59.782799, -173.045263, 40.605062, 174.834124, -143.864389], [79.000000, -39.000000, -176.000000, -171.000000, -158.000000, 4.000000], [79.000000, -59.782799, -173.045263, -139.394938, -174.834124, 36.135611]] + joints: [79.000000, -38.000000, -176.000000, 9.000000, 158.000000, -176.000000] + pose: {translation: [0.002102703752701971, -0.03538712476521218, 0.4268287621135969], quaternion: [0.2011808827631946, -0.2166084917748481, 0.7544247270467769, 0.586046367552981]} + solutions: [[79.000000, -38.000000, -176.000000, 9.000000, 158.000000, -176.000000], [79.000000, -58.782799, -173.045263, 40.605062, 174.834124, -143.864389], [79.000000, -38.000000, -176.000000, -171.000000, -158.000000, 4.000000], [79.000000, -58.782799, -173.045263, -139.394938, -174.834124, 36.135611]] - id: 1067 parameters: KukaKR6_R700_sixx - joints: [-47.000000, -50.000000, -104.000000, -56.000000, 142.000000, -180.000000] - pose: {translation: [-0.0620467922122801, -0.006665164936846546, 0.76697086209781], quaternion: [0.327167390323805, 0.6410667585926805, 0.6713786485443765, -0.176764306393886]} - solutions: [[133.000000, -138.946776, 118.035298, 118.143011, 144.630926, 172.701889], [133.000000, -13.429722, -107.080560, 146.062686, 66.097907, -115.311352], [-47.000000, -171.716720, 114.954737, -34.655114, 63.844249, -113.615158], [-47.000000, -50.000000, -104.000000, -56.000000, 142.000000, -180.000000], [133.000000, -138.946776, 118.035298, -61.856989, -144.630926, -7.298111], [133.000000, -13.429722, -107.080560, -33.937314, -66.097907, 64.688648], [-47.000000, -171.716720, 114.954737, 145.344886, -63.844249, 66.384842], [-47.000000, -50.000000, -104.000000, 124.000000, -142.000000, -0.000000]] + joints: [-47.000000, -50.000000, -104.000000, -56.000000, 141.000000, -180.000000] + pose: {translation: [-0.06305943348241574, -0.00642278692656012, 0.76790108387585], quaternion: [0.3212961231827056, 0.63949980874026, 0.6742081223482301, -0.1823518675764212]} + solutions: [[133.000000, -138.946776, 118.035298, 118.357265, 143.638834, 172.875527], [133.000000, -13.429722, -107.080560, 145.070605, 65.673559, -114.906018], [-47.000000, -171.716720, 114.954737, -35.679413, 63.447284, -113.160439], [-47.000000, -50.000000, -104.000000, -56.000000, 141.000000, -180.000000], [133.000000, -138.946776, 118.035298, -61.642735, -143.638834, -7.124473], [133.000000, -13.429722, -107.080560, -34.929395, -65.673559, 65.093982], [-47.000000, -171.716720, 114.954737, 144.320587, -63.447284, 66.839561], [-47.000000, -50.000000, -104.000000, 124.000000, -141.000000, -0.000000]] - id: 1068 parameters: KukaKR6_R700_sixx joints: [117.000000, -34.000000, -114.000000, -66.000000, 37.000000, 169.000000] @@ -5346,34 +5346,34 @@ cases: solutions: [[-63.000000, -155.069108, 126.156806, 117.601805, 38.344834, 164.450702], [-63.000000, -19.225028, -115.202069, 33.437722, 86.147908, -74.400960], [117.000000, -168.282834, 124.954737, -146.625221, 88.021918, -73.163487], [117.000000, -34.000000, -114.000000, -66.000000, 37.000000, 169.000000], [-63.000000, -155.069108, 126.156806, -62.398195, -38.344834, -15.549298], [-63.000000, -19.225028, -115.202069, -146.562278, -86.147908, 105.599040], [117.000000, -168.282834, 124.954737, 33.374779, -88.021918, 106.836513], [117.000000, -34.000000, -114.000000, 114.000000, -37.000000, -11.000000]] - id: 1069 parameters: KukaKR6_R700_sixx - joints: [-134.000000, -12.000000, 78.000000, 93.000000, 180.000000, -170.000000] - pose: {translation: [-0.3341379899189663, 0.3460100175501373, 0.2193675096871061], quaternion: [0.1876580325764077, 0.08950829005322085, 0.3103707883643055, 0.9276005080590566]} - solutions: [[-134.000000, -12.000000, 78.000000, 23.629378, 179.999999, 110.556045], [-134.000000, 66.887994, -67.045263, 180.000000, 113.842731, -83.000000], [46.000000, 123.098727, 63.967847, -0.000000, 106.933426, -83.000000], [46.000000, -173.549930, -53.013109, -0.000000, 160.563040, -83.000000], [-134.000000, -12.000000, 78.000000, -156.370622, -179.999999, -69.443955], [-134.000000, 66.887994, -67.045263, -0.000000, -113.842731, 97.000000], [46.000000, 123.098727, 63.967847, -180.000000, -106.933426, 97.000000], [46.000000, -173.549930, -53.013109, 180.000000, -160.563040, 97.000000]] + joints: [-134.000000, -12.000000, 78.000000, 93.000000, 179.000000, -170.000000] + pose: {translation: [-0.3331848431436286, 0.3470301487408575, 0.2193860993771302], quaternion: [0.1835779364156713, 0.09700632390423065, 0.3121073321043867, 0.9270803242603272]} + solutions: [[-134.000000, -12.000000, 78.000000, 93.000000, 179.000000, -170.000000], [-134.000000, 66.887994, -67.045263, 178.908656, 113.786553, -83.440673], [46.000000, 123.098727, 63.967847, -1.043589, 106.878444, -83.303485], [46.000000, -173.549930, -53.013109, -2.990800, 160.486123, -85.819752], [-134.000000, -12.000000, 78.000000, -87.000000, -179.000000, 10.000000], [-134.000000, 66.887994, -67.045263, -1.091344, -113.786553, 96.559327], [46.000000, 123.098727, 63.967847, 178.956411, -106.878444, 96.696515], [46.000000, -173.549930, -53.013109, 177.009200, -160.486123, 94.180248]] - id: 1070 parameters: KukaKR6_R700_sixx - joints: [144.000000, -98.000000, 151.000000, 77.000000, 47.000000, 19.000000] - pose: {translation: [-0.2366521732022259, -0.1014711997545242, 0.3900017674716558], quaternion: [0.4779268763558946, 0.7703407645405631, 0.005890516788507533, -0.4220501263543496]} - solutions: [[144.000000, -98.000000, 151.000000, 77.000000, 47.000000, 19.000000], [144.000000, 74.979765, -140.045263, 53.651147, 117.777554, 122.644407], [-36.000000, 110.281988, 141.972428, -122.953743, 121.870460, 129.460571], [-36.000000, -91.708936, -131.017691, -111.695181, 50.079544, 32.095929], [144.000000, -98.000000, 151.000000, -103.000000, -47.000000, -161.000000], [144.000000, 74.979765, -140.045263, -126.348853, -117.777554, -57.355593], [-36.000000, 110.281988, 141.972428, 57.046257, -121.870460, -50.539429], [-36.000000, -91.708936, -131.017691, 68.304819, -50.079544, -147.904071]] + joints: [144.000000, -97.000000, 151.000000, 77.000000, 47.000000, 19.000000] + pose: {translation: [-0.2364831459481823, -0.1013483942660695, 0.3860573202723661], quaternion: [0.4757022579164885, 0.7732608561642375, 0.01321574699053369, -0.4190469593837752]} + solutions: [[144.000000, -97.000000, 151.000000, 77.000000, 47.000000, 19.000000], [144.000000, 75.979765, -140.045263, 53.651147, 117.777554, 122.644407], [-36.000000, 109.493177, 141.947460, -122.856347, 121.971624, 129.644772], [-36.000000, -92.536009, -130.992722, -111.848756, 50.152947, 32.335428], [144.000000, -97.000000, 151.000000, -103.000000, -47.000000, -161.000000], [144.000000, 75.979765, -140.045263, -126.348853, -117.777554, -57.355593], [-36.000000, 109.493177, 141.947460, 57.143653, -121.971624, -50.355228], [-36.000000, -92.536009, -130.992722, 68.151244, -50.152947, -147.664572]] - id: 1071 parameters: KukaKR6_R700_sixx - joints: [27.000000, 104.000000, -176.000000, -97.000000, -118.000000, -121.000000] - pose: {translation: [-0.009660829291169376, -0.07376306719360981, 0.4139284271634243], quaternion: [0.296524985192568, 0.8074315435980414, -0.5028450807044581, -0.08528810216412683]} - solutions: [[27.000000, 104.000000, -176.000000, 83.000000, 118.000000, 59.000000], [27.000000, 83.217201, -173.045263, 92.697961, 118.677017, 79.265148], [-153.000000, 95.399589, 176.378622, -86.239380, 118.567147, 81.483289], [-153.000000, -6.474606, -165.423884, -118.150791, 96.310687, -4.734911], [27.000000, 104.000000, -176.000000, -97.000000, -118.000000, -121.000000], [27.000000, 83.217201, -173.045263, -87.302039, -118.677017, -100.734852], [-153.000000, 95.399589, 176.378622, 93.760620, -118.567147, -98.516711], [-153.000000, -6.474606, -165.423884, 61.849209, -96.310687, 175.265089]] + joints: [27.000000, 103.000000, -176.000000, -97.000000, -117.000000, -121.000000] + pose: {translation: [-0.009778335592921149, -0.07442138129301526, 0.4150856064552992], quaternion: [0.2979037993481147, 0.802623047196615, -0.5110812767212414, -0.07645586326609873]} + solutions: [[27.000000, 103.000000, -176.000000, 83.000000, 117.000000, 59.000000], [27.000000, 82.217201, -173.045263, 92.306641, 117.738356, 79.080177], [-153.000000, 95.389905, 176.523020, -87.124022, 117.689305, 80.304374], [-153.000000, -5.420263, -165.568283, -117.257519, 95.826166, -4.719762], [27.000000, 103.000000, -176.000000, -97.000000, -117.000000, -121.000000], [27.000000, 82.217201, -173.045263, -87.693359, -117.738356, -100.919823], [-153.000000, 95.389905, 176.523020, 92.875978, -117.689305, -99.695626], [-153.000000, -5.420263, -165.568283, 62.742481, -95.826166, 175.280238]] - id: 1072 parameters: KukaKR6_R700_sixx - joints: [147.000000, 154.000000, -83.000000, -156.000000, 15.000000, -87.000000] - pose: {translation: [0.05755027774330407, 0.02733186717829941, -0.1387121069109157], quaternion: [0.2395281601064256, 0.9277863529228155, -0.244040260534741, -0.149275232655478]} - solutions: [[-33.000000, 30.260063, 96.588916, 123.998627, 7.294994, 172.055675], [-33.000000, 130.210815, -85.634178, 6.172744, 78.244604, -64.991778], [147.000000, 57.079176, 93.954737, -173.944073, 93.767445, -63.330098], [147.000000, 154.000000, -83.000000, -156.000000, 15.000000, -87.000000], [-33.000000, 30.260063, 96.588916, -56.001373, -7.294994, -7.944325], [-33.000000, 130.210815, -85.634178, -173.827256, -78.244604, 115.008222], [147.000000, 57.079176, 93.954737, 6.055927, -93.767445, 116.669902], [147.000000, 154.000000, -83.000000, 24.000000, -15.000000, 93.000000]] + joints: [147.000000, 153.000000, -83.000000, -156.000000, 15.000000, -87.000000] + pose: {translation: [0.0496539858716163, 0.02220395527872158, -0.140168518196025], quaternion: [0.2384424620620623, 0.9254986492876919, -0.2501935942096823, -0.1549212957242511]} + solutions: [[-33.000000, 31.394932, 96.384158, 123.543576, 7.256144, 172.514420], [-33.000000, 131.109514, -85.429420, 6.175070, 78.141748, -65.003145], [147.000000, 56.079176, 93.954737, -173.944073, 93.767445, -63.330098], [147.000000, 153.000000, -83.000000, -156.000000, 15.000000, -87.000000], [-33.000000, 31.394932, 96.384158, -56.456424, -7.256144, -7.485580], [-33.000000, 131.109514, -85.429420, -173.824930, -78.141748, 114.996855], [147.000000, 56.079176, 93.954737, 6.055927, -93.767445, 116.669902], [147.000000, 153.000000, -83.000000, 24.000000, -15.000000, 93.000000]] - id: 1073 parameters: KukaKR6_R700_sixx - joints: [-126.000000, -120.000000, -151.000000, -60.000000, -5.000000, 22.000000] - pose: {translation: [0.05558665621748533, -0.06623545317642218, 0.2288418329580275], quaternion: [-0.6936014450114406, 0.7187198706892847, 0.02497287248389586, 0.04165499483042263]} - solutions: [[54.000000, -54.261772, 168.487052, -167.924032, 21.148363, -49.189554], [54.000000, 162.564932, -157.532314, -4.330284, 88.476511, 142.210027], [-126.000000, 43.510978, 161.954737, 175.054998, 118.880036, 139.701799], [-126.000000, -120.000000, -151.000000, 120.000000, 5.000000, -158.000000], [54.000000, -54.261772, 168.487052, 12.075968, -21.148363, 130.810446], [54.000000, 162.564932, -157.532314, 175.669716, -88.476511, -37.789973], [-126.000000, 43.510978, 161.954737, -4.945002, -118.880036, -40.298201], [-126.000000, -120.000000, -151.000000, -60.000000, -5.000000, 22.000000]] + joints: [-126.000000, -119.000000, -151.000000, -60.000000, -5.000000, 22.000000] + pose: {translation: [0.05733248226019655, -0.06863837657789766, 0.2308096319015701], quaternion: [-0.6939972096140127, 0.718655148241378, 0.01634011010781753, 0.04044319171123407]} + solutions: [[54.000000, -55.780216, 168.621666, -167.712605, 20.773175, -49.415962], [54.000000, 161.555254, -157.666928, -4.330008, 88.620390, 142.199129], [-126.000000, 44.510978, 161.954737, 175.054998, 118.880036, 139.701799], [-126.000000, -119.000000, -151.000000, 120.000000, 5.000000, -158.000000], [54.000000, -55.780216, 168.621666, 12.287395, -20.773175, 130.584038], [54.000000, 161.555254, -157.666928, 175.669992, -88.620390, -37.800871], [-126.000000, 44.510978, 161.954737, -4.945002, -118.880036, -40.298201], [-126.000000, -119.000000, -151.000000, -60.000000, -5.000000, 22.000000]] - id: 1074 parameters: KukaKR6_R700_sixx - joints: [103.000000, 70.000000, 38.000000, 37.000000, 177.000000, -123.000000] - pose: {translation: [-0.0192678670142132, -0.07225708588421634, -0.176940861292546], quaternion: [0.09134737353480543, -0.1015925584706379, 0.4705173706907328, 0.8717499717751429]} - solutions: [[103.000000, 70.000000, 38.000000, 37.000000, 177.000000, -123.000000], [103.000000, 105.055993, -27.045263, 176.107920, 152.353087, 16.588919], [-77.000000, 80.670450, 35.454731, -2.710584, 138.239655, 18.015164], [-77.000000, 112.973222, -24.499994, -7.382332, 165.810548, 12.878285], [103.000000, 70.000000, 38.000000, -143.000000, -177.000000, 57.000000], [103.000000, 105.055993, -27.045263, -3.892080, -152.353087, -163.411081], [-77.000000, 80.670450, 35.454731, 177.289416, -138.239655, -161.984836], [-77.000000, 112.973222, -24.499994, 172.617668, -165.810548, -167.121715]] + joints: [103.000000, 70.000000, 38.000000, 37.000000, 176.000000, -123.000000] + pose: {translation: [-0.01984104090985298, -0.07101134446525216, -0.1766779886986408], quaternion: [0.08272754828276732, -0.1008889965830367, 0.4701900874248948, 0.8728681714961087]} + solutions: [[103.000000, 70.000000, 38.000000, 37.000000, 176.000000, -123.000000], [103.000000, 105.055993, -27.045263, 174.674642, 153.107300, 15.314896], [-77.000000, 80.670450, 35.454731, -3.669761, 139.013023, 17.295360], [-77.000000, 112.973222, -24.499994, -10.368093, 166.510802, 9.979107], [103.000000, 70.000000, 38.000000, -143.000000, -176.000000, 57.000000], [103.000000, 105.055993, -27.045263, -5.325358, -153.107300, -164.685104], [-77.000000, 80.670450, 35.454731, 176.330239, -139.013023, -162.704640], [-77.000000, 112.973222, -24.499994, 169.631907, -166.510802, -170.020893]] - id: 1075 parameters: KukaKR6_R700_sixx joints: [104.000000, -87.000000, -178.000000, 124.000000, 4.000000, 134.000000] @@ -5386,14 +5386,14 @@ cases: solutions: [[-97.000000, -59.765563, 46.954737, -55.894151, 111.980969, 74.514256], [-97.000000, -15.000000, -36.000000, -77.000000, 128.000000, 34.000000], [83.000000, -151.448406, 17.122819, 106.924705, 126.623285, 40.469990], [83.000000, -138.917140, -6.168081, 113.940847, 122.850223, 52.744747], [-97.000000, -59.765563, 46.954737, 124.105849, -111.980969, -105.485744], [-97.000000, -15.000000, -36.000000, 103.000000, -128.000000, -146.000000], [83.000000, -151.448406, 17.122819, -73.075295, -126.623285, -139.530010], [83.000000, -138.917140, -6.168081, -66.059153, -122.850223, -127.255253]] - id: 1077 parameters: KukaKR6_R700_sixx - joints: [120.000000, -140.000000, -38.000000, 36.000000, 164.000000, -145.000000] - pose: {translation: [0.2411884569629997, 0.4436731532958753, 0.5953826874450545], quaternion: [0.2627996051038236, -0.5798968969034162, 0.3395392443773749, 0.6923648301630468]} - solutions: [[-60.000000, -51.382764, 67.210946, -63.150281, 169.537481, -62.691628], [-60.000000, 15.539251, -56.256209, -168.195711, 127.628723, -172.658896], [120.000000, 173.060072, 48.954737, 11.605918, 126.357856, -172.988549], [120.000000, -140.000000, -38.000000, 36.000000, 164.000000, -145.000000], [-60.000000, -51.382764, 67.210946, 116.849719, -169.537481, 117.308372], [-60.000000, 15.539251, -56.256209, 11.804289, -127.628723, 7.341104], [120.000000, 173.060072, 48.954737, -168.394082, -126.357856, 7.011451], [120.000000, -140.000000, -38.000000, -144.000000, -164.000000, 35.000000]] + joints: [120.000000, -140.000000, -38.000000, 36.000000, 163.000000, -145.000000] + pose: {translation: [0.2406862423128087, 0.4443770845644004, 0.5964789370573775], quaternion: [0.2568969319441053, -0.5766250512782324, 0.3385023234774897, 0.6977991785581454]} + solutions: [[-60.000000, -51.382764, 67.210946, -68.524132, 169.357914, -67.974733], [-60.000000, 15.539251, -56.256209, -167.616443, 126.741573, -172.308779], [120.000000, 173.060072, 48.954737, 12.182155, 125.473425, -172.650520], [120.000000, -140.000000, -38.000000, 36.000000, 163.000000, -145.000000], [-60.000000, -51.382764, 67.210946, 111.475868, -169.357914, 112.025267], [-60.000000, 15.539251, -56.256209, 12.383557, -126.741573, 7.691221], [120.000000, 173.060072, 48.954737, -167.817845, -125.473425, 7.349480], [120.000000, -140.000000, -38.000000, -144.000000, -163.000000, 35.000000]] - id: 1078 parameters: KukaKR6_R700_sixx - joints: [-178.000000, -65.000000, 73.000000, -23.000000, 152.000000, -89.000000] - pose: {translation: [-0.4499219834769956, 0.001027704546904186, 0.6449431426534374], quaternion: [0.6271821177329883, -0.5090912578432815, 0.5299831863881308, -0.2580436097433794]} - solutions: [[-178.000000, -65.000000, 73.000000, -23.000000, 152.000000, -89.000000], [-178.000000, 8.324352, -62.045263, -162.243374, 143.023766, 125.895479], [2.000000, 177.747215, 57.935163, 17.004232, 141.151799, 124.941953], [2.000000, -125.517199, -46.980425, 134.527473, 165.089728, -112.945940], [-178.000000, -65.000000, 73.000000, 157.000000, -152.000000, 91.000000], [-178.000000, 8.324352, -62.045263, 17.756626, -143.023766, -54.104521], [2.000000, 177.747215, 57.935163, -162.995768, -141.151799, -55.058047], [2.000000, -125.517199, -46.980425, -45.472527, -165.089728, 67.054060]] + joints: [-178.000000, -65.000000, 73.000000, -23.000000, 151.000000, -89.000000] + pose: {translation: [-0.4504409607655048, 0.0005660908704655972, 0.6437319129535337], quaternion: [0.6294904362489617, -0.5136567861052556, 0.5254255607116789, -0.2526390249148564]} + solutions: [[-178.000000, -65.000000, 73.000000, -23.000000, 151.000000, -89.000000], [-178.000000, 8.324352, -62.045263, -161.273815, 143.840082, 126.674206], [2.000000, 177.747215, 57.935163, 17.910692, 141.977949, 125.652019], [2.000000, -125.517199, -46.980425, 136.015527, 164.170713, -111.511054], [-178.000000, -65.000000, 73.000000, 157.000000, -151.000000, 91.000000], [-178.000000, 8.324352, -62.045263, 18.726185, -143.840082, -53.325794], [2.000000, 177.747215, 57.935163, -162.089308, -141.977949, -54.347981], [2.000000, -125.517199, -46.980425, -43.984473, -164.170713, 68.488946]] - id: 1079 parameters: KukaKR6_R700_sixx joints: [-17.000000, -23.000000, 104.000000, -94.000000, -69.000000, 42.000000] @@ -5401,14 +5401,14 @@ cases: solutions: [[-17.000000, -23.000000, 104.000000, 86.000000, 69.000000, -138.000000], [-17.000000, 85.582035, -93.045263, 68.866573, 93.180917, -50.871947], [163.000000, 103.327759, 93.882897, -110.348336, 96.640273, -41.723967], [163.000000, -159.833803, -82.928160, -100.583317, 71.338054, -118.759824], [-17.000000, -23.000000, 104.000000, -94.000000, -69.000000, 42.000000], [-17.000000, 85.582035, -93.045263, -111.133427, -93.180917, 129.128053], [163.000000, 103.327759, 93.882897, 69.651664, -96.640273, 138.276033], [163.000000, -159.833803, -82.928160, 79.416683, -71.338054, 61.240176]] - id: 1080 parameters: KukaKR6_R700_sixx - joints: [55.000000, 121.000000, -131.000000, 110.000000, -180.000000, 26.000000] - pose: {translation: [0.07878389529204828, -0.1125150630247182, 0.213950302269337], quaternion: [-0.7175325255978228, -0.2682744183530643, 0.1609411643194604, 0.6223133075823073]} - solutions: [[55.000000, -36.981965, 141.954737, -0.000000, 65.027227, -84.000000], [55.000000, 121.000000, -131.000000, -75.963757, 180.000000, -164.054604], [-125.000000, 70.830778, 134.640994, 0.000000, 164.528228, 96.000000], [-125.000000, -141.879345, -123.686256, 180.000000, 84.434399, -84.000000], [55.000000, -36.981965, 141.954737, -180.000000, -65.027227, 96.000000], [55.000000, 121.000000, -131.000000, 104.036243, -180.000000, 15.945396], [-125.000000, 70.830778, 134.640994, -180.000000, -164.528228, -84.000000], [-125.000000, -141.879345, -123.686256, -0.000000, -84.434399, 96.000000]] + joints: [55.000000, 121.000000, -131.000000, 110.000000, -179.000000, 26.000000] + pose: {translation: [0.07991306039001872, -0.1118402900029294, 0.2134821467943253], quaternion: [-0.721148158871479, -0.2639988513394796, 0.1542808981649737, 0.621648891183054]} + solutions: [[55.000000, -36.981965, 141.954737, -1.039488, 64.688821, -83.558348], [55.000000, 121.000000, -131.000000, -70.000000, 179.000000, -154.000000], [-125.000000, 70.830778, 134.640994, 3.595855, 164.841806, 99.468253], [-125.000000, -141.879345, -123.686256, 179.055297, 84.093145, -83.905575], [55.000000, -36.981965, 141.954737, 178.960512, -64.688821, 96.441652], [55.000000, 121.000000, -131.000000, 110.000000, -179.000000, 26.000000], [-125.000000, 70.830778, 134.640994, -176.404145, -164.841806, -80.531747], [-125.000000, -141.879345, -123.686256, -0.944703, -84.093145, 96.094425]] - id: 1081 parameters: KukaKR6_R700_sixx - joints: [-169.000000, -142.000000, 104.000000, 132.000000, 179.000000, 52.000000] - pose: {translation: [0.02057071344256561, -0.002941548453389014, 0.7977209503695903], quaternion: [-0.6301826251342569, 0.637222521301998, -0.362283149904521, 0.256062954407075]} - solutions: [[-169.000000, -142.000000, 104.000000, 132.000000, 179.000000, 52.000000], [-169.000000, -33.417965, -93.045263, 179.256787, 90.867531, 99.984407], [11.000000, -152.306587, 102.926714, -0.744354, 86.710981, 100.038368], [11.000000, -44.985394, -91.971977, -7.425341, 174.240222, 92.607392], [-169.000000, -142.000000, 104.000000, -48.000000, -179.000000, -128.000000], [-169.000000, -33.417965, -93.045263, -0.743213, -90.867531, -80.015593], [11.000000, -152.306587, 102.926714, 179.255646, -86.710981, -79.961632], [11.000000, -44.985394, -91.971977, 172.574659, -174.240222, -87.392608]] + joints: [-169.000000, -141.000000, 104.000000, 132.000000, 178.000000, 52.000000] + pose: {translation: [0.01447121777080983, -0.0006992553847320147, 0.7992267758351541], quaternion: [-0.6276476478142816, 0.6304424164753746, -0.3697059540862936, 0.2681758699343273]} + solutions: [[-169.000000, -141.000000, 104.000000, 132.000000, 178.000000, 52.000000], [-169.000000, -32.417965, -93.045263, 178.513837, 90.198144, 99.977498], [11.000000, -153.174867, 102.732022, -1.489595, 86.105596, 100.083831], [11.000000, -46.081965, -91.777284, -12.947885, 173.353142, 87.118878], [-169.000000, -141.000000, 104.000000, -48.000000, -178.000000, -128.000000], [-169.000000, -32.417965, -93.045263, -1.486163, -90.198144, -80.022502], [11.000000, -153.174867, 102.732022, 178.510405, -86.105596, -79.916169], [11.000000, -46.081965, -91.777284, 167.052115, -173.353142, -92.881122]] - id: 1082 parameters: KukaKR6_R700_sixx joints: [105.000000, -22.000000, 105.000000, -13.000000, 94.000000, 68.000000] @@ -5416,14 +5416,14 @@ cases: solutions: [[105.000000, -22.000000, 105.000000, -13.000000, 94.000000, 68.000000], [105.000000, 87.760442, -94.045263, -104.400417, 166.603868, -35.863124], [-75.000000, 101.195469, 95.127235, 44.759673, 161.416072, -67.850669], [-75.000000, -160.537268, -84.172497, 166.014435, 111.794247, 63.639537], [105.000000, -22.000000, 105.000000, 167.000000, -94.000000, -112.000000], [105.000000, 87.760442, -94.045263, 75.599583, -166.603868, 144.136876], [-75.000000, 101.195469, 95.127235, -135.240327, -161.416072, 112.149331], [-75.000000, -160.537268, -84.172497, -13.985565, -111.794247, -116.360463]] - id: 1083 parameters: KukaKR6_R700_sixx - joints: [-8.000000, 135.000000, -16.000000, -51.000000, 64.000000, 30.000000] - pose: {translation: [-0.4045391510870704, -0.0004255767390724599, -0.1676780026385057], quaternion: [-0.1859413605511481, -0.7211231102422113, -0.2520036739004908, 0.6179817300306236]} - solutions: [[172.000000, 39.463271, 44.068972, 134.667624, 79.154775, 12.348851], [172.000000, 81.095451, -33.114235, 122.926731, 56.322135, 42.144373], [-8.000000, 111.875319, 26.954737, -61.239096, 52.824654, 49.321471], [-8.000000, 135.000000, -16.000000, -51.000000, 64.000000, 30.000000], [172.000000, 39.463271, 44.068972, -45.332376, -79.154775, -167.651149], [172.000000, 81.095451, -33.114235, -57.073269, -56.322135, -137.855627], [-8.000000, 111.875319, 26.954737, 118.760904, -52.824654, -130.678529], [-8.000000, 135.000000, -16.000000, 129.000000, -64.000000, -150.000000]] + joints: [-8.000000, 134.000000, -16.000000, -51.000000, 64.000000, 30.000000] + pose: {translation: [-0.3946640221077536, 0.000962282130474508, -0.1750203588574568], quaternion: [-0.1830060249460615, -0.7261299506334845, -0.2544767142926989, 0.6119523604899708]} + solutions: [[172.000000, 40.713691, 43.677170, 134.648267, 79.055401, 12.451265], [172.000000, 81.920790, -32.722432, 123.047829, 56.440358, 41.925653], [-8.000000, 110.875319, 26.954737, -61.239096, 52.824654, 49.321471], [-8.000000, 134.000000, -16.000000, -51.000000, 64.000000, 30.000000], [172.000000, 40.713691, 43.677170, -45.351733, -79.055401, -167.548735], [172.000000, 81.920790, -32.722432, -56.952171, -56.440358, -138.074347], [-8.000000, 110.875319, 26.954737, 118.760904, -52.824654, -130.678529], [-8.000000, 134.000000, -16.000000, 129.000000, -64.000000, -150.000000]] - id: 1084 parameters: KukaKR6_R700_sixx - joints: [153.000000, 62.000000, -84.000000, -99.000000, -152.000000, -169.000000] - pose: {translation: [-0.4043423122575168, -0.1643896394997665, 0.259146206286466], quaternion: [-0.8170989980973408, 0.1782557824964763, -0.1903734691595685, 0.5141323230016198]} - solutions: [[153.000000, -36.068958, 94.954737, 27.693834, 93.861642, -66.805856], [153.000000, 62.000000, -84.000000, 81.000000, 152.000000, 11.000000], [-27.000000, 126.281191, 82.487096, -86.159265, 152.306905, 25.505466], [-27.000000, -149.806604, -71.532358, -150.573291, 109.302504, -58.268187], [153.000000, -36.068958, 94.954737, -152.306166, -93.861642, 113.194144], [153.000000, 62.000000, -84.000000, -99.000000, -152.000000, -169.000000], [-27.000000, 126.281191, 82.487096, 93.840735, -152.306905, -154.494534], [-27.000000, -149.806604, -71.532358, 29.426709, -109.302504, 121.731813]] + joints: [153.000000, 62.000000, -84.000000, -99.000000, -151.000000, -169.000000] + pose: {translation: [-0.4055069808107009, -0.1636228783542, 0.2592178059028471], quaternion: [-0.8178425810446777, 0.1735278413192161, -0.1836635972031231, 0.5170002746417857]} + solutions: [[153.000000, -36.068958, 94.954737, 28.673256, 93.649865, -66.741699], [153.000000, 62.000000, -84.000000, 81.000000, 151.000000, 11.000000], [-27.000000, 126.281191, 82.487096, -86.681449, 151.337774, 25.045150], [-27.000000, -149.806604, -71.532358, -149.584476, 108.945858, -57.944226], [153.000000, -36.068958, 94.954737, -151.326744, -93.649865, 113.258301], [153.000000, 62.000000, -84.000000, -99.000000, -151.000000, -169.000000], [-27.000000, 126.281191, 82.487096, 93.318551, -151.337774, -154.954850], [-27.000000, -149.806604, -71.532358, 30.415524, -108.945858, 122.055774]] - id: 1085 parameters: KukaKR6_R700_sixx joints: [2.000000, 117.000000, -144.000000, 93.000000, -36.000000, 83.000000] @@ -5431,19 +5431,19 @@ cases: solutions: [[2.000000, -63.531454, 154.954737, -141.049311, 110.978842, 12.847475], [2.000000, 117.000000, -144.000000, -87.000000, 36.000000, -97.000000], [-178.000000, 76.137081, 146.610626, 113.001517, 39.618941, -122.152306], [-178.000000, -118.477220, -135.655888, 36.277566, 97.240175, 1.991321], [2.000000, -63.531454, 154.954737, 38.950689, -110.978842, -167.152525], [2.000000, 117.000000, -144.000000, 93.000000, -36.000000, 83.000000], [-178.000000, 76.137081, 146.610626, -66.998483, -39.618941, 57.847694], [-178.000000, -118.477220, -135.655888, -143.722434, -97.240175, -178.008679]] - id: 1086 parameters: KukaKR6_R700_sixx - joints: [-28.000000, -128.000000, -79.000000, -169.000000, 172.000000, -34.000000] - pose: {translation: [-0.3565713613493822, -0.1871862806217353, 0.4775593434178304], quaternion: [0.5749211313870399, -0.07444771849689893, 0.6508339250007387, -0.4902432375498773]} - solutions: [[152.000000, -59.484646, 101.838586, 3.856431, 156.744113, -41.351591], [152.000000, 46.562258, -90.883848, 178.299263, 116.523190, 134.344817], [-28.000000, 139.647829, 89.954737, -1.632674, 111.244444, 134.512742], [-28.000000, -128.000000, -79.000000, -169.000000, 172.000000, -34.000000], [152.000000, -59.484646, 101.838586, -176.143569, -156.744113, 138.648409], [152.000000, 46.562258, -90.883848, -1.700737, -116.523190, -45.655183], [-28.000000, 139.647829, 89.954737, 178.367326, -111.244444, -45.487258], [-28.000000, -128.000000, -79.000000, 11.000000, -172.000000, 146.000000]] + joints: [-28.000000, -128.000000, -79.000000, -169.000000, 171.000000, -34.000000] + pose: {translation: [-0.3563140554809842, -0.1867510479144081, 0.4762578565071192], quaternion: [0.5820000772102222, -0.07407410764895245, 0.6462865127636923, -0.4879576622239399]} + solutions: [[152.000000, -59.484646, 101.838586, 4.167986, 155.752015, -41.066414], [152.000000, 46.562258, -90.883848, 178.071514, 117.502390, 134.241372], [-28.000000, 139.647829, 89.954737, -1.847796, 112.224276, 134.433079], [-28.000000, -128.000000, -79.000000, -169.000000, 171.000000, -34.000000], [152.000000, -59.484646, 101.838586, -175.832014, -155.752015, 138.933586], [152.000000, 46.562258, -90.883848, -1.928486, -117.502390, -45.758628], [-28.000000, 139.647829, 89.954737, 178.152204, -112.224276, -45.566921], [-28.000000, -128.000000, -79.000000, 11.000000, -171.000000, 146.000000]] - id: 1087 parameters: KukaKR6_R700_sixx - joints: [-99.000000, 69.000000, 115.000000, 32.000000, -139.000000, -84.000000] - pose: {translation: [-0.0006352285478057329, -0.1737804875519202, 0.04785572072203392], quaternion: [0.006017592402162012, 0.8965455309893922, 0.3612756091308809, -0.2562222349675011]} - solutions: [[81.000000, -8.568621, 121.146079, 39.215499, 33.359083, 36.474034], [81.000000, 120.846221, -110.191341, 25.490010, 126.114262, 86.447146], [-99.000000, 69.000000, 115.000000, -148.000000, 139.000000, 96.000000], [-99.000000, -169.227834, -104.045263, -152.859502, 49.651253, 52.391255], [81.000000, -8.568621, 121.146079, -140.784501, -33.359083, -143.525966], [81.000000, 120.846221, -110.191341, -154.509990, -126.114262, -93.552854], [-99.000000, 69.000000, 115.000000, 32.000000, -139.000000, -84.000000], [-99.000000, -169.227834, -104.045263, 27.140498, -49.651253, -127.608745]] + joints: [-99.000000, 68.000000, 115.000000, 32.000000, -138.000000, -84.000000] + pose: {translation: [-0.001996856382721651, -0.168725888594711, 0.04364203975558674], quaternion: [0.001730738492758463, 0.895981155965427, 0.3612204050851026, -0.2583303924227294]} + solutions: [[81.000000, -7.400869, 120.999330, 40.825218, 32.846038, 35.118167], [81.000000, 121.828612, -110.044593, 25.653637, 125.011566, 86.496967], [-99.000000, 68.000000, 115.000000, -148.000000, 138.000000, 96.000000], [-99.000000, -170.227834, -104.045263, -151.944647, 48.930769, 51.794552], [81.000000, -7.400869, 120.999330, -139.174782, -32.846038, -144.881833], [81.000000, 121.828612, -110.044593, -154.346363, -125.011566, -93.503033], [-99.000000, 68.000000, 115.000000, 32.000000, -138.000000, -84.000000], [-99.000000, -170.227834, -104.045263, 28.055353, -48.930769, -128.205448]] - id: 1088 parameters: KukaKR6_R700_sixx - joints: [-117.000000, -158.000000, 43.000000, -70.000000, 52.000000, -71.000000] - pose: {translation: [0.1534716094079332, -0.4316901710360169, 0.8877622586651169], quaternion: [0.4033936495769347, -0.03651125899195126, -0.7632658519074966, 0.5033544782355148]} - solutions: [[63.000000, -74.250208, 58.822319, 130.988429, 78.808475, -117.817829], [63.000000, -16.543688, -47.867582, 110.430061, 52.203436, -71.700121], [-117.000000, -158.000000, 43.000000, -70.000000, 52.000000, -71.000000], [-117.000000, -117.527404, -32.045263, -52.350185, 69.267634, -105.760688], [63.000000, -74.250208, 58.822319, -49.011571, -78.808475, 62.182171], [63.000000, -16.543688, -47.867582, -69.569939, -52.203436, 108.299879], [-117.000000, -158.000000, 43.000000, 110.000000, -52.000000, 109.000000], [-117.000000, -117.527404, -32.045263, 127.649815, -69.267634, 74.239312]] + joints: [-117.000000, -157.000000, 43.000000, -70.000000, 51.000000, -71.000000] + pose: {translation: [0.1506266274201744, -0.4243074995594687, 0.8969304718658785], quaternion: [0.3961322324779229, -0.0395935476804755, -0.7628359299228921, 0.5095026490537684]} + solutions: [[63.000000, -75.177623, 58.585522, 131.707645, 78.015810, -117.841535], [63.000000, -17.730324, -47.630785, 110.483507, 51.221049, -71.770128], [-117.000000, -157.000000, 43.000000, -70.000000, 51.000000, -71.000000], [-117.000000, -116.527404, -32.045263, -51.737192, 68.447187, -105.981796], [63.000000, -75.177623, 58.585522, -48.292355, -78.015810, 62.158465], [63.000000, -17.730324, -47.630785, -69.516493, -51.221049, 108.229872], [-117.000000, -157.000000, 43.000000, 110.000000, -51.000000, 109.000000], [-117.000000, -116.527404, -32.045263, 128.262808, -68.447187, 74.018204]] - id: 1089 parameters: KukaKR6_R700_sixx joints: [90.000000, 55.000000, -7.000000, 167.000000, -29.000000, -63.000000] @@ -5451,9 +5451,9 @@ cases: solutions: [[90.000000, 41.573052, 17.954737, -20.735937, 17.940017, 125.392154], [90.000000, 55.000000, -7.000000, -13.000000, 29.000000, 117.000000], [90.000000, 41.573052, 17.954737, 159.264063, -17.940017, -54.607846], [90.000000, 55.000000, -7.000000, 167.000000, -29.000000, -63.000000]] - id: 1090 parameters: KukaKR6_R700_sixx - joints: [-13.000000, 43.000000, 4.000000, -172.000000, -90.000000, 151.000000] - pose: {translation: [0.4623724560179364, 0.0953203785303722, -0.1119325378208174], quaternion: [0.09977456173611308, 0.9097942823970543, -0.2022727503427436, -0.3484323966234739]} - solutions: [[-13.000000, 41.410633, 6.954737, 8.002243, 88.647919, -29.190058], [-13.000000, 43.000000, 4.000000, 8.000000, 90.000000, -29.000000], [-13.000000, 41.410633, 6.954737, -171.997757, -88.647919, 150.809942], [-13.000000, 43.000000, 4.000000, -172.000000, -90.000000, 151.000000]] + joints: [-13.000000, 42.000000, 4.000000, -172.000000, -89.000000, 151.000000] + pose: {translation: [0.4719646856099157, 0.09753665956902484, -0.1050499206256923], quaternion: [0.1007213349467122, 0.9165309238337157, -0.1965293658700637, -0.3334703685393631]} + solutions: [[-13.000000, 40.410633, 6.954737, 8.005562, 87.647925, -29.190165], [-13.000000, 42.000000, 4.000000, 8.000000, 89.000000, -29.000000], [-13.000000, 40.410633, 6.954737, -171.994438, -87.647925, 150.809835], [-13.000000, 42.000000, 4.000000, -172.000000, -89.000000, 151.000000]] - id: 1091 parameters: KukaKR6_R700_sixx joints: [-56.000000, -36.000000, -158.000000, -103.000000, -35.000000, 129.000000] @@ -5461,9 +5461,9 @@ cases: solutions: [[124.000000, 174.210694, 176.305096, -69.577872, 36.609534, -91.623817], [124.000000, 71.800512, -165.350358, -34.278865, 97.121987, -161.570327], [-56.000000, 105.385307, 168.954737, 145.662906, 97.774710, -162.019503], [-56.000000, -36.000000, -158.000000, 77.000000, 35.000000, -51.000000], [124.000000, 174.210694, 176.305096, 110.422128, -36.609534, 88.376183], [124.000000, 71.800512, -165.350358, 145.721135, -97.121987, 18.429673], [-56.000000, 105.385307, 168.954737, -34.337094, -97.774710, 17.980497], [-56.000000, -36.000000, -158.000000, -103.000000, -35.000000, 129.000000]] - id: 1092 parameters: KukaKR6_R700_sixx - joints: [134.000000, 3.000000, 165.000000, 91.000000, 161.000000, -176.000000] - pose: {translation: [-0.06312439218588661, -0.02787903088344467, 0.2886733671844092], quaternion: [-0.3382790227864118, -0.5385666269351296, 0.6598421402979664, 0.4001520223382438]} - solutions: [[-46.000000, -6.990439, 165.734268, -32.358608, 37.459435, -60.357650], [-46.000000, -159.655784, -154.779531, -31.679038, 141.695106, -112.896591], [134.000000, 3.000000, 165.000000, 91.000000, 161.000000, -176.000000], [134.000000, -151.943744, -154.045263, 159.301716, 67.070234, -78.683514], [-46.000000, -6.990439, 165.734268, 147.641392, -37.459435, 119.642350], [-46.000000, -159.655784, -154.779531, 148.320962, -141.695106, 67.103409], [134.000000, 3.000000, 165.000000, -89.000000, -161.000000, 4.000000], [134.000000, -151.943744, -154.045263, -20.698284, -67.070234, 101.316486]] + joints: [134.000000, 3.000000, 165.000000, 91.000000, 160.000000, -176.000000] + pose: {translation: [-0.06375764229758753, -0.02664038368685257, 0.2885539962641753], quaternion: [-0.3442538369675108, -0.5354643525858847, 0.6565443596381538, 0.4046192366537368]} + solutions: [[-46.000000, -6.990439, 165.734268, -33.826230, 37.901335, -59.196093], [-46.000000, -159.655784, -154.779531, -33.103432, 141.234044, -114.010817], [134.000000, 3.000000, 165.000000, 91.000000, 160.000000, -176.000000], [134.000000, -151.943744, -154.045263, 158.225789, 67.201206, -78.265453], [-46.000000, -6.990439, 165.734268, 146.173770, -37.901335, 120.803907], [-46.000000, -159.655784, -154.779531, 146.896568, -141.234044, 65.989183], [134.000000, 3.000000, 165.000000, -89.000000, -160.000000, 4.000000], [134.000000, -151.943744, -154.045263, -21.774211, -67.201206, 101.734547]] - id: 1093 parameters: KukaKR6_R700_sixx joints: [159.000000, 41.000000, 79.000000, 161.000000, -11.000000, -17.000000] @@ -5471,9 +5471,9 @@ cases: solutions: [[159.000000, 41.000000, 79.000000, -19.000000, 11.000000, 163.000000], [159.000000, 121.004973, -68.045263, -3.648468, 77.479094, 145.116671], [-21.000000, 65.689175, 76.118111, 176.435745, 92.217174, 144.186608], [-21.000000, 142.479102, -65.163374, 172.381041, 27.939690, 151.064279], [159.000000, 41.000000, 79.000000, 161.000000, -11.000000, -17.000000], [159.000000, 121.004973, -68.045263, 176.351532, -77.479094, -34.883329], [-21.000000, 65.689175, 76.118111, -3.564255, -92.217174, -35.813392], [-21.000000, 142.479102, -65.163374, -7.618959, -27.939690, -28.935721]] - id: 1094 parameters: KukaKR6_R700_sixx - joints: [5.000000, -176.000000, 121.000000, -119.000000, -51.000000, 80.000000] - pose: {translation: [-0.05951013346090114, -0.04937782149267925, 0.7649912751256821], quaternion: [0.5091982473040499, 0.3016872214343373, 0.1250485124459293, 0.7962818815600246]} - solutions: [[-175.000000, -142.775368, 124.022895, -126.271356, 122.533762, -15.136513], [-175.000000, -9.694233, -113.068158, -120.542126, 52.111260, -97.520072], [5.000000, -176.000000, 121.000000, 61.000000, 51.000000, -100.000000], [5.000000, -46.769673, -110.045263, 51.594062, 119.843970, -19.256001], [-175.000000, -142.775368, 124.022895, 53.728644, -122.533762, 164.863487], [-175.000000, -9.694233, -113.068158, 59.457874, -52.111260, 82.479928], [5.000000, -176.000000, 121.000000, -119.000000, -51.000000, 80.000000], [5.000000, -46.769673, -110.045263, -128.405938, -119.843970, 160.743999]] + joints: [5.000000, -175.000000, 121.000000, -119.000000, -51.000000, 80.000000] + pose: {translation: [-0.05315226205775217, -0.04993406316461045, 0.7663315307255667], quaternion: [0.5108715726448635, 0.3085029661443329, 0.1208465769501566, 0.7932416157659294]} + solutions: [[-175.000000, -143.699704, 123.854401, -126.319033, 122.478811, -15.225232], [-175.000000, -10.835088, -112.899664, -120.560643, 52.125309, -97.489916], [5.000000, -175.000000, 121.000000, 61.000000, 51.000000, -100.000000], [5.000000, -45.769673, -110.045263, 51.594062, 119.843970, -19.256001], [-175.000000, -143.699704, 123.854401, 53.680967, -122.478811, 164.774768], [-175.000000, -10.835088, -112.899664, 59.439357, -52.125309, 82.510084], [5.000000, -175.000000, 121.000000, -119.000000, -51.000000, 80.000000], [5.000000, -45.769673, -110.045263, -128.405938, -119.843970, 160.743999]] - id: 1095 parameters: KukaKR6_R700_sixx joints: [-148.000000, 75.000000, -93.000000, -80.000000, 43.000000, -15.000000] @@ -5486,49 +5486,49 @@ cases: solutions: [[175.000000, 37.000000, 22.000000, 41.000000, 125.000000, 50.000000], [175.000000, 54.783829, -11.045263, 50.345905, 135.731765, 64.323758], [175.000000, 37.000000, 22.000000, -139.000000, -125.000000, -130.000000], [175.000000, 54.783829, -11.045263, -129.654095, -135.731765, -115.676242]] - id: 1097 parameters: KukaKR6_R700_sixx - joints: [26.000000, 147.000000, 7.000000, 20.000000, -79.000000, 140.000000] - pose: {translation: [-0.4675245161232963, 0.2579102085037968, -0.03604197954506444], quaternion: [0.8488726086915995, -0.485565845116203, 0.1075162700391956, -0.1791126906351554]} - solutions: [[-154.000000, 12.730090, 45.948338, 26.499474, 48.803230, -54.206492], [-154.000000, 56.402382, -34.993601, 19.757048, 83.317930, -38.420463], [26.000000, 147.000000, 7.000000, -160.000000, 79.000000, -40.000000], [26.000000, 148.638061, 3.954737, -159.900429, 77.678073, -40.492596], [-154.000000, 12.730090, 45.948338, -153.500526, -48.803230, 125.793508], [-154.000000, 56.402382, -34.993601, -160.242952, -83.317930, 141.579537], [26.000000, 147.000000, 7.000000, 20.000000, -79.000000, 140.000000], [26.000000, 148.638061, 3.954737, 20.099571, -77.678073, 139.507404]] + joints: [26.000000, 146.000000, 7.000000, 20.000000, -79.000000, 140.000000] + pose: {translation: [-0.460608287965191, 0.254536938641132, -0.04571869954133934], quaternion: [0.8486821862904039, -0.483731211936578, 0.1160277014284023, -0.1796670080258228]} + solutions: [[-154.000000, 13.927619, 45.702254, 26.480530, 48.846688, -54.177719], [-154.000000, 57.332671, -34.747516, 19.764121, 83.151943, -38.480511], [26.000000, 146.000000, 7.000000, -160.000000, 79.000000, -40.000000], [26.000000, 147.638061, 3.954737, -159.900429, 77.678073, -40.492596], [-154.000000, 13.927619, 45.702254, -153.519470, -48.846688, 125.822281], [-154.000000, 57.332671, -34.747516, -160.235879, -83.151943, 141.519489], [26.000000, 146.000000, 7.000000, 20.000000, -79.000000, 140.000000], [26.000000, 147.638061, 3.954737, 20.099571, -77.678073, 139.507404]] - id: 1098 parameters: KukaKR6_R700_sixx - joints: [32.000000, -103.000000, -99.000000, 118.000000, -26.000000, 175.000000] - pose: {translation: [-0.3601295256458892, 0.2615468086905626, 0.5260735565648212], quaternion: [-0.6414740362648662, -0.4018079614658306, 0.03312822563505293, 0.6526591327538501]} - solutions: [[-148.000000, -85.510789, 119.724557, 135.311689, 33.393496, -24.839781], [-148.000000, 42.114854, -108.769820, 23.416926, 76.888688, 109.996815], [32.000000, 141.343903, 109.954737, -156.938682, 81.155989, 111.862791], [32.000000, -103.000000, -99.000000, -62.000000, 26.000000, -5.000000], [-148.000000, -85.510789, 119.724557, -44.688311, -33.393496, 155.160219], [-148.000000, 42.114854, -108.769820, -156.583074, -76.888688, -70.003185], [32.000000, 141.343903, 109.954737, 23.061318, -81.155989, -68.137209], [32.000000, -103.000000, -99.000000, 118.000000, -26.000000, 175.000000]] + joints: [32.000000, -102.000000, -99.000000, 118.000000, -26.000000, 175.000000] + pose: {translation: [-0.3582029988315608, 0.2603429811286572, 0.5342396356849279], quaternion: [-0.6381863144315385, -0.3971158405172112, 0.03601610244153947, 0.6585742764848312]} + solutions: [[-148.000000, -86.592929, 119.657539, 135.152023, 33.287599, -24.648660], [-148.000000, 40.948704, -108.702802, 23.407784, 76.979659, 110.037251], [32.000000, 142.343903, 109.954737, -156.938682, 81.155989, 111.862791], [32.000000, -102.000000, -99.000000, -62.000000, 26.000000, -5.000000], [-148.000000, -86.592929, 119.657539, -44.847977, -33.287599, 155.351340], [-148.000000, 40.948704, -108.702802, -156.592216, -76.979659, -69.962749], [32.000000, 142.343903, 109.954737, 23.061318, -81.155989, -68.137209], [32.000000, -102.000000, -99.000000, 118.000000, -26.000000, 175.000000]] - id: 1099 parameters: KukaKR6_R700_sixx - joints: [126.000000, 122.000000, -111.000000, 102.000000, -114.000000, 64.000000] - pose: {translation: [-0.05279157725092759, -0.1942816130803267, 0.08886947007013875], quaternion: [0.6720047998030164, -0.3206689842685305, 0.6432632942683753, -0.1783067183728485]} - solutions: [[126.000000, -8.439067, 121.954737, -68.282780, 74.123437, -19.108306], [126.000000, 122.000000, -111.000000, -78.000000, 114.000000, -116.000000], [-54.000000, 67.907056, 115.921193, 95.085258, 116.218804, -132.202874], [-54.000000, -169.189864, -104.966455, 115.513307, 81.945421, -37.229701], [126.000000, -8.439067, 121.954737, 111.717220, -74.123437, 160.891694], [126.000000, 122.000000, -111.000000, 102.000000, -114.000000, 64.000000], [-54.000000, 67.907056, 115.921193, -84.914742, -116.218804, 47.797126], [-54.000000, -169.189864, -104.966455, -64.486693, -81.945421, 142.770299]] + joints: [126.000000, 121.000000, -111.000000, 102.000000, -113.000000, 64.000000] + pose: {translation: [-0.05625742334019901, -0.1999784448367628, 0.09142887292053156], quaternion: [0.6754039893688938, -0.3227114234152757, 0.6421328041414874, -0.1653851570947648]} + solutions: [[126.000000, -9.439067, 121.954737, -69.314307, 74.245869, -18.827168], [126.000000, 121.000000, -111.000000, -78.000000, 113.000000, -116.000000], [-54.000000, 68.910651, 115.782344, 95.457290, 115.245408, -131.920016], [-54.000000, -168.357032, -104.827607, 114.518464, 81.740123, -37.063135], [126.000000, -9.439067, 121.954737, 110.685693, -74.245869, 161.172832], [126.000000, 121.000000, -111.000000, 102.000000, -113.000000, 64.000000], [-54.000000, 68.910651, 115.782344, -84.542710, -115.245408, 48.079984], [-54.000000, -168.357032, -104.827607, -65.481536, -81.740123, 142.936865]] - id: 1100 parameters: KukaKR6_R700_sixx - joints: [-66.000000, -57.000000, -101.000000, -156.000000, 48.000000, -87.000000] - pose: {translation: [-0.1135860340852678, -0.1956668235192577, 0.738157103741253], quaternion: [0.8222052227237381, -0.1156683925240381, -0.3200995985514331, 0.4562188528589376]} - solutions: [[114.000000, -132.075569, 116.008892, 26.505939, 42.631552, -90.559140], [114.000000, -9.064575, -105.054155, 25.157802, 134.681929, -52.134314], [-66.000000, -175.065681, 111.954737, -153.597325, 137.176760, -50.402147], [-66.000000, -57.000000, -101.000000, -156.000000, 48.000000, -87.000000], [114.000000, -132.075569, 116.008892, -153.494061, -42.631552, 89.440860], [114.000000, -9.064575, -105.054155, -154.842198, -134.681929, 127.865686], [-66.000000, -175.065681, 111.954737, 26.402675, -137.176760, 129.597853], [-66.000000, -57.000000, -101.000000, 24.000000, -48.000000, 93.000000]] + joints: [-66.000000, -57.000000, -101.000000, -156.000000, 47.000000, -87.000000] + pose: {translation: [-0.1134924483972933, -0.1963999165312136, 0.7393417211280154], quaternion: [0.8180519685702827, -0.1130828163529137, -0.3214709217931635, 0.4633138243193616]} + solutions: [[114.000000, -132.075569, 116.008892, 26.599376, 41.633518, -90.628435], [114.000000, -9.064575, -105.054155, 24.365009, 133.858667, -52.687737], [-66.000000, -175.065681, 111.954737, -154.461376, 136.370637, -51.031763], [-66.000000, -57.000000, -101.000000, -156.000000, 47.000000, -87.000000], [114.000000, -132.075569, 116.008892, -153.400624, -41.633518, 89.371565], [114.000000, -9.064575, -105.054155, -155.634991, -133.858667, 127.312263], [-66.000000, -175.065681, 111.954737, 25.538624, -136.370637, 128.968237], [-66.000000, -57.000000, -101.000000, 24.000000, -47.000000, 93.000000]] - id: 1101 parameters: KukaKR6_R700_sixx - joints: [-73.000000, -33.000000, 26.000000, 154.000000, 36.000000, -114.000000] - pose: {translation: [0.2262100250026575, 0.6693954031328189, 0.7006190739077427], quaternion: [-0.2960457238725089, 0.3176156922347784, 0.1685086191144385, 0.8849192317421798]} - solutions: [[-73.000000, -33.000000, 26.000000, 154.000000, 36.000000, -114.000000], [-73.000000, -10.904902, -15.045263, 132.600263, 20.490240, -90.003254], [-73.000000, -33.000000, 26.000000, -26.000000, -36.000000, 66.000000], [-73.000000, -10.904902, -15.045263, -47.399737, -20.490240, 89.996746]] + joints: [-73.000000, -32.000000, 26.000000, 154.000000, 35.000000, -114.000000] + pose: {translation: [0.2275040787927221, 0.6753323955331523, 0.6877519379955475], quaternion: [-0.3105974186391565, 0.3230563479685671, 0.1680863548134844, 0.8780152714488628]} + solutions: [[-73.000000, -32.000000, 26.000000, 154.000000, 35.000000, -114.000000], [-73.000000, -9.904902, -15.045263, 131.386736, 19.580714, -88.863128], [-73.000000, -32.000000, 26.000000, -26.000000, -35.000000, 66.000000], [-73.000000, -9.904902, -15.045263, -48.613264, -19.580714, 91.136872]] - id: 1102 parameters: KukaKR6_R700_sixx - joints: [84.000000, -136.000000, 41.000000, -106.000000, 103.000000, -148.000000] - pose: {translation: [0.04440418681550903, 0.2943603366953293, 0.959577783821201], quaternion: [0.691464118438711, 0.3816133215260771, 0.6073219724514273, 0.08607361688298545]} - solutions: [[-96.000000, -91.931730, 51.230287, 69.546389, 88.477431, 169.810900], [-96.000000, -42.514902, -40.275549, 73.522211, 102.382039, -150.174518], [84.000000, -136.000000, 41.000000, -106.000000, 103.000000, -148.000000], [84.000000, -97.695421, -30.045263, -110.359053, 92.519426, -179.358388], [-96.000000, -91.931730, 51.230287, -110.453611, -88.477431, -10.189100], [-96.000000, -42.514902, -40.275549, -106.477789, -102.382039, 29.825482], [84.000000, -136.000000, 41.000000, 74.000000, -103.000000, 32.000000], [84.000000, -97.695421, -30.045263, 69.640947, -92.519426, 0.641612]] + joints: [84.000000, -135.000000, 41.000000, -106.000000, 103.000000, -148.000000] + pose: {translation: [0.04542999429611226, 0.2846004304650023, 0.9649570157949093], quaternion: [0.6927387810392311, 0.3764065209461825, 0.6099800329565093, 0.07972121190653805]} + solutions: [[-96.000000, -92.769785, 50.877573, 69.541742, 88.544103, 169.989700], [-96.000000, -43.737096, -39.922835, 73.494779, 102.344988, -150.302640], [84.000000, -135.000000, 41.000000, -106.000000, 103.000000, -148.000000], [84.000000, -96.695421, -30.045263, -110.359053, 92.519426, -179.358388], [-96.000000, -92.769785, 50.877573, -110.458258, -88.544103, -10.010300], [-96.000000, -43.737096, -39.922835, -106.505221, -102.344988, 29.697360], [84.000000, -135.000000, 41.000000, 74.000000, -103.000000, 32.000000], [84.000000, -96.695421, -30.045263, 69.640947, -92.519426, 0.641612]] - id: 1103 parameters: KukaKR6_R700_sixx - joints: [109.000000, -30.000000, -94.000000, -65.000000, 133.000000, 127.000000] - pose: {translation: [0.01247417573395782, -0.1266461690193388, 0.8091217620232982], quaternion: [0.6275977750384003, -0.5499122974422364, 0.5121799266506423, 0.2034434088998556]} - solutions: [[109.000000, -139.707026, 104.954737, -44.016042, 72.536243, -161.191401], [109.000000, -30.000000, -94.000000, -65.000000, 133.000000, 127.000000], [-71.000000, -155.404669, 103.332001, 111.541177, 134.552807, 122.002698], [-71.000000, -47.607833, -92.377264, 136.993240, 76.354307, -164.951808], [109.000000, -139.707026, 104.954737, 135.983958, -72.536243, 18.808599], [109.000000, -30.000000, -94.000000, 115.000000, -133.000000, -53.000000], [-71.000000, -155.404669, 103.332001, -68.458823, -134.552807, -57.997302], [-71.000000, -47.607833, -92.377264, -43.006760, -76.354307, 15.048192]] + joints: [109.000000, -29.000000, -94.000000, -65.000000, 132.000000, 127.000000] + pose: {translation: [0.01103608241963937, -0.1334486000970211, 0.8085572430783818], quaternion: [0.626469012005749, -0.5500910759434218, 0.5165495940355561, 0.1952252598042873]} + solutions: [[109.000000, -138.707026, 104.954737, -45.013677, 72.226547, -160.889430], [109.000000, -29.000000, -94.000000, -65.000000, 132.000000, 127.000000], [-71.000000, -156.268701, 103.139700, 111.711126, 133.535728, 122.158496], [-71.000000, -48.697618, -92.184963, 136.054993, 76.056123, -164.796585], [109.000000, -138.707026, 104.954737, 134.986323, -72.226547, 19.110570], [109.000000, -29.000000, -94.000000, 115.000000, -132.000000, -53.000000], [-71.000000, -156.268701, 103.139700, -68.288874, -133.535728, -57.841504], [-71.000000, -48.697618, -92.184963, -43.945007, -76.056123, 15.203415]] - id: 1104 parameters: KukaKR6_R700_sixx - joints: [130.000000, 175.000000, -1.000000, -68.000000, 45.000000, -55.000000] - pose: {translation: [0.494383277634242, 0.5075862048493712, 0.3147466255502865], quaternion: [-0.3335775924525731, 0.542184922465259, -0.3074329848833338, 0.7072810328791591]} - solutions: [[-50.000000, -14.881526, 49.994507, 131.274249, 60.731952, -86.139289], [-50.000000, 33.189771, -39.039769, 99.867226, 41.717765, -38.374603], [130.000000, 168.031094, 11.954737, -73.862146, 43.040243, -46.855708], [130.000000, 175.000000, -1.000000, -68.000000, 45.000000, -55.000000], [-50.000000, -14.881526, 49.994507, -48.725751, -60.731952, 93.860711], [-50.000000, 33.189771, -39.039769, -80.132774, -41.717765, 141.625397], [130.000000, 168.031094, 11.954737, 106.137854, -43.040243, 133.144292], [130.000000, 175.000000, -1.000000, 112.000000, -45.000000, 125.000000]] + joints: [130.000000, 174.000000, -1.000000, -68.000000, 45.000000, -55.000000] + pose: {translation: [0.4933552639650905, 0.5063610658659239, 0.3019911321672362], quaternion: [-0.340017490313525, 0.5440764724401694, -0.3091745986141529, 0.7019828815503489]} + solutions: [[-50.000000, -13.767718, 49.928846, 131.294513, 60.763719, -86.180757], [-50.000000, 34.232114, -38.974108, 99.986518, 41.736384, -38.534443], [130.000000, 167.031094, 11.954737, -73.862146, 43.040243, -46.855708], [130.000000, 174.000000, -1.000000, -68.000000, 45.000000, -55.000000], [-50.000000, -13.767718, 49.928846, -48.705487, -60.763719, 93.819243], [-50.000000, 34.232114, -38.974108, -80.013482, -41.736384, 141.465557], [130.000000, 167.031094, 11.954737, 106.137854, -43.040243, 133.144292], [130.000000, 174.000000, -1.000000, 112.000000, -45.000000, 125.000000]] - id: 1105 parameters: KukaKR6_R700_sixx - joints: [122.000000, -83.000000, 13.000000, -132.000000, -34.000000, 117.000000] - pose: {translation: [-0.1374358023474102, -0.1572074675042447, 1.119695809897202], quaternion: [0.4121840598244845, -0.06761229572563526, -0.752187299397881, 0.509653946239836]} - solutions: [[122.000000, -83.000000, 13.000000, 48.000000, 34.000000, -63.000000], [122.000000, -74.906301, -2.045263, 41.375935, 38.953457, -54.774793], [122.000000, -83.000000, 13.000000, -132.000000, -34.000000, 117.000000], [122.000000, -74.906301, -2.045263, -138.624065, -38.953457, 125.225207]] + joints: [122.000000, -82.000000, 13.000000, -132.000000, -34.000000, 117.000000] + pose: {translation: [-0.1440771924445404, -0.1678359133975135, 1.116424704259853], quaternion: [0.4194184545771613, -0.06439996568919447, -0.7507529375016158, 0.5062714995059779]} + solutions: [[122.000000, -82.000000, 13.000000, 48.000000, 34.000000, -63.000000], [122.000000, -73.906301, -2.045263, 41.375935, 38.953457, -54.774793], [122.000000, -82.000000, 13.000000, -132.000000, -34.000000, 117.000000], [122.000000, -73.906301, -2.045263, -138.624065, -38.953457, 125.225207]] - id: 1106 parameters: KukaKR6_R700_sixx joints: [-30.000000, 19.000000, 72.000000, 63.000000, -161.000000, 24.000000] @@ -5541,19 +5541,19 @@ cases: solutions: [[-50.000000, 21.596848, 113.212862, -164.318812, 106.603862, -63.674965], [-50.000000, 141.188085, -102.258124, -126.223627, 18.727786, -120.540385], [130.000000, 47.000000, 111.000000, 110.000000, 16.000000, -179.000000], [130.000000, 163.913111, -100.045263, 15.016301, 88.581057, -68.642021], [-50.000000, 21.596848, 113.212862, 15.681188, -106.603862, 116.325035], [-50.000000, 141.188085, -102.258124, 53.776373, -18.727786, 59.459615], [130.000000, 47.000000, 111.000000, -70.000000, -16.000000, 1.000000], [130.000000, 163.913111, -100.045263, -164.983699, -88.581057, 111.357979]] - id: 1108 parameters: KukaKR6_R700_sixx - joints: [134.000000, 171.000000, 80.000000, 128.000000, 89.000000, 61.000000] - pose: {translation: [0.2916131287222481, 0.3927112955841999, 0.669729924770564], quaternion: [-0.7340780635469183, 0.2303979829635344, 0.2870638225755858, 0.5706492160985014]} - solutions: [[-46.000000, -81.351594, 91.047961, -84.037179, 52.389404, 140.008556], [-46.000000, 12.245586, -80.093224, -52.085499, 87.060761, 63.486894], [134.000000, 171.000000, 80.000000, 128.000000, 89.000000, 61.000000], [134.000000, -107.876527, -69.045263, 105.276955, 54.760957, 124.388257], [-46.000000, -81.351594, 91.047961, 95.962821, -52.389404, -39.991444], [-46.000000, 12.245586, -80.093224, 127.914501, -87.060761, -116.513106], [134.000000, 171.000000, 80.000000, -52.000000, -89.000000, -119.000000], [134.000000, -107.876527, -69.045263, -74.723045, -54.760957, -55.611743]] + joints: [134.000000, 170.000000, 80.000000, 128.000000, 89.000000, 61.000000] + pose: {translation: [0.2948292240088842, 0.3960416597455504, 0.6607869929761554], quaternion: [-0.7358921040327165, 0.2356504618177619, 0.2900565571391411, 0.5646227632038628]} + solutions: [[-46.000000, -80.338311, 91.169692, -84.140667, 52.375500, 140.178100], [-46.000000, 13.397666, -80.214955, -52.086732, 87.042113, 63.510868], [134.000000, 170.000000, 80.000000, 128.000000, 89.000000, 61.000000], [134.000000, -108.876527, -69.045263, 105.276955, 54.760957, 124.388257], [-46.000000, -80.338311, 91.169692, 95.859333, -52.375500, -39.821900], [-46.000000, 13.397666, -80.214955, 127.913268, -87.042113, -116.489132], [134.000000, 170.000000, 80.000000, -52.000000, -89.000000, -119.000000], [134.000000, -108.876527, -69.045263, -74.723045, -54.760957, -55.611743]] - id: 1109 parameters: KukaKR6_R700_sixx - joints: [-113.000000, 64.000000, 109.000000, -13.000000, 80.000000, 47.000000] - pose: {translation: [0.06889317877807344, -0.2076599044923531, 0.1121586366736714], quaternion: [0.1249773529548582, -0.1369470447725424, 0.5376793275799172, 0.8225126800661935]} - solutions: [[67.000000, 4.580371, 114.032177, 49.085630, 162.953106, -87.487833], [67.000000, 125.169372, -103.077440, 167.156695, 94.714010, 43.630844], [-113.000000, 64.000000, 109.000000, -13.000000, 80.000000, 47.000000], [-113.000000, 178.512193, -98.045263, -59.389481, 165.083977, -13.817555], [67.000000, 4.580371, 114.032177, -130.914370, -162.953106, 92.512167], [67.000000, 125.169372, -103.077440, -12.843305, -94.714010, -136.369156], [-113.000000, 64.000000, 109.000000, 167.000000, -80.000000, -133.000000], [-113.000000, 178.512193, -98.045263, 120.610519, -165.083977, 166.182445]] + joints: [-113.000000, 63.000000, 109.000000, -13.000000, 80.000000, 47.000000] + pose: {translation: [0.06691586620184067, -0.2030016479816621, 0.1079603083659393], quaternion: [0.1334130299221087, -0.1384563651901361, 0.5361326447614156, 0.8219443932569087]} + solutions: [[67.000000, 5.733691, 113.865935, 49.117494, 162.961567, -87.454505], [67.000000, 126.119961, -102.911197, 167.154528, 94.827917, 43.604782], [-113.000000, 63.000000, 109.000000, -13.000000, 80.000000, 47.000000], [-113.000000, 177.512193, -98.045263, -59.389481, 165.083977, -13.817555], [67.000000, 5.733691, 113.865935, -130.882506, -162.961567, 92.545495], [67.000000, 126.119961, -102.911197, -12.845472, -94.827917, -136.395218], [-113.000000, 63.000000, 109.000000, 167.000000, -80.000000, -133.000000], [-113.000000, 177.512193, -98.045263, 120.610519, -165.083977, 166.182445]] - id: 1110 parameters: KukaKR6_R700_sixx - joints: [-18.000000, 151.000000, -88.000000, 134.000000, 175.000000, -75.000000] - pose: {translation: [-0.07974538010716449, -0.0311845245101258, 0.01116542649275737], quaternion: [-0.2057460143720709, -0.01084023263632912, 0.8944389821502299, -0.3969004587254324]} - solutions: [[162.000000, 34.337456, 100.288020, -9.896787, 158.606512, -38.336184], [162.000000, 138.575153, -89.333282, -176.011444, 115.665447, 152.620614], [-18.000000, 48.312043, 98.954737, 3.641323, 99.192800, 151.473329], [-18.000000, 151.000000, -88.000000, 134.000000, 175.000000, -75.000000], [162.000000, 34.337456, 100.288020, 170.103213, -158.606512, 141.663816], [162.000000, 138.575153, -89.333282, 3.988556, -115.665447, -27.379386], [-18.000000, 48.312043, 98.954737, -176.358677, -99.192800, -28.526671], [-18.000000, 151.000000, -88.000000, -46.000000, -175.000000, 105.000000]] + joints: [-18.000000, 150.000000, -88.000000, 134.000000, 174.000000, -75.000000] + pose: {translation: [-0.0720960027003732, -0.0297502916891527, 0.009631615842026653], quaternion: [-0.2088659794493196, -0.01658649348104831, 0.8930340547629042, -0.3982336850348119]} + solutions: [[162.000000, 35.460157, 100.087040, -11.515326, 157.873415, -39.844835], [162.000000, 139.463900, -89.132302, -175.183465, 116.426575, 152.990373], [-18.000000, 47.312043, 98.954737, 4.377276, 99.880730, 151.595266], [-18.000000, 150.000000, -88.000000, 134.000000, 174.000000, -75.000000], [162.000000, 35.460157, 100.087040, 168.484674, -157.873415, 140.155165], [162.000000, 139.463900, -89.132302, 4.816535, -116.426575, -27.009627], [-18.000000, 47.312043, 98.954737, -175.622724, -99.880730, -28.404734], [-18.000000, 150.000000, -88.000000, -46.000000, -174.000000, 105.000000]] - id: 1111 parameters: KukaKR6_R700_sixx joints: [159.000000, 44.000000, -158.000000, 41.000000, 119.000000, -123.000000] @@ -5561,9 +5561,9 @@ cases: solutions: [[159.000000, -174.614693, 168.954737, 66.249515, 38.821419, 153.604372], [159.000000, 44.000000, -158.000000, 41.000000, 119.000000, -123.000000], [-21.000000, 125.773266, 163.587673, -140.542559, 115.457077, -126.369034], [-21.000000, -33.306415, -152.632936, -98.980111, 35.515471, 135.134750], [159.000000, -174.614693, 168.954737, -113.750485, -38.821419, -26.395628], [159.000000, 44.000000, -158.000000, -139.000000, -119.000000, 57.000000], [-21.000000, 125.773266, 163.587673, 39.457441, -115.457077, 53.630966], [-21.000000, -33.306415, -152.632936, 81.019889, -35.515471, -44.865250]] - id: 1112 parameters: KukaKR6_R700_sixx - joints: [-95.000000, 173.000000, -170.000000, 103.000000, 179.000000, 174.000000] - pose: {translation: [0.001458271896034769, -0.001059190559559359, 0.3819604498824494], quaternion: [0.6825360042892682, -0.07759079715401196, 0.1568141051777756, 0.7096010199141054]} - solutions: [[-95.000000, -127.445999, -179.045263, 1.266614, 129.709352, 71.807396], [-95.000000, 173.000000, -170.000000, 103.000000, 179.000000, 174.000000], [85.000000, 56.723188, 169.805943, -1.276467, 130.238884, -109.826560], [85.000000, -81.253169, -158.851206, -178.836655, 123.115193, 71.633712], [-95.000000, -127.445999, -179.045263, -178.733386, -129.709352, -108.192604], [-95.000000, 173.000000, -170.000000, -77.000000, -179.000000, -6.000000], [85.000000, 56.723188, 169.805943, 178.723533, -130.238884, 70.173440], [85.000000, -81.253169, -158.851206, 1.163345, -123.115193, -108.366288]] + joints: [-95.000000, 172.000000, -170.000000, 103.000000, 178.000000, 174.000000] + pose: {translation: [0.00278116482214074, -0.0005757470444846119, 0.381818766489242], quaternion: [0.688063208748371, -0.07215922845937096, 0.161657989331933, 0.7037249185585235]} + solutions: [[-95.000000, -128.445999, -179.045263, 2.541004, 129.913595, 72.623363], [-95.000000, 172.000000, -170.000000, 103.000000, 178.000000, 174.000000], [85.000000, 57.335473, 169.770613, -2.559877, 130.415600, -110.667933], [85.000000, -80.786575, -158.815875, -177.680788, 122.826234, 72.250059], [-95.000000, -128.445999, -179.045263, -177.458996, -129.913595, -107.376637], [-95.000000, 172.000000, -170.000000, -77.000000, -178.000000, -6.000000], [85.000000, 57.335473, 169.770613, 177.440123, -130.415600, 69.332067], [85.000000, -80.786575, -158.815875, 2.319212, -122.826234, -107.749941]] - id: 1113 parameters: KukaKR6_R700_sixx joints: [-163.000000, -39.000000, -36.000000, 32.000000, -114.000000, 142.000000] @@ -5571,14 +5571,14 @@ cases: solutions: [[-163.000000, -83.765563, 46.954737, -126.441047, 143.003199, -5.013603], [-163.000000, -39.000000, -36.000000, -148.000000, 114.000000, -38.000000], [17.000000, -136.868262, 32.317245, 31.895169, 113.619023, -38.259676], [17.000000, -107.955977, -21.362507, 41.955631, 133.605384, -20.460006], [-163.000000, -83.765563, 46.954737, 53.558953, -143.003199, 174.986397], [-163.000000, -39.000000, -36.000000, 32.000000, -114.000000, 142.000000], [17.000000, -136.868262, 32.317245, -148.104831, -113.619023, 141.740324], [17.000000, -107.955977, -21.362507, -138.044369, -133.605384, 159.539994]] - id: 1114 parameters: KukaKR6_R700_sixx - joints: [98.000000, 95.000000, -48.000000, -38.000000, 5.000000, 58.000000] - pose: {translation: [-0.04061943377901606, -0.3198664295591591, -0.2189082961631994], quaternion: [0.5852524561180696, 0.738366176909925, -0.2735721277897774, 0.1935284017909568]} - solutions: [[98.000000, 37.148501, 58.954737, -175.666213, 45.241420, -162.948518], [98.000000, 95.000000, -48.000000, -38.000000, 5.000000, 58.000000], [-82.000000, 94.037193, 50.004520, 168.260185, 15.290888, 31.441095], [-82.000000, 142.119389, -39.049783, 6.991826, 26.155378, -166.175994], [98.000000, 37.148501, 58.954737, 4.333787, -45.241420, 17.051482], [98.000000, 95.000000, -48.000000, 142.000000, -5.000000, -122.000000], [-82.000000, 94.037193, 50.004520, -11.739815, -15.290888, -148.558905], [-82.000000, 142.119389, -39.049783, -173.008174, -26.155378, 13.824006]] + joints: [98.000000, 94.000000, -48.000000, -38.000000, 5.000000, 58.000000] + pose: {translation: [-0.0421163995073273, -0.3305178941778317, -0.2136235718034794], quaternion: [0.5832255215539141, 0.736208998753914, -0.2806531716630804, 0.1976818109927617]} + solutions: [[98.000000, 36.148501, 58.954737, -175.666213, 45.241420, -162.948518], [98.000000, 94.000000, -48.000000, -38.000000, 5.000000, 58.000000], [-82.000000, 95.186246, 49.661051, 168.113650, 15.100589, 31.592939], [-82.000000, 142.894639, -38.706314, 7.021392, 26.037546, -166.208916], [98.000000, 36.148501, 58.954737, 4.333787, -45.241420, 17.051482], [98.000000, 94.000000, -48.000000, 142.000000, -5.000000, -122.000000], [-82.000000, 95.186246, 49.661051, -11.886350, -15.100589, -148.407061], [-82.000000, 142.894639, -38.706314, -172.978608, -26.037546, 13.791084]] - id: 1115 parameters: KukaKR6_R700_sixx - joints: [-36.000000, 133.000000, 164.000000, -50.000000, 80.000000, 101.000000] - pose: {translation: [-0.03861270487387081, 0.04654604578727037, 0.5001174795698098], quaternion: [-0.7469596558334162, 0.0915613472263917, 0.0293296035556664, 0.6578811189011128]} - solutions: [[144.000000, 177.561345, 168.128094, 92.304022, 130.973155, 2.819222], [144.000000, 33.053777, -157.173356, 128.802811, 75.477130, 106.628493], [-36.000000, 133.000000, 164.000000, -50.000000, 80.000000, 101.000000], [-36.000000, -24.903534, -153.045263, -98.263833, 130.330678, -13.340442], [144.000000, 177.561345, 168.128094, -87.695978, -130.973155, -177.180778], [144.000000, 33.053777, -157.173356, -51.197189, -75.477130, -73.371507], [-36.000000, 133.000000, 164.000000, 130.000000, -80.000000, -79.000000], [-36.000000, -24.903534, -153.045263, 81.736167, -130.330678, 166.659558]] + joints: [-36.000000, 132.000000, 164.000000, -50.000000, 79.000000, 101.000000] + pose: {translation: [-0.03954020602476072, 0.04563124657490157, 0.5009038395114893], quaternion: [-0.7381026181231281, 0.08807246728939262, 0.02254205878331993, 0.6685354300343043]} + solutions: [[144.000000, 178.384656, 168.288535, 93.631903, 131.106977, 3.703352], [144.000000, 34.469491, -157.333798, 128.756024, 74.641681, 106.448275], [-36.000000, 132.000000, 164.000000, -50.000000, 79.000000, 101.000000], [-36.000000, -25.903534, -153.045263, -97.061362, 130.736630, -12.558941], [144.000000, 178.384656, 168.288535, -86.368097, -131.106977, -176.296648], [144.000000, 34.469491, -157.333798, -51.243976, -74.641681, -73.551725], [-36.000000, 132.000000, 164.000000, 130.000000, -79.000000, -79.000000], [-36.000000, -25.903534, -153.045263, 82.938638, -130.736630, 167.441059]] - id: 1116 parameters: KukaKR6_R700_sixx joints: [110.000000, 22.000000, 48.000000, 170.000000, -13.000000, 115.000000] @@ -5591,24 +5591,24 @@ cases: solutions: [[85.000000, -55.580734, 125.954737, 153.117595, 104.221073, -82.986353], [85.000000, 80.000000, -115.000000, 91.000000, 26.000000, 13.000000], [-95.000000, 107.790708, 116.084419, -106.653293, 27.225472, 32.705211], [-95.000000, -129.105327, -105.129681, -25.996008, 89.750760, -75.765884], [85.000000, -55.580734, 125.954737, -26.882405, -104.221073, 97.013647], [85.000000, 80.000000, -115.000000, -89.000000, -26.000000, -167.000000], [-95.000000, 107.790708, 116.084419, 73.346707, -27.225472, -147.294789], [-95.000000, -129.105327, -105.129681, 154.003992, -89.750760, 104.234116]] - id: 1118 parameters: KukaKR6_R700_sixx - joints: [49.000000, 3.000000, 146.000000, 5.000000, 135.000000, -107.000000] - pose: {translation: [0.03839359754530094, -0.05168176600835148, 0.2429635648576189], quaternion: [0.1262392021816532, -0.008307478677505699, 0.5042256476110684, 0.8542547312843876]} - solutions: [[49.000000, 3.000000, 146.000000, 5.000000, 135.000000, -107.000000], [49.000000, 167.381022, -135.045263, 176.280585, 108.190678, 68.297373], [-131.000000, 25.752470, 144.285915, -3.542541, 85.860292, 69.716031], [-131.000000, -172.629519, -133.331177, -170.580797, 157.878524, -101.803080], [49.000000, 3.000000, 146.000000, -175.000000, -135.000000, 73.000000], [49.000000, 167.381022, -135.045263, -3.719415, -108.190678, -111.702627], [-131.000000, 25.752470, 144.285915, 176.457459, -85.860292, -110.283969], [-131.000000, -172.629519, -133.331177, 9.419203, -157.878524, 78.196920]] + joints: [49.000000, 3.000000, 146.000000, 5.000000, 134.000000, -107.000000] + pose: {translation: [0.03743977361357781, -0.05071452708402208, 0.243286319824624], quaternion: [0.1178189680756543, -0.01033550130588623, 0.5044592061428601, 0.855296894365962]} + solutions: [[49.000000, 3.000000, 146.000000, 5.000000, 134.000000, -107.000000], [49.000000, 167.381022, -135.045263, 176.193783, 109.187292, 68.269558], [-131.000000, 25.752470, 144.285915, -3.599909, 86.858651, 69.719674], [-131.000000, -172.629519, -133.331177, -170.811491, 156.882466, -102.016037], [49.000000, 3.000000, 146.000000, -175.000000, -134.000000, 73.000000], [49.000000, 167.381022, -135.045263, -3.806217, -109.187292, -111.730442], [-131.000000, 25.752470, 144.285915, 176.400091, -86.858651, -110.280326], [-131.000000, -172.629519, -133.331177, 9.188509, -156.882466, 77.983963]] - id: 1119 parameters: KukaKR6_R700_sixx - joints: [136.000000, 131.000000, -72.000000, -62.000000, -161.000000, 146.000000] - pose: {translation: [-0.02162460153432041, 0.0110866366573168, -0.0614381623240656], quaternion: [-0.2246452302463607, 0.07028672100238968, 0.1737192539728324, 0.9562509702883519]} - solutions: [[136.000000, 46.562290, 82.954737, 18.883282, 117.351551, -144.419834], [136.000000, 131.000000, -72.000000, 118.000000, 161.000000, -34.000000], [-44.000000, 54.869812, 82.029964, -35.297757, 150.166251, -4.907415], [-44.000000, 138.268681, -71.075226, -156.865069, 132.975973, -137.112495], [136.000000, 46.562290, 82.954737, -161.116718, -117.351551, 35.580166], [136.000000, 131.000000, -72.000000, -62.000000, -161.000000, 146.000000], [-44.000000, 54.869812, 82.029964, 144.702243, -150.166251, 175.092585], [-44.000000, 138.268681, -71.075226, 23.134931, -132.975973, 42.887505]] + joints: [136.000000, 130.000000, -72.000000, -62.000000, -160.000000, 146.000000] + pose: {translation: [-0.02878133866454597, 0.005790964384828998, -0.06173494027769023], quaternion: [-0.2327276921445553, 0.06957959721291723, 0.1767267020364653, 0.9538155868657587]} + solutions: [[136.000000, 45.562290, 82.954737, 19.941723, 117.696455, -143.930694], [136.000000, 130.000000, -72.000000, 118.000000, 160.000000, -34.000000], [-44.000000, 55.991413, 81.792856, -36.365156, 149.382002, -5.863771], [-44.000000, 139.124160, -70.838119, -155.493003, 133.279344, -136.147198], [136.000000, 45.562290, 82.954737, -160.058277, -117.696455, 36.069306], [136.000000, 130.000000, -72.000000, -62.000000, -160.000000, 146.000000], [-44.000000, 55.991413, 81.792856, 143.634844, -149.382002, 174.136229], [-44.000000, 139.124160, -70.838119, 24.506997, -133.279344, 43.852802]] - id: 1120 parameters: KukaKR6_R700_sixx - joints: [-133.000000, -119.000000, -46.000000, -84.000000, 36.000000, 23.000000] - pose: {translation: [0.3412930801919937, -0.4345628950817681, 0.7576656167331236], quaternion: [0.127993486727468, -0.5909735893789165, 0.7912170160963208, 0.09134285659853164]} - solutions: [[47.000000, -71.573791, 71.210074, 114.294242, 39.893402, -0.067764], [47.000000, -0.233187, -60.255336, 47.596589, 52.339837, 86.618668], [-133.000000, -174.663310, 56.954737, -133.400377, 53.567256, 88.273319], [-133.000000, -119.000000, -46.000000, -84.000000, 36.000000, 23.000000], [47.000000, -71.573791, 71.210074, -65.705758, -39.893402, 179.932236], [47.000000, -0.233187, -60.255336, -132.403411, -52.339837, -93.381332], [-133.000000, -174.663310, 56.954737, 46.599623, -53.567256, -91.726681], [-133.000000, -119.000000, -46.000000, 96.000000, -36.000000, -157.000000]] + joints: [-133.000000, -119.000000, -46.000000, -84.000000, 35.000000, 23.000000] + pose: {translation: [0.3426749578402783, -0.434387180653933, 0.7577606988198394], quaternion: [0.1346557700309438, -0.5889869918287284, 0.7921738003800756, 0.08615577197905636]} + solutions: [[47.000000, -71.573791, 71.210074, 114.917165, 38.975002, -0.548900], [47.000000, -0.233187, -60.255336, 46.458174, 51.900950, 87.317679], [-133.000000, -174.663310, 56.954737, -134.535426, 53.154326, 88.950706], [-133.000000, -119.000000, -46.000000, -84.000000, 35.000000, 23.000000], [47.000000, -71.573791, 71.210074, -65.082835, -38.975002, 179.451100], [47.000000, -0.233187, -60.255336, -133.541826, -51.900950, -92.682321], [-133.000000, -174.663310, 56.954737, 45.464574, -53.154326, -91.049294], [-133.000000, -119.000000, -46.000000, 96.000000, -35.000000, -157.000000]] - id: 1121 parameters: KukaKR6_R700_sixx - joints: [118.000000, -81.000000, 152.000000, 76.000000, 98.000000, 154.000000] - pose: {translation: [-0.1638570433293371, -0.1444367611550986, 0.3816900481286306], quaternion: [-0.4938352983394411, 0.4788831810142148, 0.7257966962164523, -0.004093020520976483]} - solutions: [[118.000000, -81.000000, 152.000000, 76.000000, 98.000000, 154.000000], [118.000000, 93.816370, -141.045263, 103.795879, 98.351547, -85.775146], [-62.000000, 95.151300, 142.884614, -74.915215, 95.648894, -75.231695], [-62.000000, -105.432011, -131.929877, -101.757982, 101.054131, 167.480220], [118.000000, -81.000000, 152.000000, -104.000000, -98.000000, -26.000000], [118.000000, 93.816370, -141.045263, -76.204121, -98.351547, 94.224854], [-62.000000, 95.151300, 142.884614, 105.084785, -95.648894, 104.768305], [-62.000000, -105.432011, -131.929877, 78.242018, -101.054131, -12.519780]] + joints: [118.000000, -81.000000, 152.000000, 76.000000, 97.000000, 154.000000] + pose: {translation: [-0.1642051900802768, -0.1447148657687, 0.3803668120718759], quaternion: [-0.4995248357294435, 0.4816093508108906, 0.7200637838782749, -0.005959769113490282]} + solutions: [[118.000000, -81.000000, 152.000000, 76.000000, 97.000000, 154.000000], [118.000000, 93.816370, -141.045263, 102.921413, 98.853965, -85.905955], [-62.000000, 95.151300, 142.884614, -75.677158, 96.301381, -75.311013], [-62.000000, -105.432011, -131.929877, -101.994736, 100.081591, 167.436797], [118.000000, -81.000000, 152.000000, -104.000000, -97.000000, -26.000000], [118.000000, 93.816370, -141.045263, -77.078587, -98.853965, 94.094045], [-62.000000, 95.151300, 142.884614, 104.322842, -96.301381, 104.688987], [-62.000000, -105.432011, -131.929877, 78.005264, -100.081591, -12.563203]] - id: 1122 parameters: KukaKR6_R700_sixx joints: [87.000000, 75.000000, -168.000000, -121.000000, -44.000000, 29.000000] @@ -5616,39 +5616,39 @@ cases: solutions: [[87.000000, 155.386722, 178.954737, 131.456292, 52.607009, 113.635131], [87.000000, 75.000000, -168.000000, 59.000000, 44.000000, -151.000000], [-93.000000, 102.029895, 171.600121, -121.554417, 44.327098, -150.227145], [-93.000000, -28.010052, -160.645384, -37.471615, 78.166215, 88.061785], [87.000000, 155.386722, 178.954737, -48.543708, -52.607009, -66.364869], [87.000000, 75.000000, -168.000000, -121.000000, -44.000000, 29.000000], [-93.000000, 102.029895, 171.600121, 58.445583, -44.327098, 29.772855], [-93.000000, -28.010052, -160.645384, 142.528385, -78.166215, -91.938215]] - id: 1123 parameters: KukaKR6_R700_sixx - joints: [-58.000000, -45.000000, -171.000000, 128.000000, 133.000000, -44.000000] - pose: {translation: [0.05941256558266814, 0.008075846442502838, 0.3828090634085886], quaternion: [0.6851006448765621, 0.1110826774764285, 0.699827487769249, -0.1689355868873345]} - solutions: [[-58.000000, 2.682746, -178.045263, 79.916782, 144.171878, -105.252321], [-58.000000, -45.000000, -171.000000, 128.000000, 133.000000, -44.000000], [-58.000000, 2.682746, -178.045263, -100.083218, -144.171878, 74.747679], [-58.000000, -45.000000, -171.000000, -52.000000, -133.000000, 136.000000]] + joints: [-58.000000, -45.000000, -171.000000, 128.000000, 132.000000, -44.000000] + pose: {translation: [0.05978250273434944, 0.007265160506727538, 0.3817341509398107], quaternion: [0.6904916973639735, 0.1078965877444414, 0.6961736067035321, -0.1640787967834986]} + solutions: [[-58.000000, 2.682746, -178.045263, 81.397187, 143.681760, -104.055726], [-58.000000, -45.000000, -171.000000, 128.000000, 132.000000, -44.000000], [-58.000000, 2.682746, -178.045263, -98.602813, -143.681760, 75.944274], [-58.000000, -45.000000, -171.000000, -52.000000, -132.000000, 136.000000]] - id: 1124 parameters: KukaKR6_R700_sixx - joints: [30.000000, -25.000000, -23.000000, 54.000000, -160.000000, 91.000000] - pose: {translation: [0.4150303813205881, -0.21405744124905, 0.7826874296720941], quaternion: [-0.003643658653810623, 0.8842462577610006, 0.3567517946792046, -0.3013692691374607]} - solutions: [[30.000000, -55.681386, 33.954737, -49.575680, 158.686239, -8.852071], [30.000000, -25.000000, -23.000000, -126.000000, 160.000000, -89.000000], [30.000000, -55.681386, 33.954737, 130.424320, -158.686239, 171.147929], [30.000000, -25.000000, -23.000000, 54.000000, -160.000000, 91.000000]] + joints: [30.000000, -25.000000, -23.000000, 54.000000, -159.000000, 91.000000] + pose: {translation: [0.415348026443887, -0.2130191002504888, 0.7835651833645064], quaternion: [-0.0009596778797966184, 0.8811457535808194, 0.3644539967013347, -0.3012549157329729]} + solutions: [[30.000000, -55.681386, 33.954737, -52.264034, 158.493606, -11.354971], [30.000000, -25.000000, -23.000000, -126.000000, 159.000000, -89.000000], [30.000000, -55.681386, 33.954737, 127.735966, -158.493606, 168.645029], [30.000000, -25.000000, -23.000000, 54.000000, -159.000000, 91.000000]] - id: 1125 parameters: KukaKR6_R700_sixx - joints: [124.000000, 178.000000, -58.000000, -16.000000, 135.000000, 75.000000] - pose: {translation: [0.2706055537550996, 0.3733054669214677, 0.1315857675607705], quaternion: [0.1306964018578892, 0.08248373639868205, 0.9501079693293264, 0.2709423008465415]} - solutions: [[-56.000000, -1.379486, 80.691077, 154.445352, 153.139093, 63.360840], [-56.000000, 80.517872, -69.736340, 168.744908, 86.972332, 87.064102], [124.000000, 109.153504, 68.954737, -11.482700, 78.256294, 88.829459], [124.000000, 178.000000, -58.000000, -16.000000, 135.000000, 75.000000], [-56.000000, -1.379486, 80.691077, -25.554648, -153.139093, -116.639160], [-56.000000, 80.517872, -69.736340, -11.255092, -86.972332, -92.935898], [124.000000, 109.153504, 68.954737, 168.517300, -78.256294, -91.170541], [124.000000, 178.000000, -58.000000, 164.000000, -135.000000, -105.000000]] + joints: [124.000000, 177.000000, -58.000000, -16.000000, 134.000000, 75.000000] + pose: {translation: [0.2688983638894182, 0.3702920618945157, 0.1227332479041744], quaternion: [0.1377938849215244, 0.09805774157716522, 0.9477355982132178, 0.2705453020742624]} + solutions: [[-56.000000, -0.221361, 80.534924, 154.875738, 152.160763, 63.742743], [-56.000000, 81.501066, -69.580186, 168.537307, 86.131007, 87.049193], [124.000000, 108.153504, 68.954737, -11.727730, 77.285390, 88.881363], [124.000000, 177.000000, -58.000000, -16.000000, 134.000000, 75.000000], [-56.000000, -0.221361, 80.534924, -25.124262, -152.160763, -116.257257], [-56.000000, 81.501066, -69.580186, -11.462693, -86.131007, -92.950807], [124.000000, 108.153504, 68.954737, 168.272270, -77.285390, -91.118637], [124.000000, 177.000000, -58.000000, 164.000000, -134.000000, -105.000000]] - id: 1126 parameters: KukaKR6_R700_sixx - joints: [-21.000000, 62.000000, -11.000000, -7.000000, 36.000000, 56.000000] - pose: {translation: [0.4033488243546023, 0.1609694538264034, -0.2194303393678169], quaternion: [-0.5832364890446072, 0.81103104528939, 0.02758705497813442, 0.03609426299777947]} - solutions: [[-21.000000, 44.264936, 21.954737, -11.548817, 20.965286, 61.130004], [-21.000000, 62.000000, -11.000000, -7.000000, 36.000000, 56.000000], [-21.000000, 44.264936, 21.954737, 168.451183, -20.965286, -118.869996], [-21.000000, 62.000000, -11.000000, 173.000000, -36.000000, -124.000000]] + joints: [-21.000000, 61.000000, -11.000000, -7.000000, 36.000000, 56.000000] + pose: {translation: [0.4133831522295326, 0.1648212714133425, -0.2121936894877232], quaternion: [-0.5833261528190925, 0.8106198332502256, 0.02537076794841884, 0.04452425757225754]} + solutions: [[-21.000000, 43.264936, 21.954737, -11.548817, 20.965286, 61.130004], [-21.000000, 61.000000, -11.000000, -7.000000, 36.000000, 56.000000], [-21.000000, 43.264936, 21.954737, 168.451183, -20.965286, -118.869996], [-21.000000, 61.000000, -11.000000, 173.000000, -36.000000, -124.000000]] - id: 1127 parameters: KukaKR6_R700_sixx - joints: [103.000000, -170.000000, -74.000000, 2.000000, -170.000000, -91.000000] - pose: {translation: [0.0829724958175187, 0.3572381451564839, 0.1760214282126123], quaternion: [0.3063709054660994, -0.04006476328070691, -0.08220944998631188, 0.9475089917040849]} - solutions: [[-77.000000, -12.620906, 95.276272, 0.724194, 151.348677, 87.665887], [-77.000000, 85.817755, -84.321535, 179.562389, 127.489444, -93.235980], [103.000000, 103.310501, 84.954737, -0.392276, 117.728239, -93.152159], [103.000000, -170.000000, -74.000000, -178.000000, 170.000000, 89.000000], [-77.000000, -12.620906, 95.276272, -179.275806, -151.348677, -92.334113], [-77.000000, 85.817755, -84.321535, -0.437611, -127.489444, 86.764020], [103.000000, 103.310501, 84.954737, 179.607724, -117.728239, 86.847841], [103.000000, -170.000000, -74.000000, 2.000000, -170.000000, -91.000000]] + joints: [103.000000, -169.000000, -74.000000, 2.000000, -169.000000, -91.000000] + pose: {translation: [0.08363606996322456, 0.3598994106171055, 0.1820428666042304], quaternion: [0.3227961936788719, -0.04208153508161582, -0.08163066572078367, 0.9420022272614799]} + solutions: [[-77.000000, -13.775354, 95.399586, 0.771991, 150.380071, 87.707836], [-77.000000, 84.805165, -84.444849, 179.513463, 128.352774, -93.265185], [103.000000, 104.310501, 84.954737, -0.435098, 118.727527, -93.172414], [103.000000, -169.000000, -74.000000, -178.000000, 169.000000, 89.000000], [-77.000000, -13.775354, 95.399586, -179.228009, -150.380071, -92.292164], [-77.000000, 84.805165, -84.444849, -0.486537, -128.352774, 86.734815], [103.000000, 104.310501, 84.954737, 179.564902, -118.727527, 86.827586], [103.000000, -169.000000, -74.000000, 2.000000, -169.000000, -91.000000]] - id: 1128 parameters: KukaKR6_R700_sixx - joints: [-163.000000, 23.000000, 161.000000, -88.000000, -154.000000, 149.000000] - pose: {translation: [-0.008926453657699208, 0.03937883867321608, 0.261229396223111], quaternion: [-0.1014816146852859, 0.72710430201424, 0.527772499087955, -0.427173272899542]} - solutions: [[17.000000, -22.828222, 164.298849, -41.404184, 41.484884, 90.221553], [17.000000, -179.863580, -153.344112, -42.790930, 139.841014, 21.496145], [-163.000000, 23.000000, 161.000000, 92.000000, 154.000000, -31.000000], [-163.000000, -142.951491, -150.045263, 151.108717, 65.062434, 69.872920], [17.000000, -22.828222, 164.298849, 138.595816, -41.484884, -89.778447], [17.000000, -179.863580, -153.344112, 137.209070, -139.841014, -158.503855], [-163.000000, 23.000000, 161.000000, -88.000000, -154.000000, 149.000000], [-163.000000, -142.951491, -150.045263, -28.891283, -65.062434, -110.127080]] + joints: [-163.000000, 23.000000, 161.000000, -88.000000, -153.000000, 149.000000] + pose: {translation: [-0.007964106332714833, 0.04039046588832761, 0.261229352253469], quaternion: [-0.09561002960336779, 0.7278998428192259, 0.5317794647064261, -0.4221743028412985]} + solutions: [[17.000000, -22.828222, 164.298849, -42.681999, 42.010358, 91.174939], [17.000000, -179.863580, -153.344112, -44.005684, 139.225791, 20.571950], [-163.000000, 23.000000, 161.000000, 92.000000, 153.000000, -31.000000], [-163.000000, -142.951491, -150.045263, 150.027371, 65.254963, 70.327212], [17.000000, -22.828222, 164.298849, 137.318001, -42.010358, -88.825061], [17.000000, -179.863580, -153.344112, 135.994316, -139.225791, -159.428050], [-163.000000, 23.000000, 161.000000, -88.000000, -153.000000, 149.000000], [-163.000000, -142.951491, -150.045263, -29.972629, -65.254963, -109.672788]] - id: 1129 parameters: KukaKR6_R700_sixx - joints: [-8.000000, -62.000000, 26.000000, 171.000000, 19.000000, -141.000000] - pose: {translation: [0.4894394756675223, 0.06467178451605655, 0.9862584455786805], quaternion: [-0.07673801372305396, 0.29352451368808, -0.1933080313760853, 0.9330523254992289]} - solutions: [[-8.000000, -62.000000, 26.000000, 171.000000, 19.000000, -141.000000], [-8.000000, -39.904902, -15.045263, 86.717217, 2.924144, -56.230007], [-8.000000, -62.000000, 26.000000, -9.000000, -19.000000, 39.000000], [-8.000000, -39.904902, -15.045263, -93.282783, -2.924144, 123.769993]] + joints: [-8.000000, -61.000000, 26.000000, 171.000000, 19.000000, -141.000000] + pose: {translation: [0.4995008358349419, 0.06608581647222711, 0.9779896165794155], quaternion: [-0.07953877540806935, 0.3013416385598985, -0.1929940160837446, 0.9303870752716246]} + solutions: [[-8.000000, -61.000000, 26.000000, 171.000000, 19.000000, -141.000000], [-8.000000, -38.904902, -15.045263, 86.717217, 2.924144, -56.230007], [-8.000000, -61.000000, 26.000000, -9.000000, -19.000000, 39.000000], [-8.000000, -38.904902, -15.045263, -93.282783, -2.924144, 123.769993]] - id: 1130 parameters: KukaKR6_R700_sixx joints: [-164.000000, -63.000000, 4.000000, 169.000000, 60.000000, -72.000000] @@ -5656,34 +5656,34 @@ cases: solutions: [[-164.000000, -64.589367, 6.954737, 169.145429, 61.340618, -72.296872], [-164.000000, -63.000000, 4.000000, 169.000000, 60.000000, -72.000000], [-164.000000, -64.589367, 6.954737, -10.854571, -61.340618, 107.703128], [-164.000000, -63.000000, 4.000000, -11.000000, -60.000000, 108.000000]] - id: 1131 parameters: KukaKR6_R700_sixx - joints: [3.000000, -149.000000, -151.000000, 154.000000, -143.000000, -99.000000] - pose: {translation: [-0.1003735819187612, 0.02639478787902109, 0.2973325020292726], quaternion: [-0.3277702707929856, 0.4265844224737441, 0.7105369763004047, -0.4535742336122205]} - solutions: [[-177.000000, -14.132163, 164.043541, 104.983836, 164.150931, 27.829763], [-177.000000, -171.910045, -153.088803, 162.617535, 62.015880, 110.638303], [3.000000, 14.510978, 161.954737, -29.105687, 32.844782, 127.348689], [3.000000, -149.000000, -151.000000, -26.000000, 143.000000, 81.000000], [-177.000000, -14.132163, 164.043541, -75.016164, -164.150931, -152.170237], [-177.000000, -171.910045, -153.088803, -17.382465, -62.015880, -69.361697], [3.000000, 14.510978, 161.954737, 150.894313, -32.844782, -52.651311], [3.000000, -149.000000, -151.000000, 154.000000, -143.000000, -99.000000]] + joints: [3.000000, -149.000000, -151.000000, 154.000000, -142.000000, -99.000000] + pose: {translation: [-0.1007848010185188, 0.02690259616690661, 0.2960985929593078], quaternion: [-0.3306972147967089, 0.4333115550339554, 0.7072805978864395, -0.4501495354358989]} + solutions: [[-177.000000, -14.132163, 164.043541, 107.808477, 163.532527, 30.542903], [-177.000000, -171.910045, -153.088803, 162.052945, 61.147869, 110.907002], [3.000000, 14.510978, 161.954737, -30.465015, 32.161744, 128.495128], [3.000000, -149.000000, -151.000000, -26.000000, 142.000000, 81.000000], [-177.000000, -14.132163, 164.043541, -72.191523, -163.532527, -149.457097], [-177.000000, -171.910045, -153.088803, -17.947055, -61.147869, -69.092998], [3.000000, 14.510978, 161.954737, 149.534985, -32.161744, -51.504872], [3.000000, -149.000000, -151.000000, 154.000000, -142.000000, -99.000000]] - id: 1132 parameters: KukaKR6_R700_sixx - joints: [140.000000, -155.000000, 83.000000, -144.000000, -110.000000, 106.000000] - pose: {translation: [0.07240583729710387, 0.1184377395246611, 0.84625968440233], quaternion: [0.7524622813081143, -0.4624957684280654, -0.4070986495193289, 0.2327420652874342]} - solutions: [[-40.000000, -117.196470, 87.562124, -71.792272, 144.447354, 24.058681], [-40.000000, -27.560231, -76.607387, -143.100860, 113.083193, -71.552414], [140.000000, -155.000000, 83.000000, 36.000000, 110.000000, -74.000000], [140.000000, -70.511407, -72.045263, 97.167173, 146.172995, 10.652675], [-40.000000, -117.196470, 87.562124, 108.207728, -144.447354, -155.941319], [-40.000000, -27.560231, -76.607387, 36.899140, -113.083193, 108.447586], [140.000000, -155.000000, 83.000000, -144.000000, -110.000000, 106.000000], [140.000000, -70.511407, -72.045263, -82.832827, -146.172995, -169.347325]] + joints: [140.000000, -154.000000, 83.000000, -144.000000, -110.000000, 106.000000] + pose: {translation: [0.06642137877374736, 0.1134161825849169, 0.8489247009242055], quaternion: [0.7564605714591267, -0.4617504766276781, -0.4046472844188738, 0.225420665366498]} + solutions: [[-40.000000, -118.102992, 87.346665, -71.954594, 144.485305, 23.859213], [-40.000000, -28.710753, -76.391928, -143.084220, 113.135117, -71.510016], [140.000000, -154.000000, 83.000000, 36.000000, 110.000000, -74.000000], [140.000000, -69.511407, -72.045263, 97.167173, 146.172995, 10.652675], [-40.000000, -118.102992, 87.346665, 108.045406, -144.485305, -156.140787], [-40.000000, -28.710753, -76.391928, 36.915780, -113.135117, 108.489984], [140.000000, -154.000000, 83.000000, -144.000000, -110.000000, 106.000000], [140.000000, -69.511407, -72.045263, -82.832827, -146.172995, -169.347325]] - id: 1133 parameters: KukaKR6_R700_sixx - joints: [-162.000000, 178.000000, -150.000000, -55.000000, 162.000000, 130.000000] - pose: {translation: [0.01745805946830809, -0.02696515805117417, 0.2717523887410012], quaternion: [0.1754271799248701, 0.5694095837899801, -0.2242482397005282, 0.7711749201205544]} - solutions: [[-162.000000, -15.935312, 160.954737, -18.270368, 53.846048, -165.340475], [-162.000000, 178.000000, -150.000000, -55.000000, 162.000000, 130.000000], [18.000000, 22.322904, 158.178879, 40.339339, 156.980146, 41.649737], [18.000000, -150.302440, -147.224142, 165.117175, 80.248192, -173.784661], [-162.000000, -15.935312, 160.954737, 161.729632, -53.846048, 14.659525], [-162.000000, 178.000000, -150.000000, 125.000000, -162.000000, -50.000000], [18.000000, 22.322904, 158.178879, -139.660661, -156.980146, -138.350263], [18.000000, -150.302440, -147.224142, -14.882825, -80.248192, 6.215339]] + joints: [-162.000000, 177.000000, -150.000000, -55.000000, 161.000000, 130.000000] + pose: {translation: [0.01493946251244668, -0.0272872672662888, 0.270022587860315], quaternion: [0.1820099387799251, 0.5791689251336163, -0.2270195379690012, 0.7615102545108903]} + solutions: [[-162.000000, -16.935312, 160.954737, -19.395804, 53.423306, -164.673150], [-162.000000, 177.000000, -150.000000, -55.000000, 161.000000, 130.000000], [18.000000, 23.350193, 158.036477, 43.075700, 157.015082, 44.198521], [18.000000, -149.593379, -147.081739, 164.265047, 79.550203, -173.596600], [-162.000000, -16.935312, 160.954737, 160.604196, -53.423306, 15.326850], [-162.000000, 177.000000, -150.000000, 125.000000, -161.000000, -50.000000], [18.000000, 23.350193, 158.036477, -136.924300, -157.015082, -135.801479], [18.000000, -149.593379, -147.081739, -15.734953, -79.550203, 6.403400]] - id: 1134 parameters: KukaKR6_R700_sixx - joints: [102.000000, -113.000000, 66.000000, -164.000000, 111.000000, 20.000000] - pose: {translation: [0.009077067321884968, -0.05631073244378886, 1.008768424757031], quaternion: [-0.3289554830861144, 0.4656364877595296, 0.3706320425044637, 0.7332140482038788]} - solutions: [[102.000000, -113.000000, 66.000000, -164.000000, 111.000000, 20.000000], [102.000000, -47.412494, -55.045263, -162.252892, 57.587649, 4.398637], [-78.000000, -135.299506, 62.363813, 18.742573, 53.212287, 2.646947], [-78.000000, -73.710404, -51.409076, 15.339846, 103.411372, 17.773412], [102.000000, -113.000000, 66.000000, 16.000000, -111.000000, -160.000000], [102.000000, -47.412494, -55.045263, 17.747108, -57.587649, -175.601363], [-78.000000, -135.299506, 62.363813, -161.257427, -53.212287, -177.353053], [-78.000000, -73.710404, -51.409076, -164.660154, -103.411372, -162.226588]] + joints: [102.000000, -113.000000, 66.000000, -164.000000, 110.000000, 20.000000] + pose: {translation: [0.009094930313654586, -0.05687494931276596, 1.010045469093176], quaternion: [-0.323715289996118, 0.4607124184426498, 0.3719256884224215, 0.7379862876822046]} + solutions: [[102.000000, -113.000000, 66.000000, -164.000000, 110.000000, 20.000000], [102.000000, -47.412494, -55.045263, -161.930853, 56.624901, 4.223736], [-78.000000, -135.299506, 62.363813, 19.119727, 52.258394, 2.418573], [-78.000000, -73.710404, -51.409076, 15.379626, 102.412124, 17.782301], [102.000000, -113.000000, 66.000000, 16.000000, -110.000000, -160.000000], [102.000000, -47.412494, -55.045263, 18.069147, -56.624901, -175.776264], [-78.000000, -135.299506, 62.363813, -160.880273, -52.258394, -177.581427], [-78.000000, -73.710404, -51.409076, -164.620374, -102.412124, -162.217699]] - id: 1135 parameters: KukaKR6_R700_sixx - joints: [-65.000000, -174.000000, 114.000000, -114.000000, -169.000000, 129.000000] - pose: {translation: [-0.05919541377137095, -0.1599416917284333, 0.6954122516678225], quaternion: [0.4055391626400775, 0.8831745462153772, -0.2184623044332893, 0.08840209287196928]} - solutions: [[115.000000, -135.627471, 117.599949, -10.122412, 82.662735, 64.703357], [115.000000, -10.650898, -106.645211, -100.152629, 169.799953, -36.914958], [-65.000000, -174.000000, 114.000000, 66.000000, 169.000000, -51.000000], [-65.000000, -53.450250, -103.045263, 169.955491, 88.055228, 63.741637], [115.000000, -135.627471, 117.599949, 169.877588, -82.662735, -115.296643], [115.000000, -10.650898, -106.645211, 79.847371, -169.799953, 143.085042], [-65.000000, -174.000000, 114.000000, -114.000000, -169.000000, 129.000000], [-65.000000, -53.450250, -103.045263, -10.044509, -88.055228, -116.258363]] + joints: [-65.000000, -173.000000, 114.000000, -114.000000, -168.000000, 129.000000] + pose: {translation: [-0.0556089849631935, -0.1552081499984503, 0.6987220013857074], quaternion: [0.4021580433647884, 0.8827593969698005, -0.2231649480262024, 0.09592789579148196]} + solutions: [[115.000000, -136.557670, 117.428130, -11.027689, 83.197474, 64.796201], [115.000000, -11.794087, -106.473392, -101.266465, 168.833023, -38.004313], [-65.000000, -173.000000, 114.000000, 66.000000, 168.000000, -51.000000], [-65.000000, -52.450250, -103.045263, 169.046973, 88.473982, 63.769151], [115.000000, -136.557670, 117.428130, 168.972311, -83.197474, -115.203799], [115.000000, -11.794087, -106.473392, 78.733535, -168.833023, 141.995687], [-65.000000, -173.000000, 114.000000, -114.000000, -168.000000, 129.000000], [-65.000000, -52.450250, -103.045263, -10.953027, -88.473982, -116.230849]] - id: 1136 parameters: KukaKR6_R700_sixx - joints: [-36.000000, 143.000000, -123.000000, 44.000000, -86.000000, -126.000000] - pose: {translation: [0.09141009744342887, 0.1349375913651429, 0.1705164437301288], quaternion: [-0.1259983567113581, 0.3986196467779448, 0.9039126759121517, 0.09038067068791482]} - solutions: [[-36.000000, -3.331578, 133.954737, -74.862570, 134.120697, 169.089148], [-36.000000, 143.000000, -123.000000, -136.000000, 86.000000, 54.000000], [144.000000, 48.124960, 129.992736, 46.382038, 73.175202, 40.957237], [144.000000, -170.956742, -119.037998, 84.246373, 135.855133, 139.860906], [-36.000000, -3.331578, 133.954737, 105.137430, -134.120697, -10.910852], [-36.000000, 143.000000, -123.000000, 44.000000, -86.000000, -126.000000], [144.000000, 48.124960, 129.992736, -133.617962, -73.175202, -139.042763], [144.000000, -170.956742, -119.037998, -95.753627, -135.855133, -40.139094]] + joints: [-36.000000, 142.000000, -123.000000, 44.000000, -86.000000, -126.000000] + pose: {translation: [0.09463443844684241, 0.1372802122289143, 0.1727899568687849], quaternion: [-0.1319115140261845, 0.3933299232794094, 0.9050333711953182, 0.09383773730845692]} + solutions: [[-36.000000, -4.331578, 133.954737, -74.862570, 134.120697, 169.089148], [-36.000000, 142.000000, -123.000000, -136.000000, 86.000000, 54.000000], [144.000000, 49.148155, 129.845445, 46.354951, 73.260830, 41.051052], [144.000000, -170.131197, -118.890708, 84.274222, 135.857849, 139.899714], [-36.000000, -4.331578, 133.954737, 105.137430, -134.120697, -10.910852], [-36.000000, 142.000000, -123.000000, 44.000000, -86.000000, -126.000000], [144.000000, 49.148155, 129.845445, -133.645049, -73.260830, -138.948948], [144.000000, -170.131197, -118.890708, -95.725778, -135.857849, -40.100286]] - id: 1137 parameters: KukaKR6_R700_sixx joints: [100.000000, 9.000000, -134.000000, 96.000000, 1.000000, -85.000000] @@ -5691,9 +5691,9 @@ cases: solutions: [[100.000000, -153.686465, 144.954737, 178.889975, 116.368532, -169.492152], [100.000000, 9.000000, -134.000000, 96.000000, 1.000000, -85.000000], [-80.000000, 163.283938, 141.340999, -64.257114, 1.104114, -104.746141], [-80.000000, -39.670388, -130.386262, -1.098754, 115.157135, -169.466223], [100.000000, -153.686465, 144.954737, -1.110025, -116.368532, 10.507848], [100.000000, 9.000000, -134.000000, -84.000000, -1.000000, 95.000000], [-80.000000, 163.283938, 141.340999, 115.742886, -1.104114, 75.253859], [-80.000000, -39.670388, -130.386262, 178.901246, -115.157135, 10.533777]] - id: 1138 parameters: KukaKR6_R700_sixx - joints: [178.000000, 116.000000, -37.000000, 8.000000, -169.000000, -159.000000] - pose: {translation: [0.009299021187232071, -0.001801004330126395, -0.1547640773733302], quaternion: [0.01304295722885884, 0.002653619639496196, -0.09710979872859549, 0.9951846695766705]} - solutions: [[-2.000000, 68.329281, 48.287353, 3.405696, 153.447366, 16.192325], [-2.000000, 114.543379, -37.332616, 173.210979, 167.018313, -173.471934], [178.000000, 70.147548, 47.954737, -3.216838, 151.755587, -169.689367], [178.000000, 116.000000, -37.000000, -172.000000, 169.000000, 21.000000], [-2.000000, 68.329281, 48.287353, -176.594304, -153.447366, -163.807675], [-2.000000, 114.543379, -37.332616, -6.789021, -167.018313, 6.528066], [178.000000, 70.147548, 47.954737, 176.783162, -151.755587, 10.310633], [178.000000, 116.000000, -37.000000, 8.000000, -169.000000, -159.000000]] + joints: [178.000000, 115.000000, -37.000000, 8.000000, -168.000000, -159.000000] + pose: {translation: [-0.00175793926800612, -0.002377656778911188, -0.1552675727922903], quaternion: [0.0142120306506739, 0.002891470315359817, -0.09734919334311413, 0.9951446086572768]} + solutions: [[178.000000, 69.147548, 47.954737, -3.621751, 152.737656, -170.047712], [178.000000, 115.000000, -37.000000, -172.000000, 168.000000, 21.000000], [-2.000000, 69.547368, 47.881295, 3.609601, 152.638366, 16.379295], [-2.000000, 115.319977, -36.926558, 171.889434, 168.164885, -174.767745], [178.000000, 69.147548, 47.954737, 176.378249, -152.737656, 9.952288], [178.000000, 115.000000, -37.000000, 8.000000, -168.000000, -159.000000], [-2.000000, 69.547368, 47.881295, -176.390399, -152.638366, -163.620705], [-2.000000, 115.319977, -36.926558, -8.110566, -168.164885, 5.232255]] - id: 1139 parameters: KukaKR6_R700_sixx joints: [-127.000000, -148.000000, 66.000000, 2.000000, -77.000000, -95.000000] @@ -5701,14 +5701,14 @@ cases: solutions: [[53.000000, -105.597912, 72.258297, 9.051728, 12.482626, 76.608896], [53.000000, -33.096058, -61.303559, 2.033485, 73.401846, 84.868971], [-127.000000, -148.000000, 66.000000, -178.000000, 77.000000, 85.000000], [-127.000000, -82.412494, -55.045263, -174.704130, 21.618406, 80.524826], [53.000000, -105.597912, 72.258297, -170.948272, -12.482626, -103.391104], [53.000000, -33.096058, -61.303559, -177.966515, -73.401846, -95.131029], [-127.000000, -148.000000, 66.000000, 2.000000, -77.000000, -95.000000], [-127.000000, -82.412494, -55.045263, 5.295870, -21.618406, -99.475174]] - id: 1140 parameters: KukaKR6_R700_sixx - joints: [-156.000000, 55.000000, -76.000000, 19.000000, 149.000000, -43.000000] - pose: {translation: [-0.4365474688967154, 0.2090473441540459, 0.2445015642064037], quaternion: [0.719086053355405, -0.6031769952362673, 0.2958318498523176, -0.1776971493875224]} - solutions: [[-156.000000, -33.948629, 86.954737, 9.926293, 76.588204, -61.768198], [-156.000000, 55.000000, -76.000000, 19.000000, 149.000000, -43.000000], [24.000000, 133.632244, 73.186003, -157.132113, 154.437891, -38.613261], [24.000000, -152.837031, -62.231266, -170.319938, 94.268302, -58.716421], [-156.000000, -33.948629, 86.954737, -170.073707, -76.588204, 118.231802], [-156.000000, 55.000000, -76.000000, -161.000000, -149.000000, 137.000000], [24.000000, 133.632244, 73.186003, 22.867887, -154.437891, 141.386739], [24.000000, -152.837031, -62.231266, 9.680062, -94.268302, 121.283579]] + joints: [-156.000000, 55.000000, -76.000000, 19.000000, 148.000000, -43.000000] + pose: {translation: [-0.4373805378396526, 0.2098425174721868, 0.2437121355974578], quaternion: [0.7220042876180314, -0.6037805703892727, 0.2876414483773593, -0.1772603414668902]} + solutions: [[-156.000000, -33.948629, 86.954737, 10.258392, 75.641597, -61.847897], [-156.000000, 55.000000, -76.000000, 19.000000, 148.000000, -43.000000], [24.000000, 133.632244, 73.186003, -157.303172, 153.440717, -38.766934], [24.000000, -152.837031, -62.231266, -170.048623, 93.305644, -58.698500], [-156.000000, -33.948629, 86.954737, -169.741608, -75.641597, 118.152103], [-156.000000, 55.000000, -76.000000, -161.000000, -148.000000, 137.000000], [24.000000, 133.632244, 73.186003, 22.696828, -153.440717, 141.233066], [24.000000, -152.837031, -62.231266, 9.951377, -93.305644, 121.301500]] - id: 1141 parameters: KukaKR6_R700_sixx - joints: [28.000000, -41.000000, 86.000000, -159.000000, -114.000000, 148.000000] - pose: {translation: [0.4065058133242367, -0.2458059280255603, 0.3480763467818002], quaternion: [-0.3764025407263115, -0.7183678981387833, 0.1985111081926807, 0.5503290199349458]} - solutions: [[28.000000, -41.000000, 86.000000, 21.000000, 114.000000, -32.000000], [28.000000, 46.869245, -75.045263, 113.518940, 159.081118, 74.107503], [-152.000000, 141.299077, 71.847085, -55.754598, 156.668776, 85.678481], [-152.000000, -146.654781, -60.892347, -154.668875, 130.076165, -23.925257], [28.000000, -41.000000, 86.000000, -159.000000, -114.000000, 148.000000], [28.000000, 46.869245, -75.045263, -66.481060, -159.081118, -105.892497], [-152.000000, 141.299077, 71.847085, 124.245402, -156.668776, -94.321519], [-152.000000, -146.654781, -60.892347, 25.331125, -130.076165, 156.074743]] + joints: [28.000000, -41.000000, 86.000000, -159.000000, -113.000000, 148.000000] + pose: {translation: [0.4068870579978182, -0.2462346120021486, 0.3468034035209773], quaternion: [-0.3774640417893541, -0.72333125349161, 0.1979671334625221, 0.5432511472117966]} + solutions: [[28.000000, -41.000000, 86.000000, 21.000000, 113.000000, -32.000000], [28.000000, 46.869245, -75.045263, 110.795377, 159.337213, 71.561226], [-152.000000, 141.299077, 71.847085, -58.032491, 157.117101, 83.583277], [-152.000000, -146.654781, -60.892347, -154.849831, 129.085938, -24.040561], [28.000000, -41.000000, 86.000000, -159.000000, -113.000000, 148.000000], [28.000000, 46.869245, -75.045263, -69.204623, -159.337213, -108.438774], [-152.000000, 141.299077, 71.847085, 121.967509, -157.117101, -96.416723], [-152.000000, -146.654781, -60.892347, 25.150169, -129.085938, 155.959439]] - id: 1142 parameters: KukaKR6_R700_sixx joints: [-106.000000, 81.000000, -113.000000, 53.000000, 41.000000, 41.000000] @@ -5716,14 +5716,14 @@ cases: solutions: [[-106.000000, -51.993522, 123.954737, 147.664448, 78.400013, -86.701893], [-106.000000, 81.000000, -113.000000, 53.000000, 41.000000, 41.000000], [74.000000, 106.978191, 114.061120, -134.142372, 46.897573, 50.895550], [74.000000, -132.397497, -103.106383, -35.417401, 64.702370, -77.053324], [-106.000000, -51.993522, 123.954737, -32.335552, -78.400013, 93.298107], [-106.000000, 81.000000, -113.000000, -127.000000, -41.000000, -139.000000], [74.000000, 106.978191, 114.061120, 45.857628, -46.897573, -129.104450], [74.000000, -132.397497, -103.106383, 144.582599, -64.702370, 102.946676]] - id: 1143 parameters: KukaKR6_R700_sixx - joints: [-108.000000, -108.000000, -53.000000, 73.000000, 54.000000, -172.000000] - pose: {translation: [0.2032213081928201, -0.4251598062511089, 0.8185229205371439], quaternion: [0.3844785249802914, -0.3803560054356336, 0.7214343170945802, -0.4324790157641229]} - solutions: [[72.000000, -81.857186, 75.771603, -115.069981, 58.664191, -157.508895], [72.000000, -5.453026, -64.816865, -68.129824, 56.477133, 124.509375], [-108.000000, -171.336930, 63.954737, 113.282203, 57.378701, 121.922183], [-108.000000, -108.000000, -53.000000, 73.000000, 54.000000, -172.000000], [72.000000, -81.857186, 75.771603, 64.930019, -58.664191, 22.491105], [72.000000, -5.453026, -64.816865, 111.870176, -56.477133, -55.490625], [-108.000000, -171.336930, 63.954737, -66.717797, -57.378701, -58.077817], [-108.000000, -108.000000, -53.000000, -107.000000, -54.000000, 8.000000]] + joints: [-108.000000, -107.000000, -53.000000, 73.000000, 53.000000, -172.000000] + pose: {translation: [0.2005372386944728, -0.4194692688642257, 0.8272040773470895], quaternion: [0.3803452982713855, -0.3777732787407453, 0.7284561153274475, -0.4265870274567228]} + solutions: [[72.000000, -82.821724, 75.592511, -115.283836, 57.634906, -157.506456], [72.000000, -6.616881, -64.637774, -67.060320, 56.029520, 123.926939], [-108.000000, -170.336930, 63.954737, 114.372422, 56.977911, 121.331239], [-108.000000, -107.000000, -53.000000, 73.000000, 53.000000, -172.000000], [72.000000, -82.821724, 75.592511, 64.716164, -57.634906, 22.493544], [72.000000, -6.616881, -64.637774, 112.939680, -56.029520, -56.073061], [-108.000000, -170.336930, 63.954737, -65.627578, -56.977911, -58.668761], [-108.000000, -107.000000, -53.000000, -107.000000, -53.000000, 8.000000]] - id: 1144 parameters: KukaKR6_R700_sixx - joints: [24.000000, 20.000000, -143.000000, 179.000000, 87.000000, -25.000000] - pose: {translation: [0.02097852745928445, -0.01086647066555882, 0.5393226729254774], quaternion: [0.7896624873735574, -0.3555161561649817, -0.4998940714844374, 0.01213820560852421]} - solutions: [[24.000000, -158.544889, 153.954737, 2.326313, 154.572294, 157.048829], [24.000000, 20.000000, -143.000000, 179.000000, 87.000000, -25.000000], [-156.000000, 151.275375, 149.792435, -0.998803, 88.931896, -25.033721], [-156.000000, -37.905651, -138.837698, -177.781647, 153.239842, 156.928625], [24.000000, -158.544889, 153.954737, -177.673687, -154.572294, -22.951171], [24.000000, 20.000000, -143.000000, -1.000000, -87.000000, 155.000000], [-156.000000, 151.275375, 149.792435, 179.001197, -88.931896, 154.966279], [-156.000000, -37.905651, -138.837698, 2.218353, -153.239842, -23.071375]] + joints: [24.000000, 19.000000, -143.000000, 179.000000, 86.000000, -25.000000] + pose: {translation: [0.01811063692301461, -0.009587975128049854, 0.5404797905329705], quaternion: [0.7896059635076907, -0.3556401864686576, -0.4998934784457686, 0.01220616110903269]} + solutions: [[24.000000, -159.544889, 153.954737, 2.412757, 155.571631, 157.127223], [24.000000, 19.000000, -143.000000, 179.000000, 86.000000, -25.000000], [-156.000000, 152.030480, 149.926157, -0.998146, 88.043053, -25.035675], [-156.000000, -36.914173, -138.971419, -177.715956, 154.097125, 156.985024], [24.000000, -159.544889, 153.954737, -177.587243, -155.571631, -22.872777], [24.000000, 19.000000, -143.000000, -1.000000, -86.000000, 155.000000], [-156.000000, 152.030480, 149.926157, 179.001854, -88.043053, 154.964325], [-156.000000, -36.914173, -138.971419, 2.284044, -154.097125, -23.014976]] - id: 1145 parameters: KukaKR6_R700_sixx joints: [19.000000, 160.000000, 123.000000, -83.000000, 5.000000, -76.000000] @@ -5731,29 +5731,29 @@ cases: solutions: [[-161.000000, -122.344843, 129.438703, 174.696612, 110.623577, -160.846209], [-161.000000, 17.831228, -118.483965, 120.724134, 5.775504, -99.825879], [19.000000, 160.000000, 123.000000, -83.000000, 5.000000, -76.000000], [19.000000, -68.229791, -112.045263, -5.111254, 103.832837, -160.198643], [-161.000000, -122.344843, 129.438703, -5.303388, -110.623577, 19.153791], [-161.000000, 17.831228, -118.483965, -59.275866, -5.775504, 80.174121], [19.000000, 160.000000, 123.000000, 97.000000, -5.000000, 104.000000], [19.000000, -68.229791, -112.045263, 174.888746, -103.832837, 19.801357]] - id: 1146 parameters: KukaKR6_R700_sixx - joints: [69.000000, -81.000000, -74.000000, 130.000000, 156.000000, -25.000000] - pose: {translation: [-0.09993281174705235, 0.1907789172534488, 0.7838142497516657], quaternion: [0.7994113731065213, -0.4152793003851952, 0.1833192851038392, 0.3935461839842263]} - solutions: [[-111.000000, -107.597086, 91.740582, -37.689188, 149.360604, -11.180813], [-111.000000, -13.209742, -80.785844, -157.684740, 124.856573, -144.366172], [69.000000, -167.689499, 84.954737, 21.512256, 121.822975, -145.826668], [69.000000, -81.000000, -74.000000, 130.000000, 156.000000, -25.000000], [-111.000000, -107.597086, 91.740582, 142.310812, -149.360604, 168.819187], [-111.000000, -13.209742, -80.785844, 22.315260, -124.856573, 35.633828], [69.000000, -167.689499, 84.954737, -158.487744, -121.822975, 34.173332], [69.000000, -81.000000, -74.000000, -50.000000, -156.000000, 155.000000]] + joints: [69.000000, -81.000000, -74.000000, 130.000000, 155.000000, -25.000000] + pose: {translation: [-0.1011531962304752, 0.1912422539124795, 0.7833187874915377], quaternion: [0.7993793971531351, -0.4190520961806072, 0.1754582713513116, 0.393195009007158]} + solutions: [[-111.000000, -107.597086, 91.740582, -38.144874, 148.388735, -11.570911], [-111.000000, -13.209742, -80.785844, -156.616334, 125.342300, -143.751825], [69.000000, -167.689499, 84.954737, 22.528533, 122.331383, -145.286947], [69.000000, -81.000000, -74.000000, 130.000000, 155.000000, -25.000000], [-111.000000, -107.597086, 91.740582, 141.855126, -148.388735, 168.429089], [-111.000000, -13.209742, -80.785844, 23.383666, -125.342300, 36.248175], [69.000000, -167.689499, 84.954737, -157.471467, -122.331383, 34.713053], [69.000000, -81.000000, -74.000000, -50.000000, -155.000000, 155.000000]] - id: 1147 parameters: KukaKR6_R700_sixx - joints: [67.000000, 72.000000, -42.000000, -119.000000, -56.000000, -33.000000] - pose: {translation: [0.1336096269654346, -0.4632231854746453, -0.1019858375425329], quaternion: [0.7595381511089331, -0.4867636205311743, -0.09708524567459272, 0.4204015102371904]} - solutions: [[67.000000, 20.703897, 52.954737, 97.484858, 46.997503, 91.347627], [67.000000, 72.000000, -42.000000, 61.000000, 56.000000, 147.000000], [-113.000000, 121.081035, 34.638392, -122.145475, 58.911970, 152.841696], [-113.000000, 152.501300, -23.683654, -103.397802, 48.191597, 121.913257], [67.000000, 20.703897, 52.954737, -82.515142, -46.997503, -88.652373], [67.000000, 72.000000, -42.000000, -119.000000, -56.000000, -33.000000], [-113.000000, 121.081035, 34.638392, 57.854525, -58.911970, -27.158304], [-113.000000, 152.501300, -23.683654, 76.602198, -48.191597, -58.086743]] + joints: [67.000000, 71.000000, -42.000000, -119.000000, -55.000000, -33.000000] + pose: {translation: [0.1381083390695425, -0.4720512512407277, -0.09421541616186373], quaternion: [0.7591165135384305, -0.4862611324417548, -0.08271795062640892, 0.4247940331429892]} + solutions: [[67.000000, 19.703897, 52.954737, 98.624241, 46.438909, 90.566459], [67.000000, 71.000000, -42.000000, 61.000000, 55.000000, 147.000000], [-113.000000, 122.241846, 34.237883, -122.138132, 57.789483, 152.665061], [-113.000000, 153.229229, -23.283145, -102.936312, 47.315989, 121.695560], [67.000000, 19.703897, 52.954737, -81.375759, -46.438909, -89.433541], [67.000000, 71.000000, -42.000000, -119.000000, -55.000000, -33.000000], [-113.000000, 122.241846, 34.237883, 57.861868, -57.789483, -27.334939], [-113.000000, 153.229229, -23.283145, 77.063688, -47.315989, -58.304440]] - id: 1148 parameters: KukaKR6_R700_sixx - joints: [132.000000, 180.000000, -37.000000, 148.000000, -117.000000, 13.000000] - pose: {translation: [0.4080110749958952, 0.3966914603220552, 0.2225197042054314], quaternion: [0.1588877356427051, 0.1908258284141115, 0.1486518317963293, 0.9572057373292315]} - solutions: [[-48.000000, -7.871884, 65.811898, 139.015678, 133.952099, 177.747813], [-48.000000, 57.508462, -54.857160, 151.784490, 87.047002, -149.578861], [132.000000, 134.147548, 47.954737, -28.414699, 82.861625, -147.315869], [132.000000, 180.000000, -37.000000, -32.000000, 117.000000, -167.000000], [-48.000000, -7.871884, 65.811898, -40.984322, -133.952099, -2.252187], [-48.000000, 57.508462, -54.857160, -28.215510, -87.047002, 30.421139], [132.000000, 134.147548, 47.954737, 151.585301, -82.861625, 32.684131], [132.000000, 180.000000, -37.000000, 148.000000, -117.000000, 13.000000]] + joints: [132.000000, 179.000000, -37.000000, 148.000000, -117.000000, 13.000000] + pose: {translation: [0.4058780563269555, 0.3943225030939664, 0.2122007410235668], quaternion: [0.1535421367741914, 0.1973718894016908, 0.1464808748908075, 0.957085420848132]} + solutions: [[-48.000000, -6.725957, 65.685921, 139.003059, 133.967158, 177.729634], [-48.000000, 58.515668, -54.731183, 151.787673, 87.164362, -149.641906], [132.000000, 133.147548, 47.954737, -28.414699, 82.861625, -147.315869], [132.000000, 179.000000, -37.000000, -32.000000, 117.000000, -167.000000], [-48.000000, -6.725957, 65.685921, -40.996941, -133.967158, -2.270366], [-48.000000, 58.515668, -54.731183, -28.212327, -87.164362, 30.358094], [132.000000, 133.147548, 47.954737, 151.585301, -82.861625, 32.684131], [132.000000, 179.000000, -37.000000, 148.000000, -117.000000, 13.000000]] - id: 1149 parameters: KukaKR6_R700_sixx - joints: [139.000000, 88.000000, -114.000000, -119.000000, -67.000000, -6.000000] - pose: {translation: [-0.3384450605535172, -0.2088652471048364, 0.2582696125494234], quaternion: [0.2230972333689143, -0.7517560984627406, -0.3228059293586294, 0.5299874761332818]} - solutions: [[139.000000, -46.282834, 124.954737, 121.378888, 70.564110, 57.796230], [139.000000, 88.000000, -114.000000, 61.000000, 67.000000, 174.000000], [-41.000000, 100.588920, 115.422864, -122.220859, 72.109623, -176.805918], [-41.000000, -137.120366, -104.468127, -65.223279, 62.463414, 74.225995], [139.000000, -46.282834, 124.954737, -58.621112, -70.564110, -122.203770], [139.000000, 88.000000, -114.000000, -119.000000, -67.000000, -6.000000], [-41.000000, 100.588920, 115.422864, 57.779141, -72.109623, 3.194082], [-41.000000, -137.120366, -104.468127, 114.776721, -62.463414, -105.774005]] + joints: [139.000000, 87.000000, -114.000000, -119.000000, -66.000000, -6.000000] + pose: {translation: [-0.3407187109659606, -0.2114869110027201, 0.2655259916396547], quaternion: [0.2211861382318683, -0.7456948790592643, -0.3173713286966452, 0.5424862019629514]} + solutions: [[139.000000, -47.282834, 124.954737, 122.327765, 71.008129, 57.483950], [139.000000, 87.000000, -114.000000, 61.000000, 66.000000, 174.000000], [-41.000000, 101.502061, 115.367375, -122.348512, 71.046335, -176.879755], [-41.000000, -136.275326, -104.412638, -64.067371, 62.681044, 73.613747], [139.000000, -47.282834, 124.954737, -57.672235, -71.008129, -122.516050], [139.000000, 87.000000, -114.000000, -119.000000, -66.000000, -6.000000], [-41.000000, 101.502061, 115.367375, 57.651488, -71.046335, 3.120245], [-41.000000, -136.275326, -104.412638, 115.932629, -62.681044, -106.386253]] - id: 1150 parameters: KukaKR6_R700_sixx - joints: [-122.000000, 173.000000, -114.000000, -25.000000, -39.000000, -88.000000] - pose: {translation: [0.01726499154394591, 0.01252160549414662, 0.03698038191966137], quaternion: [-0.02734181341358187, 0.8279169297534447, 0.5448071822597237, -0.1303499782320911]} - solutions: [[58.000000, 13.919103, 126.959723, -44.344556, 22.364975, 114.189168], [58.000000, 150.813295, -116.004986, -18.108329, 121.163472, 62.475302], [-122.000000, 38.717166, 124.954737, 156.350835, 138.469086, 53.929871], [-122.000000, 173.000000, -114.000000, 155.000000, 39.000000, 92.000000], [58.000000, 13.919103, 126.959723, 135.655444, -22.364975, -65.810832], [58.000000, 150.813295, -116.004986, 161.891671, -121.163472, -117.524698], [-122.000000, 38.717166, 124.954737, -23.649165, -138.469086, -126.070129], [-122.000000, 173.000000, -114.000000, -25.000000, -39.000000, -88.000000]] + joints: [-122.000000, 172.000000, -114.000000, -25.000000, -39.000000, -88.000000] + pose: {translation: [0.01390575401394955, 0.01789750930465038, 0.03662501420991166], quaternion: [-0.02578604603468146, 0.8232507626458583, 0.5510398933399506, -0.1339712565470888]} + solutions: [[58.000000, 15.048556, 126.790315, -44.276771, 22.393565, 114.115862], [58.000000, 151.720684, -115.835578, -18.093920, 121.090476, 62.503175], [-122.000000, 37.717166, 124.954737, 156.350835, 138.469086, 53.929871], [-122.000000, 172.000000, -114.000000, 155.000000, 39.000000, 92.000000], [58.000000, 15.048556, 126.790315, 135.723229, -22.393565, -65.884138], [58.000000, 151.720684, -115.835578, 161.906080, -121.090476, -117.496825], [-122.000000, 37.717166, 124.954737, -23.649165, -138.469086, -126.070129], [-122.000000, 172.000000, -114.000000, -25.000000, -39.000000, -88.000000]] - id: 1151 parameters: KukaKR6_R700_sixx joints: [153.000000, 118.000000, 9.000000, -98.000000, 41.000000, 42.000000] @@ -5761,24 +5761,24 @@ cases: solutions: [[-27.000000, 47.467277, 35.943883, 115.024895, 45.805837, -2.358595], [-27.000000, 80.298968, -24.989146, 84.652262, 40.731450, 38.493331], [153.000000, 118.000000, 9.000000, -98.000000, 41.000000, 42.000000], [153.000000, 121.789748, 1.954737, -94.251769, 40.652315, 37.047927], [-27.000000, 47.467277, 35.943883, -64.975105, -45.805837, 177.641405], [-27.000000, 80.298968, -24.989146, -95.347738, -40.731450, -141.506669], [153.000000, 118.000000, 9.000000, 82.000000, -41.000000, -138.000000], [153.000000, 121.789748, 1.954737, 85.748231, -40.652315, -142.952073]] - id: 1152 parameters: KukaKR6_R700_sixx - joints: [35.000000, 134.000000, -34.000000, 150.000000, 65.000000, 69.000000] - pose: {translation: [-0.1573991494148179, 0.06595617028761303, -0.2363238883066218], quaternion: [0.8793832997752463, 0.0541373868257983, 0.1504359708780477, 0.4484675842132319]} - solutions: [[-145.000000, 45.868057, 52.987678, -36.780176, 49.186199, 81.328189], [-145.000000, 97.200077, -42.032940, -26.988642, 86.909623, 56.860526], [35.000000, 91.406528, 44.954737, 152.823276, 97.181127, 51.615601], [35.000000, 134.000000, -34.000000, 150.000000, 65.000000, 69.000000], [-145.000000, 45.868057, 52.987678, 143.219824, -49.186199, -98.671811], [-145.000000, 97.200077, -42.032940, 153.011358, -86.909623, -123.139474], [35.000000, 91.406528, 44.954737, -27.176724, -97.181127, -128.384399], [35.000000, 134.000000, -34.000000, -30.000000, -65.000000, -111.000000]] + joints: [35.000000, 133.000000, -34.000000, 150.000000, 64.000000, 69.000000] + pose: {translation: [-0.1486885034662493, 0.06022381368210392, -0.2407370098968034], quaternion: [0.8801781155001491, 0.05153766173078743, 0.1532787875029252, 0.446246532445421]} + solutions: [[-145.000000, 47.083439, 52.637838, -36.994288, 48.316949, 81.408681], [-145.000000, 98.034039, -41.683100, -26.783838, 85.767921, 56.930400], [35.000000, 90.406528, 44.954737, 153.123816, 96.226712, 51.650686], [35.000000, 133.000000, -34.000000, 150.000000, 64.000000, 69.000000], [-145.000000, 47.083439, 52.637838, 143.005712, -48.316949, -98.591319], [-145.000000, 98.034039, -41.683100, 153.216162, -85.767921, -123.069600], [35.000000, 90.406528, 44.954737, -26.876184, -96.226712, -128.349314], [35.000000, 133.000000, -34.000000, -30.000000, -64.000000, -111.000000]] - id: 1153 parameters: KukaKR6_R700_sixx - joints: [-40.000000, -155.000000, 39.000000, 12.000000, -147.000000, 14.000000] - pose: {translation: [-0.3588499547381749, -0.2892852507715789, 0.7668552849644152], quaternion: [-0.3696002971400879, 0.9257753625411669, 0.03649534397472475, -0.07073675376985136]} - solutions: [[140.000000, -73.458584, 55.832860, 6.627089, 101.128369, -174.823053], [140.000000, -19.021336, -44.878123, 11.967914, 146.901650, -166.038280], [-40.000000, -155.000000, 39.000000, -168.000000, 147.000000, -166.000000], [-40.000000, -118.861582, -28.045263, -172.731858, 116.483822, -172.852469], [140.000000, -73.458584, 55.832860, -173.372911, -101.128369, 5.176947], [140.000000, -19.021336, -44.878123, -168.032086, -146.901650, 13.961720], [-40.000000, -155.000000, 39.000000, 12.000000, -147.000000, 14.000000], [-40.000000, -118.861582, -28.045263, 7.268142, -116.483822, 7.147531]] + joints: [-40.000000, -155.000000, 39.000000, 12.000000, -146.000000, 14.000000] + pose: {translation: [-0.36004847451688, -0.2899749236966633, 0.7670486850539971], quaternion: [-0.3697459064618124, 0.9250641143343072, 0.03531887172711781, -0.07935317464058979]} + solutions: [[140.000000, -73.458584, 55.832860, 6.782898, 100.140163, -174.794299], [140.000000, -19.021336, -44.878123, 11.969106, 145.901650, -166.037287], [-40.000000, -155.000000, 39.000000, -168.000000, 146.000000, -166.000000], [-40.000000, -118.861582, -28.045263, -172.599684, 115.490905, -172.794552], [140.000000, -73.458584, 55.832860, -173.217102, -100.140163, 5.205701], [140.000000, -19.021336, -44.878123, -168.030894, -145.901650, 13.962713], [-40.000000, -155.000000, 39.000000, 12.000000, -146.000000, 14.000000], [-40.000000, -118.861582, -28.045263, 7.400316, -115.490905, 7.205448]] - id: 1154 parameters: KukaKR6_R700_sixx - joints: [-9.000000, -140.000000, 26.000000, -102.000000, -14.000000, 142.000000] - pose: {translation: [-0.4164439872349344, -0.08512504870850222, 0.9942358027236837], quaternion: [0.1814016320312809, -0.1168748134462305, -0.2369750162182723, 0.9472468356065626]} - solutions: [[171.000000, -76.168629, 45.589079, -158.584625, 40.397835, 23.013456], [171.000000, -32.886470, -34.634342, -95.917989, 13.762820, -44.264611], [-9.000000, -140.000000, 26.000000, 78.000000, 14.000000, -38.000000], [-9.000000, -117.904902, -15.045263, 33.123574, 25.660885, 9.182861], [171.000000, -76.168629, 45.589079, 21.415375, -40.397835, -156.986544], [171.000000, -32.886470, -34.634342, 84.082011, -13.762820, 135.735389], [-9.000000, -140.000000, 26.000000, -102.000000, -14.000000, 142.000000], [-9.000000, -117.904902, -15.045263, -146.876426, -25.660885, -170.817139]] + joints: [-9.000000, -139.000000, 26.000000, -102.000000, -14.000000, 142.000000] + pose: {translation: [-0.4061331865745176, -0.08349197831660425, 1.001992481916847], quaternion: [0.1780590981380894, -0.109029452426265, -0.2383699618438213, 0.9484657597216962]} + solutions: [[171.000000, -77.020989, 45.234801, -158.495487, 40.205521, 22.896577], [171.000000, -34.123487, -34.280064, -96.393748, 13.775395, -43.774776], [-9.000000, -139.000000, 26.000000, 78.000000, 14.000000, -38.000000], [-9.000000, -116.904902, -15.045263, 33.123574, 25.660885, 9.182861], [171.000000, -77.020989, 45.234801, 21.504513, -40.205521, -157.103423], [171.000000, -34.123487, -34.280064, 83.606252, -13.775395, 136.225224], [-9.000000, -139.000000, 26.000000, -102.000000, -14.000000, 142.000000], [-9.000000, -116.904902, -15.045263, -146.876426, -25.660885, -170.817139]] - id: 1155 parameters: KukaKR6_R700_sixx - joints: [104.000000, 100.000000, -43.000000, -42.000000, 18.000000, 64.000000] - pose: {translation: [-0.0382557997618064, -0.2218123216455516, -0.2710825454639796], quaternion: [0.6205223824140769, 0.7591443697441778, -0.1050623589992829, 0.1661737028845999]} - solutions: [[104.000000, 47.613184, 53.954737, -157.685666, 32.996408, -175.569247], [104.000000, 100.000000, -43.000000, -42.000000, 18.000000, 64.000000], [-76.000000, 88.110311, 46.988923, 153.996955, 28.140336, 46.699781], [-76.000000, 132.913021, -36.034186, 44.212964, 17.248812, 160.528915], [104.000000, 47.613184, 53.954737, 22.314334, -32.996408, 4.430753], [104.000000, 100.000000, -43.000000, 138.000000, -18.000000, -116.000000], [-76.000000, 88.110311, 46.988923, -26.003045, -28.140336, -133.300219], [-76.000000, 132.913021, -36.034186, -135.787036, -17.248812, -19.471085]] + joints: [104.000000, 99.000000, -43.000000, -42.000000, 18.000000, 64.000000] + pose: {translation: [-0.04108184033524365, -0.2331469512948925, -0.2674989571244273], quaternion: [0.6188699075391312, 0.7585766831814288, -0.1127962865552433, 0.1698188770876696]} + solutions: [[104.000000, 46.613184, 53.954737, -157.685666, 32.996408, -175.569247], [104.000000, 99.000000, -43.000000, -42.000000, 18.000000, 64.000000], [-76.000000, 89.294433, 46.598317, 153.826522, 27.954888, 46.892894], [-76.000000, 133.672745, -35.643580, 44.552747, 17.141373, 160.173235], [104.000000, 46.613184, 53.954737, 22.314334, -32.996408, 4.430753], [104.000000, 99.000000, -43.000000, 138.000000, -18.000000, -116.000000], [-76.000000, 89.294433, 46.598317, -26.173478, -27.954888, -133.107106], [-76.000000, 133.672745, -35.643580, -135.447253, -17.141373, -19.826765]] - id: 1156 parameters: KukaKR6_R700_sixx joints: [168.000000, 37.000000, 44.000000, 115.000000, -56.000000, 140.000000] @@ -5786,24 +5786,24 @@ cases: solutions: [[168.000000, 37.000000, 44.000000, -65.000000, 56.000000, -40.000000], [168.000000, 78.557343, -33.045263, -50.932424, 75.408996, -72.934110], [-12.000000, 115.255003, 25.126536, 130.093197, 79.166294, -77.589881], [-12.000000, 136.408359, -14.171799, 125.833255, 67.938363, -62.694235], [168.000000, 37.000000, 44.000000, 115.000000, -56.000000, 140.000000], [168.000000, 78.557343, -33.045263, 129.067576, -75.408996, 107.065890], [-12.000000, 115.255003, 25.126536, -49.906803, -79.166294, 102.410119], [-12.000000, 136.408359, -14.171799, -54.166745, -67.938363, 117.305765]] - id: 1157 parameters: KukaKR6_R700_sixx - joints: [-137.000000, 38.000000, 159.000000, 143.000000, -153.000000, -133.000000] - pose: {translation: [-0.008021446762840112, -0.02240619097853773, 0.2862096510434258], quaternion: [-0.5990058999239807, -0.3131762591884801, 0.4260157559696627, 0.6013510939564081]} - solutions: [[43.000000, -38.297163, 164.283984, 18.304914, 60.449028, -108.388264], [43.000000, 164.623975, -153.329247, 69.327561, 163.021051, -30.651713], [-137.000000, 38.000000, 159.000000, -37.000000, 153.000000, 47.000000], [-137.000000, -132.757713, -148.045263, -164.070378, 84.555694, -100.672915], [43.000000, -38.297163, 164.283984, -161.695086, -60.449028, 71.611736], [43.000000, 164.623975, -153.329247, -110.672439, -163.021051, 149.348287], [-137.000000, 38.000000, 159.000000, 143.000000, -153.000000, -133.000000], [-137.000000, -132.757713, -148.045263, 15.929622, -84.555694, 79.327085]] + joints: [-137.000000, 37.000000, 159.000000, 143.000000, -152.000000, -133.000000] + pose: {translation: [-0.009732148686025163, -0.0218300579802596, 0.2867548560864662], quaternion: [-0.5862423978408903, -0.312730547874329, 0.4334600576852805, 0.608795395672026]} + solutions: [[43.000000, -36.922528, 164.138789, 18.819990, 61.141822, -108.703350], [43.000000, 165.575453, -153.184052, 72.331848, 162.751182, -27.807251], [-137.000000, 37.000000, 159.000000, -37.000000, 152.000000, 47.000000], [-137.000000, -133.757713, -148.045263, -163.533918, 85.400928, -100.719874], [43.000000, -36.922528, 164.138789, -161.180010, -61.141822, 71.296650], [43.000000, 165.575453, -153.184052, -107.668152, -162.751182, 152.192749], [-137.000000, 37.000000, 159.000000, 143.000000, -152.000000, -133.000000], [-137.000000, -133.757713, -148.045263, 16.466082, -85.400928, 79.280126]] - id: 1158 parameters: KukaKR6_R700_sixx - joints: [30.000000, -81.000000, -10.000000, -69.000000, -64.000000, 49.000000] - pose: {translation: [-0.02790350655136197, -0.06140232009143782, 1.110070040069284], quaternion: [0.3649712402919897, -0.3878846536545866, -0.06946422791871662, 0.8435142027604779]} - solutions: [[30.000000, -97.657774, 20.954737, 116.610354, 69.802778, -145.220286], [30.000000, -81.000000, -10.000000, 111.000000, 64.000000, -131.000000], [-150.000000, -101.381250, 17.522567, -71.453235, 62.259256, -125.576023], [-150.000000, -88.419609, -6.567829, -66.430036, 66.272860, -137.106318], [30.000000, -97.657774, 20.954737, -63.389646, -69.802778, 34.779714], [30.000000, -81.000000, -10.000000, -69.000000, -64.000000, 49.000000], [-150.000000, -101.381250, 17.522567, 108.546765, -62.259256, 54.423977], [-150.000000, -88.419609, -6.567829, 113.569964, -66.272860, 42.893682]] + joints: [30.000000, -81.000000, -10.000000, -69.000000, -63.000000, 49.000000] + pose: {translation: [-0.02743825864728396, -0.06099933156070832, 1.111323294484813], quaternion: [0.3597996500220209, -0.3825831707328292, -0.06992668621537686, 0.8481064720133802]} + solutions: [[30.000000, -97.657774, 20.954737, 116.873764, 68.833618, -145.313320], [30.000000, -81.000000, -10.000000, 111.000000, 63.000000, -131.000000], [-150.000000, -101.381250, 17.522567, -71.561031, 61.263775, -125.525018], [-150.000000, -88.419609, -6.567829, -66.312936, 65.278578, -137.154367], [30.000000, -97.657774, 20.954737, -63.126236, -68.833618, 34.686680], [30.000000, -81.000000, -10.000000, -69.000000, -63.000000, 49.000000], [-150.000000, -101.381250, 17.522567, 108.438969, -61.263775, 54.474982], [-150.000000, -88.419609, -6.567829, 113.687064, -65.278578, 42.845633]] - id: 1159 parameters: KukaKR6_R700_sixx - joints: [95.000000, -34.000000, 89.000000, 29.000000, 76.000000, -14.000000] - pose: {translation: [-0.0792946345030411, -0.4745550547621587, 0.2424359967486234], quaternion: [0.6559166172094613, 0.642058163031328, 0.06329119693191233, -0.3918276801659877]} - solutions: [[95.000000, -34.000000, 89.000000, 29.000000, 76.000000, -14.000000], [95.000000, 57.266990, -78.045263, 46.718949, 139.746829, 32.659822], [-85.000000, 131.284198, 75.617517, -127.354163, 143.716341, 40.200169], [-85.000000, -152.483131, -64.662779, -151.925492, 91.714365, -5.448038], [95.000000, -34.000000, 89.000000, -151.000000, -76.000000, 166.000000], [95.000000, 57.266990, -78.045263, -133.281051, -139.746829, -147.340178], [-85.000000, 131.284198, 75.617517, 52.645837, -143.716341, -139.799831], [-85.000000, -152.483131, -64.662779, 28.074508, -91.714365, 174.551962]] + joints: [95.000000, -34.000000, 89.000000, 29.000000, 75.000000, -14.000000] + pose: {translation: [-0.07921519898558319, -0.4755917314064507, 0.2415040667448475], quaternion: [0.6572547518309466, 0.6452178292374648, 0.05909040571731075, -0.3849915167661464]} + solutions: [[95.000000, -34.000000, 89.000000, 29.000000, 75.000000, -14.000000], [95.000000, 57.266990, -78.045263, 45.609130, 139.055143, 31.817130], [-85.000000, 131.284198, 75.617517, -128.705794, 143.123694, 39.114742], [-85.000000, -152.483131, -64.662779, -152.074203, 90.725479, -5.451204], [95.000000, -34.000000, 89.000000, -151.000000, -75.000000, 166.000000], [95.000000, 57.266990, -78.045263, -134.390870, -139.055143, -148.182870], [-85.000000, 131.284198, 75.617517, 51.294206, -143.123694, -140.885258], [-85.000000, -152.483131, -64.662779, 27.925797, -90.725479, 174.548796]] - id: 1160 parameters: KukaKR6_R700_sixx - joints: [128.000000, 35.000000, -73.000000, 103.000000, 42.000000, 49.000000] - pose: {translation: [-0.4034450085170965, -0.4316666695417943, 0.5177113019775307], quaternion: [-0.2369610809367606, -0.39469012229054, 0.444816813999075, 0.7682494096784409]} - solutions: [[128.000000, -50.562716, 83.954737, 139.087152, 84.578720, -19.061132], [128.000000, 35.000000, -73.000000, 103.000000, 42.000000, 49.000000], [-52.000000, 152.366854, 69.535473, -81.314577, 41.265125, 54.770350], [-52.000000, -138.144993, -58.580735, -43.227315, 72.165167, -7.681534], [128.000000, -50.562716, 83.954737, -40.912848, -84.578720, 160.938868], [128.000000, 35.000000, -73.000000, -77.000000, -42.000000, -131.000000], [-52.000000, 152.366854, 69.535473, 98.685423, -41.265125, -125.229650], [-52.000000, -138.144993, -58.580735, 136.772685, -72.165167, 172.318466]] + joints: [128.000000, 35.000000, -73.000000, 103.000000, 41.000000, 49.000000] + pose: {translation: [-0.4031800985884307, -0.4329826076911242, 0.5180955304447535], quaternion: [-0.2293457369085316, -0.3961438520969104, 0.4487559370543188, 0.7675211334980973]} + solutions: [[128.000000, -50.562716, 83.954737, 140.019493, 84.205832, -19.152240], [128.000000, 35.000000, -73.000000, 103.000000, 41.000000, 49.000000], [-52.000000, 152.366854, 69.535473, -81.470111, 40.270295, 54.888151], [-52.000000, -138.144993, -58.580735, -42.346764, 71.617861, -7.955233], [128.000000, -50.562716, 83.954737, -39.980507, -84.205832, 160.847760], [128.000000, 35.000000, -73.000000, -77.000000, -41.000000, -131.000000], [-52.000000, 152.366854, 69.535473, 98.529889, -40.270295, -125.111849], [-52.000000, -138.144993, -58.580735, 137.653236, -71.617861, 172.044767]] - id: 1161 parameters: KukaKR6_R700_sixx joints: [-151.000000, 158.000000, -22.000000, 25.000000, -23.000000, 148.000000] @@ -5816,29 +5816,29 @@ cases: solutions: [[33.000000, 35.277967, 76.954737, -92.560247, 81.150258, -111.201835], [33.000000, 113.000000, -66.000000, -83.000000, 84.000000, -177.000000], [-147.000000, 74.445454, 72.269921, 98.216191, 85.824536, 169.351909], [-147.000000, 146.960193, -61.315183, 90.303051, 80.795136, -129.302095], [33.000000, 35.277967, 76.954737, 87.439753, -81.150258, 68.798165], [33.000000, 113.000000, -66.000000, 97.000000, -84.000000, 3.000000], [-147.000000, 74.445454, 72.269921, -81.783809, -85.824536, -10.648091], [-147.000000, 146.960193, -61.315183, -89.696949, -80.795136, 50.697905]] - id: 1163 parameters: KukaKR6_R700_sixx - joints: [104.000000, -177.000000, 67.000000, 141.000000, 110.000000, 57.000000] - pose: {translation: [0.07332360775987437, 0.4896415066411914, 0.7018098316018249], quaternion: [0.8775853822098364, -0.1242004351396104, -0.298551241006635, -0.3539566432999173]} - solutions: [[-76.000000, -79.468362, 79.027193, -45.777603, 55.608494, 102.611117], [-76.000000, 0.567006, -68.072456, -38.461684, 108.053875, 58.650873], [104.000000, -177.000000, 67.000000, 141.000000, 110.000000, 57.000000], [104.000000, -110.310566, -56.045263, 139.374052, 65.262477, 92.228574], [-76.000000, -79.468362, 79.027193, 134.222397, -55.608494, -77.388883], [-76.000000, 0.567006, -68.072456, 141.538316, -108.053875, -121.349127], [104.000000, -177.000000, 67.000000, -39.000000, -110.000000, -123.000000], [104.000000, -110.310566, -56.045263, -40.625948, -65.262477, -87.771426]] + joints: [104.000000, -176.000000, 67.000000, 141.000000, 109.000000, 57.000000] + pose: {translation: [0.07193216756004334, 0.4852731665877536, 0.7119278717371643], quaternion: [0.8710900623378111, -0.1213761896799241, -0.3010020862248555, -0.3686023168177003]} + solutions: [[-76.000000, -80.449651, 78.868424, -46.579529, 55.008270, 102.984463], [-76.000000, -0.591732, -67.913687, -38.491811, 107.054264, 58.641804], [104.000000, -176.000000, 67.000000, 141.000000, 109.000000, 57.000000], [104.000000, -109.310566, -56.045263, 138.734691, 64.446981, 92.500257], [-76.000000, -80.449651, 78.868424, 133.420471, -55.008270, -77.015537], [-76.000000, -0.591732, -67.913687, 141.508189, -107.054264, -121.358196], [104.000000, -176.000000, 67.000000, -39.000000, -109.000000, -123.000000], [104.000000, -109.310566, -56.045263, -41.265309, -64.446981, -87.499743]] - id: 1164 parameters: KukaKR6_R700_sixx - joints: [58.000000, 54.000000, 127.000000, -145.000000, 114.000000, -21.000000] - pose: {translation: [-0.03011490014635386, 0.1272985153234888, 0.05610973077481056], quaternion: [0.6797388786349158, -0.6446810457299775, 0.273468434000445, -0.2180743491426589]} - solutions: [[-122.000000, -6.278115, 131.642034, 102.499814, 32.459950, -141.618122], [-122.000000, 136.870239, -120.687296, 32.106709, 99.642923, -30.896941], [58.000000, 54.000000, 127.000000, -145.000000, 114.000000, -21.000000], [58.000000, -169.052972, -116.045263, -109.279355, 33.718929, -104.088391], [-122.000000, -6.278115, 131.642034, -77.500186, -32.459950, 38.381878], [-122.000000, 136.870239, -120.687296, -147.893291, -99.642923, 149.103059], [58.000000, 54.000000, 127.000000, 35.000000, -114.000000, 159.000000], [58.000000, -169.052972, -116.045263, 70.720645, -33.718929, 75.911609]] + joints: [58.000000, 53.000000, 127.000000, -145.000000, 113.000000, -21.000000] + pose: {translation: [-0.02733017329501277, 0.1234446402020974, 0.05310713973642218], quaternion: [0.6830042199158008, -0.6407198700047948, 0.2738146674439548, -0.2191091318288758]} + solutions: [[-122.000000, -5.108692, 131.489351, 104.105929, 32.983340, -142.978202], [-122.000000, 137.831877, -120.534613, 32.271315, 98.561105, -30.931037], [58.000000, 53.000000, 127.000000, -145.000000, 113.000000, -21.000000], [58.000000, -170.052972, -116.045263, -107.485789, 33.611521, -105.581198], [-122.000000, -5.108692, 131.489351, -75.894071, -32.983340, 37.021798], [-122.000000, 137.831877, -120.534613, -147.728685, -98.561105, 149.068963], [58.000000, 53.000000, 127.000000, 35.000000, -113.000000, 159.000000], [58.000000, -170.052972, -116.045263, 72.514211, -33.611521, 74.418802]] - id: 1165 parameters: KukaKR6_R700_sixx - joints: [51.000000, -129.000000, 83.000000, 176.000000, 47.000000, 44.000000] - pose: {translation: [0.02895698798937172, -0.04224420354522762, 1.011464405747359], quaternion: [-0.02763183170965578, -0.02324856198226501, 0.6929821109650991, 0.7200498455832632]} - solutions: [[51.000000, -129.000000, 83.000000, 176.000000, 47.000000, 44.000000], [51.000000, -44.511407, -72.045263, 7.263884, 23.796361, -145.382500], [-129.000000, -140.027100, 81.595401, -173.916129, 28.774340, -144.067655], [-129.000000, -57.115899, -70.640664, -4.480400, 40.773564, 44.665576], [51.000000, -129.000000, 83.000000, -4.000000, -47.000000, -136.000000], [51.000000, -44.511407, -72.045263, -172.736116, -23.796361, 34.617500], [-129.000000, -140.027100, 81.595401, 6.083871, -28.774340, 35.932345], [-129.000000, -57.115899, -70.640664, 175.519600, -40.773564, -135.334424]] + joints: [51.000000, -128.000000, 83.000000, 176.000000, 47.000000, 44.000000] + pose: {translation: [0.03567029932872945, -0.05053445262913499, 1.010916586852451], quaternion: [-0.01894184145860036, -0.02399297697125909, 0.6929498055490232, 0.720337497766002]} + solutions: [[51.000000, -128.000000, 83.000000, 176.000000, 47.000000, 44.000000], [51.000000, -43.511407, -72.045263, 7.263884, 23.796361, -145.382500], [-129.000000, -140.879504, 81.358327, -173.898804, 28.685366, -144.087412], [-129.000000, -58.234218, -70.403590, -4.491192, 40.655172, 44.679815], [51.000000, -128.000000, 83.000000, -4.000000, -47.000000, -136.000000], [51.000000, -43.511407, -72.045263, -172.736116, -23.796361, 34.617500], [-129.000000, -140.879504, 81.358327, 6.101196, -28.685366, 35.912588], [-129.000000, -58.234218, -70.403590, 175.508808, -40.655172, -135.320185]] - id: 1166 parameters: KukaKR6_R700_sixx - joints: [111.000000, 139.000000, 92.000000, 23.000000, 140.000000, -83.000000] - pose: {translation: [0.1225400996350251, 0.3752947463629556, 0.4371361624828506], quaternion: [0.7262019697252375, -0.2900238944567655, -0.1524801493945392, 0.6043729344137899]} - solutions: [[-69.000000, -61.150034, 103.678412, -17.408914, 122.916958, 69.317374], [-69.000000, 47.053797, -92.723675, -154.131824, 144.854862, -79.384915], [111.000000, 139.000000, 92.000000, 23.000000, 140.000000, -83.000000], [111.000000, -126.316422, -81.045263, 158.293817, 137.227908, 62.698316], [-69.000000, -61.150034, 103.678412, 162.591086, -122.916958, -110.682626], [-69.000000, 47.053797, -92.723675, 25.868176, -144.854862, 100.615085], [111.000000, 139.000000, 92.000000, -157.000000, -140.000000, 97.000000], [111.000000, -126.316422, -81.045263, -21.706183, -137.227908, -117.301684]] + joints: [111.000000, 138.000000, 92.000000, 23.000000, 139.000000, -83.000000] + pose: {translation: [0.1223027732180641, 0.3758340837506409, 0.4311358668600098], quaternion: [0.7152905121453094, -0.2886841359290033, -0.1556496709184452, 0.6170851909103034]} + solutions: [[-69.000000, -60.052159, 103.700567, -17.943248, 123.687067, 69.054448], [-69.000000, 48.177716, -92.745830, -154.177998, 143.948430, -79.396637], [111.000000, 138.000000, 92.000000, 23.000000, 139.000000, -83.000000], [111.000000, -127.316422, -81.045263, 157.450784, 138.050933, 62.075362], [-69.000000, -60.052159, 103.700567, 162.056752, -123.687067, -110.945552], [-69.000000, 48.177716, -92.745830, 25.822002, -143.948430, 100.603363], [111.000000, 138.000000, 92.000000, -157.000000, -139.000000, 97.000000], [111.000000, -127.316422, -81.045263, -22.549216, -138.050933, -117.924638]] - id: 1167 parameters: KukaKR6_R700_sixx - joints: [-152.000000, -179.000000, 117.000000, -28.000000, 4.000000, -14.000000] - pose: {translation: [0.09384696196326775, -0.05286652880938132, 0.8123553967642068], quaternion: [-0.2316605191136001, 0.1428030106474223, 0.9545944418342793, -0.1212029523285232]} - solutions: [[28.000000, -134.759000, 121.045568, 178.028804, 107.809744, -42.545235], [28.000000, -5.471131, -110.090831, 162.516649, 6.258049, -24.556651], [-152.000000, -179.000000, 117.000000, -28.000000, 4.000000, -14.000000], [-152.000000, -54.766360, -106.045263, -1.921082, 102.337951, -42.352754], [28.000000, -134.759000, 121.045568, -1.971196, -107.809744, 137.454765], [28.000000, -5.471131, -110.090831, -17.483351, -6.258049, 155.443349], [-152.000000, -179.000000, 117.000000, 152.000000, -4.000000, 166.000000], [-152.000000, -54.766360, -106.045263, 178.078918, -102.337951, 137.647246]] + joints: [-152.000000, -178.000000, 117.000000, -28.000000, 4.000000, -14.000000] + pose: {translation: [0.08747490402450481, -0.04947844550424765, 0.8146082006837012], quaternion: [-0.2385103669810713, 0.1476422908353283, 0.9521880884942477, -0.1210471103708047]} + solutions: [[28.000000, -135.699599, 120.879782, 178.029975, 107.703421, -42.541394], [28.000000, -6.621008, -109.925044, 162.560133, 6.273226, -24.600396], [-152.000000, -178.000000, 117.000000, -28.000000, 4.000000, -14.000000], [-152.000000, -53.766360, -106.045263, -1.921082, 102.337951, -42.352754], [28.000000, -135.699599, 120.879782, -1.970025, -107.703421, 137.458606], [28.000000, -6.621008, -109.925044, -17.439867, -6.273226, 155.399604], [-152.000000, -178.000000, 117.000000, 152.000000, -4.000000, 166.000000], [-152.000000, -53.766360, -106.045263, 178.078918, -102.337951, 137.647246]] - id: 1168 parameters: KukaKR6_R700_sixx joints: [160.000000, -18.000000, 135.000000, 37.000000, -13.000000, -166.000000] @@ -5846,19 +5846,19 @@ cases: solutions: [[160.000000, -18.000000, 135.000000, -143.000000, 13.000000, 14.000000], [160.000000, 129.793864, -124.045263, -7.919186, 100.703911, -131.192345], [-20.000000, 61.540425, 129.126594, 171.264645, 116.949189, -133.695772], [-20.000000, -158.700168, -118.171857, 140.905544, 12.396900, -91.277825], [160.000000, -18.000000, 135.000000, 37.000000, -13.000000, -166.000000], [160.000000, 129.793864, -124.045263, 172.080814, -100.703911, 48.807655], [-20.000000, 61.540425, 129.126594, -8.735355, -116.949189, 46.304228], [-20.000000, -158.700168, -118.171857, -39.094456, -12.396900, 88.722175]] - id: 1169 parameters: KukaKR6_R700_sixx - joints: [-105.000000, 132.000000, 150.000000, 70.000000, -168.000000, 23.000000] - pose: {translation: [0.02785568681998615, -0.1643479281925374, 0.4548511129141067], quaternion: [-0.4687208135668547, 0.8667726718106761, -0.1117342572899241, -0.1285355595906324]} - solutions: [[75.000000, -139.648953, 156.728313, 13.396878, 57.483243, 126.114389], [75.000000, 44.556993, -145.773575, 66.616830, 167.710310, -160.460565], [-105.000000, 132.000000, 150.000000, -110.000000, 168.000000, -157.000000], [-105.000000, -56.813822, -139.045263, -166.778141, 58.670746, 126.445358], [75.000000, -139.648953, 156.728313, -166.603122, -57.483243, -53.885611], [75.000000, 44.556993, -145.773575, -113.383170, -167.710310, 19.539435], [-105.000000, 132.000000, 150.000000, 70.000000, -168.000000, 23.000000], [-105.000000, -56.813822, -139.045263, 13.221859, -58.670746, -53.554642]] + joints: [-105.000000, 131.000000, 150.000000, 70.000000, -167.000000, 23.000000] + pose: {translation: [0.02696215504684474, -0.1659623987080938, 0.4518957014614551], quaternion: [-0.4687591089992831, 0.8666941545384531, -0.104179396212866, -0.1351029001309631]} + solutions: [[75.000000, -138.579113, 156.844386, 14.584915, 57.081713, 125.434423], [75.000000, 45.874662, -145.889649, 66.099133, 166.631577, -161.006365], [-105.000000, 131.000000, 150.000000, -110.000000, 167.000000, -157.000000], [-105.000000, -57.813822, -139.045263, -165.636747, 58.443277, 125.849934], [75.000000, -138.579113, 156.844386, -165.415085, -57.081713, -54.565577], [75.000000, 45.874662, -145.889649, -113.900867, -166.631577, 18.993635], [-105.000000, 131.000000, 150.000000, 70.000000, -167.000000, 23.000000], [-105.000000, -57.813822, -139.045263, 14.363253, -58.443277, -54.150066]] - id: 1170 parameters: KukaKR6_R700_sixx - joints: [-25.000000, -38.000000, 65.000000, 94.000000, -166.000000, -164.000000] - pose: {translation: [0.4853745148662593, 0.2476363370787336, 0.4934495611180427], quaternion: [0.4243515834683736, -0.327400909899272, -0.5737719035144108, 0.6192900617178209]} - solutions: [[-25.000000, -38.000000, 65.000000, -86.000000, 166.000000, 16.000000], [-25.000000, 26.486602, -54.045263, -162.822890, 125.197263, -68.019590], [155.000000, 164.074165, 44.840992, 16.903396, 123.900310, -68.502207], [155.000000, -153.455831, -33.886254, 37.854037, 156.841709, -42.573706], [-25.000000, -38.000000, 65.000000, 94.000000, -166.000000, -164.000000], [-25.000000, 26.486602, -54.045263, 17.177110, -125.197263, 111.980410], [155.000000, 164.074165, 44.840992, -163.096604, -123.900310, 111.497793], [155.000000, -153.455831, -33.886254, -142.145963, -156.841709, 137.426294]] + joints: [-25.000000, -38.000000, 65.000000, 94.000000, -165.000000, -164.000000] + pose: {translation: [0.4850481295521322, 0.2489720231832488, 0.4932068323494159], quaternion: [0.4210119638775621, -0.333963475953379, -0.5765222058585476, 0.6154993656804932]} + solutions: [[-25.000000, -38.000000, 65.000000, -86.000000, 165.000000, 16.000000], [-25.000000, 26.486602, -54.045263, -161.607436, 125.086999, -67.319949], [155.000000, 164.074165, 44.840992, 18.101260, 123.798704, -67.834963], [155.000000, -153.455831, -33.886254, 39.977846, 156.305785, -40.624901], [-25.000000, -38.000000, 65.000000, 94.000000, -165.000000, -164.000000], [-25.000000, 26.486602, -54.045263, 18.392564, -125.086999, 112.680051], [155.000000, 164.074165, 44.840992, -161.898740, -123.798704, 112.165037], [155.000000, -153.455831, -33.886254, -140.022154, -156.305785, 139.375099]] - id: 1171 parameters: KukaKR6_R700_sixx - joints: [-95.000000, 146.000000, -53.000000, -27.000000, -35.000000, 6.000000] - pose: {translation: [0.03669322743787232, -0.1803867180247077, -0.2100594037940025], quaternion: [-0.5808394180460789, 0.764861882212311, 0.1336500049552816, 0.244437206165483]} - solutions: [[85.000000, 35.105628, 70.170235, -48.745246, 20.265647, -149.730773], [85.000000, 105.295573, -59.215497, -15.759484, 73.487412, 167.931300], [-95.000000, 82.663070, 63.954737, 164.863294, 85.730274, 164.499147], [-95.000000, 146.000000, -53.000000, 153.000000, 35.000000, -174.000000], [85.000000, 35.105628, 70.170235, 131.254754, -20.265647, 30.269227], [85.000000, 105.295573, -59.215497, 164.240516, -73.487412, -12.068700], [-95.000000, 82.663070, 63.954737, -15.136706, -85.730274, -15.500853], [-95.000000, 146.000000, -53.000000, -27.000000, -35.000000, 6.000000]] + joints: [-95.000000, 145.000000, -53.000000, -27.000000, -34.000000, 6.000000] + pose: {translation: [0.0353338179092347, -0.1708424521357136, -0.2143493939717341], quaternion: [-0.5800170919370308, 0.7658594435515848, 0.1364058560405954, 0.24172903884639]} + solutions: [[85.000000, 36.278589, 69.909177, -49.793805, 19.414961, -148.767078], [85.000000, 106.179853, -58.954440, -15.446581, 72.396890, 167.876883], [-95.000000, 81.663070, 63.954737, 165.231308, 84.799956, 164.468769], [-95.000000, 145.000000, -53.000000, 153.000000, 34.000000, -174.000000], [85.000000, 36.278589, 69.909177, 130.206195, -19.414961, 31.232922], [85.000000, 106.179853, -58.954440, 164.553419, -72.396890, -12.123117], [-95.000000, 81.663070, 63.954737, -14.768692, -84.799956, -15.531231], [-95.000000, 145.000000, -53.000000, -27.000000, -34.000000, 6.000000]] - id: 1172 parameters: KukaKR6_R700_sixx joints: [-114.000000, 17.000000, -172.000000, 55.000000, -2.000000, 100.000000] @@ -5866,19 +5866,19 @@ cases: solutions: [[-114.000000, 51.914700, -177.045263, -176.823228, 31.055829, -27.738577], [-114.000000, 17.000000, -172.000000, -125.000000, 2.000000, -80.000000], [-114.000000, 51.914700, -177.045263, 3.176772, -31.055829, 152.261423], [-114.000000, 17.000000, -172.000000, 55.000000, -2.000000, 100.000000]] - id: 1173 parameters: KukaKR6_R700_sixx - joints: [50.000000, -67.000000, -159.000000, 61.000000, -64.000000, -11.000000] - pose: {translation: [-0.002977030256810689, 0.1013846181030648, 0.3536444763184444], quaternion: [0.1736218516536226, 0.8825366665539336, 0.3371110528195436, 0.2781018210712358]} - solutions: [[-130.000000, -160.375748, -177.880641, 53.703944, 77.252345, -169.383513], [-130.000000, 153.984850, -171.164622, 53.212228, 101.015801, -138.327216], [50.000000, 70.358607, 169.954737, -110.781751, 122.774570, -97.693718], [50.000000, -67.000000, -159.000000, -119.000000, 64.000000, 169.000000], [-130.000000, -160.375748, -177.880641, -126.296056, -77.252345, 10.616487], [-130.000000, 153.984850, -171.164622, -126.787772, -101.015801, 41.672784], [50.000000, 70.358607, 169.954737, 69.218249, -122.774570, 82.306282], [50.000000, -67.000000, -159.000000, 61.000000, -64.000000, -11.000000]] + joints: [50.000000, -67.000000, -159.000000, 61.000000, -63.000000, -11.000000] + pose: {translation: [-0.004092042249967336, 0.1018657398796473, 0.3529554392444003], quaternion: [0.1711905462119994, 0.8854466634327411, 0.3371159838418585, 0.270242144273981]} + solutions: [[-130.000000, -160.375748, -177.880641, 53.324818, 76.322949, -169.296857], [-130.000000, 153.984850, -171.164622, 52.403753, 100.408382, -138.477495], [50.000000, 70.358607, 169.954737, -111.969826, 122.826637, -98.337335], [50.000000, -67.000000, -159.000000, -119.000000, 63.000000, 169.000000], [-130.000000, -160.375748, -177.880641, -126.675182, -76.322949, 10.703143], [-130.000000, 153.984850, -171.164622, -127.596247, -100.408382, 41.522505], [50.000000, 70.358607, 169.954737, 68.030174, -122.826637, 81.662665], [50.000000, -67.000000, -159.000000, 61.000000, -63.000000, -11.000000]] - id: 1174 parameters: KukaKR6_R700_sixx - joints: [178.000000, -157.000000, -106.000000, 155.000000, -1.000000, 139.000000] - pose: {translation: [0.2855527827934915, 0.00938130678637396, 0.07729814558932421], quaternion: [0.8459053133981169, -0.5288457929710449, 0.05921262690343836, -0.03549919487614472]} - solutions: [[-2.000000, -22.567967, 124.493114, 178.754500, 19.835791, -64.825033], [-2.000000, 111.118648, -113.538376, 0.424546, 84.513554, 113.962751], [178.000000, 78.822322, 116.954737, -179.573381, 97.870520, 114.061763], [178.000000, -157.000000, -106.000000, -25.000000, 1.000000, -41.000000], [-2.000000, -22.567967, 124.493114, -1.245500, -19.835791, 115.174967], [-2.000000, 111.118648, -113.538376, -179.575454, -84.513554, -66.037249], [178.000000, 78.822322, 116.954737, 0.426619, -97.870520, -65.938237], [178.000000, -157.000000, -106.000000, 155.000000, -1.000000, 139.000000]] + joints: [178.000000, -156.000000, -106.000000, 155.000000, -1.000000, 139.000000] + pose: {translation: [0.2911339826616966, 0.009576206580458923, 0.0827698661343077], quaternion: [0.8453458862576474, -0.528534093178113, 0.06642663732308775, -0.04036764533149566]} + solutions: [[-2.000000, -23.748615, 124.612402, 178.750791, 19.774447, -64.821091], [-2.000000, 110.091897, -113.657665, 0.424443, 84.659589, 113.963838], [178.000000, 79.822322, 116.954737, -179.573381, 97.870520, 114.061763], [178.000000, -156.000000, -106.000000, -25.000000, 1.000000, -41.000000], [-2.000000, -23.748615, 124.612402, -1.249209, -19.774447, 115.178909], [-2.000000, 110.091897, -113.657665, -179.575557, -84.659589, -66.036162], [178.000000, 79.822322, 116.954737, 0.426619, -97.870520, -65.938237], [178.000000, -156.000000, -106.000000, 155.000000, -1.000000, 139.000000]] - id: 1175 parameters: KukaKR6_R700_sixx - joints: [-159.000000, -124.000000, 70.000000, 94.000000, -60.000000, 61.000000] - pose: {translation: [-0.08311819517596231, -0.04212424175023183, 1.006530512037586], quaternion: [0.319132657090216, -0.4622276606480733, 0.182406673651656, 0.8069868290856342]} - solutions: [[-159.000000, -124.000000, 70.000000, -86.000000, 60.000000, -119.000000], [-159.000000, -53.998312, -59.045263, -61.974066, 78.147837, -179.939228], [21.000000, -130.410462, 69.032243, 118.937276, 80.809662, 175.074246], [21.000000, -61.478352, -58.077506, 97.657039, 60.655430, -126.379554], [-159.000000, -124.000000, 70.000000, 94.000000, -60.000000, 61.000000], [-159.000000, -53.998312, -59.045263, 118.025934, -78.147837, 0.060772], [21.000000, -130.410462, 69.032243, -61.062724, -80.809662, -4.925754], [21.000000, -61.478352, -58.077506, -82.342961, -60.655430, 53.620446]] + joints: [-159.000000, -123.000000, 70.000000, 94.000000, -60.000000, 61.000000] + pose: {translation: [-0.09299520100529196, -0.03833281443851703, 1.005783642350498], quaternion: [0.3151107539289533, -0.4682140774476626, 0.1864452067412505, 0.804188395415759]} + solutions: [[-159.000000, -123.000000, 70.000000, -86.000000, 60.000000, -119.000000], [-159.000000, -52.998312, -59.045263, -61.974066, 78.147837, -179.939228], [21.000000, -131.246582, 68.752986, 118.920888, 80.753851, 175.176548], [21.000000, -62.622914, -57.798248, 97.732055, 60.673464, -126.532671], [-159.000000, -123.000000, 70.000000, 94.000000, -60.000000, 61.000000], [-159.000000, -52.998312, -59.045263, 118.025934, -78.147837, 0.060772], [21.000000, -131.246582, 68.752986, -61.079112, -80.753851, -4.823452], [21.000000, -62.622914, -57.798248, -82.267945, -60.673464, 53.467329]] - id: 1176 parameters: KukaKR6_R700_sixx joints: [170.000000, 13.000000, -63.000000, 131.000000, 75.000000, 71.000000] @@ -5886,54 +5886,54 @@ cases: solutions: [[170.000000, -61.384117, 73.954737, 125.586146, 116.310571, 22.644757], [170.000000, 13.000000, -63.000000, 131.000000, 75.000000, 71.000000], [-10.000000, 173.552407, 58.570628, -49.451769, 73.613390, 72.669969], [-10.000000, -129.016597, -47.615890, -49.469015, 106.436688, 36.108535], [170.000000, -61.384117, 73.954737, -54.413854, -116.310571, -157.355243], [170.000000, 13.000000, -63.000000, -49.000000, -75.000000, -109.000000], [-10.000000, 173.552407, 58.570628, 130.548231, -73.613390, -107.330031], [-10.000000, -129.016597, -47.615890, 130.530985, -106.436688, -143.891465]] - id: 1177 parameters: KukaKR6_R700_sixx - joints: [50.000000, -153.000000, 148.000000, -158.000000, 95.000000, -79.000000] - pose: {translation: [0.08168973918156645, -0.05090870154971429, 0.6826892461950281], quaternion: [0.1353892528459143, 0.1593655740986657, 0.9467436345068493, -0.2448445517604773]} - solutions: [[50.000000, -153.000000, 148.000000, -158.000000, 95.000000, -79.000000], [50.000000, 14.715265, -137.045263, -47.111910, 30.619481, 141.797401], [-130.000000, 157.711098, 143.910873, 131.996812, 30.141653, 142.830529], [-130.000000, -41.264877, -132.956136, 21.976334, 94.277674, -79.292621], [50.000000, -153.000000, 148.000000, 22.000000, -95.000000, 101.000000], [50.000000, 14.715265, -137.045263, 132.888090, -30.619481, -38.202599], [-130.000000, 157.711098, 143.910873, -48.003188, -30.141653, -37.169471], [-130.000000, -41.264877, -132.956136, -158.023666, -94.277674, 100.707379]] + joints: [50.000000, -152.000000, 148.000000, -158.000000, 94.000000, -79.000000] + pose: {translation: [0.08577391544352465, -0.05571219031582099, 0.6816838964867983], quaternion: [0.1427422082057975, 0.1439497826045215, 0.9480450120899765, -0.2451811108873605]} + solutions: [[50.000000, -152.000000, 148.000000, -158.000000, 94.000000, -79.000000], [50.000000, 15.715265, -137.045263, -45.857173, 31.382647, 140.721859], [-130.000000, 156.926406, 143.774709, 133.391891, 30.947617, 141.599438], [-130.000000, -42.264335, -132.819971, 21.978576, 93.150917, -79.343532], [50.000000, -152.000000, 148.000000, 22.000000, -94.000000, 101.000000], [50.000000, 15.715265, -137.045263, 134.142827, -31.382647, -39.278141], [-130.000000, 156.926406, 143.774709, -46.608109, -30.947617, -38.400562], [-130.000000, -42.264335, -132.819971, -158.021424, -93.150917, 100.656468]] - id: 1178 parameters: KukaKR6_R700_sixx - joints: [-58.000000, -122.000000, 147.000000, -105.000000, 161.000000, -141.000000] - pose: {translation: [0.05177452373313481, 0.1303316675415136, 0.5826772050118959], quaternion: [-0.03774507893469439, -0.5104844618772694, 0.5667254306868423, 0.6456029812593042]} - solutions: [[-58.000000, -122.000000, 147.000000, -105.000000, 161.000000, -141.000000], [-58.000000, 44.032305, -136.045263, -158.639943, 59.700678, 133.660324], [122.000000, 135.180286, 139.479667, 21.959559, 57.240489, 132.514203], [122.000000, -70.565444, -128.524930, 60.054191, 158.719995, -156.904012], [-58.000000, -122.000000, 147.000000, 75.000000, -161.000000, 39.000000], [-58.000000, 44.032305, -136.045263, 21.360057, -59.700678, -46.339676], [122.000000, 135.180286, 139.479667, -158.040441, -57.240489, -47.485797], [122.000000, -70.565444, -128.524930, -119.945809, -158.719995, 23.095988]] + joints: [-58.000000, -121.000000, 147.000000, -105.000000, 160.000000, -141.000000] + pose: {translation: [0.05267785791589801, 0.1341763719082943, 0.580779748635032], quaternion: [-0.04732606036199521, -0.5020079255492953, 0.5675999862353899, 0.6508291191410317]} + solutions: [[-58.000000, -121.000000, 147.000000, -105.000000, 160.000000, -141.000000], [-58.000000, 45.032305, -136.045263, -157.484644, 59.624504, 133.076778], [122.000000, 134.400740, 139.393650, 23.181405, 57.061195, 131.808070], [122.000000, -71.472330, -128.438912, 60.397363, 157.668693, -156.643141], [-58.000000, -121.000000, 147.000000, 75.000000, -160.000000, 39.000000], [-58.000000, 45.032305, -136.045263, 22.515356, -59.624504, -46.923222], [122.000000, 134.400740, 139.393650, -156.818595, -57.061195, -48.191930], [122.000000, -71.472330, -128.438912, -119.602637, -157.668693, 23.356859]] - id: 1179 parameters: KukaKR6_R700_sixx - joints: [-37.000000, -36.000000, -65.000000, 108.000000, -169.000000, 85.000000] - pose: {translation: [0.1473586097083014, 0.1292206956597653, 0.8605806644658255], quaternion: [-0.1290755152158684, 0.979545873562091, 0.1410219293571338, 0.06278700820734989]} - solutions: [[-37.000000, -112.608023, 75.954737, -11.273082, 111.827844, -27.553335], [-37.000000, -36.000000, -65.000000, -72.000000, 169.000000, -95.000000], [143.000000, -146.208451, 71.253813, 86.709348, 169.527135, -116.660875], [143.000000, -74.819417, -60.299076, 167.918387, 119.886531, -29.402501], [-37.000000, -112.608023, 75.954737, 168.726918, -111.827844, 152.446665], [-37.000000, -36.000000, -65.000000, 108.000000, -169.000000, 85.000000], [143.000000, -146.208451, 71.253813, -93.290652, -169.527135, 63.339125], [143.000000, -74.819417, -60.299076, -12.081613, -119.886531, 150.597499]] + joints: [-37.000000, -35.000000, -65.000000, 108.000000, -168.000000, 85.000000] + pose: {translation: [0.1532683195173659, 0.1353033234418966, 0.8578832610822626], quaternion: [-0.1289972170373413, 0.9795024721730212, 0.1451943424896429, 0.05341561487581348]} + solutions: [[-37.000000, -111.608023, 75.954737, -12.265271, 111.441344, -27.919152], [-37.000000, -35.000000, -65.000000, -72.000000, 168.000000, -95.000000], [143.000000, -147.036381, 70.999399, 88.983722, 168.593598, -114.412133], [143.000000, -75.929007, -60.044662, 166.853732, 119.610297, -29.958249], [-37.000000, -111.608023, 75.954737, 167.734729, -111.441344, 152.080848], [-37.000000, -35.000000, -65.000000, 108.000000, -168.000000, 85.000000], [143.000000, -147.036381, 70.999399, -91.016278, -168.593598, 65.587867], [143.000000, -75.929007, -60.044662, -13.146268, -119.610297, 150.041751]] - id: 1180 parameters: KukaKR6_R700_sixx - joints: [-164.000000, -168.000000, -43.000000, -164.000000, -75.000000, -42.000000] - pose: {translation: [0.6152740324208948, -0.1542690078800145, 0.3005091979762127], quaternion: [0.06704775652843963, 0.4052311647362393, 0.2239260824609851, 0.8838265729568726]} - solutions: [[16.000000, -20.191998, 71.101333, -164.516889, 94.176957, 143.400300], [16.000000, 51.028217, -60.146596, -153.891428, 37.228967, 120.928014], [-164.000000, 139.613184, 53.954737, 29.023288, 33.282841, 117.361103], [-164.000000, -168.000000, -43.000000, 16.000000, 75.000000, 138.000000], [16.000000, -20.191998, 71.101333, 15.483111, -94.176957, -36.599700], [16.000000, 51.028217, -60.146596, 26.108572, -37.228967, -59.071986], [-164.000000, 139.613184, 53.954737, -150.976712, -33.282841, -62.638897], [-164.000000, -168.000000, -43.000000, -164.000000, -75.000000, -42.000000]] + joints: [-164.000000, -167.000000, -43.000000, -164.000000, -75.000000, -42.000000] + pose: {translation: [0.616846647770406, -0.1547199480750603, 0.3120248176466462], quaternion: [0.06304088277321723, 0.398340392088568, 0.2235052585976071, 0.8873534687536394]} + solutions: [[16.000000, -21.314983, 71.171285, -164.517917, 94.125848, 143.386106], [16.000000, 49.982676, -60.216548, -153.824333, 37.125289, 120.843805], [-164.000000, 140.613184, 53.954737, 29.023288, 33.282841, 117.361103], [-164.000000, -167.000000, -43.000000, 16.000000, 75.000000, 138.000000], [16.000000, -21.314983, 71.171285, 15.482083, -94.125848, -36.613894], [16.000000, 49.982676, -60.216548, 26.175667, -37.125289, -59.156195], [-164.000000, 140.613184, 53.954737, -150.976712, -33.282841, -62.638897], [-164.000000, -167.000000, -43.000000, -164.000000, -75.000000, -42.000000]] - id: 1181 parameters: KukaKR6_R700_sixx - joints: [97.000000, -119.000000, 85.000000, -114.000000, 144.000000, 88.000000] - pose: {translation: [0.03155199814285986, -0.09551761850475822, 0.8882913006412373], quaternion: [-0.538710908172894, 0.5804207584826242, 0.06817045915418758, 0.6068402500137069]} - solutions: [[97.000000, -119.000000, 85.000000, -114.000000, 144.000000, 88.000000], [97.000000, -32.259457, -74.045263, -147.516484, 91.039519, 27.487197], [-83.000000, -150.671973, 81.054270, 32.509537, 87.599974, 25.296700], [-83.000000, -68.367598, -70.099533, 57.425537, 140.416220, 77.166978], [97.000000, -119.000000, 85.000000, 66.000000, -144.000000, -92.000000], [97.000000, -32.259457, -74.045263, 32.483516, -91.039519, -152.512803], [-83.000000, -150.671973, 81.054270, -147.490463, -87.599974, -154.703300], [-83.000000, -68.367598, -70.099533, -122.574463, -140.416220, -102.833022]] + joints: [97.000000, -118.000000, 85.000000, -114.000000, 144.000000, 88.000000] + pose: {translation: [0.03051466918536384, -0.1039659848943756, 0.8870657633937329], quaternion: [-0.5335067545138918, 0.5791628272639119, 0.07262225406191114, 0.6121004579468091]} + solutions: [[97.000000, -118.000000, 85.000000, -114.000000, 144.000000, 88.000000], [97.000000, -31.259457, -74.045263, -147.516484, 91.039519, 27.487197], [-83.000000, -151.513127, 80.827328, 32.508021, 87.657399, 25.333327], [-83.000000, -69.463102, -69.872591, 57.291841, 140.345325, 76.993414], [97.000000, -118.000000, 85.000000, 66.000000, -144.000000, -92.000000], [97.000000, -31.259457, -74.045263, 32.483516, -91.039519, -152.512803], [-83.000000, -151.513127, 80.827328, -147.491979, -87.657399, -154.666673], [-83.000000, -69.463102, -69.872591, -122.708159, -140.345325, -103.006586]] - id: 1182 parameters: KukaKR6_R700_sixx - joints: [17.000000, -60.000000, -33.000000, -103.000000, -154.000000, 48.000000] - pose: {translation: [0.1239749228746257, -0.07363512198426639, 0.964073917967015], quaternion: [0.8931438318854129, -0.3853501754281941, 0.09857811324070631, 0.2099564084575745]} - solutions: [[17.000000, -101.508234, 43.954737, 35.375455, 132.455692, 178.013115], [17.000000, -60.000000, -33.000000, 77.000000, 154.000000, -132.000000], [-163.000000, -121.373781, 38.499842, -94.509453, 154.630001, -122.582644], [-163.000000, -85.776799, -27.545105, -138.742445, 139.630076, -173.838309], [17.000000, -101.508234, 43.954737, -144.624545, -132.455692, -1.986885], [17.000000, -60.000000, -33.000000, -103.000000, -154.000000, 48.000000], [-163.000000, -121.373781, 38.499842, 85.490547, -154.630001, 57.417356], [-163.000000, -85.776799, -27.545105, 41.257555, -139.630076, 6.161691]] + joints: [17.000000, -60.000000, -33.000000, -103.000000, -153.000000, 48.000000] + pose: {translation: [0.1238562097152725, -0.07487198086168141, 0.964710776900648], quaternion: [0.8911726231335062, -0.3847488136169336, 0.1012905713967306, 0.217990656551678]} + solutions: [[17.000000, -101.508234, 43.954737, 36.402982, 131.808112, 178.702442], [17.000000, -60.000000, -33.000000, 77.000000, 153.000000, -132.000000], [-163.000000, -121.373781, 38.499842, -94.877992, 153.643004, -122.914281], [-163.000000, -85.776799, -27.545105, -137.728150, 138.880564, -173.069828], [17.000000, -101.508234, 43.954737, -143.597018, -131.808112, -1.297558], [17.000000, -60.000000, -33.000000, -103.000000, -153.000000, 48.000000], [-163.000000, -121.373781, 38.499842, 85.122008, -153.643004, 57.085719], [-163.000000, -85.776799, -27.545105, 42.271850, -138.880564, 6.930172]] - id: 1183 parameters: KukaKR6_R700_sixx - joints: [149.000000, 121.000000, -81.000000, -13.000000, 103.000000, 136.000000] - pose: {translation: [-0.07862293715418278, -0.06769816349701614, -0.1244283868179303], quaternion: [0.1269151044710011, 0.8804742119714547, 0.1825532679828236, 0.4187266681967513]} - solutions: [[149.000000, 26.368119, 91.954737, -27.987212, 27.844484, 164.141493], [149.000000, 121.000000, -81.000000, -13.000000, 103.000000, 136.000000], [-31.000000, 66.692682, 87.845239, 165.741860, 117.133596, 132.362118], [-31.000000, 156.649680, -76.890501, 161.796586, 44.558521, 152.160356], [149.000000, 26.368119, 91.954737, 152.012788, -27.844484, -15.858507], [149.000000, 121.000000, -81.000000, 167.000000, -103.000000, -44.000000], [-31.000000, 66.692682, 87.845239, -14.258140, -117.133596, -47.637882], [-31.000000, 156.649680, -76.890501, -18.203414, -44.558521, -27.839644]] + joints: [149.000000, 120.000000, -81.000000, -13.000000, 102.000000, 136.000000] + pose: {translation: [-0.08717230750506154, -0.07291445219480418, -0.1240868323445691], quaternion: [0.1277756460404156, 0.8880270883921102, 0.1730651855080966, 0.4063615583760771]} + solutions: [[149.000000, 25.368119, 91.954737, -29.027310, 26.966494, 165.064894], [149.000000, 120.000000, -81.000000, -13.000000, 102.000000, 136.000000], [-31.000000, 67.773990, 87.637041, 165.827743, 116.012570, 132.428408], [-31.000000, 157.495091, -76.682303, 161.410939, 43.649546, 152.425517], [149.000000, 25.368119, 91.954737, 150.972690, -26.966494, -14.935106], [149.000000, 120.000000, -81.000000, 167.000000, -102.000000, -44.000000], [-31.000000, 67.773990, 87.637041, -14.172257, -116.012570, -47.571592], [-31.000000, 157.495091, -76.682303, -18.589061, -43.649546, -27.574483]] - id: 1184 parameters: KukaKR6_R700_sixx - joints: [75.000000, 179.000000, -34.000000, -109.000000, -13.000000, 163.000000] - pose: {translation: [-0.1810655809033588, 0.6100025936863609, 0.1165660868806432], quaternion: [0.1089085381746394, 0.8588251900248384, 0.4027214466193186, -0.2972770756790822]} - solutions: [[-105.000000, -7.444530, 63.767517, -153.279922, 28.232023, 29.619912], [-105.000000, 55.686591, -52.812780, -24.999685, 30.217648, -104.516163], [75.000000, 136.406528, 44.954737, 157.703762, 34.098456, -107.707462], [75.000000, 179.000000, -34.000000, 71.000000, 13.000000, -17.000000], [-105.000000, -7.444530, 63.767517, 26.720078, -28.232023, -150.380088], [-105.000000, 55.686591, -52.812780, 155.000315, -30.217648, 75.483837], [75.000000, 136.406528, 44.954737, -22.296238, -34.098456, 72.292538], [75.000000, 179.000000, -34.000000, -109.000000, -13.000000, 163.000000]] + joints: [75.000000, 178.000000, -34.000000, -109.000000, -13.000000, 163.000000] + pose: {translation: [-0.1797592462264009, 0.6051272863002651, 0.1050718100120765], quaternion: [0.1105006109634225, 0.8628585306737482, 0.3957128950678525, -0.294408008887784]} + solutions: [[-105.000000, -6.298705, 63.640882, -153.295983, 28.249166, 29.638143], [-105.000000, 56.693227, -52.686145, -25.096798, 30.096910, -104.403848], [75.000000, 135.406528, 44.954737, 157.703762, 34.098456, -107.707462], [75.000000, 178.000000, -34.000000, 71.000000, 13.000000, -17.000000], [-105.000000, -6.298705, 63.640882, 26.704017, -28.249166, -150.361857], [-105.000000, 56.693227, -52.686145, 154.903202, -30.096910, 75.596152], [75.000000, 135.406528, 44.954737, -22.296238, -34.098456, 72.292538], [75.000000, 178.000000, -34.000000, -109.000000, -13.000000, 163.000000]] - id: 1185 parameters: KukaKR6_R700_sixx - joints: [-53.000000, -46.000000, 94.000000, 74.000000, -135.000000, -127.000000] - pose: {translation: [0.2501352979322773, 0.4222960454016378, 0.431235721062189], quaternion: [-0.318262994556682, 0.2660053168539044, 0.7983618376043665, -0.4365411938846624]} - solutions: [[-53.000000, -46.000000, 94.000000, -106.000000, 135.000000, 53.000000], [-53.000000, 50.972737, -83.045263, -137.047644, 85.981393, -18.659313], [127.000000, 136.566416, 81.099583, 43.358815, 81.899417, -22.505838], [127.000000, -141.078413, -70.144845, 60.109026, 128.371071, 32.273836], [-53.000000, -46.000000, 94.000000, 74.000000, -135.000000, -127.000000], [-53.000000, 50.972737, -83.045263, 42.952356, -85.981393, 161.340687], [127.000000, 136.566416, 81.099583, -136.641185, -81.899417, 157.494162], [127.000000, -141.078413, -70.144845, -119.890974, -128.371071, -147.726164]] + joints: [-53.000000, -45.000000, 94.000000, 74.000000, -134.000000, -127.000000] + pose: {translation: [0.250185366038392, 0.423925643780979, 0.4225794405952246], quaternion: [-0.3098796202818432, 0.2771304302730349, 0.7978753860048678, -0.4365411938846623]} + solutions: [[-53.000000, -45.000000, 94.000000, -106.000000, 134.000000, 53.000000], [-53.000000, 51.972737, -83.045263, -136.095726, 85.667293, -18.728628], [127.000000, 135.652609, 81.110979, 44.347412, 81.580519, -22.714782], [127.000000, -141.979444, -70.156242, 60.496387, 127.391851, 32.451652], [-53.000000, -45.000000, 94.000000, 74.000000, -134.000000, -127.000000], [-53.000000, 51.972737, -83.045263, 43.904274, -85.667293, 161.271372], [127.000000, 135.652609, 81.110979, -135.652588, -81.580519, 157.285218], [127.000000, -141.979444, -70.156242, -119.503613, -127.391851, -147.548348]] - id: 1186 parameters: KukaKR6_R700_sixx - joints: [-138.000000, -93.000000, 99.000000, -1.000000, -171.000000, 157.000000] - pose: {translation: [-0.2212358768497374, 0.1994955814416591, 0.7319273086845358], quaternion: [0.3217361506656125, 0.5168057414610139, -0.1368606525075754, 0.7814517494657022]} - solutions: [[-138.000000, -93.000000, 99.000000, 179.000000, 171.000000, -23.000000], [-138.000000, 9.740481, -88.045263, 179.843313, 86.696579, -22.003280], [42.000000, 171.851717, 89.682541, -0.157449, 83.467114, -21.994396], [42.000000, -96.105695, -78.727804, -0.453761, 159.834266, -22.438255], [-138.000000, -93.000000, 99.000000, -1.000000, -171.000000, 157.000000], [-138.000000, 9.740481, -88.045263, -0.156687, -86.696579, 157.996720], [42.000000, 171.851717, 89.682541, 179.842551, -83.467114, 158.005604], [42.000000, -96.105695, -78.727804, 179.546239, -159.834266, 157.561745]] + joints: [-138.000000, -92.000000, 99.000000, -1.000000, -170.000000, 157.000000] + pose: {translation: [-0.2257885723779227, 0.2036271873827944, 0.7284525518275458], quaternion: [0.314247208806653, 0.5050504574371337, -0.1385941673810397, 0.7918108258717649]} + solutions: [[-138.000000, -92.000000, 99.000000, 179.000000, 170.000000, -23.000000], [-138.000000, 10.740481, -88.045263, 179.825869, 85.696731, -22.002123], [42.000000, 171.006244, 89.548444, -0.175159, 82.446839, -21.992165], [42.000000, -97.103627, -78.593706, -0.477980, 158.698150, -22.460515], [-138.000000, -92.000000, 99.000000, -1.000000, -170.000000, 157.000000], [-138.000000, 10.740481, -88.045263, -0.174131, -85.696731, 157.997877], [42.000000, 171.006244, 89.548444, 179.824841, -82.446839, 158.007835], [42.000000, -97.103627, -78.593706, 179.522020, -158.698150, 157.539485]] - id: 1187 parameters: KukaKR6_R700_sixx joints: [0.000000, -20.000000, 3.000000, -47.000000, -5.000000, -63.000000] @@ -5941,9 +5941,9 @@ cases: solutions: [[-0.000000, -22.665194, 7.954737, 147.274317, 6.771228, 102.652521], [-0.000000, -20.000000, 3.000000, 133.000000, 5.000000, 117.000000], [-0.000000, -22.665194, 7.954737, -32.725683, -6.771228, -77.347479], [-0.000000, -20.000000, 3.000000, -47.000000, -5.000000, -63.000000]] - id: 1188 parameters: KukaKR6_R700_sixx - joints: [-50.000000, 178.000000, -16.000000, 34.000000, -125.000000, -112.000000] - pose: {translation: [-0.391696347874508, -0.4097958422150096, 0.2054384732568629], quaternion: [0.4778277616361928, 0.711331959681196, 0.466682321920414, -0.218849454540847]} - solutions: [[130.000000, -11.691372, 54.214344, 28.154522, 103.884639, 54.167557], [130.000000, 40.978715, -43.259606, 46.270197, 140.661245, 85.804510], [-50.000000, 154.875319, 26.954737, -134.123771, 140.348481, 85.293980], [-50.000000, 178.000000, -16.000000, -146.000000, 125.000000, 68.000000], [130.000000, -11.691372, 54.214344, -151.845478, -103.884639, -125.832443], [130.000000, 40.978715, -43.259606, -133.729803, -140.661245, -94.195490], [-50.000000, 154.875319, 26.954737, 45.876229, -140.348481, -94.706020], [-50.000000, 178.000000, -16.000000, 34.000000, -125.000000, -112.000000]] + joints: [-50.000000, 177.000000, -16.000000, 34.000000, -124.000000, -112.000000] + pose: {translation: [-0.3903568022565406, -0.4075114409056267, 0.1941644366574731], quaternion: [0.4734963888264089, 0.7139345110289218, 0.4667934170297403, -0.2195508814556286]} + solutions: [[130.000000, -10.562548, 54.120552, 28.395982, 102.882702, 54.207304], [130.000000, 42.005193, -43.165815, 45.695929, 139.624240, 85.308230], [-50.000000, 153.875319, 26.954737, -134.580486, 139.392781, 84.944766], [-50.000000, 177.000000, -16.000000, -146.000000, 124.000000, 68.000000], [130.000000, -10.562548, 54.120552, -151.604018, -102.882702, -125.792696], [130.000000, 42.005193, -43.165815, -134.304071, -139.624240, -94.691770], [-50.000000, 153.875319, 26.954737, 45.419514, -139.392781, -95.055234], [-50.000000, 177.000000, -16.000000, 34.000000, -124.000000, -112.000000]] - id: 1189 parameters: KukaKR6_R700_sixx joints: [112.000000, -46.000000, 178.000000, -118.000000, 1.000000, 131.000000] @@ -5976,9 +5976,9 @@ cases: solutions: [[-167.000000, -70.314427, 81.954737, 180.000000, 133.640311, -116.000000], [-167.000000, 13.000000, -71.000000, 180.000000, 64.000000, -116.000000], [13.000000, 171.932945, 68.836372, 0.000000, 61.230682, -116.000000], [13.000000, -119.351295, -57.881635, 0.000000, 119.232929, -116.000000], [-167.000000, -70.314427, 81.954737, -0.000000, -133.640311, 64.000000], [-167.000000, 13.000000, -71.000000, -0.000000, -64.000000, 64.000000], [13.000000, 171.932945, 68.836372, -180.000000, -61.230682, 64.000000], [13.000000, -119.351295, -57.881635, -180.000000, -119.232929, 64.000000]] - id: 1195 parameters: KukaKR6_R700_sixx - joints: [-107.000000, 14.000000, -177.000000, 63.000000, -178.000000, 164.000000] - pose: {translation: [-0.01625085174702477, 0.04464560784458629, 0.372451982208287], quaternion: [-0.7821953187568458, -0.2045559790939046, 0.04327555332925691, 0.5869025142354199]} - solutions: [[-107.000000, 14.000000, -177.000000, -117.000000, 178.000000, -16.000000], [-107.000000, -20.317770, -172.045263, -176.468414, 149.681257, -75.936319], [-107.000000, 14.000000, -177.000000, 63.000000, -178.000000, 164.000000], [-107.000000, -20.317770, -172.045263, 3.531586, -149.681257, 104.063681]] + joints: [-107.000000, 13.000000, -177.000000, 63.000000, -177.000000, 164.000000] + pose: {translation: [-0.01751083878424374, 0.04451581299787159, 0.3722559567424941], quaternion: [-0.7781908861443164, -0.2084911240625684, 0.04959076056066414, 0.5903313919961103]} + solutions: [[-107.000000, 13.000000, -177.000000, -117.000000, 177.000000, -16.000000], [-107.000000, -21.317770, -172.045263, -174.779545, 149.169302, -74.482217], [-107.000000, 13.000000, -177.000000, 63.000000, -177.000000, 164.000000], [-107.000000, -21.317770, -172.045263, 5.220455, -149.169302, 105.517783]] - id: 1196 parameters: KukaKR6_R700_sixx joints: [95.000000, -120.000000, -62.000000, -9.000000, -146.000000, 109.000000] @@ -5986,34 +5986,34 @@ cases: solutions: [[-85.000000, -69.354290, 85.787805, -6.728090, 131.698031, -68.006526], [-85.000000, 18.275294, -74.833068, -168.212938, 154.644606, 127.159573], [95.000000, 166.725861, 72.954737, 10.591613, 151.580947, 125.819723], [95.000000, -120.000000, -62.000000, 171.000000, 146.000000, -71.000000], [-85.000000, -69.354290, 85.787805, 173.271910, -131.698031, 111.993474], [-85.000000, 18.275294, -74.833068, 11.787062, -154.644606, -52.840427], [95.000000, 166.725861, 72.954737, -169.408387, -151.580947, -54.180277], [95.000000, -120.000000, -62.000000, -9.000000, -146.000000, 109.000000]] - id: 1197 parameters: KukaKR6_R700_sixx - joints: [126.000000, -134.000000, 18.000000, 37.000000, -170.000000, 80.000000] - pose: {translation: [0.2187868612054912, 0.2869108430986063, 0.8636342052603202], quaternion: [0.6447185465432307, 0.7465284150940044, -0.1506554959232458, 0.06585015374726985]} - solutions: [[-54.000000, -75.644776, 41.437507, 9.726638, 141.789018, -128.908620], [-54.000000, -36.866098, -30.482770, 52.249645, 172.405056, -84.574340], [126.000000, -134.000000, 18.000000, -143.000000, 170.000000, -100.000000], [126.000000, -120.524317, -7.045263, -162.595184, 159.551177, -120.210775], [-54.000000, -75.644776, 41.437507, -170.273362, -141.789018, 51.091380], [-54.000000, -36.866098, -30.482770, -127.750355, -172.405056, 95.425660], [126.000000, -134.000000, 18.000000, 37.000000, -170.000000, 80.000000], [126.000000, -120.524317, -7.045263, 17.404816, -159.551177, 59.789225]] + joints: [126.000000, -133.000000, 18.000000, 37.000000, -169.000000, 80.000000] + pose: {translation: [0.2153119509094065, 0.2807224052263532, 0.8700624933989907], quaternion: [0.6455626664058212, 0.7485170368693264, -0.134666509336645, 0.0695415021584493]} + solutions: [[-54.000000, -76.469103, 41.035369, 10.544402, 141.133755, -128.244123], [-54.000000, -38.126200, -30.080632, 49.743253, 171.345867, -87.071268], [126.000000, -133.000000, 18.000000, -143.000000, 169.000000, -100.000000], [126.000000, -119.524317, -7.045263, -161.647938, 158.610079, -119.325936], [-54.000000, -76.469103, 41.035369, -169.455598, -141.133755, 51.755877], [-54.000000, -38.126200, -30.080632, -130.256747, -171.345867, 92.928732], [126.000000, -133.000000, 18.000000, 37.000000, -169.000000, 80.000000], [126.000000, -119.524317, -7.045263, 18.352062, -158.610079, 60.674064]] - id: 1198 parameters: KukaKR6_R700_sixx - joints: [-154.000000, -46.000000, 132.000000, 106.000000, -152.000000, 162.000000] - pose: {translation: [-0.2755229380446376, 0.0942134677181293, 0.3346642367135232], quaternion: [0.1572320695143627, -0.1984768695584796, 0.7247645324032287, 0.6407818514415231]} - solutions: [[-154.000000, -46.000000, 132.000000, -74.000000, 152.000000, -18.000000], [-154.000000, 97.636616, -121.045263, -152.737997, 80.133311, -131.037799], [26.000000, 91.749048, 123.087814, 28.695070, 70.032640, -136.579192], [26.000000, -136.368528, -112.133077, 72.525586, 151.763056, -55.655056], [-154.000000, -46.000000, 132.000000, 106.000000, -152.000000, 162.000000], [-154.000000, 97.636616, -121.045263, 27.262003, -80.133311, 48.962201], [26.000000, 91.749048, 123.087814, -151.304930, -70.032640, 43.420808], [26.000000, -136.368528, -112.133077, -107.474414, -151.763056, 124.344944]] + joints: [-154.000000, -45.000000, 132.000000, 106.000000, -151.000000, 162.000000] + pose: {translation: [-0.2747067723798078, 0.09250307093152682, 0.3293848008744392], quaternion: [0.1533906493617551, -0.2079847180766474, 0.7249231152279285, 0.6385140113914431]} + solutions: [[-154.000000, -45.000000, 132.000000, -74.000000, 151.000000, -18.000000], [-154.000000, 98.636616, -121.045263, -151.805031, 80.525916, -131.194523], [26.000000, 90.835744, 123.155010, 29.653609, 70.379678, -136.974385], [26.000000, -137.195924, -112.200273, 73.602209, 150.935859, -54.758573], [-154.000000, -45.000000, 132.000000, 106.000000, -151.000000, 162.000000], [-154.000000, 98.636616, -121.045263, 28.194969, -80.525916, 48.805477], [26.000000, 90.835744, 123.155010, -150.346391, -70.379678, 43.025615], [26.000000, -137.195924, -112.200273, -106.397791, -150.935859, 125.241427]] - id: 1199 parameters: KukaKR6_R700_sixx - joints: [92.000000, -167.000000, 116.000000, 40.000000, -48.000000, 32.000000] - pose: {translation: [0.04102286482100466, 0.07974705028895727, 0.8468059034660228], quaternion: [0.2407530566183999, -0.05386573513474018, 0.9436140937828732, -0.2207462124740052]} - solutions: [[-88.000000, -144.585873, 118.118602, 148.408383, 65.762639, 75.482113], [-88.000000, -18.965264, -107.163865, 41.757770, 45.828900, -150.572572], [92.000000, -167.000000, 116.000000, -140.000000, 48.000000, -148.000000], [92.000000, -43.999950, -105.045263, -32.764919, 61.963677, 78.143733], [-88.000000, -144.585873, 118.118602, -31.591617, -65.762639, -104.517887], [-88.000000, -18.965264, -107.163865, -138.242230, -45.828900, 29.427428], [92.000000, -167.000000, 116.000000, 40.000000, -48.000000, 32.000000], [92.000000, -43.999950, -105.045263, 147.235081, -61.963677, -101.856267]] + joints: [92.000000, -166.000000, 116.000000, 40.000000, -48.000000, 32.000000] + pose: {translation: [0.04075016007135821, 0.07193780800662755, 0.8485900792387557], quaternion: [0.2385313340271578, -0.06202592112130324, 0.9431817107003054, -0.2228538722946579]} + solutions: [[-88.000000, -145.493559, 117.941684, 148.388390, 65.690580, 75.530746], [-88.000000, -20.092825, -106.986946, 41.789734, 45.792090, -150.618429], [92.000000, -166.000000, 116.000000, -140.000000, 48.000000, -148.000000], [92.000000, -42.999950, -105.045263, -32.764919, 61.963677, 78.143733], [-88.000000, -145.493559, 117.941684, -31.611610, -65.690580, -104.469254], [-88.000000, -20.092825, -106.986946, -138.210266, -45.792090, 29.381571], [92.000000, -166.000000, 116.000000, 40.000000, -48.000000, 32.000000], [92.000000, -42.999950, -105.045263, 147.235081, -61.963677, -101.856267]] - id: 1200 parameters: KukaKR6_R700_sixx - joints: [139.000000, 153.000000, 18.000000, -16.000000, 87.000000, -140.000000] - pose: {translation: [0.4875342788980991, 0.3946292786869366, 0.2405204141501048], quaternion: [0.03845787608584816, 0.1689723619068046, 0.001310789835118993, 0.9848693388001322]} - solutions: [[-41.000000, -2.254058, 50.092186, 160.574698, 124.141382, -152.055148], [-41.000000, 45.923558, -39.137449, 163.956581, 84.872082, -139.387458], [139.000000, 153.000000, 18.000000, -16.000000, 87.000000, -140.000000], [139.000000, 166.475683, -7.045263, -16.143701, 98.120285, -143.201125], [-41.000000, -2.254058, 50.092186, -19.425302, -124.141382, 27.944852], [-41.000000, 45.923558, -39.137449, -16.043419, -84.872082, 40.612542], [139.000000, 153.000000, 18.000000, 164.000000, -87.000000, 40.000000], [139.000000, 166.475683, -7.045263, 163.856299, -98.120285, 36.798875]] + joints: [139.000000, 152.000000, 18.000000, -16.000000, 86.000000, -140.000000] + pose: {translation: [0.4863684298159845, 0.3936469527036902, 0.2288457115225471], quaternion: [0.02730547634146967, 0.1820301443086238, 0.001293716229447903, 0.9829128973734472]} + solutions: [[-41.000000, -1.100118, 49.943936, 160.822956, 123.168556, -151.919126], [-41.000000, 46.916137, -38.989199, 163.949964, 84.007478, -139.425563], [139.000000, 152.000000, 18.000000, -16.000000, 86.000000, -140.000000], [139.000000, 165.475683, -7.045263, -16.087429, 97.121842, -143.193661], [-41.000000, -1.100118, 49.943936, -19.177044, -123.168556, 28.080874], [-41.000000, 46.916137, -38.989199, -16.050036, -84.007478, 40.574437], [139.000000, 152.000000, 18.000000, 164.000000, -86.000000, 40.000000], [139.000000, 165.475683, -7.045263, 163.912571, -97.121842, 36.806339]] - id: 1201 parameters: KukaKR6_R700_sixx - joints: [129.000000, -107.000000, 108.000000, -58.000000, 171.000000, -153.000000] - pose: {translation: [-0.1297868054244755, -0.177137765264711, 0.7246087413052357], quaternion: [-0.657585938755439, 0.3168666429683614, -0.2439698702145082, 0.6384786340611602]} - solutions: [[129.000000, -107.000000, 108.000000, -58.000000, 171.000000, -153.000000], [129.000000, 6.318239, -97.045263, -172.365609, 93.043456, 85.087908], [-51.000000, 173.316627, 100.504372, 7.623560, 89.976853, 84.677066], [-51.000000, -82.193690, -89.549634, 59.849461, 171.174804, 144.232387], [129.000000, -107.000000, 108.000000, 122.000000, -171.000000, 27.000000], [129.000000, 6.318239, -97.045263, 7.634391, -93.043456, -94.912092], [-51.000000, 173.316627, 100.504372, -172.376440, -89.976853, -95.322934], [-51.000000, -82.193690, -89.549634, -120.150539, -171.174804, -35.767613]] + joints: [129.000000, -106.000000, 108.000000, -58.000000, 170.000000, -153.000000] + pose: {translation: [-0.1325547300182434, -0.1824115907509566, 0.7204302637647161], quaternion: [-0.6525119238997562, 0.3209754991826875, -0.249234380805825, 0.6395976403313262]} + solutions: [[129.000000, -106.000000, 108.000000, -58.000000, 170.000000, -153.000000], [129.000000, 7.318239, -97.045263, -171.515109, 93.571719, 85.136980], [-51.000000, 172.475839, 100.362086, 8.468607, 90.494785, 84.678175], [-51.000000, -83.200215, -89.407349, 64.598289, 170.617616, 148.902515], [129.000000, -106.000000, 108.000000, 122.000000, -170.000000, 27.000000], [129.000000, 7.318239, -97.045263, 8.484891, -93.571719, -94.863020], [-51.000000, 172.475839, 100.362086, -171.531393, -90.494785, -95.321825], [-51.000000, -83.200215, -89.407349, -115.401711, -170.617616, -31.097485]] - id: 1202 parameters: KukaKR6_R700_sixx - joints: [92.000000, -149.000000, 85.000000, -57.000000, 20.000000, 72.000000] - pose: {translation: [0.0253802477633003, 0.06926772023631766, 0.9666743260328599], quaternion: [0.08422069069970112, 0.3338280305965121, -0.7347660640685159, 0.5844523524970887]} - solutions: [[-88.000000, -124.770896, 87.924985, 163.330679, 90.351202, 16.542614], [-88.000000, -34.723519, -76.970248, 131.782678, 22.623461, 62.577913], [92.000000, -149.000000, 85.000000, -57.000000, 20.000000, 72.000000], [92.000000, -62.259457, -74.045263, -16.770264, 83.790753, 18.514619], [-88.000000, -124.770896, 87.924985, -16.669321, -90.351202, -163.457386], [-88.000000, -34.723519, -76.970248, -48.217322, -22.623461, -117.422087], [92.000000, -149.000000, 85.000000, 123.000000, -20.000000, -108.000000], [92.000000, -62.259457, -74.045263, 163.229736, -83.790753, -161.485381]] + joints: [92.000000, -148.000000, 85.000000, -57.000000, 20.000000, 72.000000] + pose: {translation: [0.02503459210001902, 0.05936943711392048, 0.9682479395399892], quaternion: [0.08953839535567615, 0.3400453796393358, -0.7318010493343065, 0.5837972591030884]} + solutions: [[-88.000000, -125.661915, 87.703597, 163.330846, 90.243519, 16.574858], [-88.000000, -35.865411, -76.748860, 131.924578, 22.676503, 62.424155], [92.000000, -148.000000, 85.000000, -57.000000, 20.000000, 72.000000], [92.000000, -61.259457, -74.045263, -16.770264, 83.790753, 18.514619], [-88.000000, -125.661915, 87.703597, -16.669154, -90.243519, -163.425142], [-88.000000, -35.865411, -76.748860, -48.075422, -22.676503, -117.575845], [92.000000, -148.000000, 85.000000, 123.000000, -20.000000, -108.000000], [92.000000, -61.259457, -74.045263, 163.229736, -83.790753, -161.485381]] - id: 1203 parameters: KukaKR6_R700_sixx joints: [30.000000, 122.000000, -104.000000, 23.000000, -90.000000, -180.000000] @@ -6021,19 +6021,19 @@ cases: solutions: [[30.000000, 0.283280, 114.954737, -73.468196, 155.947115, 108.006276], [30.000000, 122.000000, -104.000000, -157.000000, 90.000000, 0.000000], [-150.000000, 67.340829, 109.359093, 23.693732, 76.491819, -5.852709], [-150.000000, -177.717202, -98.404356, 64.130360, 154.262582, 61.705332], [30.000000, 0.283280, 114.954737, 106.531804, -155.947115, -71.993724], [30.000000, 122.000000, -104.000000, 23.000000, -90.000000, 180.000000], [-150.000000, 67.340829, 109.359093, -156.306268, -76.491819, 174.147291], [-150.000000, -177.717202, -98.404356, -115.869640, -154.262582, -118.294668]] - id: 1204 parameters: KukaKR6_R700_sixx - joints: [72.000000, -112.000000, -120.000000, 127.000000, -99.000000, 82.000000] - pose: {translation: [-0.03884011569053376, 0.3237471902029716, 0.4220288150488063], quaternion: [-0.3602540626053437, 0.3544074640958428, -0.03334994669262256, 0.8622645422520274]} - solutions: [[-108.000000, -74.110277, 140.386079, 124.269770, 107.348209, -109.906828], [-108.000000, 81.494573, -129.431341, 93.736656, 52.230713, -2.358724], [72.000000, 105.784792, 130.954737, -93.107304, 52.182186, 8.787300], [72.000000, -112.000000, -120.000000, -53.000000, 99.000000, -98.000000], [-108.000000, -74.110277, 140.386079, -55.730230, -107.348209, 70.093172], [-108.000000, 81.494573, -129.431341, -86.263344, -52.230713, 177.641276], [72.000000, 105.784792, 130.954737, 86.892696, -52.182186, -171.212700], [72.000000, -112.000000, -120.000000, 127.000000, -99.000000, 82.000000]] + joints: [72.000000, -111.000000, -120.000000, 127.000000, -99.000000, 82.000000] + pose: {translation: [-0.03870507946561942, 0.3233315914366305, 0.4280448670242168], quaternion: [-0.3531739754201861, 0.3569959785978638, -0.02943581912336455, 0.8642659005788624]} + solutions: [[-108.000000, -75.304785, 140.394855, 124.317550, 107.243561, -109.746118], [-108.000000, 80.313222, -129.440118, 93.589609, 52.218566, -2.118675], [72.000000, 106.784792, 130.954737, -93.107304, 52.182186, 8.787300], [72.000000, -111.000000, -120.000000, -53.000000, 99.000000, -98.000000], [-108.000000, -75.304785, 140.394855, -55.682450, -107.243561, 70.253882], [-108.000000, 80.313222, -129.440118, -86.410391, -52.218566, 177.881325], [72.000000, 106.784792, 130.954737, 86.892696, -52.182186, -171.212700], [72.000000, -111.000000, -120.000000, 127.000000, -99.000000, 82.000000]] - id: 1205 parameters: KukaKR6_R700_sixx - joints: [175.000000, -16.000000, 87.000000, 38.000000, -151.000000, 81.000000] - pose: {translation: [-0.4819109037339518, -0.0661312405733112, 0.2292141862186763], quaternion: [0.03004162481175791, -0.1530479153017824, 0.9253543971888519, 0.3455330317114481]} - solutions: [[175.000000, -16.000000, 87.000000, -142.000000, 151.000000, -99.000000], [175.000000, 72.999845, -76.045263, -162.487635, 82.709057, -135.639008], [-5.000000, 116.339458, 74.678608, 17.989496, 75.114776, -138.114140], [-5.000000, -168.472133, -63.723871, 24.881457, 134.813096, -115.244432], [175.000000, -16.000000, 87.000000, 38.000000, -151.000000, 81.000000], [175.000000, 72.999845, -76.045263, 17.512365, -82.709057, 44.360992], [-5.000000, 116.339458, 74.678608, -162.010504, -75.114776, 41.885860], [-5.000000, -168.472133, -63.723871, -155.118543, -134.813096, 64.755568]] + joints: [175.000000, -16.000000, 87.000000, 38.000000, -150.000000, 81.000000] + pose: {translation: [-0.4829706840242489, -0.06697498775320687, 0.2288758691618968], quaternion: [0.02579906818293413, -0.1605461095303031, 0.924041038395961, 0.3459877370018923]} + solutions: [[175.000000, -16.000000, 87.000000, -142.000000, 150.000000, -99.000000], [175.000000, 72.999845, -76.045263, -161.884880, 81.907059, -135.719688], [-5.000000, 116.339458, 74.678608, 18.644665, 74.339827, -138.286726], [-5.000000, -168.472133, -63.723871, 25.269354, 133.852355, -114.973350], [175.000000, -16.000000, 87.000000, 38.000000, -150.000000, 81.000000], [175.000000, 72.999845, -76.045263, 18.115120, -81.907059, 44.280312], [-5.000000, 116.339458, 74.678608, -161.355335, -74.339827, 41.713274], [-5.000000, -168.472133, -63.723871, -154.730646, -133.852355, 65.026650]] - id: 1206 parameters: KukaKR6_R700_sixx - joints: [-89.000000, -163.000000, -14.000000, -30.000000, -76.000000, -21.000000] - pose: {translation: [0.0271928596926263, -0.6659890144333253, 0.4101286427859151], quaternion: [-0.513640216772509, 0.8058645627066999, -0.2647217951574299, 0.1291449010068031]} - solutions: [[91.000000, -33.160936, 53.824860, -35.805258, 56.023522, 173.004822], [91.000000, 19.084182, -42.870123, -29.104976, 94.130478, 148.752485], [-89.000000, 176.031851, 24.954737, 150.964109, 91.683663, 150.114296], [-89.000000, -163.000000, -14.000000, 150.000000, 76.000000, 159.000000], [91.000000, -33.160936, 53.824860, 144.194742, -56.023522, -6.995178], [91.000000, 19.084182, -42.870123, 150.895024, -94.130478, -31.247515], [-89.000000, 176.031851, 24.954737, -29.035891, -91.683663, -29.885704], [-89.000000, -163.000000, -14.000000, -30.000000, -76.000000, -21.000000]] + joints: [-89.000000, -162.000000, -14.000000, -30.000000, -75.000000, -21.000000] + pose: {translation: [0.0269998449149686, -0.6670312421146714, 0.4225727813343491], quaternion: [-0.5121654962429819, 0.8036781996101585, -0.2783613463429039, 0.119594384448937]} + solutions: [[91.000000, -34.214632, 53.777295, -36.058873, 55.135438, 173.099166], [91.000000, 17.978594, -42.822558, -28.928371, 93.197195, 148.735683], [-89.000000, 177.031851, 24.954737, 151.118576, 90.695660, 150.117504], [-89.000000, -162.000000, -14.000000, 150.000000, 75.000000, 159.000000], [91.000000, -34.214632, 53.777295, 143.941127, -55.135438, -6.900834], [91.000000, 17.978594, -42.822558, 151.071629, -93.197195, -31.264317], [-89.000000, 177.031851, 24.954737, -28.881424, -90.695660, -29.882496], [-89.000000, -162.000000, -14.000000, -30.000000, -75.000000, -21.000000]] - id: 1207 parameters: KukaKR6_R700_sixx joints: [170.000000, -45.000000, 53.000000, -115.000000, -73.000000, -3.000000] @@ -6046,24 +6046,24 @@ cases: solutions: [[45.000000, 67.705611, 30.738733, -141.740480, 87.133302, -118.394028], [45.000000, 94.913358, -19.783996, -138.555632, 69.125872, -133.600358], [-135.000000, 94.000000, 22.000000, 45.000000, 61.000000, -142.000000], [-135.000000, 111.783829, -11.045263, 40.494459, 72.246521, -130.729899], [45.000000, 67.705611, 30.738733, 38.259520, -87.133302, 61.605972], [45.000000, 94.913358, -19.783996, 41.444368, -69.125872, 46.399642], [-135.000000, 94.000000, 22.000000, -135.000000, -61.000000, 38.000000], [-135.000000, 111.783829, -11.045263, -139.505541, -72.246521, 49.270101]] - id: 1209 parameters: KukaKR6_R700_sixx - joints: [163.000000, 92.000000, -113.000000, 30.000000, -142.000000, 85.000000] - pose: {translation: [-0.2491670521484088, -0.1019296978317688, 0.2659008814148072], quaternion: [0.5554037819354274, 0.2895566312000363, 0.6823969222182529, 0.3768528053324881]} - solutions: [[163.000000, -40.993522, 123.954737, -19.012550, 109.105497, 54.101731], [163.000000, 92.000000, -113.000000, -150.000000, 142.000000, -95.000000], [-17.000000, 96.922665, 114.665269, 24.712320, 132.580516, -102.167522], [-17.000000, -141.714948, -103.710531, 157.771256, 125.539993, 47.173378], [163.000000, -40.993522, 123.954737, 160.987450, -109.105497, -125.898269], [163.000000, 92.000000, -113.000000, 30.000000, -142.000000, 85.000000], [-17.000000, 96.922665, 114.665269, -155.287680, -132.580516, 77.832478], [-17.000000, -141.714948, -103.710531, -22.228744, -125.539993, -132.826622]] + joints: [163.000000, 92.000000, -113.000000, 30.000000, -141.000000, 85.000000] + pose: {translation: [-0.2494589974142928, -0.1025902750798692, 0.2670958323172346], quaternion: [0.5515875196214826, 0.2838999272943533, 0.6853105716862942, 0.3814465359851711]} + solutions: [[163.000000, -40.993522, 123.954737, -19.558873, 109.962765, 53.919051], [163.000000, 92.000000, -113.000000, -150.000000, 141.000000, -95.000000], [-17.000000, 96.922665, 114.665269, 24.879132, 131.588208, -102.055717], [-17.000000, -141.714948, -103.710531, 157.010050, 126.327480, 46.726650], [163.000000, -40.993522, 123.954737, 160.441127, -109.962765, -126.080949], [163.000000, 92.000000, -113.000000, 30.000000, -141.000000, 85.000000], [-17.000000, 96.922665, 114.665269, -155.120868, -131.588208, 77.944283], [-17.000000, -141.714948, -103.710531, -22.989950, -126.327480, -133.273350]] - id: 1210 parameters: KukaKR6_R700_sixx - joints: [-52.000000, -109.000000, 174.000000, 58.000000, 124.000000, 65.000000] - pose: {translation: [0.07982294540678532, 0.01081152683427596, 0.4075184456881062], quaternion: [0.5520114947848789, -0.1863218327633017, 0.388886617449632, 0.7136768757846028]} - solutions: [[-52.000000, -109.000000, 174.000000, 58.000000, 124.000000, 65.000000], [-52.000000, 133.578116, -163.045263, 130.084608, 113.230696, 178.064110], [128.000000, 70.619595, 164.395628, -44.963360, 95.778409, -162.567170], [128.000000, -86.131696, -153.440890, -118.671539, 126.743890, 70.744960], [-52.000000, -109.000000, 174.000000, -122.000000, -124.000000, -115.000000], [-52.000000, 133.578116, -163.045263, -49.915392, -113.230696, -1.935890], [128.000000, 70.619595, 164.395628, 135.036640, -95.778409, 17.432830], [128.000000, -86.131696, -153.440890, 61.328461, -126.743890, -109.255040]] + joints: [-52.000000, -108.000000, 174.000000, 58.000000, 123.000000, 65.000000] + pose: {translation: [0.08047753460756063, 0.01058783873911107, 0.4057174922731094], quaternion: [0.5562613078101847, -0.1793867682079746, 0.3865693271666131, 0.7134128539065957]} + solutions: [[-52.000000, -108.000000, 174.000000, 58.000000, 123.000000, 65.000000], [-52.000000, 134.578116, -163.045263, 129.080417, 113.619260, 177.664885], [128.000000, 69.953897, 164.418385, -45.677782, 96.203222, -162.389225], [128.000000, -86.730387, -153.463647, -118.554985, 125.930494, 71.081733], [-52.000000, -108.000000, 174.000000, -122.000000, -123.000000, -115.000000], [-52.000000, 134.578116, -163.045263, -50.919583, -113.619260, -2.335115], [128.000000, 69.953897, 164.418385, 134.322218, -96.203222, 17.610775], [128.000000, -86.730387, -153.463647, 61.445015, -125.930494, -108.918267]] - id: 1211 parameters: KukaKR6_R700_sixx - joints: [-101.000000, 138.000000, 60.000000, 101.000000, -170.000000, -19.000000] - pose: {translation: [0.08035725666887546, -0.4848696418908068, 0.2469032540306629], quaternion: [0.08180690468067905, 0.7935444643271127, 0.5368294586429151, -0.2746068932410781]} - solutions: [[79.000000, -24.665352, 75.910075, 10.619126, 112.332241, 63.909521], [79.000000, 51.892950, -64.955338, 73.111188, 169.738507, 132.687185], [-101.000000, 138.000000, 60.000000, -79.000000, 170.000000, 161.000000], [-101.000000, -163.003579, -49.045263, -166.920189, 131.130697, 68.523574], [79.000000, -24.665352, 75.910075, -169.380874, -112.332241, -116.090479], [79.000000, 51.892950, -64.955338, -106.888812, -169.738507, -47.312815], [-101.000000, 138.000000, 60.000000, 101.000000, -170.000000, -19.000000], [-101.000000, -163.003579, -49.045263, 13.079811, -131.130697, -111.476426]] + joints: [-101.000000, 137.000000, 60.000000, 101.000000, -169.000000, -19.000000] + pose: {translation: [0.07854136207235871, -0.4825904543449445, 0.238240898350811], quaternion: [0.07507214124275237, 0.7876900237881935, 0.5418726338634521, -0.2833419289545207]} + solutions: [[79.000000, -23.543546, 75.847383, 11.687935, 112.394250, 64.305614], [79.000000, 52.944967, -64.892646, 75.001993, 168.819012, 134.524528], [-101.000000, 137.000000, 60.000000, -79.000000, 169.000000, 161.000000], [-101.000000, -164.003579, -49.045263, -165.593008, 131.166292, 69.396898], [79.000000, -23.543546, 75.847383, -168.312065, -112.394250, -115.694386], [79.000000, 52.944967, -64.892646, -104.998007, -168.819012, -45.475472], [-101.000000, 137.000000, 60.000000, 101.000000, -169.000000, -19.000000], [-101.000000, -164.003579, -49.045263, 14.406992, -131.166292, -110.603102]] - id: 1212 parameters: KukaKR6_R700_sixx - joints: [44.000000, 77.000000, 5.000000, -100.000000, 12.000000, -122.000000] - pose: {translation: [0.1516987513302875, -0.1237225630406198, -0.3405916530755641], quaternion: [0.7295467438040301, -0.6704948913299702, 0.08926016055141016, -0.1011472839164986]} - solutions: [[44.000000, 76.486444, 5.954737, -102.030129, 12.084309, -119.924202], [44.000000, 77.000000, 5.000000, -100.000000, 12.000000, -122.000000], [44.000000, 76.486444, 5.954737, 77.969871, -12.084309, 60.075798], [44.000000, 77.000000, 5.000000, 80.000000, -12.000000, 58.000000]] + joints: [44.000000, 76.000000, 5.000000, -100.000000, 12.000000, -122.000000] + pose: {translation: [0.1609776624293356, -0.1326831033314033, -0.337510763903517], quaternion: [0.7295717990223374, -0.669293333006774, 0.09790089172840245, -0.1009298759673151]} + solutions: [[44.000000, 75.486444, 5.954737, -102.030129, 12.084309, -119.924202], [44.000000, 76.000000, 5.000000, -100.000000, 12.000000, -122.000000], [44.000000, 75.486444, 5.954737, 77.969871, -12.084309, 60.075798], [44.000000, 76.000000, 5.000000, 80.000000, -12.000000, 58.000000]] - id: 1213 parameters: KukaKR6_R700_sixx joints: [-27.000000, -81.000000, 126.000000, 32.000000, -52.000000, -107.000000] @@ -6071,79 +6071,79 @@ cases: solutions: [[-27.000000, -81.000000, 126.000000, -148.000000, 52.000000, 73.000000], [-27.000000, 54.639690, -115.045263, -28.438390, 61.268258, -71.365675], [153.000000, 129.902782, 116.165719, 152.863252, 66.279359, -74.307789], [153.000000, -106.893140, -105.210982, 39.090319, 41.472166, 62.712792], [-27.000000, -81.000000, 126.000000, 32.000000, -52.000000, -107.000000], [-27.000000, 54.639690, -115.045263, 151.561610, -61.268258, 108.634325], [153.000000, 129.902782, 116.165719, -27.136748, -66.279359, 105.692211], [153.000000, -106.893140, -105.210982, -140.909681, -41.472166, -117.287208]] - id: 1214 parameters: KukaKR6_R700_sixx - joints: [101.000000, 96.000000, 104.000000, 8.000000, -21.000000, -28.000000] - pose: {translation: [0.08840261097346221, 0.4338809685051276, 0.1775397037100276], quaternion: [-0.6297475434200005, -0.3324238153732053, -0.4669265819625666, 0.5243014453403216]} - solutions: [[-79.000000, -26.593824, 113.252973, 177.133659, 85.851114, -20.317591], [-79.000000, 93.046180, -102.298235, 15.946325, 10.459362, 143.780344], [101.000000, 96.000000, 104.000000, -172.000000, 21.000000, 152.000000], [101.000000, -155.417965, -93.045263, -3.090593, 67.679328, -19.350387], [-79.000000, -26.593824, 113.252973, -2.866341, -85.851114, 159.682409], [-79.000000, 93.046180, -102.298235, -164.053675, -10.459362, -36.219656], [101.000000, 96.000000, 104.000000, 8.000000, -21.000000, -28.000000], [101.000000, -155.417965, -93.045263, 176.909407, -67.679328, 160.649613]] + joints: [101.000000, 95.000000, 104.000000, 8.000000, -21.000000, -28.000000] + pose: {translation: [0.08764820710804511, 0.4299998970696326, 0.1694097447691501], quaternion: [-0.6349923180827216, -0.3355379311548201, -0.4630125988971075, 0.5194404547152843]} + solutions: [[-79.000000, -25.428925, 113.150855, 177.133885, 85.913816, -20.320738], [-79.000000, 94.086940, -102.196117, 16.161806, 10.322056, 143.561271], [101.000000, 95.000000, 104.000000, -172.000000, 21.000000, 152.000000], [101.000000, -156.417965, -93.045263, -3.090593, 67.679328, -19.350387], [-79.000000, -25.428925, 113.150855, -2.866115, -85.913816, 159.679262], [-79.000000, 94.086940, -102.196117, -163.838194, -10.322056, -36.438729], [101.000000, 95.000000, 104.000000, 8.000000, -21.000000, -28.000000], [101.000000, -156.417965, -93.045263, 176.909407, -67.679328, 160.649613]] - id: 1215 parameters: KukaKR6_R700_sixx - joints: [91.000000, 30.000000, -1.000000, 67.000000, -116.000000, 59.000000] - pose: {translation: [0.05541018945157106, -0.618011755412098, 0.137730694828414], quaternion: [0.4645920416876865, -0.1559278899769591, 0.739234214462449, -0.4619236994308544]} - solutions: [[91.000000, 23.031094, 11.954737, -110.148390, 118.203440, -114.746670], [91.000000, 30.000000, -1.000000, -113.000000, 116.000000, -121.000000], [91.000000, 23.031094, 11.954737, 69.851610, -118.203440, 65.253330], [91.000000, 30.000000, -1.000000, 67.000000, -116.000000, 59.000000]] + joints: [91.000000, 29.000000, -1.000000, 67.000000, -116.000000, 59.000000] + pose: {translation: [0.05533187921994594, -0.6224981455771964, 0.1481016019679047], quaternion: [0.4687173157314901, -0.149542332156027, 0.7404958127890668, -0.45782870166544]} + solutions: [[91.000000, 22.031094, 11.954737, -110.148390, 118.203440, -114.746670], [91.000000, 29.000000, -1.000000, -113.000000, 116.000000, -121.000000], [91.000000, 22.031094, 11.954737, 69.851610, -118.203440, 65.253330], [91.000000, 29.000000, -1.000000, 67.000000, -116.000000, 59.000000]] - id: 1216 parameters: KukaKR6_R700_sixx - joints: [-175.000000, 25.000000, 106.000000, 54.000000, -157.000000, -108.000000] - pose: {translation: [-0.1612158263124352, -0.01128069120516158, 0.01196733530859791], quaternion: [0.2013810351299577, -0.4329272314539431, -0.1194598836172919, 0.8704878098869356]} - solutions: [[-175.000000, 25.000000, 106.000000, -126.000000, 157.000000, 72.000000], [-175.000000, 135.942516, -95.045263, -161.039246, 76.625418, 15.739747], [5.000000, 51.812655, 103.550841, 21.116423, 61.334380, 9.788081], [5.000000, 159.866555, -92.596103, 31.959836, 143.330991, 46.868124], [-175.000000, 25.000000, 106.000000, 54.000000, -157.000000, -108.000000], [-175.000000, 135.942516, -95.045263, 18.960754, -76.625418, -164.260253], [5.000000, 51.812655, 103.550841, -158.883577, -61.334380, -170.211919], [5.000000, 159.866555, -92.596103, -148.040164, -143.330991, -133.131876]] + joints: [-175.000000, 25.000000, 106.000000, 54.000000, -156.000000, -108.000000] + pose: {translation: [-0.1615080902158164, -0.01229497705580432, 0.01105338343778716], quaternion: [0.2082757772234342, -0.4362495946805349, -0.116405340088791, 0.8676158646324169]} + solutions: [[-175.000000, 25.000000, 106.000000, -126.000000, 156.000000, 72.000000], [-175.000000, 135.942516, -95.045263, -160.182497, 76.071454, 15.537534], [5.000000, 51.812655, 103.550841, 22.129182, 60.871947, 9.298667], [5.000000, 159.866555, -92.596103, 32.656259, 142.423596, 47.423433], [-175.000000, 25.000000, 106.000000, 54.000000, -156.000000, -108.000000], [-175.000000, 135.942516, -95.045263, 19.817503, -76.071454, -164.462466], [5.000000, 51.812655, 103.550841, -157.870818, -60.871947, -170.701333], [5.000000, 159.866555, -92.596103, -147.343741, -142.423596, -132.576567]] - id: 1217 parameters: KukaKR6_R700_sixx - joints: [125.000000, -150.000000, 179.000000, 69.000000, -122.000000, -152.000000] - pose: {translation: [0.0156816293776789, -0.08803020190769806, 0.4529736568704109], quaternion: [0.3512196816983712, 0.339537176900282, 0.4718525065610248, 0.7339716975077171]} - solutions: [[125.000000, -150.000000, 179.000000, -111.000000, 122.000000, 28.000000], [125.000000, 130.042250, -168.045263, -127.455738, 85.829220, -31.504209], [-55.000000, 77.572253, 168.290490, 57.609908, 69.650848, -54.810901], [-55.000000, -66.335653, -157.335753, 78.589599, 126.129660, 45.022892], [125.000000, -150.000000, 179.000000, 69.000000, -122.000000, -152.000000], [125.000000, 130.042250, -168.045263, 52.544262, -85.829220, 148.495791], [-55.000000, 77.572253, 168.290490, -122.390092, -69.650848, 125.189099], [-55.000000, -66.335653, -157.335753, -101.410401, -126.129660, -134.977108]] + joints: [125.000000, -149.000000, 179.000000, 69.000000, -122.000000, -152.000000] + pose: {translation: [0.01515467747058117, -0.08878276722346866, 0.4523003814103956], quaternion: [0.3540912218785917, 0.3324775027435226, 0.4760196458433505, 0.7331326029642441]} + solutions: [[125.000000, -149.000000, 179.000000, -111.000000, 122.000000, 28.000000], [125.000000, 131.042250, -168.045263, -127.455738, 85.829220, -31.504209], [-55.000000, 77.037770, 168.274965, 57.751859, 69.410266, -55.216811], [-55.000000, -66.927747, -157.320227, 78.287232, 126.044795, 44.509552], [125.000000, -149.000000, 179.000000, 69.000000, -122.000000, -152.000000], [125.000000, 131.042250, -168.045263, 52.544262, -85.829220, 148.495791], [-55.000000, 77.037770, 168.274965, -122.248141, -69.410266, 124.783189], [-55.000000, -66.927747, -157.320227, -101.712768, -126.044795, -135.490448]] - id: 1218 parameters: KukaKR6_R700_sixx - joints: [83.000000, -42.000000, -129.000000, 104.000000, 108.000000, -41.000000] - pose: {translation: [-0.08367615323220939, 0.07572009301347579, 0.6112584592479525], quaternion: [0.4957083686831986, -0.6261533542628206, -0.1568171097568422, 0.5810452514652978]} - solutions: [[-97.000000, -151.083276, 143.799891, -75.466181, 107.576924, -39.252795], [-97.000000, 9.765666, -132.845153, -112.168606, 94.817358, -158.251980], [83.000000, 163.039872, 139.954737, 67.838041, 94.849380, -158.173094], [83.000000, -42.000000, -129.000000, 104.000000, 108.000000, -41.000000], [-97.000000, -151.083276, 143.799891, 104.533819, -107.576924, 140.747205], [-97.000000, 9.765666, -132.845153, 67.831394, -94.817358, 21.748020], [83.000000, 163.039872, 139.954737, -112.161959, -94.849380, 21.826906], [83.000000, -42.000000, -129.000000, -76.000000, -108.000000, 139.000000]] + joints: [83.000000, -42.000000, -129.000000, 104.000000, 107.000000, -41.000000] + pose: {translation: [-0.08424272669206702, 0.076991641224507, 0.6113664484131517], quaternion: [0.4913301409637878, -0.6290584791059958, -0.1636606785273767, 0.5797372721753489]} + solutions: [[-97.000000, -151.083276, 143.799891, -75.497992, 106.577387, -39.262137], [-97.000000, 9.765666, -132.845153, -111.275833, 95.274662, -158.173453], [83.000000, 163.039872, 139.954737, 68.731490, 95.305456, -158.094020], [83.000000, -42.000000, -129.000000, 104.000000, 107.000000, -41.000000], [-97.000000, -151.083276, 143.799891, 104.502008, -106.577387, 140.737863], [-97.000000, 9.765666, -132.845153, 68.724167, -95.274662, 21.826547], [83.000000, 163.039872, 139.954737, -111.268510, -95.305456, 21.905980], [83.000000, -42.000000, -129.000000, -76.000000, -107.000000, 139.000000]] - id: 1219 parameters: KukaKR6_R700_sixx - joints: [-173.000000, 0.000000, -24.000000, 85.000000, -88.000000, -59.000000] - pose: {translation: [-0.6637196709265514, 0.001249365626991725, 0.5879343364784944], quaternion: [-0.240538731437725, -0.6286951181325727, 0.7171068778032702, -0.1806690148360982]} - solutions: [[-173.000000, -31.762223, 34.954737, -95.360834, 90.502035, 148.081681], [-173.000000, -0.000000, -24.000000, -95.000000, 88.000000, 121.000000], [-173.000000, -31.762223, 34.954737, 84.639166, -90.502035, -31.918319], [-173.000000, -0.000000, -24.000000, 85.000000, -88.000000, -59.000000]] + joints: [-173.000000, 1.000000, -24.000000, 85.000000, -88.000000, -59.000000] + pose: {translation: [-0.6668792992958386, 0.001637319208930996, 0.5768422022730263], quaternion: [-0.2465486449732968, -0.6263436755016308, 0.7156647644071267, -0.1863633837614862]} + solutions: [[-173.000000, -30.762223, 34.954737, -95.360834, 90.502035, 148.081681], [-173.000000, 1.000000, -24.000000, -95.000000, 88.000000, 121.000000], [-173.000000, -30.762223, 34.954737, 84.639166, -90.502035, -31.918319], [-173.000000, 1.000000, -24.000000, 85.000000, -88.000000, -59.000000]] - id: 1220 parameters: KukaKR6_R700_sixx - joints: [-154.000000, -80.000000, -79.000000, 168.000000, 162.000000, 24.000000] - pose: {translation: [0.1921101810159735, -0.08797977804155979, 0.7585021373410822], quaternion: [-0.06014472763681664, 0.8988273937205448, 0.2461563982444234, -0.3576296347317418]} - solutions: [[26.000000, -108.734840, 96.749465, -8.169335, 153.119148, 28.131807], [26.000000, -8.598829, -85.794727, -175.546997, 124.157187, -142.067829], [-154.000000, -172.352171, 89.954737, 4.296671, 120.957519, -142.358218], [-154.000000, -80.000000, -79.000000, 168.000000, 162.000000, 24.000000], [26.000000, -108.734840, 96.749465, 171.830665, -153.119148, -151.868193], [26.000000, -8.598829, -85.794727, 4.453003, -124.157187, 37.932171], [-154.000000, -172.352171, 89.954737, -175.703329, -120.957519, 37.641782], [-154.000000, -80.000000, -79.000000, -12.000000, -162.000000, -156.000000]] + joints: [-154.000000, -79.000000, -79.000000, 168.000000, 161.000000, 24.000000] + pose: {translation: [0.187380290998566, -0.08536656348478434, 0.7615355240590197], quaternion: [-0.06001670411144547, 0.9061618565768919, 0.2395081048767032, -0.343372323595088]} + solutions: [[26.000000, -109.685708, 96.571539, -8.358831, 152.249092, 27.954941], [26.000000, -9.755003, -85.616802, -175.251354, 125.149096, -141.898283], [-154.000000, -171.352171, 89.954737, 4.574554, 121.929012, -142.213254], [-154.000000, -79.000000, -79.000000, 168.000000, 161.000000, 24.000000], [26.000000, -109.685708, 96.571539, 171.641169, -152.249092, -152.045059], [26.000000, -9.755003, -85.616802, 4.748646, -125.149096, 38.101717], [-154.000000, -171.352171, 89.954737, -175.425446, -121.929012, 37.786746], [-154.000000, -79.000000, -79.000000, -12.000000, -161.000000, -156.000000]] - id: 1221 parameters: KukaKR6_R700_sixx - joints: [-136.000000, 105.000000, 118.000000, 66.000000, -94.000000, 11.000000] - pose: {translation: [0.2122009417465104, -0.3062707900293713, 0.2915199840053879], quaternion: [0.6963291346353828, -0.4327637951366116, 0.01769415781061632, 0.5723007519270518]} - solutions: [[44.000000, -54.848163, 127.713497, 97.145210, 66.700918, 74.510251], [44.000000, 83.037425, -116.758759, 65.689166, 90.196112, -177.470351], [-136.000000, 105.000000, 118.000000, -114.000000, 94.000000, -169.000000], [-136.000000, -129.526812, -107.045263, -90.082647, 65.688555, 92.296284], [44.000000, -54.848163, 127.713497, -82.854790, -66.700918, -105.489749], [44.000000, 83.037425, -116.758759, -114.310834, -90.196112, 2.529649], [-136.000000, 105.000000, 118.000000, 66.000000, -94.000000, 11.000000], [-136.000000, -129.526812, -107.045263, 89.917353, -65.688555, -87.703716]] + joints: [-136.000000, 105.000000, 118.000000, 66.000000, -93.000000, 11.000000] + pose: {translation: [0.2128970409793948, -0.307051256562932, 0.292445089321642], quaternion: [0.6951981099577996, -0.4278743341305, 0.02293778617968358, 0.5771455622879376]} + solutions: [[44.000000, -54.848163, 127.713497, 98.116440, 67.149938, 74.129588], [44.000000, 83.037425, -116.758759, 65.836470, 89.207020, -177.471118], [-136.000000, 105.000000, 118.000000, -114.000000, 93.000000, -169.000000], [-136.000000, -129.526812, -107.045263, -88.999287, 65.843719, 91.851594], [44.000000, -54.848163, 127.713497, -81.883560, -67.149938, -105.870412], [44.000000, 83.037425, -116.758759, -114.163530, -89.207020, 2.528882], [-136.000000, 105.000000, 118.000000, 66.000000, -93.000000, 11.000000], [-136.000000, -129.526812, -107.045263, 91.000713, -65.843719, -88.148406]] - id: 1222 parameters: KukaKR6_R700_sixx - joints: [87.000000, -126.000000, 122.000000, 80.000000, 125.000000, 137.000000] - pose: {translation: [-0.05625564989391896, -0.1596995612203847, 0.7006635335455695], quaternion: [-0.1175062706960482, 0.7597015802840598, 0.4167907878453563, -0.4851094973593658]} - solutions: [[87.000000, -126.000000, 122.000000, 80.000000, 125.000000, 137.000000], [87.000000, 4.496538, -111.045263, 126.216624, 90.815085, -117.024515], [-93.000000, 172.468650, 116.535580, -53.780278, 89.364078, -115.043531], [-93.000000, -63.871340, -105.580842, -95.375630, 125.877589, 144.966587], [87.000000, -126.000000, 122.000000, -100.000000, -125.000000, -43.000000], [87.000000, 4.496538, -111.045263, -53.783376, -90.815085, 62.975485], [-93.000000, 172.468650, 116.535580, 126.219722, -89.364078, 64.956469], [-93.000000, -63.871340, -105.580842, 84.624370, -125.877589, -35.033413]] + joints: [87.000000, -125.000000, 122.000000, 80.000000, 124.000000, 137.000000] + pose: {translation: [-0.05669932033746195, -0.1661151348681436, 0.6982451944434277], quaternion: [-0.1271198503485966, 0.7552186944697936, 0.4181590102156975, -0.4884959665607478]} + solutions: [[87.000000, -125.000000, 122.000000, 80.000000, 124.000000, 137.000000], [87.000000, 5.496538, -111.045263, 125.255074, 91.090184, -117.040502], [-93.000000, 171.634272, 116.390153, -54.731676, 89.660784, -115.019043], [-93.000000, -64.885082, -105.435415, -95.453163, 124.899740, 145.028565], [87.000000, -125.000000, 122.000000, -100.000000, -124.000000, -43.000000], [87.000000, 5.496538, -111.045263, -54.744926, -91.090184, 62.959498], [-93.000000, 171.634272, 116.390153, 125.268324, -89.660784, 64.980957], [-93.000000, -64.885082, -105.435415, 84.546837, -124.899740, -34.971435]] - id: 1223 parameters: KukaKR6_R700_sixx - joints: [138.000000, -177.000000, 68.000000, 88.000000, -159.000000, -45.000000] - pose: {translation: [0.329898852854239, 0.2584872309461231, 0.679262063244536], quaternion: [0.7018963744772513, -0.6713689111576991, 0.1726507081540589, 0.1636978851436935]} - solutions: [[-42.000000, -80.506366, 79.796482, 22.075435, 107.642872, 54.149689], [-42.000000, 0.389346, -68.841744, 81.427130, 158.764852, 127.955104], [138.000000, -177.000000, 68.000000, -92.000000, 159.000000, 135.000000], [138.000000, -109.207581, -57.045263, -155.666213, 119.635804, 59.747250], [-42.000000, -80.506366, 79.796482, -157.924565, -107.642872, -125.850311], [-42.000000, 0.389346, -68.841744, -98.572870, -158.764852, -52.044896], [138.000000, -177.000000, 68.000000, 88.000000, -159.000000, -45.000000], [138.000000, -109.207581, -57.045263, 24.333787, -119.635804, -120.252750]] + joints: [138.000000, -177.000000, 68.000000, 88.000000, -158.000000, -45.000000] + pose: {translation: [0.3309232511576826, 0.2576625681626991, 0.6797311489592294], quaternion: [0.7018144041921723, -0.6692678774040606, 0.1811179945161519, 0.1635032794958454]} + solutions: [[-42.000000, -80.506366, 79.796482, 23.110519, 107.481163, 54.462021], [-42.000000, 0.389346, -68.841744, 81.751328, 157.772079, 128.256273], [138.000000, -177.000000, 68.000000, -92.000000, 158.000000, 135.000000], [138.000000, -109.207581, -57.045263, -154.556442, 119.376630, 60.293847], [-42.000000, -80.506366, 79.796482, -156.889481, -107.481163, -125.537979], [-42.000000, 0.389346, -68.841744, -98.248672, -157.772079, -51.743727], [138.000000, -177.000000, 68.000000, 88.000000, -158.000000, -45.000000], [138.000000, -109.207581, -57.045263, 25.443558, -119.376630, -119.706153]] - id: 1224 parameters: KukaKR6_R700_sixx - joints: [-105.000000, 109.000000, 132.000000, 114.000000, 12.000000, 96.000000] - pose: {translation: [0.09982228561875386, -0.3138330922563879, 0.4695902327292701], quaternion: [0.02563060331844507, 0.3034609108061505, -0.7408752661733776, 0.5986304266897575]} - solutions: [[75.000000, -79.553610, 141.413647, -167.650494, 117.367563, -143.778885], [75.000000, 77.602463, -130.458909, -106.106483, 11.402308, 136.887337], [-105.000000, 109.000000, 132.000000, 114.000000, 12.000000, 96.000000], [-105.000000, -107.363384, -121.045263, 11.298581, 104.198509, -146.720555], [75.000000, -79.553610, 141.413647, 12.349506, -117.367563, 36.221115], [75.000000, 77.602463, -130.458909, 73.893517, -11.402308, -43.112663], [-105.000000, 109.000000, 132.000000, -66.000000, -12.000000, -84.000000], [-105.000000, -107.363384, -121.045263, -168.701419, -104.198509, 33.279445]] + joints: [-105.000000, 108.000000, 132.000000, 114.000000, 12.000000, 96.000000] + pose: {translation: [0.1001226722598644, -0.3149541504629273, 0.4634019112920715], quaternion: [0.02900225847928935, 0.3110463942160733, -0.7383470165651105, 0.59770619268808]} + solutions: [[75.000000, -78.362240, 141.414719, -167.629085, 117.555545, -143.732460], [75.000000, 78.795464, -130.459982, -107.016433, 11.457017, 137.815697], [-105.000000, 108.000000, 132.000000, 114.000000, 12.000000, 96.000000], [-105.000000, -108.363384, -121.045263, 11.298581, 104.198509, -146.720555], [75.000000, -78.362240, 141.414719, 12.370915, -117.555545, 36.267540], [75.000000, 78.795464, -130.459982, 72.983567, -11.457017, -42.184303], [-105.000000, 108.000000, 132.000000, -66.000000, -12.000000, -84.000000], [-105.000000, -108.363384, -121.045263, -168.701419, -104.198509, 33.279445]] - id: 1225 parameters: KukaKR6_R700_sixx - joints: [157.000000, 74.000000, -18.000000, 146.000000, 132.000000, 110.000000] - pose: {translation: [-0.3405744066902809, -0.1084493111292203, -0.1138843681407423], quaternion: [0.03039276899441971, -0.222376037011552, -0.8134280682680222, 0.5366190040518901]} - solutions: [[157.000000, 48.717755, 28.954737, 128.065076, 148.141478, 86.967781], [157.000000, 74.000000, -18.000000, 146.000000, 132.000000, 110.000000], [157.000000, 48.717755, 28.954737, -51.934924, -148.141478, -93.032219], [157.000000, 74.000000, -18.000000, -34.000000, -132.000000, -70.000000]] + joints: [157.000000, 74.000000, -18.000000, 146.000000, 131.000000, 110.000000] + pose: {translation: [-0.3419001601802007, -0.1084500268826386, -0.1143224082871386], quaternion: [0.03721982646243303, -0.2274362716832882, -0.8114828420671699, 0.5370130574497239]} + solutions: [[157.000000, 48.717755, 28.954737, 128.787683, 147.219105, 87.578461], [157.000000, 74.000000, -18.000000, 146.000000, 131.000000, 110.000000], [157.000000, 48.717755, 28.954737, -51.212317, -147.219105, -92.421539], [157.000000, 74.000000, -18.000000, -34.000000, -131.000000, -70.000000]] - id: 1226 parameters: KukaKR6_R700_sixx - joints: [123.000000, 55.000000, 89.000000, -158.000000, 116.000000, 153.000000] - pose: {translation: [0.0233981878489958, -0.01342570419492242, -0.1342120302973927], quaternion: [0.8084438888678429, 0.2338386332607752, -0.2485254311823093, 0.4795550877663784]} - solutions: [[-57.000000, 38.362892, 90.720769, 40.594276, 31.160360, 106.703911], [-57.000000, 131.587176, -79.766032, 20.075241, 101.219290, 147.023487], [123.000000, 55.000000, 89.000000, -158.000000, 116.000000, 153.000000], [123.000000, 146.266990, -78.045263, -151.865852, 45.564147, 122.432390], [-57.000000, 38.362892, 90.720769, -139.405724, -31.160360, -73.296089], [-57.000000, 131.587176, -79.766032, -159.924759, -101.219290, -32.976513], [123.000000, 55.000000, 89.000000, 22.000000, -116.000000, -27.000000], [123.000000, 146.266990, -78.045263, 28.134148, -45.564147, -57.567610]] + joints: [123.000000, 55.000000, 89.000000, -158.000000, 115.000000, 153.000000] + pose: {translation: [0.02396390348960229, -0.01296801883662293, -0.1354036644379592], quaternion: [0.8122453746392893, 0.2365738629025817, -0.2431564069599051, 0.4745157747881309]} + solutions: [[-57.000000, 38.362892, 90.720769, 42.019681, 30.477143, 105.479745], [-57.000000, 131.587176, -79.766032, 20.181037, 100.224707, 147.043171], [123.000000, 55.000000, 89.000000, -158.000000, 115.000000, 153.000000], [123.000000, 146.266990, -78.045263, -151.142938, 44.705375, 121.922398], [-57.000000, 38.362892, 90.720769, -137.980319, -30.477143, -74.520255], [-57.000000, 131.587176, -79.766032, -159.818963, -100.224707, -32.956829], [123.000000, 55.000000, 89.000000, 22.000000, -115.000000, -27.000000], [123.000000, 146.266990, -78.045263, 28.857062, -44.705375, -58.077602]] - id: 1227 parameters: KukaKR6_R700_sixx - joints: [64.000000, 160.000000, 169.000000, -170.000000, -58.000000, -94.000000] - pose: {translation: [0.03087521629610729, -0.09017797223291857, 0.4748176504974803], quaternion: [-0.1628189171455328, 0.8336446982108405, -0.525331048742564, 0.05053520150895483]} - solutions: [[64.000000, 160.000000, 169.000000, 10.000000, 58.000000, 86.000000], [64.000000, 18.790823, -158.045263, 31.358605, 163.561716, 121.644525], [-116.000000, 140.309618, 167.029724, -161.275813, 152.694050, 108.099539], [-116.000000, -8.091348, -156.074986, -167.557721, 43.116973, 82.188855], [64.000000, 160.000000, 169.000000, -170.000000, -58.000000, -94.000000], [64.000000, 18.790823, -158.045263, -148.641395, -163.561716, -58.355475], [-116.000000, 140.309618, 167.029724, 18.724187, -152.694050, -71.900461], [-116.000000, -8.091348, -156.074986, 12.442279, -43.116973, -97.811145]] + joints: [64.000000, 159.000000, 169.000000, -170.000000, -58.000000, -94.000000] + pose: {translation: [0.03029816803059057, -0.08899484795735295, 0.4760207025495845], quaternion: [-0.1611994495492439, 0.8292992755507663, -0.532472477162963, 0.05244530579501605]} + solutions: [[64.000000, 159.000000, 169.000000, 10.000000, 58.000000, 86.000000], [64.000000, 17.790823, -158.045263, 31.358605, 163.561716, 121.644525], [-116.000000, 140.883586, 167.181130, -161.444887, 152.433829, 107.909039], [-116.000000, -6.996741, -156.226393, -167.544632, 43.061509, 82.170932], [64.000000, 159.000000, 169.000000, -170.000000, -58.000000, -94.000000], [64.000000, 17.790823, -158.045263, -148.641395, -163.561716, -58.355475], [-116.000000, 140.883586, 167.181130, 18.555113, -152.433829, -72.090961], [-116.000000, -6.996741, -156.226393, 12.455368, -43.061509, -97.829068]] - id: 1228 parameters: KukaKR6_R700_sixx - joints: [-37.000000, 0.000000, -104.000000, -145.000000, 108.000000, -62.000000] - pose: {translation: [0.1041101259900555, 0.1330961685732889, 0.7066259126042629], quaternion: [0.7667673024516201, -0.3952501246288387, -0.456230753723643, 0.2184004171898714]} - solutions: [[-37.000000, -121.716720, 114.954737, -53.428257, 137.215892, 61.100679], [-37.000000, 0.000000, -104.000000, -145.000000, 108.000000, -62.000000], [143.000000, 177.479312, 109.315370, 34.517280, 105.703830, -63.664690], [143.000000, -67.631078, -98.360632, 119.521731, 141.178666, 51.801418], [-37.000000, -121.716720, 114.954737, 126.571743, -137.215892, -118.899321], [-37.000000, 0.000000, -104.000000, 35.000000, -108.000000, 118.000000], [143.000000, 177.479312, 109.315370, -145.482720, -105.703830, 116.335310], [143.000000, -67.631078, -98.360632, -60.478269, -141.178666, -128.198582]] + joints: [-37.000000, 1.000000, -104.000000, -145.000000, 107.000000, -62.000000] + pose: {translation: [0.1077153017001268, 0.1361144043035617, 0.7053866252040821], quaternion: [0.7587650602170084, -0.3934760702362495, -0.4656395171503012, 0.2294166637656298]} + solutions: [[-37.000000, -120.716720, 114.954737, -54.674335, 137.755299, 60.182160], [-37.000000, 1.000000, -104.000000, -145.000000, 107.000000, -62.000000], [143.000000, 176.639825, 109.162058, 34.546241, 104.698319, -63.661036], [143.000000, -68.654093, -98.207321, 117.904318, 141.634182, 50.465940], [-37.000000, -120.716720, 114.954737, 125.325665, -137.755299, -119.817840], [-37.000000, 1.000000, -104.000000, 35.000000, -107.000000, 118.000000], [143.000000, 176.639825, 109.162058, -145.453759, -104.698319, 116.338964], [143.000000, -68.654093, -98.207321, -62.095682, -141.634182, -129.534060]] - id: 1229 parameters: KukaKR6_R700_sixx joints: [21.000000, 37.000000, -73.000000, -135.000000, 88.000000, -20.000000] @@ -6151,9 +6151,9 @@ cases: solutions: [[21.000000, -48.562716, 83.954737, -110.097322, 131.193013, 42.943685], [21.000000, 37.000000, -73.000000, -135.000000, 88.000000, -20.000000], [-159.000000, 150.571890, 69.475322, 45.171808, 85.141884, -22.870942], [-159.000000, -140.006436, -58.520584, 58.178830, 123.728387, 23.820922], [21.000000, -48.562716, 83.954737, 69.902678, -131.193013, -137.056315], [21.000000, 37.000000, -73.000000, 45.000000, -88.000000, 160.000000], [-159.000000, 150.571890, 69.475322, -134.828192, -85.141884, 157.129058], [-159.000000, -140.006436, -58.520584, -121.821170, -123.728387, -156.179078]] - id: 1230 parameters: KukaKR6_R700_sixx - joints: [140.000000, -57.000000, -65.000000, 43.000000, 46.000000, -128.000000] - pose: {translation: [-0.009678482318652828, 0.04311222007332272, 1.024602801891002], quaternion: [-0.07865516491956104, -0.2446802283820702, -0.3797948410221498, 0.8886511292984073]} - solutions: [[-40.000000, -128.533119, 76.651696, -140.594532, 50.607680, -122.602745], [-40.000000, -51.148825, -65.696959, -56.696186, 35.943653, 135.875584], [140.000000, -133.608023, 75.954737, 129.081543, 39.197725, 128.592589], [140.000000, -57.000000, -65.000000, 43.000000, 46.000000, -128.000000], [-40.000000, -128.533119, 76.651696, 39.405468, -50.607680, 57.397255], [-40.000000, -51.148825, -65.696959, 123.303814, -35.943653, -44.124416], [140.000000, -133.608023, 75.954737, -50.918457, -39.197725, -51.407411], [140.000000, -57.000000, -65.000000, -137.000000, -46.000000, 52.000000]] + joints: [140.000000, -57.000000, -65.000000, 43.000000, 45.000000, -128.000000] + pose: {translation: [-0.008380228353847843, 0.04333031400282766, 1.025068069210909], quaternion: [-0.08272258909939161, -0.2372848533575208, -0.3818855306779085, 0.88939097874818]} + solutions: [[-40.000000, -128.533119, 76.651696, -140.718017, 49.612178, -122.523549], [-40.000000, -51.148825, -65.696959, -55.006959, 36.062202, 134.508986], [140.000000, -133.608023, 75.954737, 130.612891, 39.439662, 127.407856], [140.000000, -57.000000, -65.000000, 43.000000, 45.000000, -128.000000], [-40.000000, -128.533119, 76.651696, 39.281983, -49.612178, 57.476451], [-40.000000, -51.148825, -65.696959, 124.993041, -36.062202, -45.491014], [140.000000, -133.608023, 75.954737, -49.387109, -39.439662, -52.592144], [140.000000, -57.000000, -65.000000, -137.000000, -45.000000, 52.000000]] - id: 1231 parameters: KukaKR6_R700_sixx joints: [31.000000, 109.000000, -6.000000, -169.000000, 33.000000, -71.000000] @@ -6161,9 +6161,9 @@ cases: solutions: [[-149.000000, 69.384433, 27.710746, 25.908861, 13.759091, -87.000173], [-149.000000, 93.324554, -16.756008, 10.874956, 33.423617, -70.850543], [31.000000, 96.649686, 16.954737, -171.308901, 43.451225, -68.073354], [31.000000, 109.000000, -6.000000, -169.000000, 33.000000, -71.000000], [-149.000000, 69.384433, 27.710746, -154.091139, -13.759091, 92.999827], [-149.000000, 93.324554, -16.756008, -169.125044, -33.423617, 109.149457], [31.000000, 96.649686, 16.954737, 8.691099, -43.451225, 111.926646], [31.000000, 109.000000, -6.000000, 11.000000, -33.000000, 109.000000]] - id: 1232 parameters: KukaKR6_R700_sixx - joints: [-59.000000, 162.000000, -165.000000, -4.000000, 91.000000, -43.000000] - pose: {translation: [0.04201724622505981, 0.08076194657367577, 0.2769576176240265], quaternion: [-0.1402732582647731, 0.9893445841044057, 0.0355043905938313, -0.01612901632541083]} - solutions: [[-59.000000, -93.088349, 175.954737, -37.989912, 6.506249, -5.119613], [-59.000000, 162.000000, -165.000000, -4.000000, 91.000000, -43.000000], [121.000000, 53.416656, 166.935042, 174.905148, 128.243817, -46.088971], [121.000000, -95.307408, -155.980305, 166.336647, 17.173258, -29.854495], [-59.000000, -93.088349, 175.954737, 142.010088, -6.506249, 174.880387], [-59.000000, 162.000000, -165.000000, 176.000000, -91.000000, 137.000000], [121.000000, 53.416656, 166.935042, -5.094852, -128.243817, 133.911029], [121.000000, -95.307408, -155.980305, -13.663353, -17.173258, 150.145505]] + joints: [-59.000000, 162.000000, -165.000000, -4.000000, 90.000000, -43.000000] + pose: {translation: [0.04273495212872173, 0.08195806003024575, 0.2770185506450676], quaternion: [-0.1399453299691185, 0.9891985474712662, 0.04228635581886628, -0.01064905686584095]} + solutions: [[-59.000000, -93.088349, 175.954737, -44.130300, 5.749692, 0.985888], [-59.000000, 162.000000, -165.000000, -4.000000, 90.000000, -43.000000], [121.000000, 53.416656, 166.935042, 174.972837, 127.245251, -46.047535], [121.000000, -95.307408, -155.980305, 165.521541, 16.201011, -29.073687], [-59.000000, -93.088349, 175.954737, 135.869700, -5.749692, -179.014112], [-59.000000, 162.000000, -165.000000, 176.000000, -90.000000, 137.000000], [121.000000, 53.416656, 166.935042, -5.027163, -127.245251, 133.952465], [121.000000, -95.307408, -155.980305, -14.478459, -16.201011, 150.926313]] - id: 1233 parameters: KukaKR6_R700_sixx joints: [111.000000, -2.000000, -83.000000, -47.000000, -66.000000, -166.000000] @@ -6171,9 +6171,9 @@ cases: solutions: [[111.000000, -98.920824, 93.954737, 127.270162, 122.904687, -45.087727], [111.000000, -2.000000, -83.000000, 133.000000, 66.000000, 14.000000], [-69.000000, -177.450186, 85.552924, -48.069903, 63.904846, 16.526349], [-69.000000, -90.085787, -74.598187, -48.181954, 116.299312, -35.911096], [111.000000, -98.920824, 93.954737, -52.729838, -122.904687, 134.912273], [111.000000, -2.000000, -83.000000, -47.000000, -66.000000, -166.000000], [-69.000000, -177.450186, 85.552924, 131.930097, -63.904846, -163.473651], [-69.000000, -90.085787, -74.598187, 131.818046, -116.299312, 144.088904]] - id: 1234 parameters: KukaKR6_R700_sixx - joints: [-91.000000, -3.000000, 100.000000, -134.000000, -133.000000, 177.000000] - pose: {translation: [0.03691268580711445, 0.2968233778140407, 0.1090474112254779], quaternion: [0.3463025366517157, -0.1032464018792163, 0.8700484484529735, 0.3353064731736567]} - solutions: [[-91.000000, -3.000000, 100.000000, 46.000000, 133.000000, -3.000000], [-91.000000, 100.902462, -89.045263, 140.426370, 124.330318, 116.778239], [89.000000, 88.152851, 91.812201, -35.462614, 114.935011, 125.053979], [89.000000, -177.378037, -80.857464, -116.443594, 144.015449, 20.192496], [-91.000000, -3.000000, 100.000000, -134.000000, -133.000000, 177.000000], [-91.000000, 100.902462, -89.045263, -39.573630, -124.330318, -63.221761], [89.000000, 88.152851, 91.812201, 144.537386, -114.935011, -54.946021], [89.000000, -177.378037, -80.857464, 63.556406, -144.015449, -159.807504]] + joints: [-91.000000, -3.000000, 100.000000, -134.000000, -132.000000, 177.000000] + pose: {translation: [0.03760466861949932, 0.2960595034713634, 0.1081055206935393], quaternion: [0.3537183155645755, -0.1065618855463473, 0.8669502860427059, 0.3345521174846111]} + solutions: [[-91.000000, -3.000000, 100.000000, 46.000000, 132.000000, -3.000000], [-91.000000, 100.902462, -89.045263, 139.369076, 124.822427, 116.178203], [89.000000, 88.152851, 91.812201, -36.335375, 115.548867, 124.681786], [89.000000, -177.378037, -80.857464, -117.099400, 143.094445, 19.664928], [-91.000000, -3.000000, 100.000000, -134.000000, -132.000000, 177.000000], [-91.000000, 100.902462, -89.045263, -40.630924, -124.822427, -63.821797], [89.000000, 88.152851, 91.812201, 143.664625, -115.548867, -55.318214], [89.000000, -177.378037, -80.857464, 62.900600, -143.094445, -160.335072]] - id: 1235 parameters: KukaKR6_R700_sixx joints: [64.000000, 114.000000, -32.000000, -22.000000, 51.000000, 132.000000] @@ -6181,14 +6181,14 @@ cases: solutions: [[-116.000000, 70.053123, 43.669026, 161.381364, 65.762217, 125.608522], [-116.000000, 111.251387, -32.714288, 148.208766, 33.545579, 145.054232], [64.000000, 73.576490, 42.954737, -50.866372, 22.043872, 166.456696], [64.000000, 114.000000, -32.000000, -22.000000, 51.000000, 132.000000], [-116.000000, 70.053123, 43.669026, -18.618636, -65.762217, -54.391478], [-116.000000, 111.251387, -32.714288, -31.791234, -33.545579, -34.945768], [64.000000, 73.576490, 42.954737, 129.133628, -22.043872, -13.543304], [64.000000, 114.000000, -32.000000, 158.000000, -51.000000, -48.000000]] - id: 1236 parameters: KukaKR6_R700_sixx - joints: [-85.000000, -53.000000, -4.000000, 109.000000, -35.000000, 142.000000] - pose: {translation: [-0.005549590111498005, 0.4343684141575214, 1.023570812013179], quaternion: [-0.1908236605168593, 0.4134482288572825, 0.8701874024662776, -0.1882040839905318]} - solutions: [[-85.000000, -63.197433, 14.954737, -83.702884, 33.066986, -22.702130], [-85.000000, -53.000000, -4.000000, -71.000000, 35.000000, -38.000000], [-85.000000, -63.197433, 14.954737, 96.297116, -33.066986, 157.297870], [-85.000000, -53.000000, -4.000000, 109.000000, -35.000000, 142.000000]] + joints: [-85.000000, -52.000000, -4.000000, 109.000000, -35.000000, 142.000000] + pose: {translation: [-0.004606496307302151, 0.4451480256658902, 1.016368663702242], quaternion: [-0.188518438212502, 0.4208541689273832, 0.8667051614774518, -0.190170265863791]} + solutions: [[-85.000000, -62.197433, 14.954737, -83.702884, 33.066986, -22.702130], [-85.000000, -52.000000, -4.000000, -71.000000, 35.000000, -38.000000], [-85.000000, -62.197433, 14.954737, 96.297116, -33.066986, 157.297870], [-85.000000, -52.000000, -4.000000, 109.000000, -35.000000, 142.000000]] - id: 1237 parameters: KukaKR6_R700_sixx - joints: [100.000000, -95.000000, -14.000000, 44.000000, -91.000000, -77.000000] - pose: {translation: [0.09089595509920378, 0.1955150702145791, 1.027467921642757], quaternion: [0.7650081426013791, -0.2002312666716183, 0.4030050419404055, -0.4607134877245072]} - solutions: [[-80.000000, -94.239010, 34.320514, 44.403201, 83.043672, 95.269883], [-80.000000, -63.162321, -23.365776, 45.258827, 102.084917, 113.963427], [100.000000, -115.968149, 24.954737, -134.338255, 103.809456, 115.761399], [100.000000, -95.000000, -14.000000, -136.000000, 91.000000, 103.000000], [-80.000000, -94.239010, 34.320514, -135.596799, -83.043672, -84.730117], [-80.000000, -63.162321, -23.365776, -134.741173, -102.084917, -66.036573], [100.000000, -115.968149, 24.954737, 45.661745, -103.809456, -64.238601], [100.000000, -95.000000, -14.000000, 44.000000, -91.000000, -77.000000]] + joints: [100.000000, -94.000000, -14.000000, 44.000000, -91.000000, -77.000000] + pose: {translation: [0.08898819330973526, 0.184695615461805, 1.031444502090125], quaternion: [0.7604089677594487, -0.2029889108191737, 0.4024281700673001, -0.4675738142494076]} + solutions: [[-80.000000, -94.935506, 33.732602, 44.379284, 83.246904, 95.470274], [-80.000000, -64.494163, -22.777864, 45.220197, 101.904607, 113.777545], [100.000000, -114.968149, 24.954737, -134.338255, 103.809456, 115.761399], [100.000000, -94.000000, -14.000000, -136.000000, 91.000000, 103.000000], [-80.000000, -94.935506, 33.732602, -135.620716, -83.246904, -84.529726], [-80.000000, -64.494163, -22.777864, -134.779803, -101.904607, -66.222455], [100.000000, -114.968149, 24.954737, 45.661745, -103.809456, -64.238601], [100.000000, -94.000000, -14.000000, 44.000000, -91.000000, -77.000000]] - id: 1238 parameters: KukaKR6_R700_sixx joints: [-95.000000, 45.000000, -45.000000, 158.000000, 18.000000, -120.000000] @@ -6196,39 +6196,39 @@ cases: solutions: [[-95.000000, -9.570397, 55.954737, 172.557818, 63.344637, -137.665559], [-95.000000, 45.000000, -45.000000, 158.000000, 18.000000, -120.000000], [85.000000, 149.795529, 31.103907, -23.088119, 17.169254, -118.858576], [85.000000, 177.397535, -20.149170, -10.378990, 39.981808, -133.030505], [-95.000000, -9.570397, 55.954737, -7.442182, -63.344637, 42.334441], [-95.000000, 45.000000, -45.000000, -22.000000, -18.000000, 60.000000], [85.000000, 149.795529, 31.103907, 156.911881, -17.169254, 61.141424], [85.000000, 177.397535, -20.149170, 169.621010, -39.981808, 46.969495]] - id: 1239 parameters: KukaKR6_R700_sixx - joints: [162.000000, 69.000000, 73.000000, -125.000000, 147.000000, -111.000000] - pose: {translation: [0.0680290368517624, -0.01542415783402804, -0.1247611442733699], quaternion: [-0.4871446714386346, -0.3572193488502711, 0.7863280378863154, -0.1295091607948656]} - solutions: [[-18.000000, 40.752369, 76.401119, 26.819288, 81.431527, -165.449040], [-18.000000, 117.857492, -65.446381, 41.107399, 137.267880, -128.483912], [162.000000, 69.000000, 73.000000, -125.000000, 147.000000, -111.000000], [162.000000, 142.324352, -62.045263, -153.287590, 97.020594, -157.621806], [-18.000000, 40.752369, 76.401119, -153.180712, -81.431527, 14.550960], [-18.000000, 117.857492, -65.446381, -138.892601, -137.267880, 51.516088], [162.000000, 69.000000, 73.000000, 55.000000, -147.000000, 69.000000], [162.000000, 142.324352, -62.045263, 26.712410, -97.020594, 22.378194]] + joints: [162.000000, 69.000000, 73.000000, -125.000000, 146.000000, -111.000000] + pose: {translation: [0.06851028285551206, -0.01627061993212459, -0.1257618471256458], quaternion: [-0.4885301133701599, -0.3640169161746882, 0.7818644057795797, -0.1323558236125396]} + solutions: [[-18.000000, 40.752369, 76.401119, 27.643357, 80.850991, -165.575950], [-18.000000, 117.857492, -65.446381, 41.542348, 136.313245, -128.166885], [162.000000, 69.000000, 73.000000, -125.000000, 146.000000, -111.000000], [162.000000, 142.324352, -62.045263, -152.556308, 96.333234, -157.536777], [-18.000000, 40.752369, 76.401119, -152.356643, -80.850991, 14.424050], [-18.000000, 117.857492, -65.446381, -138.457652, -136.313245, 51.833115], [162.000000, 69.000000, 73.000000, 55.000000, -146.000000, 69.000000], [162.000000, 142.324352, -62.045263, 27.443692, -96.333234, 22.463223]] - id: 1240 parameters: KukaKR6_R700_sixx - joints: [-148.000000, -93.000000, 129.000000, -75.000000, 39.000000, -132.000000] - pose: {translation: [-0.3370178832506002, 0.1532485289650226, 0.4812568646734434], quaternion: [0.3054967683325203, 0.8372308986204158, -0.2717070217917918, -0.363168612689302]} - solutions: [[-148.000000, -93.000000, 129.000000, -75.000000, 39.000000, -132.000000], [-148.000000, 46.590698, -118.045263, -41.276406, 112.860250, 138.193654], [32.000000, 136.311561, 119.798213, 137.297534, 116.321440, 134.769148], [32.000000, -95.970430, -108.843476, 117.061361, 43.047856, -147.933079], [-148.000000, -93.000000, 129.000000, 105.000000, -39.000000, 48.000000], [-148.000000, 46.590698, -118.045263, 138.723594, -112.860250, -41.806346], [32.000000, 136.311561, 119.798213, -42.702466, -116.321440, -45.230852], [32.000000, -95.970430, -108.843476, -62.938639, -43.047856, 32.066921]] + joints: [-148.000000, -93.000000, 129.000000, -75.000000, 38.000000, -132.000000] + pose: {translation: [-0.3371958728825716, 0.1546043484009648, 0.4809747736487292], quaternion: [0.309426862814612, 0.8368404498705431, -0.2644833126336883, -0.3660623654071598]} + solutions: [[-148.000000, -93.000000, 129.000000, -75.000000, 38.000000, -132.000000], [-148.000000, 46.590698, -118.045263, -40.191219, 112.853192, 138.615182], [32.000000, 136.311561, 119.798213, 138.411948, 116.373491, 135.263752], [32.000000, -95.970430, -108.843476, 117.470908, 42.086993, -148.234715], [-148.000000, -93.000000, 129.000000, 105.000000, -38.000000, 48.000000], [-148.000000, 46.590698, -118.045263, 139.808781, -112.853192, -41.384818], [32.000000, 136.311561, 119.798213, -41.588052, -116.373491, -44.736248], [32.000000, -95.970430, -108.843476, -62.529092, -42.086993, 31.765285]] - id: 1241 parameters: KukaKR6_R700_sixx - joints: [34.000000, -61.000000, 165.000000, -37.000000, -180.000000, 107.000000] - pose: {translation: [0.1183265766592004, -0.07981228372543898, 0.3905036594142623], quaternion: [0.09982952178648365, -0.06990138369076634, 0.9923949820549218, -0.01732231884620594]} - solutions: [[34.000000, -61.000000, 165.000000, 135.000000, 180.000000, -90.000000], [34.000000, 144.056256, -154.045263, 180.000000, 66.010994, -36.000000], [-146.000000, 56.607976, 157.532991, -0.000000, 41.859033, -36.000000], [-146.000000, -117.447931, -146.578254, -0.000000, 160.026185, -36.000000], [34.000000, -61.000000, 165.000000, -45.000000, -180.000000, 90.000000], [34.000000, 144.056256, -154.045263, -0.000000, -66.010994, 144.000000], [-146.000000, 56.607976, 157.532991, -180.000000, -41.859033, 144.000000], [-146.000000, -117.447931, -146.578254, -180.000000, -160.026185, 144.000000]] + joints: [34.000000, -61.000000, 165.000000, -37.000000, -179.000000, 107.000000] + pose: {translation: [0.1187512296012906, -0.08111223993739015, 0.3902220822064209], quaternion: [0.1025022679516406, -0.07813628782954159, 0.9915191475031492, -0.01666690504015436]} + solutions: [[34.000000, -61.000000, 165.000000, 143.000000, 179.000000, -73.000000], [34.000000, 144.056256, -154.045263, 179.337138, 65.213788, -35.726290], [-146.000000, 56.607976, 157.532991, -0.916134, 41.063995, -35.313425], [-146.000000, -117.447931, -146.578254, -1.696400, 159.219190, -37.590293], [34.000000, -61.000000, 165.000000, -37.000000, -179.000000, 107.000000], [34.000000, 144.056256, -154.045263, -0.662862, -65.213788, 144.273710], [-146.000000, 56.607976, 157.532991, 179.083866, -41.063995, 144.686575], [-146.000000, -117.447931, -146.578254, 178.303600, -159.219190, 142.409707]] - id: 1242 parameters: KukaKR6_R700_sixx - joints: [130.000000, 43.000000, 71.000000, 42.000000, -87.000000, 2.000000] - pose: {translation: [-0.08209573749445574, -0.1810023538841619, -0.1904822590954142], quaternion: [0.6264660197219113, 0.5313858844446906, -0.3254966205342469, 0.4682107623362628]} - solutions: [[130.000000, 43.000000, 71.000000, -138.000000, 87.000000, -178.000000], [130.000000, 114.108039, -60.045263, -116.038917, 48.047755, 130.858762], [-50.000000, 72.814708, 67.153251, 76.968507, 43.304656, 112.341021], [-50.000000, 139.673107, -56.198514, 43.991462, 74.170925, 169.945147], [130.000000, 43.000000, 71.000000, 42.000000, -87.000000, 2.000000], [130.000000, 114.108039, -60.045263, 63.961083, -48.047755, -49.141238], [-50.000000, 72.814708, 67.153251, -103.031493, -43.304656, -67.658979], [-50.000000, 139.673107, -56.198514, -136.008538, -74.170925, -10.054853]] + joints: [130.000000, 43.000000, 71.000000, 42.000000, -86.000000, 2.000000] + pose: {translation: [-0.08173787151403468, -0.1804871337654552, -0.1917296492378833], quaternion: [0.629138298916866, 0.5355481502906201, -0.3198588444622393, 0.4637493926417248]} + solutions: [[130.000000, 43.000000, 71.000000, -138.000000, 86.000000, -178.000000], [130.000000, 114.108039, -60.045263, -114.981468, 47.425176, 130.147562], [-50.000000, 72.814708, 67.153251, 78.344306, 42.965257, 111.337010], [-50.000000, 139.673107, -56.198514, 44.209619, 73.193088, 169.883850], [130.000000, 43.000000, 71.000000, 42.000000, -86.000000, 2.000000], [130.000000, 114.108039, -60.045263, 65.018532, -47.425176, -49.852438], [-50.000000, 72.814708, 67.153251, -101.655694, -42.965257, -68.662990], [-50.000000, 139.673107, -56.198514, -135.790381, -73.193088, -10.116150]] - id: 1243 parameters: KukaKR6_R700_sixx - joints: [117.000000, 111.000000, -150.000000, -116.000000, -60.000000, -166.000000] - pose: {translation: [-0.1571522353875663, -0.1712665549532244, 0.364394143097499], quaternion: [-0.5728460630954254, -0.4025361475960777, 0.6561670619388171, 0.2815258863784308]} - solutions: [[117.000000, -82.935312, 160.954737, 128.443328, 83.623722, -112.324322], [117.000000, 111.000000, -150.000000, 64.000000, 60.000000, 14.000000], [-63.000000, 81.950533, 152.049932, -122.512328, 67.374841, 28.597539], [-63.000000, -103.140200, -141.095195, -53.611052, 75.221658, -101.196562], [117.000000, -82.935312, 160.954737, -51.556672, -83.623722, 67.675678], [117.000000, 111.000000, -150.000000, -116.000000, -60.000000, -166.000000], [-63.000000, 81.950533, 152.049932, 57.487672, -67.374841, -151.402461], [-63.000000, -103.140200, -141.095195, 126.388948, -75.221658, 78.803438]] + joints: [117.000000, 110.000000, -150.000000, -116.000000, -60.000000, -166.000000] + pose: {translation: [-0.1574205926053056, -0.1717932356479877, 0.3678716392242766], quaternion: [-0.5724136480841973, -0.3963035196571555, 0.6615414377266294, 0.2786558127240044]} + solutions: [[117.000000, -83.935312, 160.954737, 128.443328, 83.623722, -112.324322], [117.000000, 110.000000, -150.000000, 64.000000, 60.000000, 14.000000], [-63.000000, 82.733484, 152.021751, -122.425819, 67.243190, 28.373285], [-63.000000, -102.409694, -141.067014, -53.560081, 75.364907, -101.397335], [117.000000, -83.935312, 160.954737, -51.556672, -83.623722, 67.675678], [117.000000, 110.000000, -150.000000, -116.000000, -60.000000, -166.000000], [-63.000000, 82.733484, 152.021751, 57.574181, -67.243190, -151.626715], [-63.000000, -102.409694, -141.067014, 126.439919, -75.364907, 78.602665]] - id: 1244 parameters: KukaKR6_R700_sixx - joints: [118.000000, 10.000000, -143.000000, 35.000000, -176.000000, -43.000000] - pose: {translation: [-0.04964730465227928, -0.1001909922410386, 0.526891595575289], quaternion: [0.932198143432425, -0.1236033567864416, -0.09867566985679946, 0.3255640394002009]} - solutions: [[118.000000, -168.544889, 153.954737, -2.532526, 64.890032, -76.859102], [118.000000, 10.000000, -143.000000, -145.000000, 176.000000, 137.000000], [-62.000000, 158.883155, 151.183902, 81.438166, 177.681089, -176.503118], [-62.000000, -27.802655, -140.229164, 177.409242, 62.270679, -76.728260], [118.000000, -168.544889, 153.954737, 177.467474, -64.890032, 103.140898], [118.000000, 10.000000, -143.000000, 35.000000, -176.000000, -43.000000], [-62.000000, 158.883155, 151.183902, -98.561834, -177.681089, 3.496882], [-62.000000, -27.802655, -140.229164, -2.590758, -62.270679, 103.271740]] + joints: [118.000000, 10.000000, -143.000000, 35.000000, -175.000000, -43.000000] + pose: {translation: [-0.04851580622422608, -0.09976355643349001, 0.526194091499365], quaternion: [0.9347300032817333, -0.1221081072951015, -0.09198682921324365, 0.3207925409809782]} + solutions: [[118.000000, -168.544889, 153.954737, -3.143714, 65.721690, -76.603754], [118.000000, 10.000000, -143.000000, -145.000000, 175.000000, 137.000000], [-62.000000, 158.883155, 151.183902, 67.871669, 176.906505, 169.945067], [-62.000000, -27.802655, -140.229164, 176.786658, 63.103750, -76.442579], [118.000000, -168.544889, 153.954737, 176.856286, -65.721690, 103.396246], [118.000000, 10.000000, -143.000000, 35.000000, -175.000000, -43.000000], [-62.000000, 158.883155, 151.183902, -112.128331, -176.906505, -10.054933], [-62.000000, -27.802655, -140.229164, -3.213342, -63.103750, 103.557421]] - id: 1245 parameters: KukaKR6_R700_sixx - joints: [19.000000, 26.000000, 135.000000, 95.000000, 126.000000, -151.000000] - pose: {translation: [-0.001420539208814926, -0.06770104211635726, 0.1199631777578096], quaternion: [0.1564760998944449, -0.6427811705135568, 0.7488712662292317, -0.03923548918100457]} - solutions: [[-161.000000, 15.399806, 135.828089, -64.301097, 63.432564, -26.562730], [-161.000000, 164.363407, -124.873351, -71.363454, 121.729928, -126.795697], [19.000000, 26.000000, 135.000000, 95.000000, 126.000000, -151.000000], [19.000000, 173.793864, -124.045263, 122.943732, 73.813502, -46.189389], [-161.000000, 15.399806, 135.828089, 115.698903, -63.432564, 153.437270], [-161.000000, 164.363407, -124.873351, 108.636546, -121.729928, 53.204303], [19.000000, 26.000000, 135.000000, -85.000000, -126.000000, 29.000000], [19.000000, 173.793864, -124.045263, -57.056268, -73.813502, 133.810611]] + joints: [19.000000, 26.000000, 135.000000, 95.000000, 125.000000, -151.000000] + pose: {translation: [-0.002677974067515684, -0.06812233250992938, 0.1195262864914743], quaternion: [0.1509204506822547, -0.6462244122481104, 0.7473176200062956, -0.03366602751403033]} + solutions: [[-161.000000, 15.399806, 135.828089, -65.218695, 64.001002, -26.156398], [-161.000000, 164.363407, -124.873351, -71.840831, 120.816948, -127.043523], [19.000000, 26.000000, 135.000000, 95.000000, 125.000000, -151.000000], [19.000000, 173.793864, -124.045263, 121.938354, 74.071479, -45.911292], [-161.000000, 15.399806, 135.828089, 114.781305, -64.001002, 153.843602], [-161.000000, 164.363407, -124.873351, 108.159169, -120.816948, 52.956477], [19.000000, 26.000000, 135.000000, -85.000000, -125.000000, 29.000000], [19.000000, 173.793864, -124.045263, -58.061646, -74.071479, 134.088708]] - id: 1246 parameters: KukaKR6_R700_sixx joints: [145.000000, 31.000000, -5.000000, -146.000000, 56.000000, 45.000000] @@ -6241,44 +6241,44 @@ cases: solutions: [[2.000000, -35.631881, 91.954737, -81.824709, 169.173983, -103.182349], [2.000000, 59.000000, -81.000000, -169.000000, 103.000000, 161.000000], [-178.000000, 129.363734, 79.018892, 10.789972, 96.732177, 159.776124], [-178.000000, -150.610177, -68.064154, 34.321311, 160.746984, -168.701268], [2.000000, -35.631881, 91.954737, 98.175291, -169.173983, 76.817651], [2.000000, 59.000000, -81.000000, 11.000000, -103.000000, -19.000000], [-178.000000, 129.363734, 79.018892, -169.210028, -96.732177, -20.223876], [-178.000000, -150.610177, -68.064154, -145.678689, -160.746984, 11.298732]] - id: 1248 parameters: KukaKR6_R700_sixx - joints: [16.000000, 99.000000, 106.000000, -23.000000, -8.000000, 16.000000] - pose: {translation: [-0.4299229522872286, 0.1187527654876369, 0.2356049632150527], quaternion: [-0.09513015642202874, -0.582881543609047, -0.04870414295942675, 0.805498147681075]} - solutions: [[-164.000000, -32.534363, 115.521134, -176.828592, 100.599552, -6.215214], [-164.000000, 89.876997, -104.566396, -133.276089, 4.283454, -53.443068], [16.000000, 99.000000, 106.000000, 157.000000, 8.000000, -164.000000], [16.000000, -150.057484, -95.045263, 3.142443, 82.742230, -7.196539], [-164.000000, -32.534363, 115.521134, 3.171408, -100.599552, 173.784786], [-164.000000, 89.876997, -104.566396, 46.723911, -4.283454, 126.556932], [16.000000, 99.000000, 106.000000, -23.000000, -8.000000, 16.000000], [16.000000, -150.057484, -95.045263, -176.857557, -82.742230, 172.803461]] + joints: [16.000000, 98.000000, 106.000000, -23.000000, -8.000000, 16.000000] + pose: {translation: [-0.4270960500939114, 0.1179421643277118, 0.2274098976198991], quaternion: [-0.09665549257409799, -0.5897334087986487, -0.04809824681365515, 0.8003491619008776]} + solutions: [[-164.000000, -31.369111, 115.432674, -176.827794, 100.676227, -6.210891], [-164.000000, 90.933644, -104.477937, -134.654274, 4.384197, -52.060931], [16.000000, 98.000000, 106.000000, 157.000000, 8.000000, -164.000000], [16.000000, -151.057484, -95.045263, 3.142443, 82.742230, -7.196539], [-164.000000, -31.369111, 115.432674, 3.172206, -100.676227, 173.789109], [-164.000000, 90.933644, -104.477937, 45.345726, -4.384197, 127.939069], [16.000000, 98.000000, 106.000000, -23.000000, -8.000000, 16.000000], [16.000000, -151.057484, -95.045263, -176.857557, -82.742230, 172.803461]] - id: 1249 parameters: KukaKR6_R700_sixx - joints: [7.000000, -101.000000, -48.000000, -48.000000, -42.000000, 172.000000] - pose: {translation: [-0.4370078883090692, 0.01357819842843496, 0.8671176782272122], quaternion: [0.6910363251346365, -0.1516149306529665, -0.5775538282113258, 0.4073245458672426]} - solutions: [[-173.000000, -88.645994, 69.583650, -60.238954, 34.946634, 7.566420], [-173.000000, -19.104592, -58.628912, -30.386653, 79.436998, -41.399040], [7.000000, -158.851499, 58.954737, 149.814221, 81.483380, -42.610839], [7.000000, -101.000000, -48.000000, 132.000000, 42.000000, -8.000000], [-173.000000, -88.645994, 69.583650, 119.761046, -34.946634, -172.433580], [-173.000000, -19.104592, -58.628912, 149.613347, -79.436998, 138.600960], [7.000000, -158.851499, 58.954737, -30.185779, -81.483380, 137.389161], [7.000000, -101.000000, -48.000000, -48.000000, -42.000000, 172.000000]] + joints: [7.000000, -100.000000, -48.000000, -48.000000, -41.000000, 172.000000] + pose: {translation: [-0.4291627338788532, 0.01339789667374365, 0.8761653871286347], quaternion: [0.6808752870110863, -0.1502772046059203, -0.5897673088284504, 0.4074311312978533]} + solutions: [[-173.000000, -89.571032, 69.356984, -60.523200, 34.058663, 7.725970], [-173.000000, -20.280133, -58.402246, -29.830269, 78.558295, -41.480053], [7.000000, -157.851499, 58.954737, 150.389831, 80.660787, -42.700172], [7.000000, -100.000000, -48.000000, 132.000000, 41.000000, -8.000000], [-173.000000, -89.571032, 69.356984, 119.476800, -34.058663, -172.274030], [-173.000000, -20.280133, -58.402246, 150.169731, -78.558295, 138.519947], [7.000000, -157.851499, 58.954737, -29.610169, -80.660787, 137.299828], [7.000000, -100.000000, -48.000000, -48.000000, -41.000000, 172.000000]] - id: 1250 parameters: KukaKR6_R700_sixx - joints: [-40.000000, -116.000000, 3.000000, 18.000000, 47.000000, 163.000000] - pose: {translation: [-0.1860319773382982, -0.1797012028362335, 1.077393545612335], quaternion: [0.2191181629528548, -0.04698522980586745, 0.9101744365603447, -0.3483706558772064]} - solutions: [[140.000000, -82.161428, 34.500179, -165.630421, 65.595120, 169.452095], [140.000000, -50.890554, -23.545441, -159.405668, 39.978909, 159.431337], [-40.000000, -118.665194, 7.954737, 18.698238, 44.826798, 161.996610], [-40.000000, -116.000000, 3.000000, 18.000000, 47.000000, 163.000000], [140.000000, -82.161428, 34.500179, 14.369579, -65.595120, -10.547905], [140.000000, -50.890554, -23.545441, 20.594332, -39.978909, -20.568663], [-40.000000, -118.665194, 7.954737, -161.301762, -44.826798, -18.003390], [-40.000000, -116.000000, 3.000000, -162.000000, -47.000000, -17.000000]] + joints: [-40.000000, -115.000000, 3.000000, 18.000000, 46.000000, 163.000000] + pose: {translation: [-0.1780734455652609, -0.1726354958308786, 1.082826363854506], quaternion: [0.2186695690968495, -0.04478032056042679, 0.9109123326776093, -0.3470116202915114]} + solutions: [[140.000000, -82.895191, 33.952844, -165.721728, 64.329069, 169.427727], [140.000000, -52.215851, -22.998106, -159.403108, 39.188669, 159.479135], [-40.000000, -117.665194, 7.954737, 18.723525, 43.826954, 161.978520], [-40.000000, -115.000000, 3.000000, 18.000000, 46.000000, 163.000000], [140.000000, -82.895191, 33.952844, 14.278272, -64.329069, -10.572273], [140.000000, -52.215851, -22.998106, 20.596892, -39.188669, -20.520865], [-40.000000, -117.665194, 7.954737, -161.276475, -43.826954, -18.021480], [-40.000000, -115.000000, 3.000000, -162.000000, -46.000000, -17.000000]] - id: 1251 parameters: KukaKR6_R700_sixx - joints: [-163.000000, -35.000000, -117.000000, 83.000000, -100.000000, 60.000000] - pose: {translation: [0.02295988789738576, -0.08878988906418034, 0.7061311421570171], quaternion: [0.7673268558961153, 0.0703966154923033, -0.2983252804141281, 0.5632546846797131]} - solutions: [[17.000000, -154.744249, 129.607020, 82.508367, 99.638851, -122.882136], [17.000000, -14.343041, -118.652282, 101.495522, 94.071491, -13.981511], [-163.000000, -173.204051, 127.954737, -78.387356, 93.719878, -12.257738], [-163.000000, -35.000000, -117.000000, -97.000000, 100.000000, -120.000000], [17.000000, -154.744249, 129.607020, -97.491633, -99.638851, 57.117864], [17.000000, -14.343041, -118.652282, -78.504478, -94.071491, 166.018489], [-163.000000, -173.204051, 127.954737, 101.612644, -93.719878, 167.742262], [-163.000000, -35.000000, -117.000000, 83.000000, -100.000000, 60.000000]] + joints: [-163.000000, -35.000000, -117.000000, 83.000000, -99.000000, 60.000000] + pose: {translation: [0.02406839789618997, -0.08936797491411225, 0.7067528529666801], quaternion: [0.7643425697567873, 0.07510612990552885, -0.2944338530956618, 0.5687250754621664]} + solutions: [[17.000000, -154.744249, 129.607020, 82.559223, 98.640113, -122.874058], [17.000000, -14.343041, -118.652282, 100.531580, 94.346852, -14.052264], [-163.000000, -173.204051, 127.954737, -79.342142, 94.024085, -12.322214], [-163.000000, -35.000000, -117.000000, -97.000000, 99.000000, -120.000000], [17.000000, -154.744249, 129.607020, -97.440777, -98.640113, 57.125942], [17.000000, -14.343041, -118.652282, -79.468420, -94.346852, 165.947736], [-163.000000, -173.204051, 127.954737, 100.657858, -94.024085, 167.677786], [-163.000000, -35.000000, -117.000000, 83.000000, -99.000000, 60.000000]] - id: 1252 parameters: KukaKR6_R700_sixx - joints: [104.000000, 116.000000, 129.000000, -63.000000, -166.000000, 49.000000] - pose: {translation: [0.0496080656385469, 0.2702476057477479, 0.3588263514406735], quaternion: [-0.04498553258282727, 0.9802437049653138, -0.120180001968032, -0.1505169354626852]} - solutions: [[-76.000000, -83.217430, 138.456215, -15.392567, 54.300667, -59.578451], [-76.000000, 69.530656, -127.501478, -43.424789, 161.725018, -110.652184], [104.000000, 116.000000, 129.000000, 117.000000, 166.000000, -131.000000], [104.000000, -104.409302, -118.045263, 166.424671, 66.683327, -63.245474], [-76.000000, -83.217430, 138.456215, 164.607433, -54.300667, 120.421549], [-76.000000, 69.530656, -127.501478, 136.575211, -161.725018, 69.347816], [104.000000, 116.000000, 129.000000, -63.000000, -166.000000, 49.000000], [104.000000, -104.409302, -118.045263, -13.575329, -66.683327, 116.754526]] + joints: [104.000000, 115.000000, 129.000000, -63.000000, -165.000000, 49.000000] + pose: {translation: [0.04842505445878704, 0.2704814289152638, 0.3536556758547053], quaternion: [-0.04221898868490418, 0.97880353336815, -0.1221804534699378, -0.1588494156436505]} + solutions: [[-76.000000, -82.050348, 138.474005, -16.602905, 53.810553, -58.826715], [-76.000000, 70.723756, -127.519267, -44.131197, 160.658925, -111.281791], [104.000000, 115.000000, 129.000000, 117.000000, 165.000000, -131.000000], [104.000000, -105.409302, -118.045263, 165.413912, 66.308000, -62.842353], [-76.000000, -82.050348, 138.474005, 163.397095, -53.810553, 121.173285], [-76.000000, 70.723756, -127.519267, 135.868803, -160.658925, 68.718209], [104.000000, 115.000000, 129.000000, -63.000000, -165.000000, 49.000000], [104.000000, -105.409302, -118.045263, -14.586088, -66.308000, 117.157647]] - id: 1253 parameters: KukaKR6_R700_sixx - joints: [9.000000, 56.000000, -19.000000, -97.000000, -145.000000, 113.000000] - pose: {translation: [0.4452460003935669, -0.1166318381152986, -0.01788489361112514], quaternion: [-0.4019917119642875, -0.346159679730397, 0.8335984032800517, 0.1539150469899502]} - solutions: [[9.000000, 29.638552, 29.954737, 56.330110, 136.838730, -100.879379], [9.000000, 56.000000, -19.000000, 83.000000, 145.000000, -67.000000], [9.000000, 29.638552, 29.954737, -123.669890, -136.838730, 79.120621], [9.000000, 56.000000, -19.000000, -97.000000, -145.000000, 113.000000]] + joints: [9.000000, 56.000000, -19.000000, -97.000000, -144.000000, 113.000000] + pose: {translation: [0.4456267278246149, -0.1178344354223093, -0.01848348223331097], quaternion: [-0.4003704322521052, -0.3533674521315647, 0.8321567074273811, 0.1494997492838325]} + solutions: [[9.000000, 29.638552, 29.954737, 57.132653, 136.005682, -100.297965], [9.000000, 56.000000, -19.000000, 83.000000, 144.000000, -67.000000], [9.000000, 29.638552, 29.954737, -122.867347, -136.005682, 79.702035], [9.000000, 56.000000, -19.000000, -97.000000, -144.000000, 113.000000]] - id: 1254 parameters: KukaKR6_R700_sixx - joints: [-145.000000, -79.000000, 37.000000, -162.000000, 177.000000, -62.000000] - pose: {translation: [-0.2226492158139213, 0.1543212016042185, 0.9289573862379946], quaternion: [0.7634399975731087, 0.4824638326963165, 0.1574742944537865, 0.3994870045844229]} - solutions: [[-145.000000, -79.000000, 37.000000, -162.000000, 177.000000, -62.000000], [-145.000000, -45.026016, -26.045263, -178.248010, 148.063278, -78.489994], [35.000000, -124.261949, 10.232812, 2.052832, 153.160904, -78.145064], [35.000000, -119.145814, 0.721926, 2.427472, 157.552323, -77.733186], [-145.000000, -79.000000, 37.000000, 18.000000, -177.000000, 118.000000], [-145.000000, -45.026016, -26.045263, 1.751990, -148.063278, 101.510006], [35.000000, -124.261949, 10.232812, -177.947168, -153.160904, 101.854936], [35.000000, -119.145814, 0.721926, -177.572528, -157.552323, 102.266814]] + joints: [-145.000000, -79.000000, 37.000000, -162.000000, 176.000000, -62.000000] + pose: {translation: [-0.2222216253231604, 0.1534960621062287, 0.9299994098362208], quaternion: [0.7609780015584101, 0.4795954685041365, 0.1580580106276041, 0.407330741549064]} + solutions: [[-145.000000, -79.000000, 37.000000, -162.000000, 176.000000, -62.000000], [-145.000000, -45.026016, -26.045263, -177.725410, 147.103314, -78.048814], [35.000000, -124.261949, 10.232812, 2.649016, 152.199056, -77.615360], [35.000000, -119.145814, 0.721926, 3.109894, 156.588299, -77.104662], [-145.000000, -79.000000, 37.000000, 18.000000, -176.000000, 118.000000], [-145.000000, -45.026016, -26.045263, 2.274590, -147.103314, 101.951186], [35.000000, -124.261949, 10.232812, -177.350984, -152.199056, 102.384640], [35.000000, -119.145814, 0.721926, -176.890106, -156.588299, 102.895338]] - id: 1255 parameters: KukaKR6_R700_sixx - joints: [31.000000, -25.000000, 39.000000, -6.000000, -90.000000, 72.000000] - pose: {translation: [0.5891613661958596, -0.3637595748961786, 0.5559820385552008], quaternion: [0.006035182100540403, 0.132187004637913, -0.7796806624504312, 0.6120361402586667]} - solutions: [[31.000000, -25.000000, 39.000000, 174.000000, 90.000000, -108.000000], [31.000000, 11.138418, -28.045263, 173.016141, 59.280871, -104.419331], [31.000000, -25.000000, 39.000000, -6.000000, -90.000000, 72.000000], [31.000000, 11.138418, -28.045263, -6.983859, -59.280871, 75.580669]] + joints: [31.000000, -25.000000, 39.000000, -6.000000, -89.000000, 72.000000] + pose: {translation: [0.5903207307197791, -0.3644547055395552, 0.5556325113209145], quaternion: [0.003057926264656743, 0.1403033211274037, -0.7785376232524548, 0.6117064625684441]} + solutions: [[31.000000, -25.000000, 39.000000, 174.000000, 89.000000, -108.000000], [31.000000, 11.138418, -28.045263, 172.942727, 58.282844, -104.381278], [31.000000, -25.000000, 39.000000, -6.000000, -89.000000, 72.000000], [31.000000, 11.138418, -28.045263, -7.057273, -58.282844, 75.618722]] - id: 1256 parameters: KukaKR6_R700_sixx joints: [169.000000, -26.000000, -49.000000, 150.000000, 7.000000, 107.000000] @@ -6311,9 +6311,9 @@ cases: solutions: [[-63.000000, -15.000000, -177.000000, -153.000000, 49.000000, 42.000000], [-63.000000, -49.317770, -172.045263, -127.653206, 25.643251, 11.043357], [-63.000000, -15.000000, -177.000000, 27.000000, -49.000000, -138.000000], [-63.000000, -49.317770, -172.045263, 52.346794, -25.643251, -168.956643]] - id: 1262 parameters: KukaKR6_R700_sixx - joints: [123.000000, -86.000000, -37.000000, 140.000000, -114.000000, 36.000000] - pose: {translation: [0.1028479209040289, 0.07211798205183291, 1.004487410023726], quaternion: [0.6684186014598745, -0.1822139641715936, 0.2257283753197789, 0.6848805334208236]} - solutions: [[-57.000000, -101.791845, 54.244903, 136.717107, 121.074411, -151.080231], [-57.000000, -49.088409, -43.290166, 143.927369, 85.782275, -122.088782], [123.000000, -131.852452, 47.954737, -36.292934, 82.776354, -119.879689], [123.000000, -86.000000, -37.000000, -40.000000, 114.000000, -144.000000], [-57.000000, -101.791845, 54.244903, -43.282893, -121.074411, 28.919769], [-57.000000, -49.088409, -43.290166, -36.072631, -85.782275, 57.911218], [123.000000, -131.852452, 47.954737, 143.707066, -82.776354, 60.120311], [123.000000, -86.000000, -37.000000, 140.000000, -114.000000, 36.000000]] + joints: [123.000000, -85.000000, -37.000000, 140.000000, -113.000000, 36.000000] + pose: {translation: [0.09756307389807146, 0.06332294827013495, 1.008176712548022], quaternion: [0.6672172472251109, -0.1834799273876094, 0.2313412581757606, 0.6838402470729833]} + solutions: [[-57.000000, -102.621479, 53.896844, 136.929698, 119.952225, -150.867534], [-57.000000, -50.297827, -42.942106, 143.560041, 84.966138, -122.140885], [123.000000, -130.852452, 47.954737, -36.705726, 81.863857, -119.824522], [123.000000, -85.000000, -37.000000, -40.000000, 113.000000, -144.000000], [-57.000000, -102.621479, 53.896844, -43.070302, -119.952225, 29.132466], [-57.000000, -50.297827, -42.942106, -36.439959, -84.966138, 57.859115], [123.000000, -130.852452, 47.954737, 143.294274, -81.863857, 60.175478], [123.000000, -85.000000, -37.000000, 140.000000, -113.000000, 36.000000]] - id: 1263 parameters: KukaKR6_R700_sixx joints: [90.000000, -54.000000, -37.000000, -75.000000, 112.000000, 47.000000] @@ -6326,94 +6326,94 @@ cases: solutions: [[-45.000000, 107.408805, -175.045263, 86.779752, 100.709893, -175.472872], [-45.000000, 100.000000, -174.000000, 88.000000, 101.000000, -169.000000], [135.000000, 94.072887, 175.158788, -89.002857, 101.134136, -153.478534], [135.000000, -16.214471, -164.204050, -101.129716, 91.045914, 116.672168], [-45.000000, 107.408805, -175.045263, -93.220248, -100.709893, 4.527128], [-45.000000, 100.000000, -174.000000, -92.000000, -101.000000, 11.000000], [135.000000, 94.072887, 175.158788, 90.997143, -101.134136, 26.521466], [135.000000, -16.214471, -164.204050, 78.870284, -91.045914, -63.327832]] - id: 1265 parameters: KukaKR6_R700_sixx - joints: [-145.000000, 40.000000, -128.000000, -162.000000, 97.000000, -178.000000] - pose: {translation: [-0.1518978558884805, 0.07640576742931128, 0.5564129480948602], quaternion: [0.6644280746037661, -0.3208751946724238, 0.6005534613479497, 0.3080746389842289]} - solutions: [[-145.000000, -113.479330, 138.954737, -32.159523, 144.814332, -27.464799], [-145.000000, 40.000000, -128.000000, -162.000000, 97.000000, -178.000000], [35.000000, 140.084181, 131.097945, 17.905767, 93.972736, -178.985241], [35.000000, -77.506639, -120.143207, 140.493991, 151.175163, -36.110199], [-145.000000, -113.479330, 138.954737, 147.840477, -144.814332, 152.535201], [-145.000000, 40.000000, -128.000000, 18.000000, -97.000000, 2.000000], [35.000000, 140.084181, 131.097945, -162.094233, -93.972736, 1.014759], [35.000000, -77.506639, -120.143207, -39.506009, -151.175163, 143.889801]] + joints: [-145.000000, 40.000000, -128.000000, -162.000000, 96.000000, -178.000000] + pose: {translation: [-0.1518424675984493, 0.07630735775112479, 0.557804619633248], quaternion: [0.6590713919893928, -0.3183590897461137, 0.6062274941269975, 0.3110636841575876]} + solutions: [[-145.000000, -113.479330, 138.954737, -33.031985, 145.681919, -28.181664], [-145.000000, 40.000000, -128.000000, -162.000000, 96.000000, -178.000000], [35.000000, 140.084181, 131.097945, 17.922984, 92.972884, -178.984198], [35.000000, -77.506639, -120.143207, 139.181230, 151.955778, -37.264629], [-145.000000, -113.479330, 138.954737, 146.968015, -145.681919, 151.818336], [-145.000000, 40.000000, -128.000000, 18.000000, -96.000000, 2.000000], [35.000000, 140.084181, 131.097945, -162.077016, -92.972884, 1.015802], [35.000000, -77.506639, -120.143207, -40.818770, -151.955778, 142.735371]] - id: 1266 parameters: KukaKR6_R700_sixx - joints: [59.000000, 178.000000, -83.000000, 176.000000, -30.000000, 12.000000] - pose: {translation: [-0.1688801705700129, 0.2864813808671197, -0.04319551308441825], quaternion: [0.8604966718298284, -0.4113083717437681, -0.2402737092970557, -0.1806639026588125]} - solutions: [[-121.000000, 2.695962, 101.076119, 177.340748, 48.742215, -169.711158], [-121.000000, 107.852264, -90.121382, 3.293852, 37.375278, 5.915882], [59.000000, 81.079176, 93.954737, -177.395113, 50.123533, 6.863731], [59.000000, 178.000000, -83.000000, -4.000000, 30.000000, -168.000000], [-121.000000, 2.695962, 101.076119, -2.659252, -48.742215, 10.288842], [-121.000000, 107.852264, -90.121382, -176.706148, -37.375278, -174.084118], [59.000000, 81.079176, 93.954737, 2.604887, -50.123533, -173.136269], [59.000000, 178.000000, -83.000000, 176.000000, -30.000000, 12.000000]] + joints: [59.000000, 177.000000, -83.000000, 176.000000, -30.000000, 12.000000] + pose: {translation: [-0.164868392922825, 0.2798046616411523, -0.04936798387737472], quaternion: [0.8628952006864994, -0.4122779884080037, -0.2333204316898272, -0.1760690462930055]} + solutions: [[-121.000000, 3.853555, 100.910700, 177.340429, 48.734397, -169.710675], [-121.000000, 108.816884, -89.955963, 3.303671, 37.245454, 5.903537], [59.000000, 80.079176, 93.954737, -177.395113, 50.123533, 6.863731], [59.000000, 177.000000, -83.000000, -4.000000, 30.000000, -168.000000], [-121.000000, 3.853555, 100.910700, -2.659571, -48.734397, 10.289325], [-121.000000, 108.816884, -89.955963, -176.696329, -37.245454, -174.096463], [59.000000, 80.079176, 93.954737, 2.604887, -50.123533, -173.136269], [59.000000, 177.000000, -83.000000, 176.000000, -30.000000, 12.000000]] - id: 1267 parameters: KukaKR6_R700_sixx - joints: [-32.000000, -139.000000, -11.000000, -52.000000, 100.000000, 95.000000] - pose: {translation: [-0.4654457765722572, -0.2176357170417701, 0.7939080417841308], quaternion: [-0.4677365354876673, -0.2491895432525048, -0.3763921585391106, 0.7599052887655614]} - solutions: [[148.000000, -58.156030, 49.221977, 122.969081, 112.332171, 77.168948], [148.000000, -10.925383, -38.267240, 129.056616, 87.975650, 110.023572], [-32.000000, -156.735064, 21.954737, -50.901817, 90.480681, 106.939356], [-32.000000, -139.000000, -11.000000, -52.000000, 100.000000, 95.000000], [148.000000, -58.156030, 49.221977, -57.030919, -112.332171, -102.831052], [148.000000, -10.925383, -38.267240, -50.943384, -87.975650, -69.976428], [-32.000000, -156.735064, 21.954737, 129.098183, -90.480681, -73.060644], [-32.000000, -139.000000, -11.000000, 128.000000, -100.000000, -85.000000]] + joints: [-32.000000, -138.000000, -11.000000, -52.000000, 99.000000, 95.000000] + pose: {translation: [-0.4605819403359787, -0.2143823222737746, 0.8040168236353787], quaternion: [-0.4671144152951538, -0.2479417631850799, -0.3699779108530091, 0.763835944802929]} + solutions: [[148.000000, -59.096508, 48.993729, 123.352969, 111.287181, 77.442719], [148.000000, -12.114165, -38.038991, 128.798659, 87.034583, 110.004127], [-32.000000, -155.735064, 21.954737, -51.108691, 89.502313, 106.939387], [-32.000000, -138.000000, -11.000000, -52.000000, 99.000000, 95.000000], [148.000000, -59.096508, 48.993729, -56.647031, -111.287181, -102.557281], [148.000000, -12.114165, -38.038991, -51.201341, -87.034583, -69.995873], [-32.000000, -155.735064, 21.954737, 128.891309, -89.502313, -73.060613], [-32.000000, -138.000000, -11.000000, 128.000000, -99.000000, -85.000000]] - id: 1268 parameters: KukaKR6_R700_sixx - joints: [134.000000, -134.000000, -48.000000, -128.000000, -129.000000, 2.000000] - pose: {translation: [0.3179185880783287, 0.3997410172553468, 0.6188854682561961], quaternion: [-0.2591131087864111, -0.4275455904433202, 0.4616370691558793, 0.7327730762853424]} - solutions: [[-46.000000, -56.208162, 74.753899, -114.526520, 137.690352, -158.525962], [-46.000000, 19.063943, -63.799162, -142.083314, 94.755676, 146.843821], [134.000000, 168.148501, 58.954737, 37.819590, 92.886200, 145.387047], [134.000000, -134.000000, -48.000000, 52.000000, 129.000000, -178.000000], [-46.000000, -56.208162, 74.753899, 65.473480, -137.690352, 21.474038], [-46.000000, 19.063943, -63.799162, 37.916686, -94.755676, -33.156179], [134.000000, 168.148501, 58.954737, -142.180410, -92.886200, -34.612953], [134.000000, -134.000000, -48.000000, -128.000000, -129.000000, 2.000000]] + joints: [134.000000, -134.000000, -48.000000, -128.000000, -128.000000, 2.000000] + pose: {translation: [0.3181974667710764, 0.4010157940734122, 0.6193821298482751], quaternion: [-0.2633524480596924, -0.4212792283070209, 0.4592294993912724, 0.73639498014778]} + solutions: [[-46.000000, -56.208162, 74.753899, -115.013025, 136.746518, -158.883045], [-46.000000, 19.063943, -63.799162, -141.506164, 93.937863, 146.887566], [134.000000, 168.148501, 58.954737, 38.416371, 92.083375, 145.412921], [134.000000, -134.000000, -48.000000, 52.000000, 128.000000, -178.000000], [-46.000000, -56.208162, 74.753899, 64.986975, -136.746518, 21.116955], [-46.000000, 19.063943, -63.799162, 38.493836, -93.937863, -33.112434], [134.000000, 168.148501, 58.954737, -141.583629, -92.083375, -34.587079], [134.000000, -134.000000, -48.000000, -128.000000, -128.000000, 2.000000]] - id: 1269 parameters: KukaKR6_R700_sixx - joints: [-180.000000, 104.000000, 12.000000, -99.000000, 66.000000, -36.000000] - pose: {translation: [0.1837414705548738, -0.07218385576937972, -0.2833035781405392], quaternion: [-0.2082565017738841, 0.8189867369263807, -0.524676049124671, -0.1029805694415672]} - solutions: [[0.000000, 63.831938, 29.170113, 94.575770, 64.847980, -67.940134], [0.000000, 89.346592, -18.215375, 84.221417, 65.081323, -43.770181], [180.000000, 104.000000, 12.000000, -99.000000, 66.000000, -36.000000], [180.000000, 111.017610, -1.045263, -96.287106, 65.197311, -42.560640], [0.000000, 63.831938, 29.170113, -85.424230, -64.847980, 112.059866], [0.000000, 89.346592, -18.215375, -95.778583, -65.081323, 136.229819], [180.000000, 104.000000, 12.000000, 81.000000, -66.000000, 144.000000], [180.000000, 111.017610, -1.045263, 83.712894, -65.197311, 137.439360]] + joints: [-180.000000, 103.000000, 12.000000, -99.000000, 66.000000, -36.000000] + pose: {translation: [0.1717843864520877, -0.0721838557693797, -0.2868425486803731], quaternion: [-0.2128271761722631, 0.8180568888260795, -0.5228387133129208, -0.1101235650895184]} + solutions: [[0.000000, 65.232347, 28.458933, 94.430220, 64.823580, -67.597837], [0.000000, 89.979626, -17.504196, 84.380667, 65.047142, -44.147904], [180.000000, 103.000000, 12.000000, -99.000000, 66.000000, -36.000000], [180.000000, 110.017610, -1.045263, -96.287106, 65.197311, -42.560640], [0.000000, 65.232347, 28.458933, -85.569780, -64.823580, 112.402163], [0.000000, 89.979626, -17.504196, -95.619333, -65.047142, 135.852096], [180.000000, 103.000000, 12.000000, 81.000000, -66.000000, 144.000000], [180.000000, 110.017610, -1.045263, 83.712894, -65.197311, 137.439360]] - id: 1270 parameters: KukaKR6_R700_sixx - joints: [-143.000000, -3.000000, -52.000000, -26.000000, -146.000000, -8.000000] - pose: {translation: [-0.3470054614781668, 0.28604265614173, 0.7042851989132985], quaternion: [0.8279606202001919, -0.09947652250128292, 0.5338187990881753, 0.1400825564045132]} - solutions: [[-143.000000, -65.238029, 62.954737, 34.612880, 154.433896, 45.922609], [-143.000000, -3.000000, -52.000000, 154.000000, 146.000000, 172.000000], [37.000000, -170.126428, 45.761631, -25.594546, 145.428097, 172.490717], [37.000000, -126.656897, -34.806893, -109.851461, 164.893078, 83.512057], [-143.000000, -65.238029, 62.954737, -145.387120, -154.433896, -134.077391], [-143.000000, -3.000000, -52.000000, -26.000000, -146.000000, -8.000000], [37.000000, -170.126428, 45.761631, 154.405454, -145.428097, -7.509283], [37.000000, -126.656897, -34.806893, 70.148539, -164.893078, -96.487943]] + joints: [-143.000000, -3.000000, -52.000000, -26.000000, -145.000000, -8.000000] + pose: {translation: [-0.3463875629891514, 0.28620864609478, 0.705526227031816], quaternion: [0.8234861705409523, -0.09761387359539597, 0.5410741993654182, 0.1399313023971818]} + solutions: [[-143.000000, -65.238029, 62.954737, 36.526313, 155.010579, 47.652879], [-143.000000, -3.000000, -52.000000, 154.000000, 145.000000, 172.000000], [37.000000, -170.126428, 45.761631, -25.609268, 144.428133, 172.478667], [37.000000, -126.656897, -34.806893, -106.027641, 164.834477, 87.203314], [-143.000000, -65.238029, 62.954737, -143.473687, -155.010579, -132.347121], [-143.000000, -3.000000, -52.000000, -26.000000, -145.000000, -8.000000], [37.000000, -170.126428, 45.761631, 154.390732, -144.428133, -7.521333], [37.000000, -126.656897, -34.806893, 73.972359, -164.834477, -92.796686]] - id: 1271 parameters: KukaKR6_R700_sixx - joints: [175.000000, -33.000000, 100.000000, -15.000000, -173.000000, -162.000000] - pose: {translation: [-0.4401982536660235, -0.03597934947470687, 0.3260237457732855], quaternion: [-0.06061374466043757, 0.1284772372044518, -0.2364106522687169, 0.961212555563248]} - solutions: [[175.000000, -33.000000, 100.000000, 165.000000, 173.000000, 18.000000], [175.000000, 70.902462, -89.045263, 178.191470, 88.094420, 32.953336], [-5.000000, 117.535108, 88.468925, -1.834100, 80.237146, 33.204291], [-5.000000, -151.800708, -77.514188, -4.360287, 155.488536, 28.924531], [175.000000, -33.000000, 100.000000, -15.000000, -173.000000, -162.000000], [175.000000, 70.902462, -89.045263, -1.808530, -88.094420, -147.046664], [-5.000000, 117.535108, 88.468925, 178.165900, -80.237146, -146.795709], [-5.000000, -151.800708, -77.514188, 175.639713, -155.488536, -151.075469]] + joints: [175.000000, -32.000000, 100.000000, -15.000000, -172.000000, -162.000000] + pose: {translation: [-0.4401831718914812, -0.03561837804561277, 0.31909523318496], quaternion: [-0.057193443899496, 0.1116659218709318, -0.2366663323211052, 0.9634566305824598]} + solutions: [[175.000000, -32.000000, 100.000000, 165.000000, 172.000000, 18.000000], [175.000000, 71.902462, -89.045263, 177.933126, 87.128306, 32.964104], [-5.000000, 116.590031, 88.536336, -2.101868, 79.150004, 33.256333], [-5.000000, -152.669301, -77.581599, -4.789374, 154.442226, 28.537900], [175.000000, -32.000000, 100.000000, -15.000000, -172.000000, -162.000000], [175.000000, 71.902462, -89.045263, -2.066874, -87.128306, -147.035896], [-5.000000, 116.590031, 88.536336, 177.898132, -79.150004, -146.743667], [-5.000000, -152.669301, -77.581599, 175.210626, -154.442226, -151.462100]] - id: 1272 parameters: KukaKR6_R700_sixx - joints: [-85.000000, 85.000000, 121.000000, -135.000000, -73.000000, 58.000000] - pose: {translation: [0.02876767162290915, -0.2918747919142687, 0.2736215840254616], quaternion: [0.3606561315827818, -0.04423713043501259, 0.9283249798063227, -0.07863181868817265]} - solutions: [[95.000000, -35.144113, 129.313313, -82.663346, 137.016209, -5.720666], [95.000000, 104.864438, -118.358575, -136.934095, 82.009508, -113.105375], [-85.000000, 85.000000, 121.000000, 45.000000, 73.000000, -122.000000], [-85.000000, -145.769673, -110.045263, 77.676927, 136.198896, -32.542499], [95.000000, -35.144113, 129.313313, 97.336654, -137.016209, 174.279334], [95.000000, 104.864438, -118.358575, 43.065905, -82.009508, 66.894625], [-85.000000, 85.000000, 121.000000, -135.000000, -73.000000, 58.000000], [-85.000000, -145.769673, -110.045263, -102.323073, -136.198896, 147.457501]] + joints: [-85.000000, 84.000000, 121.000000, -135.000000, -72.000000, 58.000000] + pose: {translation: [0.02855218552298055, -0.2909314328673173, 0.2684674450020321], quaternion: [0.355552204790677, -0.05949115968951674, 0.9294186924570201, -0.07889439586414229]} + solutions: [[95.000000, -33.953147, 129.215391, -83.888591, 137.441524, -6.557357], [95.000000, 105.924697, -118.260653, -137.107524, 81.137438, -112.973281], [-85.000000, 84.000000, 121.000000, 45.000000, 72.000000, -122.000000], [-85.000000, -146.769673, -110.045263, 76.232642, 136.180332, -33.584773], [95.000000, -33.953147, 129.215391, 96.111409, -137.441524, 173.442643], [95.000000, 105.924697, -118.260653, 42.892476, -81.137438, 67.026719], [-85.000000, 84.000000, 121.000000, -135.000000, -72.000000, 58.000000], [-85.000000, -146.769673, -110.045263, -103.767358, -136.180332, 146.415227]] - id: 1273 parameters: KukaKR6_R700_sixx - joints: [-88.000000, -10.000000, 147.000000, 81.000000, -137.000000, -6.000000] - pose: {translation: [-0.04894316506225879, 0.142546355811467, 0.2138328210541626], quaternion: [-0.3356494059730871, 0.4206682937201212, 0.8358929536451056, -0.1079844107960821]} - solutions: [[-88.000000, -10.000000, 147.000000, -99.000000, 137.000000, 174.000000], [-88.000000, 156.032305, -136.045263, -131.839655, 64.708497, 70.710919], [92.000000, 37.892936, 143.462165, 58.904669, 51.872048, 50.548583], [92.000000, -161.789002, -132.507427, 60.526328, 129.309292, 144.482547], [-88.000000, -10.000000, 147.000000, 81.000000, -137.000000, -6.000000], [-88.000000, 156.032305, -136.045263, 48.160345, -64.708497, -109.289081], [92.000000, 37.892936, 143.462165, -121.095331, -51.872048, -129.451417], [92.000000, -161.789002, -132.507427, -119.473672, -129.309292, -35.517453]] + joints: [-88.000000, -10.000000, 147.000000, 81.000000, -136.000000, -6.000000] + pose: {translation: [-0.04996364754505109, 0.1419867701025957, 0.2130614707219962], quaternion: [-0.3429896155325145, 0.420477585947672, 0.8325643930608515, -0.1113249961135954]} + solutions: [[-88.000000, -10.000000, 147.000000, -99.000000, 136.000000, 174.000000], [-88.000000, 156.032305, -136.045263, -130.765308, 64.942248, 70.253903], [92.000000, 37.892936, 143.462165, 59.957370, 52.427991, 49.902631], [92.000000, -161.789002, -132.507427, 61.155309, 128.437384, 144.877310], [-88.000000, -10.000000, 147.000000, 81.000000, -136.000000, -6.000000], [-88.000000, 156.032305, -136.045263, 49.234692, -64.942248, -109.746097], [92.000000, 37.892936, 143.462165, -120.042630, -52.427991, -130.097369], [92.000000, -161.789002, -132.507427, -118.844691, -128.437384, -35.122690]] - id: 1274 parameters: KukaKR6_R700_sixx - joints: [-4.000000, 13.000000, 150.000000, 126.000000, -43.000000, -4.000000] - pose: {translation: [-0.0751227457463492, 0.03899455200168743, 0.2025161111420946], quaternion: [-0.4721615217248852, 0.4385211485883089, 0.7455792604995451, -0.1699242947791234]} - solutions: [[176.000000, 9.048098, 150.295589, 103.202593, 145.477649, 56.704492], [176.000000, -179.239837, -139.340852, 140.417270, 59.986345, 153.278598], [-4.000000, 13.000000, 150.000000, -54.000000, 43.000000, 176.000000], [-4.000000, -175.813822, -139.045263, -50.226684, 134.120388, 90.903196], [176.000000, 9.048098, 150.295589, -76.797407, -145.477649, -123.295508], [176.000000, -179.239837, -139.340852, -39.582730, -59.986345, -26.721402], [-4.000000, 13.000000, 150.000000, 126.000000, -43.000000, -4.000000], [-4.000000, -175.813822, -139.045263, 129.773316, -134.120388, -89.096804]] + joints: [-4.000000, 13.000000, 150.000000, 126.000000, -42.000000, -4.000000] + pose: {translation: [-0.07578804971774591, 0.03811317724400878, 0.2016616808287496], quaternion: [-0.4787374564808748, 0.4374790710164288, 0.7411736317659733, -0.1734478531422699]} + solutions: [[176.000000, 9.048098, 150.295589, 104.760563, 145.957174, 57.991831], [176.000000, -179.239837, -139.340852, 140.867560, 59.064717, 153.050224], [-4.000000, 13.000000, 150.000000, -54.000000, 42.000000, 176.000000], [-4.000000, -175.813822, -139.045263, -48.840923, 134.026532, 91.867129], [176.000000, 9.048098, 150.295589, -75.239437, -145.957174, -122.008169], [176.000000, -179.239837, -139.340852, -39.132440, -59.064717, -26.949776], [-4.000000, 13.000000, 150.000000, 126.000000, -42.000000, -4.000000], [-4.000000, -175.813822, -139.045263, 131.159077, -134.026532, -88.132871]] - id: 1275 parameters: KukaKR6_R700_sixx - joints: [-27.000000, 70.000000, -175.000000, -66.000000, -95.000000, 5.000000] - pose: {translation: [0.01073687208828638, -0.07624084845666793, 0.4323765577701685], quaternion: [-0.5258879460828586, 0.5638884287114811, -0.5013393207611907, -0.3925946937857889]} - solutions: [[-27.000000, 70.000000, -175.000000, 114.000000, 95.000000, -175.000000], [-27.000000, 63.231589, -174.045263, 114.353381, 92.617286, -169.684897], [153.000000, 82.466174, -178.115441, -69.050487, 102.970243, 165.695226], [153.000000, 33.919766, -170.929821, -82.909570, 113.496782, 123.402924], [-27.000000, 70.000000, -175.000000, -66.000000, -95.000000, 5.000000], [-27.000000, 63.231589, -174.045263, -65.646619, -92.617286, 10.315103], [153.000000, 82.466174, -178.115441, 110.949513, -102.970243, -14.304774], [153.000000, 33.919766, -170.929821, 97.090430, -113.496782, -56.597076]] + joints: [-27.000000, 70.000000, -175.000000, -66.000000, -94.000000, 5.000000] + pose: {translation: [0.01042296328962061, -0.07651311228643594, 0.4337095377667597], quaternion: [-0.5212110196913819, 0.5608353054538606, -0.5054630725952604, -0.3978817856490836]} + solutions: [[-27.000000, 70.000000, -175.000000, 114.000000, 94.000000, -175.000000], [-27.000000, 63.231589, -174.045263, 114.260716, 91.621583, -169.688324], [153.000000, 82.466174, -178.115441, -68.712491, 102.026256, 165.768374], [153.000000, 33.919766, -170.929821, -81.953857, 113.018207, 123.780312], [-27.000000, 70.000000, -175.000000, -66.000000, -94.000000, 5.000000], [-27.000000, 63.231589, -174.045263, -65.739284, -91.621583, 10.311676], [153.000000, 82.466174, -178.115441, 111.287509, -102.026256, -14.231626], [153.000000, 33.919766, -170.929821, 98.046143, -113.018207, -56.219688]] - id: 1276 parameters: KukaKR6_R700_sixx - joints: [20.000000, 176.000000, 61.000000, -118.000000, 179.000000, 132.000000] - pose: {translation: [-0.4453353142545647, 0.16340067957667, 0.5976386790877148], quaternion: [0.8690824168560412, 0.4076743736680772, 0.2032678543000216, 0.192819960518273]} - solutions: [[-160.000000, -66.331662, 75.471796, 0.961979, 113.387415, 70.385502], [-160.000000, 9.738859, -64.517059, 18.170700, 177.167661, 88.153577], [20.000000, 176.000000, 61.000000, -118.000000, 179.000000, 132.000000], [20.000000, -123.907361, -50.045263, -178.870636, 128.572442, 70.707836], [-160.000000, -66.331662, 75.471796, -179.038021, -113.387415, -109.614498], [-160.000000, 9.738859, -64.517059, -161.829300, -177.167661, -91.846423], [20.000000, 176.000000, 61.000000, 62.000000, -179.000000, -48.000000], [20.000000, -123.907361, -50.045263, 1.129364, -128.572442, -109.292164]] + joints: [20.000000, 175.000000, 61.000000, -118.000000, 178.000000, 132.000000] + pose: {translation: [-0.4486132872721245, 0.1659052454925761, 0.5885573400803225], quaternion: [0.8668414924372285, 0.4091858962741667, 0.2115861587495781, 0.1907459742828235]} + solutions: [[-160.000000, -65.319210, 75.591683, 1.915215, 112.776856, 70.756172], [-160.000000, 10.884712, -64.636946, 29.009624, 176.356938, 98.974972], [20.000000, 175.000000, 61.000000, -118.000000, 178.000000, 132.000000], [20.000000, -124.907361, -50.045263, -177.756271, 128.086799, 71.398968], [-160.000000, -65.319210, 75.591683, -178.084785, -112.776856, -109.243828], [-160.000000, 10.884712, -64.636946, -150.990376, -176.356938, -81.025028], [20.000000, 175.000000, 61.000000, 62.000000, -178.000000, -48.000000], [20.000000, -124.907361, -50.045263, 2.243729, -128.086799, -108.601032]] - id: 1277 parameters: KukaKR6_R700_sixx - joints: [133.000000, 52.000000, 91.000000, -110.000000, -17.000000, -37.000000] - pose: {translation: [0.06400472467271506, 0.1008642527829045, -0.1354907059991545], quaternion: [-0.6019101826538067, 0.62091290368351, 0.1826699412570352, 0.4677638192700723]} - solutions: [[-47.000000, 39.438205, 92.280370, -163.786647, 100.272226, -144.868539], [-47.000000, 134.442117, -81.325632, -142.767406, 27.005485, 178.062117], [133.000000, 52.000000, 91.000000, 70.000000, 17.000000, 143.000000], [133.000000, 145.542505, -80.045263, 16.045210, 83.724483, -149.637495], [-47.000000, 39.438205, 92.280370, 16.213353, -100.272226, 35.131461], [-47.000000, 134.442117, -81.325632, 37.232594, -27.005485, -1.937883], [133.000000, 52.000000, 91.000000, -110.000000, -17.000000, -37.000000], [133.000000, 145.542505, -80.045263, -163.954790, -83.724483, 30.362505]] + joints: [133.000000, 51.000000, 91.000000, -110.000000, -17.000000, -37.000000] + pose: {translation: [0.05761624656225516, 0.09401344875256976, -0.1378946947973609], quaternion: [-0.6037854615082586, 0.6248389827773438, 0.1822824634806258, 0.46020915416848]} + solutions: [[-47.000000, 40.565686, 92.065089, -163.791070, 100.187918, -144.893446], [-47.000000, 135.323615, -81.110352, -142.881960, 27.082597, 178.190734], [133.000000, 51.000000, 91.000000, 70.000000, 17.000000, 143.000000], [133.000000, 144.542505, -80.045263, 16.045210, 83.724483, -149.637495], [-47.000000, 40.565686, 92.065089, 16.208930, -100.187918, 35.106554], [-47.000000, 135.323615, -81.110352, 37.118040, -27.082597, -1.809266], [133.000000, 51.000000, 91.000000, -110.000000, -17.000000, -37.000000], [133.000000, 144.542505, -80.045263, -163.954790, -83.724483, 30.362505]] - id: 1278 parameters: KukaKR6_R700_sixx - joints: [-64.000000, 173.000000, -17.000000, -150.000000, -13.000000, -92.000000] - pose: {translation: [-0.2919381539705043, -0.6190880007451608, 0.1637108967925616], quaternion: [0.7792279789405221, 0.04443361540419435, -0.2407027322864122, 0.5769675946950897]} - solutions: [[116.000000, -5.649812, 54.076294, -169.030819, 36.235277, 108.474568], [116.000000, 46.869635, -43.121556, -36.053297, 11.017581, -27.092347], [-64.000000, 148.796673, 27.954737, 145.402521, 11.425139, -28.576526], [-64.000000, 173.000000, -17.000000, 30.000000, 13.000000, 88.000000], [116.000000, -5.649812, 54.076294, 10.969181, -36.235277, -71.525432], [116.000000, 46.869635, -43.121556, 143.946703, -11.017581, 152.907653], [-64.000000, 148.796673, 27.954737, -34.597479, -11.425139, 151.423474], [-64.000000, 173.000000, -17.000000, -150.000000, -13.000000, -92.000000]] + joints: [-64.000000, 172.000000, -17.000000, -150.000000, -13.000000, -92.000000] + pose: {translation: [-0.2900830286380438, -0.6152844301494059, 0.1513659753410632], quaternion: [0.7846444708183046, 0.0441126739979517, -0.2373641517694599, 0.5710038404965224]} + solutions: [[116.000000, -4.504119, 53.946704, -169.034999, 36.251086, 108.479750], [116.000000, 47.873932, -42.991967, -36.462045, 10.909619, -26.675999], [-64.000000, 147.796673, 27.954737, 145.402521, 11.425139, -28.576526], [-64.000000, 172.000000, -17.000000, 30.000000, 13.000000, 88.000000], [116.000000, -4.504119, 53.946704, 10.965001, -36.251086, -71.520250], [116.000000, 47.873932, -42.991967, 143.537955, -10.909619, 153.324001], [-64.000000, 147.796673, 27.954737, -34.597479, -11.425139, 151.423474], [-64.000000, 172.000000, -17.000000, -150.000000, -13.000000, -92.000000]] - id: 1279 parameters: KukaKR6_R700_sixx - joints: [79.000000, -104.000000, 21.000000, -101.000000, -49.000000, -37.000000] - pose: {translation: [-0.06268764169745064, 0.0118884227002212, 1.1228774480457], quaternion: [-0.00134627734948109, -0.4280054621838152, 0.4232424402248743, 0.79854577118072]} - solutions: [[-101.000000, -98.818394, 24.467227, -117.492569, 56.632204, 169.911764], [-101.000000, -78.375765, -13.512490, -105.243477, 50.162000, 149.540360], [79.000000, -104.000000, 21.000000, 79.000000, 49.000000, 143.000000], [79.000000, -87.293469, -10.045263, 67.822383, 53.133087, 160.690073], [-101.000000, -98.818394, 24.467227, 62.507431, -56.632204, -10.088236], [-101.000000, -78.375765, -13.512490, 74.756523, -50.162000, -30.459640], [79.000000, -104.000000, 21.000000, -101.000000, -49.000000, -37.000000], [79.000000, -87.293469, -10.045263, -112.177617, -53.133087, -19.309927]] + joints: [79.000000, -103.000000, 21.000000, -101.000000, -49.000000, -37.000000] + pose: {translation: [-0.06027899147352745, -0.000503008482330581, 1.123616084653565], quaternion: [0.006199021871299909, -0.4302850865887785, 0.4195621838378896, 0.7992395700165924]} + solutions: [[-101.000000, -99.325771, 23.550938, -117.243865, 56.437441, 169.460750], [-101.000000, -79.870729, -12.596200, -105.581675, 50.273976, 150.068900], [79.000000, -103.000000, 21.000000, 79.000000, 49.000000, 143.000000], [79.000000, -86.293469, -10.045263, 67.822383, 53.133087, 160.690073], [-101.000000, -99.325771, 23.550938, 62.756135, -56.437441, -10.539250], [-101.000000, -79.870729, -12.596200, 74.418325, -50.273976, -29.931100], [79.000000, -103.000000, 21.000000, -101.000000, -49.000000, -37.000000], [79.000000, -86.293469, -10.045263, -112.177617, -53.133087, -19.309927]] - id: 1280 parameters: KukaKR6_R700_sixx - joints: [73.000000, 162.000000, -167.000000, 128.000000, -4.000000, 108.000000] - pose: {translation: [0.05267435742864995, -0.1572492469966947, 0.3728711461973669], quaternion: [0.6864267252816982, -0.08208597785546209, 0.3277330638743088, 0.6439497510692235]} - solutions: [[73.000000, -108.610426, 177.954737, -176.684846, 71.907525, 55.037249], [73.000000, 162.000000, -167.000000, -52.000000, 4.000000, -72.000000], [-107.000000, 56.925190, 168.064696, 175.337431, 42.549619, -120.493839], [-107.000000, -87.814725, -157.109959, 3.411102, 67.495500, 54.760877], [73.000000, -108.610426, 177.954737, 3.315154, -71.907525, -124.962751], [73.000000, 162.000000, -167.000000, 128.000000, -4.000000, 108.000000], [-107.000000, 56.925190, 168.064696, -4.662569, -42.549619, 59.506161], [-107.000000, -87.814725, -157.109959, -176.588898, -67.495500, -125.239123]] + joints: [73.000000, 161.000000, -167.000000, 128.000000, -4.000000, 108.000000] + pose: {translation: [0.05280651601921432, -0.1576815182686974, 0.3753322050464739], quaternion: [0.6801905056114068, -0.08099081361026968, 0.3301569546516802, 0.6494441850397722]} + solutions: [[73.000000, -109.610426, 177.954737, -176.684846, 71.907525, 55.037249], [73.000000, 161.000000, -167.000000, -52.000000, 4.000000, -72.000000], [-107.000000, 57.585925, 168.021166, 175.303180, 42.168101, -120.447488], [-107.000000, -87.312960, -157.066429, 3.400036, 67.949403, 54.790067], [73.000000, -109.610426, 177.954737, 3.315154, -71.907525, -124.962751], [73.000000, 161.000000, -167.000000, 128.000000, -4.000000, 108.000000], [-107.000000, 57.585925, 168.021166, -4.696820, -42.168101, 59.552512], [-107.000000, -87.312960, -157.066429, -176.599964, -67.949403, -125.209933]] - id: 1281 parameters: KukaKR6_R700_sixx - joints: [33.000000, 4.000000, -89.000000, -150.000000, 163.000000, -72.000000] - pose: {translation: [0.26579619165777, -0.1586655335625262, 0.6702404043123383], quaternion: [-0.3730047247860423, 0.9089369419268161, 0.1827665389511361, -0.03602087072572651]} - solutions: [[33.000000, -99.849803, 99.954737, -8.921747, 109.504467, 76.095548], [33.000000, 4.000000, -89.000000, -150.000000, 163.000000, -72.000000], [-147.000000, 176.543160, 91.609077, 25.578709, 160.209089, -76.657745], [-147.000000, -89.219605, -80.654339, 170.320862, 119.601885, 74.280067], [33.000000, -99.849803, 99.954737, 171.078253, -109.504467, -103.904452], [33.000000, 4.000000, -89.000000, 30.000000, -163.000000, 108.000000], [-147.000000, 176.543160, 91.609077, -154.421291, -160.209089, 103.342255], [-147.000000, -89.219605, -80.654339, -9.679138, -119.601885, -105.719933]] + joints: [33.000000, 4.000000, -89.000000, -150.000000, 162.000000, -72.000000] + pose: {translation: [0.26522601735489, -0.1575013687455931, 0.6707591754965254], quaternion: [-0.3721987122898847, 0.9074826101808046, 0.1913090992364884, -0.03666414240793081]} + solutions: [[33.000000, -99.849803, 99.954737, -9.485423, 110.352518, 75.903414], [33.000000, 4.000000, -89.000000, -150.000000, 162.000000, -72.000000], [-147.000000, 176.543160, 91.609077, 25.807499, 159.212240, -76.443142], [-147.000000, -89.219605, -80.654339, 169.677046, 120.432092, 73.957982], [33.000000, -99.849803, 99.954737, 170.514577, -110.352518, -104.096586], [33.000000, 4.000000, -89.000000, 30.000000, -162.000000, 108.000000], [-147.000000, 176.543160, 91.609077, -154.192501, -159.212240, 103.556858], [-147.000000, -89.219605, -80.654339, -10.322954, -120.432092, -106.042018]] - id: 1282 parameters: KukaKR6_R700_sixx - joints: [-73.000000, -122.000000, 77.000000, 79.000000, -51.000000, -173.000000] - pose: {translation: [-0.02367805588211925, 0.1312916743642886, 0.9939659478399001], quaternion: [-0.3347802874750416, 0.3361497097917615, 0.8780608884642775, -0.06272645274815609]} - solutions: [[-73.000000, -122.000000, 77.000000, -101.000000, 51.000000, 7.000000], [-73.000000, -44.227510, -66.045263, -56.257383, 66.550919, -69.381577], [107.000000, -139.497946, 74.591641, 125.354469, 69.286250, -73.666350], [107.000000, -64.406203, -63.636903, 84.685055, 50.010449, -1.927557], [-73.000000, -122.000000, 77.000000, 79.000000, -51.000000, -173.000000], [-73.000000, -44.227510, -66.045263, 123.742617, -66.550919, 110.618423], [107.000000, -139.497946, 74.591641, -54.645531, -69.286250, 106.333650], [107.000000, -64.406203, -63.636903, -95.314945, -50.010449, 178.072443]] + joints: [-73.000000, -121.000000, 77.000000, 79.000000, -51.000000, -173.000000] + pose: {translation: [-0.0206514606829473, 0.1411912211965916, 0.9922413791990026], quaternion: [-0.3320037959763195, 0.3433044882527746, 0.8760763645947613, -0.06637553164564358]} + solutions: [[-73.000000, -121.000000, 77.000000, -101.000000, 51.000000, 7.000000], [-73.000000, -43.227510, -66.045263, -56.257383, 66.550919, -69.381577], [107.000000, -140.337241, 74.336881, 125.325415, 69.231846, -73.584309], [107.000000, -65.528611, -63.382143, 84.795627, 49.998317, -2.099592], [-73.000000, -121.000000, 77.000000, 79.000000, -51.000000, -173.000000], [-73.000000, -43.227510, -66.045263, 123.742617, -66.550919, 110.618423], [107.000000, -140.337241, 74.336881, -54.674585, -69.231846, 106.415691], [107.000000, -65.528611, -63.382143, -95.204373, -49.998317, 177.900408]] - id: 1283 parameters: KukaKR6_R700_sixx joints: [-74.000000, -19.000000, 15.000000, -1.000000, 86.000000, -166.000000] @@ -6426,9 +6426,9 @@ cases: solutions: [[49.000000, 16.000000, 78.000000, -75.000000, 75.000000, -150.000000], [49.000000, 94.887994, -67.045263, -70.097718, 97.125483, 147.080391], [-131.000000, 94.193655, 68.969406, 108.262906, 100.733897, 136.553152], [-131.000000, 163.056354, -58.014669, 108.972523, 80.613538, -168.627600], [49.000000, 16.000000, 78.000000, 105.000000, -75.000000, 30.000000], [49.000000, 94.887994, -67.045263, 109.902282, -97.125483, -32.919609], [-131.000000, 94.193655, 68.969406, -71.737094, -100.733897, -43.446848], [-131.000000, 163.056354, -58.014669, -71.027477, -80.613538, 11.372400]] - id: 1285 parameters: KukaKR6_R700_sixx - joints: [-102.000000, 36.000000, 180.000000, -37.000000, 153.000000, 42.000000] - pose: {translation: [-0.02942455783137199, 0.03330306424449004, 0.382642241487327], quaternion: [-0.7811606139669227, -0.07060106028172816, 0.2437941131493423, 0.5704103924961762]} - solutions: [[-102.000000, 36.000000, 180.000000, -37.000000, 153.000000, 42.000000], [-102.000000, -33.984040, -169.045263, -154.676946, 140.299390, -84.116734], [-102.000000, 36.000000, 180.000000, 143.000000, -153.000000, -138.000000], [-102.000000, -33.984040, -169.045263, 25.323054, -140.299390, 95.883266]] + joints: [-102.000000, 36.000000, 180.000000, -37.000000, 152.000000, 42.000000] + pose: {translation: [-0.03016604081238528, 0.03320658527156501, 0.3838213923660712], quaternion: [-0.7762191097156415, -0.0728739682341363, 0.2492629722022297, 0.5744921663129773]} + solutions: [[-102.000000, 36.000000, 180.000000, -37.000000, 152.000000, 42.000000], [-102.000000, -33.984040, -169.045263, -153.396527, 140.881857, -83.127415], [-102.000000, 36.000000, 180.000000, 143.000000, -152.000000, -138.000000], [-102.000000, -33.984040, -169.045263, 26.603473, -140.881857, 96.872585]] - id: 1286 parameters: KukaKR6_R700_sixx joints: [10.000000, 19.000000, -154.000000, 110.000000, -16.000000, 27.000000] @@ -6436,9 +6436,9 @@ cases: solutions: [[10.000000, 174.081171, 164.954737, -164.215926, 107.784128, -37.326935], [10.000000, 19.000000, -154.000000, -70.000000, 16.000000, -153.000000], [-170.000000, 144.890158, 162.289687, 81.784431, 15.170964, -123.753470], [-170.000000, -17.739556, -151.334950, 16.965216, 117.418013, -34.265021], [10.000000, 174.081171, 164.954737, 15.784074, -107.784128, 142.673065], [10.000000, 19.000000, -154.000000, 110.000000, -16.000000, 27.000000], [-170.000000, 144.890158, 162.289687, -98.215569, -15.170964, 56.246530], [-170.000000, -17.739556, -151.334950, -163.034784, -117.418013, 145.734979]] - id: 1287 parameters: KukaKR6_R700_sixx - joints: [-166.000000, 112.000000, 169.000000, 118.000000, -23.000000, -110.000000] - pose: {translation: [0.0217101626200272, -0.03385748442824944, 0.542396612821347], quaternion: [-0.1960022536371642, -0.1651894449896059, 0.9519054304717274, 0.1678440206608925]} - solutions: [[14.000000, 169.216444, 175.187038, 159.692034, 96.262252, 7.700335], [14.000000, 59.112922, -164.232301, 108.709620, 21.361004, 80.028151], [-166.000000, 112.000000, 169.000000, -62.000000, 23.000000, 70.000000], [-166.000000, -29.209177, -158.045263, -22.899921, 117.551272, -1.043507], [14.000000, 169.216444, 175.187038, -20.307966, -96.262252, -172.299665], [14.000000, 59.112922, -164.232301, -71.290380, -21.361004, -99.971849], [-166.000000, 112.000000, 169.000000, 118.000000, -23.000000, -110.000000], [-166.000000, -29.209177, -158.045263, 157.100079, -117.551272, 178.956493]] + joints: [-166.000000, 111.000000, 169.000000, 118.000000, -23.000000, -110.000000] + pose: {translation: [0.02411348819040775, -0.03445670079289437, 0.5414280248363805], quaternion: [-0.1875803602604744, -0.1657715716718254, 0.9531800606049484, 0.1696501297822973]} + solutions: [[14.000000, 169.900499, 175.363459, 159.697292, 96.131398, 7.749037], [14.000000, 60.956299, -164.408721, 110.307914, 21.583759, 78.310672], [-166.000000, 111.000000, 169.000000, -62.000000, 23.000000, 70.000000], [-166.000000, -30.209177, -158.045263, -22.899921, 117.551272, -1.043507], [14.000000, 169.900499, 175.363459, -20.302708, -96.131398, -172.250963], [14.000000, 60.956299, -164.408721, -69.692086, -21.583759, -101.689328], [-166.000000, 111.000000, 169.000000, 118.000000, -23.000000, -110.000000], [-166.000000, -30.209177, -158.045263, 157.100079, -117.551272, 178.956493]] - id: 1288 parameters: KukaKR6_R700_sixx joints: [117.000000, 9.000000, 140.000000, 120.000000, 73.000000, -69.000000] @@ -6451,34 +6451,34 @@ cases: solutions: [[24.000000, 12.585207, 77.016567, 15.431013, 148.945661, -104.005774], [24.000000, 90.376165, -66.061829, 166.468553, 144.082563, 51.661267], [-156.000000, 99.000000, 67.000000, -11.000000, 134.000000, 55.000000], [-156.000000, 165.689434, -56.045263, -143.733768, 166.583193, -81.796706], [24.000000, 12.585207, 77.016567, -164.568987, -148.945661, 75.994226], [24.000000, 90.376165, -66.061829, -13.531447, -144.082563, -128.338733], [-156.000000, 99.000000, 67.000000, 169.000000, -134.000000, -125.000000], [-156.000000, 165.689434, -56.045263, 36.266232, -166.583193, 98.203294]] - id: 1290 parameters: KukaKR6_R700_sixx - joints: [65.000000, -179.000000, -146.000000, 108.000000, -35.000000, -18.000000] - pose: {translation: [0.07110479385346007, -0.04922300254736496, 0.1756094859058278], quaternion: [-0.3213099101181886, 0.8392129313733274, -0.2945634216210409, 0.3251368759746165]} - solutions: [[65.000000, -3.690275, 156.954737, -145.890522, 103.402522, -77.442019], [65.000000, -179.000000, -146.000000, -72.000000, 35.000000, 162.000000], [-115.000000, 16.368753, 155.477382, 134.069541, 49.396335, 127.549343], [-115.000000, -162.037986, -144.522645, 33.515705, 81.090761, -92.220246], [65.000000, -3.690275, 156.954737, 34.109478, -103.402522, 102.557981], [65.000000, -179.000000, -146.000000, 108.000000, -35.000000, -18.000000], [-115.000000, 16.368753, 155.477382, -45.930459, -49.396335, -52.450657], [-115.000000, -162.037986, -144.522645, -146.484295, -81.090761, 87.779754]] + joints: [65.000000, -178.000000, -146.000000, 108.000000, -35.000000, -18.000000] + pose: {translation: [0.06944655892178066, -0.04566690626054776, 0.1747769511691734], quaternion: [-0.3198125396941142, 0.8427097599455173, -0.2867299428890863, 0.3245707007691706]} + solutions: [[65.000000, -2.690275, 156.954737, -145.890522, 103.402522, -77.442019], [65.000000, -178.000000, -146.000000, -72.000000, 35.000000, 162.000000], [-115.000000, 15.291270, 155.629430, 134.115406, 49.448219, 127.478833], [-115.000000, -162.803380, -144.674692, 33.522880, 81.021932, -92.266397], [65.000000, -2.690275, 156.954737, 34.109478, -103.402522, 102.557981], [65.000000, -178.000000, -146.000000, 108.000000, -35.000000, -18.000000], [-115.000000, 15.291270, 155.629430, -45.884594, -49.448219, -52.521167], [-115.000000, -162.803380, -144.674692, -146.477120, -81.021932, 87.733603]] - id: 1291 parameters: KukaKR6_R700_sixx - joints: [45.000000, -76.000000, -68.000000, -114.000000, 47.000000, -28.000000] - pose: {translation: [-0.155093946995101, 0.2306836451646657, 0.9046861063085787], quaternion: [-0.5399844976015283, 0.3582051483437392, 0.4472478626828663, 0.6165023628305678]} - solutions: [[-135.000000, -111.967960, 84.438767, 73.827447, 44.079340, -39.153857], [-135.000000, -25.860073, -73.484030, 41.963961, 87.701064, 26.796407], [45.000000, -155.954383, 78.954737, -138.076107, 90.420994, 29.240355], [45.000000, -76.000000, -68.000000, -114.000000, 47.000000, -28.000000], [-135.000000, -111.967960, 84.438767, -106.172553, -44.079340, 140.846143], [-135.000000, -25.860073, -73.484030, -138.036039, -87.701064, -153.203593], [45.000000, -155.954383, 78.954737, 41.923893, -90.420994, -150.759645], [45.000000, -76.000000, -68.000000, 66.000000, -47.000000, 152.000000]] + joints: [45.000000, -76.000000, -68.000000, -114.000000, 46.000000, -28.000000] + pose: {translation: [-0.1561317081907136, 0.2304796991403342, 0.9055976762281308], quaternion: [-0.5390435830156024, 0.3516090009690257, 0.4528589695407211, 0.6170266442818994]} + solutions: [[-135.000000, -111.967960, 84.438767, 74.110556, 43.098574, -39.358922], [-135.000000, -25.860073, -73.484030, 41.145836, 87.124834, 26.833336], [45.000000, -155.954383, 78.954737, -138.917044, 89.879853, 29.238147], [45.000000, -76.000000, -68.000000, -114.000000, 46.000000, -28.000000], [-135.000000, -111.967960, 84.438767, -105.889444, -43.098574, 140.641078], [-135.000000, -25.860073, -73.484030, -138.854164, -87.124834, -153.166664], [45.000000, -155.954383, 78.954737, 41.082956, -89.879853, -150.761853], [45.000000, -76.000000, -68.000000, 66.000000, -46.000000, 152.000000]] - id: 1292 parameters: KukaKR6_R700_sixx - joints: [162.000000, 162.000000, -138.000000, -11.000000, 106.000000, -25.000000] - pose: {translation: [-0.01662547835905815, -0.02083046095873576, 0.1261820439207567], quaternion: [0.9332136532687634, -0.06377614769654005, 0.3517985379039458, -0.03581436955195013]} - solutions: [[162.000000, -7.353838, 148.954737, -136.445054, 15.437605, 115.562091], [162.000000, 162.000000, -138.000000, -11.000000, 106.000000, -25.000000], [-18.000000, 32.446246, 146.009282, 166.547177, 127.963624, -30.304195], [-18.000000, -163.157544, -135.054544, 138.261756, 15.992633, 18.684473], [162.000000, -7.353838, 148.954737, 43.554946, -15.437605, -64.437909], [162.000000, 162.000000, -138.000000, 169.000000, -106.000000, 155.000000], [-18.000000, 32.446246, 146.009282, -13.452823, -127.963624, 149.695805], [-18.000000, -163.157544, -135.054544, -41.738244, -15.992633, -161.315527]] + joints: [162.000000, 161.000000, -138.000000, -11.000000, 105.000000, -25.000000] + pose: {translation: [-0.02219054751921212, -0.02271352211945256, 0.1253128586529847], quaternion: [0.9390019699893561, -0.0641301763134324, 0.3365617898344344, -0.02981245487306389]} + solutions: [[162.000000, -8.353838, 148.954737, -138.719447, 16.222058, 117.750303], [162.000000, 161.000000, -138.000000, -11.000000, 105.000000, -25.000000], [-18.000000, 33.474817, 145.864178, 166.683051, 126.854455, -30.200220], [-18.000000, -162.366122, -134.909440, 135.478041, 15.239365, 21.377202], [162.000000, -8.353838, 148.954737, 41.280553, -16.222058, -62.249697], [162.000000, 161.000000, -138.000000, 169.000000, -105.000000, 155.000000], [-18.000000, 33.474817, 145.864178, -13.316949, -126.854455, 149.799780], [-18.000000, -162.366122, -134.909440, -44.521959, -15.239365, -158.622798]] - id: 1293 parameters: KukaKR6_R700_sixx - joints: [-46.000000, -132.000000, 52.000000, -102.000000, 150.000000, -142.000000] - pose: {translation: [-0.1511574583241241, -0.1002041792359426, 0.9328377929860283], quaternion: [-0.02808043863415166, 0.9574026756729881, 0.09047289671715177, -0.2727751098247868]} - solutions: [[134.000000, -105.535547, 57.149299, 33.341141, 117.147439, 158.499286], [134.000000, -49.659508, -46.194562, 71.220941, 148.897378, -149.868320], [-46.000000, -132.000000, 52.000000, -102.000000, 150.000000, -142.000000], [-46.000000, -81.744599, -41.045263, -143.650494, 124.396348, 164.363810], [134.000000, -105.535547, 57.149299, -146.658859, -117.147439, -21.500714], [134.000000, -49.659508, -46.194562, -108.779059, -148.897378, 30.131680], [-46.000000, -132.000000, 52.000000, 78.000000, -150.000000, 38.000000], [-46.000000, -81.744599, -41.045263, 36.349506, -124.396348, -15.636190]] + joints: [-46.000000, -131.000000, 52.000000, -102.000000, 149.000000, -142.000000] + pose: {translation: [-0.1455993594078766, -0.09275459173195758, 0.9370268400941815], quaternion: [-0.02490202335052664, 0.9538726878816698, 0.08958666641775447, -0.285448793563053]} + solutions: [[134.000000, -106.370549, 56.816789, 34.352602, 116.774959, 159.041046], [134.000000, -50.858051, -45.862051, 71.276328, 147.863750, -149.887663], [-46.000000, -131.000000, 52.000000, -102.000000, 149.000000, -142.000000], [-46.000000, -80.744599, -41.045263, -142.681448, 123.799610, 164.907083], [134.000000, -106.370549, 56.816789, -145.647398, -116.774959, -20.958954], [134.000000, -50.858051, -45.862051, -108.723672, -147.863750, 30.112337], [-46.000000, -131.000000, 52.000000, 78.000000, -149.000000, 38.000000], [-46.000000, -80.744599, -41.045263, 37.318552, -123.799610, -15.092917]] - id: 1294 parameters: KukaKR6_R700_sixx - joints: [70.000000, 122.000000, -50.000000, 137.000000, -99.000000, -33.000000] - pose: {translation: [0.03193893116394336, 0.06980690704470634, -0.209410404848007], quaternion: [-0.2905594187194742, 0.6729007021148684, 0.4738763400552769, 0.4880789727313952]} - solutions: [[70.000000, 61.956997, 60.954737, -49.423174, 62.481469, -176.353182], [70.000000, 122.000000, -50.000000, -43.000000, 99.000000, 147.000000], [-110.000000, 62.812982, 60.829603, 134.128480, 110.206927, 135.699680], [-110.000000, 122.718767, -49.874865, 135.298571, 73.259677, 171.209726], [70.000000, 61.956997, 60.954737, 130.576826, -62.481469, 3.646818], [70.000000, 122.000000, -50.000000, 137.000000, -99.000000, -33.000000], [-110.000000, 62.812982, 60.829603, -45.871520, -110.206927, -44.300320], [-110.000000, 122.718767, -49.874865, -44.701429, -73.259677, -8.790274]] + joints: [70.000000, 122.000000, -50.000000, 137.000000, -98.000000, -33.000000] + pose: {translation: [0.03216804451590809, 0.06958894766892808, -0.2107703691051307], quaternion: [-0.2916967608827901, 0.6786994231696334, 0.4685336119787213, 0.4845166118162189]} + solutions: [[70.000000, 61.956997, 60.954737, -50.101184, 61.680785, -176.035713], [70.000000, 122.000000, -50.000000, -43.000000, 98.000000, 147.000000], [-110.000000, 62.812982, 60.829603, 134.335996, 109.226193, 135.769692], [-110.000000, 122.718767, -49.874865, 134.868249, 72.348078, 171.336952], [70.000000, 61.956997, 60.954737, 129.898816, -61.680785, 3.964287], [70.000000, 122.000000, -50.000000, 137.000000, -98.000000, -33.000000], [-110.000000, 62.812982, 60.829603, -45.664004, -109.226193, -44.230308], [-110.000000, 122.718767, -49.874865, -45.131751, -72.348078, -8.663048]] - id: 1295 parameters: KukaKR6_R700_sixx - joints: [44.000000, 93.000000, 98.000000, -97.000000, -49.000000, -179.000000] - pose: {translation: [-0.3340938265303668, 0.2393227037908824, 0.137957473865998], quaternion: [0.4830744484102731, -0.3986289545506234, -0.545209377629265, 0.5572080118161412]} - solutions: [[-136.000000, -15.897614, 106.916200, -129.728271, 103.095238, 95.649466], [-136.000000, 96.131258, -95.961463, -106.178454, 51.258024, 15.271264], [44.000000, 93.000000, 98.000000, 83.000000, 49.000000, 1.000000], [44.000000, -165.418557, -87.045263, 48.520136, 90.956800, 81.481509], [-136.000000, -15.897614, 106.916200, 50.271729, -103.095238, -84.350534], [-136.000000, 96.131258, -95.961463, 73.821546, -51.258024, -164.728736], [44.000000, 93.000000, 98.000000, -97.000000, -49.000000, -179.000000], [44.000000, -165.418557, -87.045263, -131.479864, -90.956800, -98.518491]] + joints: [44.000000, 92.000000, 98.000000, -97.000000, -48.000000, -179.000000] + pose: {translation: [-0.3308738011544664, 0.2374897267271041, 0.1305359207917118], quaternion: [0.4784579366445902, -0.4103486524298839, -0.5438725774892771, 0.5539806907880003]} + solutions: [[-136.000000, -14.736087, 106.791416, -130.745402, 103.198259, 95.445432], [-136.000000, 97.144633, -95.836678, -106.608799, 50.328683, 15.646011], [44.000000, 92.000000, 98.000000, 83.000000, 48.000000, 1.000000], [44.000000, -166.418557, -87.045263, 47.533811, 90.791301, 81.466463], [-136.000000, -14.736087, 106.791416, 49.254598, -103.198259, -84.554568], [-136.000000, 97.144633, -95.836678, 73.391201, -50.328683, -164.353989], [44.000000, 92.000000, 98.000000, -97.000000, -48.000000, -179.000000], [44.000000, -166.418557, -87.045263, -132.466189, -90.791301, -98.533537]] - id: 1296 parameters: KukaKR6_R700_sixx joints: [-33.000000, -16.000000, -22.000000, -61.000000, 61.000000, 47.000000] @@ -6486,124 +6486,124 @@ cases: solutions: [[-33.000000, -45.600905, 32.954737, -77.072657, 51.706998, 75.501606], [-33.000000, -16.000000, -22.000000, -61.000000, 61.000000, 47.000000], [-33.000000, -45.600905, 32.954737, 102.927343, -51.706998, -104.498394], [-33.000000, -16.000000, -22.000000, 119.000000, -61.000000, -133.000000]] - id: 1297 parameters: KukaKR6_R700_sixx - joints: [-44.000000, -68.000000, 30.000000, 80.000000, 103.000000, 161.000000] - pose: {translation: [0.3433845352685043, 0.224886161041, 0.9226138718312179], quaternion: [0.7900529716545642, -0.1082954738258818, 0.4445080798549535, 0.4080452907120513]} - solutions: [[-44.000000, -68.000000, 30.000000, 80.000000, 103.000000, 161.000000], [-44.000000, -41.589697, -19.045263, 85.851988, 105.827465, -175.799666], [-44.000000, -68.000000, 30.000000, -100.000000, -103.000000, -19.000000], [-44.000000, -41.589697, -19.045263, -94.148012, -105.827465, 4.200334]] + joints: [-44.000000, -68.000000, 30.000000, 80.000000, 102.000000, 161.000000] + pose: {translation: [0.3443872118674806, 0.2254407055789218, 0.923411757782666], quaternion: [0.7875144977657744, -0.1036616432608935, 0.4513176378686857, 0.4066787052130972]} + solutions: [[-44.000000, -68.000000, 30.000000, 80.000000, 102.000000, 161.000000], [-44.000000, -41.589697, -19.045263, 85.444336, 104.907957, -175.907703], [-44.000000, -68.000000, 30.000000, -100.000000, -102.000000, -19.000000], [-44.000000, -41.589697, -19.045263, -94.555664, -104.907957, 4.092297]] - id: 1298 parameters: KukaKR6_R700_sixx - joints: [-103.000000, 149.000000, -3.000000, 36.000000, -120.000000, -33.000000] - pose: {translation: [0.06459237845887783, -0.4608106288826846, -0.01945884135343446], quaternion: [-0.4714474716915844, 0.6544944995004551, 0.5829743434291763, -0.09754561221593992]} - solutions: [[77.000000, 16.317713, 45.969738, 30.800261, 96.215347, 130.728116], [77.000000, 60.013246, -35.015000, 39.671099, 127.118503, 153.623004], [-103.000000, 139.878837, 13.954737, -140.880884, 126.215725, 152.698705], [-103.000000, 149.000000, -3.000000, -144.000000, 120.000000, 147.000000], [77.000000, 16.317713, 45.969738, -149.199739, -96.215347, -49.271884], [77.000000, 60.013246, -35.015000, -140.328901, -127.118503, -26.376996], [-103.000000, 139.878837, 13.954737, 39.119116, -126.215725, -27.301295], [-103.000000, 149.000000, -3.000000, 36.000000, -120.000000, -33.000000]] + joints: [-103.000000, 148.000000, -3.000000, 36.000000, -119.000000, -33.000000] + pose: {translation: [0.06268726148518396, -0.4543551776199401, -0.02907365199761494], quaternion: [-0.4758611958707504, 0.6514039765586245, 0.5828862163861755, -0.09732749013037834]} + solutions: [[77.000000, 17.523931, 45.702233, 31.084551, 95.307820, 130.788011], [77.000000, 60.928960, -34.747495, 39.443500, 125.983685, 153.393716], [-103.000000, 138.878837, 13.954737, -141.002426, 125.220605, 152.627746], [-103.000000, 148.000000, -3.000000, -144.000000, 119.000000, 147.000000], [77.000000, 17.523931, 45.702233, -148.915449, -95.307820, -49.211989], [77.000000, 60.928960, -34.747495, -140.556500, -125.983685, -26.606284], [-103.000000, 138.878837, 13.954737, 38.997574, -125.220605, -27.372254], [-103.000000, 148.000000, -3.000000, 36.000000, -119.000000, -33.000000]] - id: 1299 parameters: KukaKR6_R700_sixx - joints: [159.000000, -7.000000, -114.000000, -75.000000, 131.000000, -140.000000] - pose: {translation: [-0.1285557280732332, -0.1118165373864736, 0.696288710902897], quaternion: [0.8265221592696869, -0.2184840331971016, 0.009757931901878632, 0.5186816270498703]} - solutions: [[159.000000, -141.282834, 124.954737, -51.244623, 69.198417, -48.351547], [159.000000, -7.000000, -114.000000, -75.000000, 131.000000, -140.000000], [-21.000000, -178.460774, 121.599050, 103.180251, 131.520681, -142.759034], [-21.000000, -48.472801, -110.644312, 129.992955, 72.088972, -52.083108], [159.000000, -141.282834, 124.954737, 128.755377, -69.198417, 131.648453], [159.000000, -7.000000, -114.000000, 105.000000, -131.000000, 40.000000], [-21.000000, -178.460774, 121.599050, -76.819749, -131.520681, 37.240966], [-21.000000, -48.472801, -110.644312, -50.007045, -72.088972, 127.916892]] + joints: [159.000000, -7.000000, -114.000000, -75.000000, 130.000000, -140.000000] + pose: {translation: [-0.1279191441548141, -0.1125103819153101, 0.6973196535214776], quaternion: [0.823516011438945, -0.2150631071649896, 0.0140572454946313, 0.5247586423198148]} + solutions: [[159.000000, -141.282834, 124.954737, -52.313690, 69.230495, -47.972156], [159.000000, -7.000000, -114.000000, -75.000000, 130.000000, -140.000000], [-21.000000, -178.460774, 121.599050, 103.243571, 130.521823, -142.717473], [-21.000000, -48.472801, -110.644312, 128.942512, 72.055442, -51.759754], [159.000000, -141.282834, 124.954737, 127.686310, -69.230495, 132.027844], [159.000000, -7.000000, -114.000000, 105.000000, -130.000000, 40.000000], [-21.000000, -178.460774, 121.599050, -76.756429, -130.521823, 37.282527], [-21.000000, -48.472801, -110.644312, -51.057488, -72.055442, 128.240246]] - id: 1300 parameters: KukaKR6_R700_sixx - joints: [140.000000, -102.000000, 51.000000, 13.000000, -135.000000, 147.000000] - pose: {translation: [-0.05584232032338847, -0.06346877823301225, 1.004526287828023], quaternion: [0.06776094044496481, 0.7438919982668298, 0.3906931105876387, 0.5379517108476857]} - solutions: [[140.000000, -102.000000, 51.000000, -167.000000, 135.000000, -33.000000], [140.000000, -52.833986, -40.045263, -170.826900, 93.815210, -41.656050], [-40.000000, -128.295905, 45.055176, 9.152596, 89.984660, -42.274133], [-40.000000, -85.593404, -34.100439, 11.324642, 125.900867, -35.573894], [140.000000, -102.000000, 51.000000, 13.000000, -135.000000, 147.000000], [140.000000, -52.833986, -40.045263, 9.173100, -93.815210, 138.343950], [-40.000000, -128.295905, 45.055176, -170.847404, -89.984660, 137.725867], [-40.000000, -85.593404, -34.100439, -168.675358, -125.900867, 144.426106]] + joints: [140.000000, -101.000000, 51.000000, 13.000000, -134.000000, 147.000000] + pose: {translation: [-0.0637068839042108, -0.07035531140640308, 1.004787765850137], quaternion: [0.06847614415912801, 0.7321985209042912, 0.3982979424753343, 0.5482290512975231]} + solutions: [[140.000000, -101.000000, 51.000000, -167.000000, 134.000000, -33.000000], [140.000000, -51.833986, -40.045263, -170.676222, 92.826588, -41.647321], [-40.000000, -129.045685, 44.637117, 9.313335, 89.163360, -42.248399], [-40.000000, -86.796964, -33.682380, 11.350023, 124.691570, -35.593646], [140.000000, -101.000000, 51.000000, 13.000000, -134.000000, 147.000000], [140.000000, -51.833986, -40.045263, 9.323778, -92.826588, 138.352679], [-40.000000, -129.045685, 44.637117, -170.686665, -89.163360, 137.751601], [-40.000000, -86.796964, -33.682380, -168.649977, -124.691570, 144.406354]] - id: 1301 parameters: KukaKR6_R700_sixx - joints: [152.000000, -68.000000, -143.000000, 125.000000, -37.000000, 134.000000] - pose: {translation: [0.2134934006550585, 0.06884988466106086, 0.4648375806539472], quaternion: [-0.5153125391645027, 0.5405324839025658, -0.4734191801128547, 0.4670673406771532]} - solutions: [[-28.000000, -128.767384, 162.136409, 127.472819, 38.400830, -49.124805], [-28.000000, 68.197940, -151.181671, 29.537893, 90.529613, 85.542917], [152.000000, 113.455111, 153.954737, -150.368395, 94.379149, 87.729733], [152.000000, -68.000000, -143.000000, -55.000000, 37.000000, -46.000000], [-28.000000, -128.767384, 162.136409, -52.527181, -38.400830, 130.875195], [-28.000000, 68.197940, -151.181671, -150.462107, -90.529613, -94.457083], [152.000000, 113.455111, 153.954737, 29.631605, -94.379149, -92.270267], [152.000000, -68.000000, -143.000000, 125.000000, -37.000000, 134.000000]] + joints: [152.000000, -67.000000, -143.000000, 125.000000, -37.000000, 134.000000] + pose: {translation: [0.2124612239847589, 0.06830106659032162, 0.469117970390286], quaternion: [-0.509731678431231, 0.5388526461111968, -0.4751571887056517, 0.4733255621704612]} + solutions: [[-28.000000, -129.950569, 162.053932, 127.205566, 38.239697, -48.784163], [-28.000000, 66.798029, -151.099194, 29.539717, 90.805788, 85.699427], [152.000000, 114.455111, 153.954737, -150.368395, 94.379149, 87.729733], [152.000000, -67.000000, -143.000000, -55.000000, 37.000000, -46.000000], [-28.000000, -129.950569, 162.053932, -52.794434, -38.239697, 131.215837], [-28.000000, 66.798029, -151.099194, -150.460283, -90.805788, -94.300573], [152.000000, 114.455111, 153.954737, 29.631605, -94.379149, -92.270267], [152.000000, -67.000000, -143.000000, 125.000000, -37.000000, 134.000000]] - id: 1302 parameters: KukaKR6_R700_sixx - joints: [-70.000000, -40.000000, 53.000000, 12.000000, -7.000000, 139.000000] - pose: {translation: [0.2407024647692596, 0.667251269557675, 0.5459040469012191], quaternion: [-0.6940938420626546, -0.2679466566283039, -0.4263340864163426, 0.5144682442794298]} - solutions: [[-70.000000, -40.000000, 53.000000, -168.000000, 7.000000, -41.000000], [-70.000000, 11.345456, -42.045263, -2.419991, 36.875841, 152.849376], [110.000000, -176.720707, 24.045859, 177.369077, 33.504457, 153.107365], [110.000000, -156.732256, -13.091122, 174.848380, 16.390796, 155.856432], [-70.000000, -40.000000, 53.000000, 12.000000, -7.000000, 139.000000], [-70.000000, 11.345456, -42.045263, 177.580009, -36.875841, -27.150624], [110.000000, -176.720707, 24.045859, -2.630923, -33.504457, -26.892635], [110.000000, -156.732256, -13.091122, -5.151620, -16.390796, -24.143568]] + joints: [-70.000000, -39.000000, 53.000000, 12.000000, -7.000000, 139.000000] + pose: {translation: [0.2415377289242378, 0.6695461389627575, 0.5339385117553774], quaternion: [-0.6995586454059403, -0.2698969967083701, -0.4220489925732297, 0.5095566314685052]} + solutions: [[-70.000000, -39.000000, 53.000000, -168.000000, 7.000000, -41.000000], [-70.000000, 12.345456, -42.045263, -2.419991, 36.875841, 152.849376], [110.000000, -177.538375, 23.841969, 177.367581, 33.482921, 153.109159], [110.000000, -157.769677, -12.887232, 174.898682, 16.556600, 155.803978], [-70.000000, -39.000000, 53.000000, 12.000000, -7.000000, 139.000000], [-70.000000, 12.345456, -42.045263, 177.580009, -36.875841, -27.150624], [110.000000, -177.538375, 23.841969, -2.632419, -33.482921, -26.890841], [110.000000, -157.769677, -12.887232, -5.101318, -16.556600, -24.196022]] - id: 1303 parameters: KukaKR6_R700_sixx - joints: [104.000000, 98.000000, -87.000000, 120.000000, 146.000000, 135.000000] - pose: {translation: [-0.1066106161871723, -0.2674491463451522, 0.08738901075604211], quaternion: [-0.2079370660854506, -0.4903453116569779, -0.6341803886881876, 0.5604809421265771]} - solutions: [[104.000000, -3.529050, 97.954737, 31.457768, 111.880740, 22.990046], [104.000000, 98.000000, -87.000000, 120.000000, 146.000000, 135.000000], [-76.000000, 91.069930, 89.357255, -47.852569, 139.218805, 150.229488], [-76.000000, -177.257241, -78.402517, -142.433444, 127.410135, 35.192273], [104.000000, -3.529050, 97.954737, -148.542232, -111.880740, -157.009954], [104.000000, 98.000000, -87.000000, -60.000000, -146.000000, -45.000000], [-76.000000, 91.069930, 89.357255, 132.147431, -139.218805, -29.770512], [-76.000000, -177.257241, -78.402517, 37.566556, -127.410135, -144.807727]] + joints: [104.000000, 97.000000, -87.000000, 120.000000, 145.000000, 135.000000] + pose: {translation: [-0.1091004108261671, -0.2733159849145291, 0.09240869037636013], quaternion: [-0.2066669323587426, -0.4949252659160361, -0.6278105264805319, 0.5640848367644756]} + solutions: [[104.000000, -4.529050, 97.954737, 32.459491, 112.252471, 23.366388], [104.000000, 97.000000, -87.000000, 120.000000, 145.000000, 135.000000], [-76.000000, 92.082787, 89.207290, -48.361972, 138.344442, 149.779045], [-76.000000, -176.414777, -78.252552, -141.193776, 127.568074, 35.943053], [104.000000, -4.529050, 97.954737, -147.540509, -112.252471, -156.633612], [104.000000, 97.000000, -87.000000, -60.000000, -145.000000, -45.000000], [-76.000000, 92.082787, 89.207290, 131.638028, -138.344442, -30.220955], [-76.000000, -176.414777, -78.252552, 38.806224, -127.568074, -144.056947]] - id: 1304 parameters: KukaKR6_R700_sixx - joints: [-165.000000, 81.000000, 151.000000, 142.000000, 69.000000, 9.000000] - pose: {translation: [0.2457013029793283, -0.01823185168183994, 0.3413118060631559], quaternion: [-0.04710651820688695, 0.763573409331984, 0.1899388318128867, 0.6153534469498896]} - solutions: [[15.000000, -79.181922, 159.821818, -142.971640, 72.637004, 160.671989], [15.000000, 111.988697, -148.867080, -42.983942, 57.461046, 19.982684], [-165.000000, 81.000000, 151.000000, 142.000000, 69.000000, 9.000000], [-165.000000, -106.020235, -140.045263, 40.950706, 61.278089, 150.721383], [15.000000, -79.181922, 159.821818, 37.028360, -72.637004, -19.328011], [15.000000, 111.988697, -148.867080, 137.016058, -57.461046, -160.017316], [-165.000000, 81.000000, 151.000000, -38.000000, -69.000000, -171.000000], [-165.000000, -106.020235, -140.045263, -139.049294, -61.278089, -29.278617]] + joints: [-165.000000, 81.000000, 151.000000, 142.000000, 68.000000, 9.000000] + pose: {translation: [0.2460853758916006, -0.01866092729619925, 0.3425837667989544], quaternion: [-0.0446275852376772, 0.7584998348935608, 0.1892952375262308, 0.6219756363011198]} + solutions: [[15.000000, -79.181922, 159.821818, -143.466474, 73.517851, 160.816030], [15.000000, 111.988697, -148.867080, -43.212448, 56.479568, 20.107242], [-165.000000, 81.000000, 151.000000, 142.000000, 68.000000, 9.000000], [-165.000000, -106.020235, -140.045263, 40.249535, 62.064903, 151.054118], [15.000000, -79.181922, 159.821818, 36.533526, -73.517851, -19.183970], [15.000000, 111.988697, -148.867080, 136.787552, -56.479568, -159.892758], [-165.000000, 81.000000, 151.000000, -38.000000, -68.000000, -171.000000], [-165.000000, -106.020235, -140.045263, -139.750465, -62.064903, -28.945882]] - id: 1305 parameters: KukaKR6_R700_sixx - joints: [-33.000000, 154.000000, 110.000000, 156.000000, 89.000000, 70.000000] - pose: {translation: [-0.3210192901468854, -0.247264682870691, 0.6150054716632619], quaternion: [-0.3411192754925899, -0.6501520739181723, 0.6760874380303196, 0.06201368240081189]} - solutions: [[147.000000, -99.025522, 118.686268, -119.776158, 27.939193, -167.516563], [147.000000, 27.301913, -107.731530, -24.066828, 85.738965, 71.455445], [-33.000000, 154.000000, 110.000000, 156.000000, 89.000000, 70.000000], [-33.000000, -90.289573, -99.045263, 80.157362, 24.377702, 170.339240], [147.000000, -99.025522, 118.686268, 60.223842, -27.939193, 12.483437], [147.000000, 27.301913, -107.731530, 155.933172, -85.738965, -108.544555], [-33.000000, 154.000000, 110.000000, -24.000000, -89.000000, -110.000000], [-33.000000, -90.289573, -99.045263, -99.842638, -24.377702, -9.660760]] + joints: [-33.000000, 153.000000, 110.000000, 156.000000, 89.000000, 70.000000] + pose: {translation: [-0.3241115015890301, -0.249272788460992, 0.6074873981388165], quaternion: [-0.3457596206957874, -0.6537944933450874, 0.6704750984834987, 0.05887433635709423]} + solutions: [[147.000000, -97.981515, 118.789051, -120.015740, 28.012358, -167.245280], [147.000000, 28.474120, -107.834314, -24.068954, 85.675577, 71.483837], [-33.000000, 153.000000, 110.000000, 156.000000, 89.000000, 70.000000], [-33.000000, -91.289573, -99.045263, 80.157362, 24.377702, 170.339240], [147.000000, -97.981515, 118.789051, 59.984260, -28.012358, 12.754720], [147.000000, 28.474120, -107.834314, 155.931046, -85.675577, -108.516163], [-33.000000, 153.000000, 110.000000, -24.000000, -89.000000, -110.000000], [-33.000000, -91.289573, -99.045263, -99.842638, -24.377702, -9.660760]] - id: 1306 parameters: KukaKR6_R700_sixx - joints: [-74.000000, -117.000000, 167.000000, 56.000000, -38.000000, -132.000000] - pose: {translation: [0.01726655703207117, 0.2083541954137907, 0.3929698796548214], quaternion: [-0.07788028697621631, 0.8277154772670859, 0.5432585893263669, -0.1170121990056941]} - solutions: [[-74.000000, -117.000000, 167.000000, -124.000000, 38.000000, 48.000000], [-74.000000, 94.497399, -156.045263, -30.707046, 88.235393, -81.514564], [106.000000, 94.589492, 157.897059, 149.004517, 97.633799, -87.125125], [106.000000, -78.664074, -146.942321, 61.002478, 35.701421, 41.751956], [-74.000000, -117.000000, 167.000000, 56.000000, -38.000000, -132.000000], [-74.000000, 94.497399, -156.045263, 149.292954, -88.235393, 98.485436], [106.000000, 94.589492, 157.897059, -30.995483, -97.633799, 92.874875], [106.000000, -78.664074, -146.942321, -118.997522, -35.701421, -138.248044]] + joints: [-74.000000, -116.000000, 167.000000, 56.000000, -37.000000, -132.000000] + pose: {translation: [0.01812269696544988, 0.2080082197992811, 0.3887784034764097], quaternion: [-0.07322948789056893, 0.8361057409177665, 0.5315075823215749, -0.1142992652745939]} + solutions: [[-74.000000, -116.000000, 167.000000, -124.000000, 37.000000, 48.000000], [-74.000000, 95.497399, -156.045263, -29.935450, 88.871808, -81.534041], [106.000000, 93.904150, 157.876006, 149.695553, 98.595362, -87.175765], [106.000000, -79.396091, -146.921269, 61.560862, 34.569049, 41.149408], [-74.000000, -116.000000, 167.000000, 56.000000, -37.000000, -132.000000], [-74.000000, 95.497399, -156.045263, 150.064550, -88.871808, 98.465959], [106.000000, 93.904150, 157.876006, -30.304447, -98.595362, 92.824235], [106.000000, -79.396091, -146.921269, -118.439138, -34.569049, -138.850592]] - id: 1307 parameters: KukaKR6_R700_sixx - joints: [-160.000000, 63.000000, 22.000000, 44.000000, -121.000000, 35.000000] - pose: {translation: [-0.279626394370555, 0.05108349602106376, -0.1958822324505692], quaternion: [-0.3914206065916033, -0.2517556965788976, 0.8794738125443813, 0.09967342185450381]} - solutions: [[-160.000000, 63.000000, 22.000000, -136.000000, 121.000000, -145.000000], [-160.000000, 80.783829, -11.045263, -140.813097, 109.546565, -156.188222], [-160.000000, 63.000000, 22.000000, 44.000000, -121.000000, 35.000000], [-160.000000, 80.783829, -11.045263, 39.186903, -109.546565, 23.811778]] + joints: [-160.000000, 62.000000, 22.000000, 44.000000, -121.000000, 35.000000] + pose: {translation: [-0.2893622728444131, 0.05462706598998113, -0.191337021446905], quaternion: [-0.3838962973070294, -0.2535536847435328, 0.8818986731444312, 0.1029023428937449]} + solutions: [[-160.000000, 62.000000, 22.000000, -136.000000, 121.000000, -145.000000], [-160.000000, 79.783829, -11.045263, -140.813097, 109.546565, -156.188222], [-160.000000, 62.000000, 22.000000, 44.000000, -121.000000, 35.000000], [-160.000000, 79.783829, -11.045263, 39.186903, -109.546565, 23.811778]] - id: 1308 parameters: KukaKR6_R700_sixx - joints: [2.000000, 136.000000, -162.000000, 146.000000, 164.000000, -126.000000] - pose: {translation: [0.03354174596532698, -0.01350957598573161, 0.3553656641399257], quaternion: [0.5612016577985186, -0.5413446294266097, -0.3935831819723261, 0.4869198808260964]} - solutions: [[2.000000, -100.759228, 172.954737, 8.902335, 95.114758, 87.758584], [2.000000, 136.000000, -162.000000, 146.000000, 164.000000, -126.000000], [-178.000000, 68.133733, 163.618759, -13.886232, 140.040882, -103.771493], [-178.000000, -90.858130, -152.664022, -170.872291, 103.681393, 89.134850], [2.000000, -100.759228, 172.954737, -171.097665, -95.114758, -92.241416], [2.000000, 136.000000, -162.000000, -34.000000, -164.000000, 54.000000], [-178.000000, 68.133733, 163.618759, 166.113768, -140.040882, 76.228507], [-178.000000, -90.858130, -152.664022, 9.127709, -103.681393, -90.865150]] + joints: [2.000000, 136.000000, -162.000000, 146.000000, 163.000000, -126.000000] + pose: {translation: [0.03338558427405582, -0.01425319734752701, 0.3565370491298641], quaternion: [0.5597614933131296, -0.5360477804651177, -0.3945114550168433, 0.4936401113389888]} + solutions: [[2.000000, -100.759228, 172.954737, 9.461016, 95.945890, 87.812427], [2.000000, 136.000000, -162.000000, 146.000000, 163.000000, -126.000000], [-178.000000, 68.133733, 163.618759, -14.464161, 139.113744, -104.211475], [-178.000000, -90.858130, -152.664022, -170.277877, 104.498473, 89.279562], [2.000000, -100.759228, 172.954737, -170.538984, -95.945890, -92.187573], [2.000000, 136.000000, -162.000000, -34.000000, -163.000000, 54.000000], [-178.000000, 68.133733, 163.618759, 165.535839, -139.113744, 75.788525], [-178.000000, -90.858130, -152.664022, 9.722123, -104.498473, -90.720438]] - id: 1309 parameters: KukaKR6_R700_sixx - joints: [-136.000000, 39.000000, 106.000000, 15.000000, 134.000000, -174.000000] - pose: {translation: [0.007091352976461241, 0.0138574836406383, 0.04114717033091486], quaternion: [-0.1205552535488334, -0.04075955446456616, -0.3424649739957755, 0.9308720809798193]} - solutions: [[44.000000, 36.477926, 106.230015, -12.037562, 116.783252, -10.032700], [44.000000, 147.692870, -95.275277, -157.747948, 150.550919, -164.933648], [-136.000000, 39.000000, 106.000000, 15.000000, 134.000000, -174.000000], [-136.000000, 149.942516, -95.045263, 165.022116, 133.914334, -15.056101], [44.000000, 36.477926, 106.230015, 167.962438, -116.783252, 169.967300], [44.000000, 147.692870, -95.275277, 22.252052, -150.550919, 15.066352], [-136.000000, 39.000000, 106.000000, -165.000000, -134.000000, 6.000000], [-136.000000, 149.942516, -95.045263, -14.977884, -133.914334, 164.943899]] + joints: [-136.000000, 39.000000, 106.000000, 15.000000, 133.000000, -174.000000] + pose: {translation: [0.008243982841286669, 0.01309021083466848, 0.04132672208981437], quaternion: [-0.1184276167551756, -0.03236682769350142, -0.3435353802474059, 0.9310804103690608]} + solutions: [[44.000000, 36.477926, 106.230015, -12.349609, 117.744014, -10.175650], [44.000000, 147.692870, -95.275277, -158.058990, 149.563042, -165.203183], [-136.000000, 39.000000, 106.000000, 15.000000, 133.000000, -174.000000], [-136.000000, 149.942516, -95.045263, 164.515390, 134.846455, -15.410527], [44.000000, 36.477926, 106.230015, 167.650391, -117.744014, 169.824350], [44.000000, 147.692870, -95.275277, 21.941010, -149.563042, 14.796817], [-136.000000, 39.000000, 106.000000, -165.000000, -133.000000, 6.000000], [-136.000000, 149.942516, -95.045263, -15.484610, -134.846455, 164.589473]] - id: 1310 parameters: KukaKR6_R700_sixx - joints: [-170.000000, -99.000000, 160.000000, -176.000000, -27.000000, 89.000000] - pose: {translation: [-0.1828915616888716, 0.0348213023334307, 0.3289455967293829], quaternion: [-0.6593710889254718, 0.7514366943358649, 0.02390359515057494, 0.001131208956349669]} - solutions: [[-170.000000, -99.000000, 160.000000, 4.000000, 27.000000, -91.000000], [-170.000000, 92.596993, -149.045263, 3.114884, 144.351674, -84.902749], [10.000000, 96.030236, 150.905032, -175.731708, 154.817561, -83.570865], [10.000000, -91.162128, -139.950294, -176.974417, 36.869448, -89.856072], [-170.000000, -99.000000, 160.000000, -176.000000, -27.000000, 89.000000], [-170.000000, 92.596993, -149.045263, -176.885116, -144.351674, 95.097251], [10.000000, 96.030236, 150.905032, 4.268292, -154.817561, 96.429135], [10.000000, -91.162128, -139.950294, 3.025583, -36.869448, 90.143928]] + joints: [-170.000000, -98.000000, 160.000000, -176.000000, -27.000000, 89.000000] + pose: {translation: [-0.181646158317872, 0.03460170411725819, 0.3261437943595665], quaternion: [-0.6595531228050904, 0.7514345826056427, 0.01709738900262209, 0.006589806645890227]} + solutions: [[-170.000000, -98.000000, 160.000000, 4.000000, 27.000000, -91.000000], [-170.000000, 93.596993, -149.045263, 3.114884, 144.351674, -84.902749], [10.000000, 95.275053, 150.899332, -175.693482, 155.056009, -83.528666], [10.000000, -91.927629, -139.944594, -176.991201, 37.109313, -89.835058], [-170.000000, -98.000000, 160.000000, -176.000000, -27.000000, 89.000000], [-170.000000, 93.596993, -149.045263, -176.885116, -144.351674, 95.097251], [10.000000, 95.275053, 150.899332, 4.306518, -155.056009, 96.471334], [10.000000, -91.927629, -139.944594, 3.008799, -37.109313, 90.164942]] - id: 1311 parameters: KukaKR6_R700_sixx - joints: [-27.000000, -149.000000, 53.000000, 67.000000, -12.000000, 179.000000] - pose: {translation: [-0.3033101948538506, -0.1373606656924372, 0.9987227945936379], quaternion: [-0.1336030662035652, -0.001198723910066344, 0.9324969400844816, 0.335556612950888]} - solutions: [[153.000000, -91.795510, 62.953363, 165.800734, 51.280603, -105.465261], [153.000000, -29.558991, -51.998625, 78.344039, 11.268878, -12.580166], [-27.000000, -149.000000, 53.000000, -113.000000, 12.000000, -1.000000], [-27.000000, -97.654544, -42.045263, -17.231749, 40.244342, -101.139644], [153.000000, -91.795510, 62.953363, -14.199266, -51.280603, 74.534739], [153.000000, -29.558991, -51.998625, -101.655961, -11.268878, 167.419834], [-27.000000, -149.000000, 53.000000, 67.000000, -12.000000, 179.000000], [-27.000000, -97.654544, -42.045263, 162.768251, -40.244342, 78.860356]] + joints: [-27.000000, -148.000000, 53.000000, 67.000000, -12.000000, 179.000000] + pose: {translation: [-0.2939514012949614, -0.1325921221976187, 1.004872792687697], quaternion: [-0.1276768384221239, 0.005104741647949892, 0.9335049998091448, 0.3350238526949495]} + solutions: [[153.000000, -92.687638, 62.683649, 165.768782, 51.123716, -105.414267], [153.000000, -30.747347, -51.728912, 78.744511, 11.252719, -12.988499], [-27.000000, -148.000000, 53.000000, -113.000000, 12.000000, -1.000000], [-27.000000, -96.654544, -42.045263, -17.231749, 40.244342, -101.139644], [153.000000, -92.687638, 62.683649, -14.231218, -51.123716, 74.585733], [153.000000, -30.747347, -51.728912, -101.255489, -11.252719, 167.011501], [-27.000000, -148.000000, 53.000000, 67.000000, -12.000000, 179.000000], [-27.000000, -96.654544, -42.045263, 162.768251, -40.244342, 78.860356]] - id: 1312 parameters: KukaKR6_R700_sixx - joints: [-109.000000, -138.000000, 86.000000, 138.000000, 131.000000, 38.000000] - pose: {translation: [0.06412205935530331, -0.06213339857120143, 0.9062136107926165], quaternion: [-0.1496944881563558, 0.7506216446543339, -0.5032325920469062, 0.4011429484532685]} - solutions: [[71.000000, -135.541626, 86.300480, -33.854607, 65.025975, 84.384636], [71.000000, -47.332860, -75.345743, -39.195672, 126.957045, 42.454057], [-109.000000, -138.000000, 86.000000, 138.000000, 131.000000, 38.000000], [-109.000000, -50.130755, -75.045263, 147.421854, 69.698018, 81.071899], [71.000000, -135.541626, 86.300480, 146.145393, -65.025975, -95.615364], [71.000000, -47.332860, -75.345743, 140.804328, -126.957045, -137.545943], [-109.000000, -138.000000, 86.000000, -42.000000, -131.000000, -142.000000], [-109.000000, -50.130755, -75.045263, -32.578146, -69.698018, -98.928101]] + joints: [-109.000000, -137.000000, 86.000000, 138.000000, 130.000000, 38.000000] + pose: {translation: [0.06176726430996984, -0.05343088048728516, 0.9092116492984712], quaternion: [-0.1529091601812901, 0.7397690937759689, -0.5127746866121338, 0.4079492583598631]} + solutions: [[71.000000, -136.409447, 86.072277, -34.631622, 64.417321, 84.667583], [71.000000, -48.458550, -75.117539, -39.244606, 125.880662, 42.477166], [-109.000000, -137.000000, 86.000000, 138.000000, 130.000000, 38.000000], [-109.000000, -49.130755, -75.045263, 146.690218, 68.969050, 81.330122], [71.000000, -136.409447, 86.072277, 145.368378, -64.417321, -95.332417], [71.000000, -48.458550, -75.117539, 140.755394, -125.880662, -137.522834], [-109.000000, -137.000000, 86.000000, -42.000000, -130.000000, -142.000000], [-109.000000, -49.130755, -75.045263, -33.309782, -68.969050, -98.669878]] - id: 1313 parameters: KukaKR6_R700_sixx - joints: [-57.000000, 164.000000, 167.000000, 95.000000, 121.000000, -128.000000] - pose: {translation: [0.04941393726807793, -0.049336211814463, 0.5059930218245884], quaternion: [0.692371939212129, 0.3358551387829899, 0.0160715654562246, 0.6384074939476203]} - solutions: [[-57.000000, 164.000000, 167.000000, 95.000000, 121.000000, -128.000000], [-57.000000, 15.497399, -156.045263, 117.872985, 75.010134, -21.579357], [123.000000, 144.929339, 165.171910, -60.100044, 80.068171, -30.944304], [123.000000, -9.489323, -154.217172, -92.709340, 121.255607, -142.851940], [-57.000000, 164.000000, 167.000000, -85.000000, -121.000000, 52.000000], [-57.000000, 15.497399, -156.045263, -62.127015, -75.010134, 158.420643], [123.000000, 144.929339, 165.171910, 119.899956, -80.068171, 149.055696], [123.000000, -9.489323, -154.217172, 87.290660, -121.255607, 37.148060]] + joints: [-57.000000, 163.000000, 167.000000, 95.000000, 121.000000, -128.000000] + pose: {translation: [0.04840971943706691, -0.05088257166847475, 0.505288135590378], quaternion: [0.696941496256285, 0.3326904969504646, 0.02181968620941818, 0.6349121871004102]} + solutions: [[-57.000000, 163.000000, 167.000000, 95.000000, 121.000000, -128.000000], [-57.000000, 14.497399, -156.045263, 117.872985, 75.010134, -21.579357], [123.000000, 145.553373, 165.323053, -60.066120, 80.180300, -31.142101], [123.000000, -8.399491, -154.368315, -92.746509, 121.252689, -142.923578], [-57.000000, 163.000000, 167.000000, -85.000000, -121.000000, 52.000000], [-57.000000, 14.497399, -156.045263, -62.127015, -75.010134, 158.420643], [123.000000, 145.553373, 165.323053, 119.933880, -80.180300, 148.857899], [123.000000, -8.399491, -154.368315, 87.253491, -121.252689, 37.076422]] - id: 1314 parameters: KukaKR6_R700_sixx - joints: [-79.000000, -89.000000, -117.000000, -122.000000, 106.000000, 28.000000] - pose: {translation: [-0.110677134692673, -0.2275992901846049, 0.4965282665162485], quaternion: [-0.4517232431794123, -0.681505113292292, -0.07498073004499373, 0.5708544317510844]} - solutions: [[101.000000, -100.756748, 136.711441, 56.023455, 100.569580, 19.423379], [101.000000, 49.466233, -125.756703, 114.862493, 116.042774, 140.742583], [-79.000000, 132.795949, 127.954737, -63.257889, 114.100331, 145.175812], [-79.000000, -89.000000, -117.000000, -122.000000, 106.000000, 28.000000], [101.000000, -100.756748, 136.711441, -123.976545, -100.569580, -160.576621], [101.000000, 49.466233, -125.756703, -65.137507, -116.042774, -39.257417], [-79.000000, 132.795949, 127.954737, 116.742111, -114.100331, -34.824188], [-79.000000, -89.000000, -117.000000, 58.000000, -106.000000, -152.000000]] + joints: [-79.000000, -89.000000, -117.000000, -122.000000, 105.000000, 28.000000] + pose: {translation: [-0.1112019589283079, -0.2286409034833118, 0.4957607358941628], quaternion: [-0.4499450641448537, -0.6861848246003301, -0.06870528299828299, 0.567432295369257]} + solutions: [[101.000000, -100.756748, 136.711441, 56.174689, 99.580728, 19.449837], [101.000000, 49.466233, -125.756703, 113.832631, 116.425710, 140.287329], [-79.000000, 132.795949, 127.954737, -64.235941, 114.553935, 144.772896], [-79.000000, -89.000000, -117.000000, -122.000000, 105.000000, 28.000000], [101.000000, -100.756748, 136.711441, -123.825311, -99.580728, -160.550163], [101.000000, 49.466233, -125.756703, -66.167369, -116.425710, -39.712671], [-79.000000, 132.795949, 127.954737, 115.764059, -114.553935, -35.227104], [-79.000000, -89.000000, -117.000000, 58.000000, -105.000000, -152.000000]] - id: 1315 parameters: KukaKR6_R700_sixx - joints: [-101.000000, -99.000000, 39.000000, -159.000000, -57.000000, -11.000000] - pose: {translation: [-0.01531176795682649, 0.2047841597731852, 1.051136141825515], quaternion: [0.5086714428362914, 0.4485079149394162, 0.5457377284576631, -0.4922035607524728]} - solutions: [[-101.000000, -99.000000, 39.000000, 21.000000, 57.000000, 169.000000], [-101.000000, -62.861582, -28.045263, 17.529228, 86.265314, 179.629954], [79.000000, -118.018741, 32.724524, -162.509166, 89.888347, -179.226596], [79.000000, -88.666528, -21.769787, -160.789750, 65.984461, 172.737371], [-101.000000, -99.000000, 39.000000, -159.000000, -57.000000, -11.000000], [-101.000000, -62.861582, -28.045263, -162.470772, -86.265314, -0.370046], [79.000000, -118.018741, 32.724524, 17.490834, -89.888347, 0.773404], [79.000000, -88.666528, -21.769787, 19.210250, -65.984461, -7.262629]] + joints: [-101.000000, -99.000000, 39.000000, -159.000000, -56.000000, -11.000000] + pose: {translation: [-0.01557506029125171, 0.2046913044453622, 1.052504190447794], quaternion: [0.5031576043482051, 0.445183229488474, 0.5493275208316074, -0.4968738192195156]} + solutions: [[-101.000000, -99.000000, 39.000000, 21.000000, 56.000000, 169.000000], [-101.000000, -62.861582, -28.045263, 17.344145, 85.282496, 179.643593], [79.000000, -118.018741, 32.724524, -162.713235, 88.909387, -179.224454], [79.000000, -88.666528, -21.769787, -160.861676, 64.986604, 172.767216], [-101.000000, -99.000000, 39.000000, -159.000000, -56.000000, -11.000000], [-101.000000, -62.861582, -28.045263, -162.655855, -85.282496, -0.356407], [79.000000, -118.018741, 32.724524, 17.286765, -88.909387, 0.775546], [79.000000, -88.666528, -21.769787, 19.138324, -64.986604, -7.232784]] - id: 1316 parameters: KukaKR6_R700_sixx - joints: [50.000000, 65.000000, -150.000000, -163.000000, -12.000000, 103.000000] - pose: {translation: [0.1105209071752842, -0.1392791725899125, 0.5577422864252894], quaternion: [0.1348530301453153, 0.05715232385483715, 0.08488778934043871, 0.9855670121100401]} - solutions: [[50.000000, -128.935312, 160.954737, 176.383279, 105.500078, 118.681555], [50.000000, 65.000000, -150.000000, 17.000000, 12.000000, -77.000000], [-130.000000, 116.010678, 152.900412, -167.084462, 15.781066, -72.794892], [-130.000000, -67.479449, -141.945674, -3.575522, 102.910882, 118.849396], [50.000000, -128.935312, 160.954737, -3.616721, -105.500078, -61.318445], [50.000000, 65.000000, -150.000000, -163.000000, -12.000000, 103.000000], [-130.000000, 116.010678, 152.900412, 12.915538, -15.781066, 107.205108], [-130.000000, -67.479449, -141.945674, 176.424478, -102.910882, -61.150604]] + joints: [50.000000, 64.000000, -150.000000, -163.000000, -12.000000, 103.000000] + pose: {translation: [0.1087363713827134, -0.1371524456480033, 0.5603838636382388], quaternion: [0.1277833027803898, 0.05218926543657642, 0.08525893100351971, 0.9867515506893633]} + solutions: [[50.000000, -129.935312, 160.954737, 176.383279, 105.500078, 118.681555], [50.000000, 64.000000, -150.000000, 17.000000, 12.000000, -77.000000], [-130.000000, 116.717329, 152.966644, -166.902249, 15.559775, -72.984138], [-130.000000, -66.646656, -142.011907, -3.578892, 103.143867, 118.834446], [50.000000, -129.935312, 160.954737, -3.616721, -105.500078, -61.318445], [50.000000, 64.000000, -150.000000, -163.000000, -12.000000, 103.000000], [-130.000000, 116.717329, 152.966644, 13.097751, -15.559775, 107.015862], [-130.000000, -66.646656, -142.011907, 176.421108, -103.143867, -61.165554]] - id: 1317 parameters: KukaKR6_R700_sixx - joints: [61.000000, -167.000000, -151.000000, -171.000000, 28.000000, 159.000000] - pose: {translation: [0.04879825935456857, -0.07591556591806752, 0.2329395994206224], quaternion: [0.4570736481466324, 0.6435777395525397, -0.2227221476653405, 0.5720893446496885]} - solutions: [[61.000000, -3.489022, 161.954737, -172.829491, 143.958754, 172.769417], [61.000000, -167.000000, -151.000000, -171.000000, 28.000000, 159.000000], [-119.000000, 7.120885, 161.175115, 121.526998, 4.942684, 45.338689], [-119.000000, -158.390587, -150.220378, 4.620046, 114.247868, 168.861718], [61.000000, -3.489022, 161.954737, 7.170509, -143.958754, -7.230583], [61.000000, -167.000000, -151.000000, 9.000000, -28.000000, -21.000000], [-119.000000, 7.120885, 161.175115, -58.473002, -4.942684, -134.661311], [-119.000000, -158.390587, -150.220378, -175.379954, -114.247868, -11.138282]] + joints: [61.000000, -166.000000, -151.000000, -171.000000, 28.000000, 159.000000] + pose: {translation: [0.04737994191669226, -0.07335685352800442, 0.2318296752102346], quaternion: [0.4604803863997889, 0.6476734817603701, -0.2197353697041216, 0.5658562026402942]} + solutions: [[61.000000, -2.489022, 161.954737, -172.829491, 143.958754, 172.769417], [61.000000, -166.000000, -151.000000, -171.000000, 28.000000, 159.000000], [-119.000000, 6.003513, 161.330466, 121.899832, 4.962649, 44.964458], [-119.000000, -159.114803, -150.375729, 4.615691, 114.127825, 168.851088], [61.000000, -2.489022, 161.954737, 7.170509, -143.958754, -7.230583], [61.000000, -166.000000, -151.000000, 9.000000, -28.000000, -21.000000], [-119.000000, 6.003513, 161.330466, -58.100168, -4.962649, -135.035542], [-119.000000, -159.114803, -150.375729, -175.384309, -114.127825, -11.148912]] - id: 1318 parameters: KukaKR6_R700_sixx - joints: [-152.000000, -121.000000, 134.000000, 82.000000, 152.000000, 47.000000] - pose: {translation: [-0.1205264732830736, 0.1062078523713527, 0.6328000597657814], quaternion: [0.6354432390128033, -0.1695095828084522, 0.7279201927943586, -0.1939344844302983]} - solutions: [[-152.000000, -121.000000, 134.000000, 82.000000, 152.000000, 47.000000], [-152.000000, 25.394581, -123.045263, 151.302754, 75.507754, 153.844524], [28.000000, 152.896869, 127.136755, -29.017010, 73.420633, 155.038146], [28.000000, -69.976590, -116.182018, -85.045067, 152.183162, 61.642471], [-152.000000, -121.000000, 134.000000, -98.000000, -152.000000, -133.000000], [-152.000000, 25.394581, -123.045263, -28.697246, -75.507754, -26.155476], [28.000000, 152.896869, 127.136755, 150.982990, -73.420633, -24.961854], [28.000000, -69.976590, -116.182018, 94.954933, -152.183162, -118.357529]] + joints: [-152.000000, -120.000000, 134.000000, 82.000000, 151.000000, 47.000000] + pose: {translation: [-0.1240600052307527, 0.1094628539955071, 0.6301465742877177], quaternion: [0.633716788382866, -0.15919272065712, 0.730755337302726, -0.197629316689274]} + solutions: [[-152.000000, -120.000000, 134.000000, 82.000000, 151.000000, 47.000000], [-152.000000, 26.394581, -123.045263, 150.315493, 75.799580, 154.089156], [28.000000, 152.082761, 127.024816, -30.018331, 73.668578, 155.356741], [28.000000, -70.937649, -116.070079, -85.296337, 151.202605, 61.492536], [-152.000000, -120.000000, 134.000000, -98.000000, -151.000000, -133.000000], [-152.000000, 26.394581, -123.045263, -29.684507, -75.799580, -25.910844], [28.000000, 152.082761, 127.024816, 149.981669, -73.668578, -24.643259], [28.000000, -70.937649, -116.070079, 94.703663, -151.202605, -118.507464]] - id: 1319 parameters: KukaKR6_R700_sixx - joints: [74.000000, 124.000000, 18.000000, 88.000000, 142.000000, 75.000000] - pose: {translation: [-0.1489168375611955, 0.3407561978320678, -0.07327730787391397], quaternion: [0.4904139252298297, 0.09194858480023915, -0.5567440352559654, 0.6641353167094854]} - solutions: [[-106.000000, 32.514496, 42.765520, -53.204935, 129.793509, 126.984148], [-106.000000, 72.732813, -31.810782, -88.258062, 142.006585, 79.747345], [74.000000, 124.000000, 18.000000, 88.000000, 142.000000, 75.000000], [74.000000, 137.475683, -7.045263, 102.552026, 140.923870, 93.540439], [-106.000000, 32.514496, 42.765520, 126.795065, -129.793509, -53.015852], [-106.000000, 72.732813, -31.810782, 91.741938, -142.006585, -100.252655], [74.000000, 124.000000, 18.000000, -92.000000, -142.000000, -105.000000], [74.000000, 137.475683, -7.045263, -77.447974, -140.923870, -86.459561]] + joints: [74.000000, 123.000000, 18.000000, 88.000000, 141.000000, 75.000000] + pose: {translation: [-0.1478661434078733, 0.3331300919871391, -0.08059190189898635], quaternion: [0.4905227799049707, 0.07947507451557398, -0.5581135768231084, 0.6645151242001646]} + solutions: [[-106.000000, 33.762128, 42.394318, -54.303021, 129.245351, 126.208492], [-106.000000, 73.577956, -31.439580, -88.122490, 141.003357, 79.988057], [74.000000, 123.000000, 18.000000, 88.000000, 141.000000, 75.000000], [74.000000, 136.475683, -7.045263, 102.057625, 139.974711, 93.159212], [-106.000000, 33.762128, 42.394318, 125.696979, -129.245351, -53.791508], [-106.000000, 73.577956, -31.439580, 91.877510, -141.003357, -100.011943], [74.000000, 123.000000, 18.000000, -92.000000, -141.000000, -105.000000], [74.000000, 136.475683, -7.045263, -77.942375, -139.974711, -86.840788]] - id: 1320 parameters: KukaKR6_R700_sixx - joints: [-26.000000, -87.000000, -53.000000, -58.000000, -126.000000, -137.000000] - pose: {translation: [-0.1976196859138467, -0.1574527497950015, 0.8658754400694167], quaternion: [0.5512977716208705, 0.7410723148149692, -0.08665690721809635, 0.3733271643639666]} - solutions: [[154.000000, -101.426472, 71.271528, -52.687031, 120.386202, 52.676958], [154.000000, -30.017823, -60.316791, -104.608401, 134.845908, -24.035511], [-26.000000, -150.336930, 63.954737, 72.303351, 133.931977, -28.449032], [-26.000000, -87.000000, -53.000000, 122.000000, 126.000000, 43.000000], [154.000000, -101.426472, 71.271528, 127.312969, -120.386202, -127.323042], [154.000000, -30.017823, -60.316791, 75.391599, -134.845908, 155.964489], [-26.000000, -150.336930, 63.954737, -107.696649, -133.931977, 151.550968], [-26.000000, -87.000000, -53.000000, -58.000000, -126.000000, -137.000000]] + joints: [-26.000000, -87.000000, -53.000000, -58.000000, -125.000000, -137.000000] + pose: {translation: [-0.198349130979637, -0.1585735498902875, 0.8662769609787018], quaternion: [0.5529455697952912, 0.7381457172808655, -0.09458257063588486, 0.3747615698488642]} + solutions: [[154.000000, -101.426472, 71.271528, -52.879963, 119.400289, 52.580800], [154.000000, -30.017823, -60.316791, -103.318581, 134.448456, -23.129079], [-26.000000, -150.336930, 63.954737, 73.612674, 133.606327, -27.543277], [-26.000000, -87.000000, -53.000000, 122.000000, 125.000000, 43.000000], [154.000000, -101.426472, 71.271528, 127.120037, -119.400289, -127.419200], [154.000000, -30.017823, -60.316791, 76.681419, -134.448456, 156.870921], [-26.000000, -150.336930, 63.954737, -106.387326, -133.606327, 152.456723], [-26.000000, -87.000000, -53.000000, -58.000000, -125.000000, -137.000000]] - id: 1321 parameters: KukaKR6_R700_sixx joints: [-115.000000, -4.000000, 47.000000, 141.000000, -106.000000, -99.000000] @@ -6611,9 +6611,9 @@ cases: solutions: [[-115.000000, -4.000000, 47.000000, -39.000000, 106.000000, 81.000000], [-115.000000, 40.814746, -36.045263, -55.468860, 132.750685, 48.971195], [-115.000000, -4.000000, 47.000000, 141.000000, -106.000000, -99.000000], [-115.000000, 40.814746, -36.045263, 124.531140, -132.750685, -131.028805]] - id: 1322 parameters: KukaKR6_R700_sixx - joints: [-55.000000, -154.000000, -162.000000, -164.000000, -135.000000, -132.000000] - pose: {translation: [-0.01574201010074465, -0.0496664462232721, 0.3098936457441959], quaternion: [0.5520072545826987, -0.4406382574656164, 0.1812812882580736, 0.68429745832732]} - solutions: [[-55.000000, -30.759228, 172.954737, 17.912408, 39.324252, 22.499609], [-55.000000, -154.000000, -162.000000, 16.000000, 135.000000, 48.000000], [125.000000, 9.339456, 170.006020, -92.629914, 168.748819, 123.856743], [125.000000, -127.804664, -159.051282, -168.277867, 73.605483, 33.186428], [-55.000000, -30.759228, 172.954737, -162.087592, -39.324252, -157.500391], [-55.000000, -154.000000, -162.000000, -164.000000, -135.000000, -132.000000], [125.000000, 9.339456, 170.006020, 87.370086, -168.748819, -56.143257], [125.000000, -127.804664, -159.051282, 11.722133, -73.605483, -146.813572]] + joints: [-55.000000, -153.000000, -162.000000, -164.000000, -134.000000, -132.000000] + pose: {translation: [-0.01639414291230208, -0.05106808345765584, 0.3098419163377145], quaternion: [0.5535193413974661, -0.43873730380853, 0.1812812882580735, 0.68429745832732]} + solutions: [[-55.000000, -29.759228, 172.954737, 18.605128, 38.423691, 21.960288], [-55.000000, -153.000000, -162.000000, 16.000000, 134.000000, 48.000000], [125.000000, 8.270823, 170.153266, -97.102165, 168.474151, 119.487902], [125.000000, -128.252886, -159.198528, -168.035928, 73.034618, 33.196516], [-55.000000, -29.759228, 172.954737, -161.394872, -38.423691, -158.039712], [-55.000000, -153.000000, -162.000000, -164.000000, -134.000000, -132.000000], [125.000000, 8.270823, 170.153266, 82.897835, -168.474151, -60.512098], [125.000000, -128.252886, -159.198528, 11.964072, -73.034618, -146.803484]] - id: 1323 parameters: KukaKR6_R700_sixx joints: [-125.000000, 80.000000, -80.000000, -37.000000, -92.000000, 50.000000] @@ -6621,19 +6621,19 @@ cases: solutions: [[-125.000000, -13.490910, 90.954737, 103.028957, 141.877774, 157.897304], [-125.000000, 80.000000, -80.000000, 143.000000, 92.000000, -130.000000], [55.000000, 109.220464, 79.732197, -37.148616, 84.851793, -124.604346], [55.000000, -169.955753, -68.777459, -57.414520, 134.454238, -176.108184], [-125.000000, -13.490910, 90.954737, -76.971043, -141.877774, -22.102696], [-125.000000, 80.000000, -80.000000, -37.000000, -92.000000, 50.000000], [55.000000, 109.220464, 79.732197, 142.851384, -84.851793, 55.395654], [55.000000, -169.955753, -68.777459, 122.585480, -134.454238, 3.891816]] - id: 1324 parameters: KukaKR6_R700_sixx - joints: [149.000000, -87.000000, -68.000000, 88.000000, -145.000000, -137.000000] - pose: {translation: [0.2339612353031995, 0.08707842896750295, 0.8079567440029615], quaternion: [-0.06155349938481913, 0.8236361420097743, -0.5097630823625837, -0.2407826242670675]} - solutions: [[-31.000000, -101.765338, 86.691145, 74.319402, 143.459896, 26.181653], [-31.000000, -13.114891, -75.736408, 141.725382, 112.269960, 118.793306], [149.000000, -166.954383, 78.954737, -37.530764, 109.784892, 120.865707], [149.000000, -87.000000, -68.000000, -92.000000, 145.000000, 43.000000], [-31.000000, -101.765338, 86.691145, -105.680598, -143.459896, -153.818347], [-31.000000, -13.114891, -75.736408, -38.274618, -112.269960, -61.206694], [149.000000, -166.954383, 78.954737, 142.469236, -109.784892, -59.134293], [149.000000, -87.000000, -68.000000, 88.000000, -145.000000, -137.000000]] + joints: [149.000000, -86.000000, -68.000000, 88.000000, -144.000000, -137.000000] + pose: {translation: [0.2290477059311054, 0.08280077216586437, 0.8129333897573334], quaternion: [-0.06344527059707054, 0.826146607200683, -0.511033604107327, -0.2286944173405657]} + solutions: [[-31.000000, -102.707454, 86.498382, 74.964502, 142.536892, 26.775141], [-31.000000, -14.274979, -75.543644, 140.671291, 112.046475, 118.376765], [149.000000, -165.954383, 78.954737, -38.568376, 109.571702, 120.516294], [149.000000, -86.000000, -68.000000, -92.000000, 144.000000, 43.000000], [-31.000000, -102.707454, 86.498382, -105.035498, -142.536892, -153.224859], [-31.000000, -14.274979, -75.543644, -39.328709, -112.046475, -61.623235], [149.000000, -165.954383, 78.954737, 141.431624, -109.571702, -59.483706], [149.000000, -86.000000, -68.000000, 88.000000, -144.000000, -137.000000]] - id: 1325 parameters: KukaKR6_R700_sixx - joints: [25.000000, 50.000000, 75.000000, 51.000000, -170.000000, 116.000000] - pose: {translation: [0.09441701981083209, -0.03211531315128888, -0.100847538487283], quaternion: [-0.1810493842838027, 0.3085575993545344, -0.6457488389208647, 0.6745530115293964]} - solutions: [[25.000000, 50.000000, 75.000000, -129.000000, 170.000000, -64.000000], [25.000000, 125.545729, -64.045263, -171.744422, 109.976086, -111.732656], [-155.000000, 60.219110, 73.755974, 7.781497, 94.649904, -113.935646], [-155.000000, 134.382501, -62.801237, 19.280592, 155.876914, -96.863872], [25.000000, 50.000000, 75.000000, 51.000000, -170.000000, 116.000000], [25.000000, 125.545729, -64.045263, 8.255578, -109.976086, 68.267344], [-155.000000, 60.219110, 73.755974, -172.218503, -94.649904, 66.064354], [-155.000000, 134.382501, -62.801237, -160.719408, -155.876914, 83.136128]] + joints: [25.000000, 50.000000, 75.000000, 51.000000, -169.000000, 116.000000] + pose: {translation: [0.09537706448546152, -0.03138577688100847, -0.1015515221882685], quaternion: [-0.1888035385796563, 0.3110302133554505, -0.6426115255955387, 0.674287666631711]} + solutions: [[25.000000, 50.000000, 75.000000, -129.000000, 169.000000, -64.000000], [25.000000, 125.545729, -64.045263, -170.960350, 109.301784, -111.469128], [-155.000000, 60.219110, 73.755974, 8.548677, 94.005860, -113.877750], [-155.000000, 134.382501, -62.801237, 20.566153, 155.031407, -95.694448], [25.000000, 50.000000, 75.000000, 51.000000, -169.000000, 116.000000], [25.000000, 125.545729, -64.045263, 9.039650, -109.301784, 68.530872], [-155.000000, 60.219110, 73.755974, -171.451323, -94.005860, 66.122250], [-155.000000, 134.382501, -62.801237, -159.433847, -155.031407, 84.305552]] - id: 1326 parameters: KukaKR6_R700_sixx - joints: [135.000000, 150.000000, -79.000000, -173.000000, 45.000000, 137.000000] - pose: {translation: [0.02210529229213633, 0.01235574481972453, -0.1264263633298288], quaternion: [0.8452992579237303, 0.07424768391392841, -0.3709413206842991, 0.3773048934164467]} - solutions: [[-45.000000, 34.254275, 92.339628, 10.718281, 27.603750, 132.440098], [-45.000000, 129.325916, -81.384890, 5.137796, 105.784158, 143.363111], [135.000000, 57.647829, 89.954737, -174.214283, 121.258282, 144.971744], [135.000000, 150.000000, -79.000000, -173.000000, 45.000000, 137.000000], [-45.000000, 34.254275, 92.339628, -169.281719, -27.603750, -47.559902], [-45.000000, 129.325916, -81.384890, -174.862204, -105.784158, -36.636889], [135.000000, 57.647829, 89.954737, 5.785717, -121.258282, -35.028256], [135.000000, 150.000000, -79.000000, 7.000000, -45.000000, -43.000000]] + joints: [135.000000, 149.000000, -79.000000, -173.000000, 45.000000, 137.000000] + pose: {translation: [0.01560349791934588, 0.00585395044693407, -0.1272077700413506], quaternion: [0.8406499490957449, 0.0742841238033433, -0.3766013457711619, 0.3820483718057712]} + solutions: [[-45.000000, 35.389718, 92.126195, 10.690621, 27.680383, 132.471321], [-45.000000, 130.217457, -81.171458, 5.135149, 105.679605, 143.353347], [135.000000, 56.647829, 89.954737, -174.214283, 121.258282, 144.971744], [135.000000, 149.000000, -79.000000, -173.000000, 45.000000, 137.000000], [-45.000000, 35.389718, 92.126195, -169.309379, -27.680383, -47.528679], [-45.000000, 130.217457, -81.171458, -174.864851, -105.679605, -36.646653], [135.000000, 56.647829, 89.954737, 5.785717, -121.258282, -35.028256], [135.000000, 149.000000, -79.000000, 7.000000, -45.000000, -43.000000]] - id: 1327 parameters: KukaKR6_R700_sixx joints: [-157.000000, -76.000000, 158.000000, 33.000000, 35.000000, 148.000000] @@ -6646,29 +6646,29 @@ cases: solutions: [[84.000000, -79.722033, 76.954737, 121.295445, 128.851266, -156.276537], [84.000000, -2.000000, -66.000000, 138.000000, 84.000000, -105.000000], [-96.000000, -174.445579, 64.818790, -42.192004, 82.238908, -103.397580], [-96.000000, -110.158365, -53.864053, -51.088348, 121.215218, -143.077676], [84.000000, -79.722033, 76.954737, -58.704555, -128.851266, 23.723463], [84.000000, -2.000000, -66.000000, -42.000000, -84.000000, 75.000000], [-96.000000, -174.445579, 64.818790, 137.807996, -82.238908, 76.602420], [-96.000000, -110.158365, -53.864053, 128.911652, -121.215218, 36.922324]] - id: 1329 parameters: KukaKR6_R700_sixx - joints: [73.000000, 104.000000, -17.000000, 91.000000, -95.000000, -136.000000] - pose: {translation: [0.07652190776681894, 0.02224966844352885, -0.26142106460024], quaternion: [0.5692455582816318, 0.3645494497205251, 0.7138564331188801, 0.1829540542865493]} - solutions: [[73.000000, 79.796673, 27.954737, -87.290449, 94.320847, 64.809983], [73.000000, 104.000000, -17.000000, -89.000000, 95.000000, 44.000000], [-107.000000, 80.384627, 27.769165, 89.654748, 95.087099, 28.787208], [-107.000000, 104.387768, -16.814428, 91.469431, 94.882977, 49.445655], [73.000000, 79.796673, 27.954737, 92.709551, -94.320847, -115.190017], [73.000000, 104.000000, -17.000000, 91.000000, -95.000000, -136.000000], [-107.000000, 80.384627, 27.769165, -90.345252, -95.087099, -151.212792], [-107.000000, 104.387768, -16.814428, -88.530569, -94.882977, -130.554345]] + joints: [73.000000, 103.000000, -17.000000, 91.000000, -95.000000, -136.000000] + pose: {translation: [0.07989793262277428, 0.01120718870335977, -0.2617375201670091], quaternion: [0.5658757623328058, 0.3700260755385283, 0.7122393721943393, 0.1886276801586526]} + solutions: [[73.000000, 78.796673, 27.954737, -87.290449, 94.320847, 64.809983], [73.000000, 103.000000, -17.000000, -89.000000, 95.000000, 44.000000], [-107.000000, 81.799216, 26.993462, 89.686901, 95.089174, 29.149746], [-107.000000, 104.965662, -16.038725, 91.439204, 94.891951, 49.090882], [73.000000, 78.796673, 27.954737, 92.709551, -94.320847, -115.190017], [73.000000, 103.000000, -17.000000, 91.000000, -95.000000, -136.000000], [-107.000000, 81.799216, 26.993462, -90.313099, -95.089174, -150.850254], [-107.000000, 104.965662, -16.038725, -88.560796, -94.891951, -130.909118]] - id: 1330 parameters: KukaKR6_R700_sixx - joints: [135.000000, -135.000000, 124.000000, -82.000000, -78.000000, 65.000000] - pose: {translation: [-0.1736771386793799, -0.0640893523597548, 0.740605041240086], quaternion: [-0.530400962605928, 0.3633507309186306, 0.7659282292981083, 0.002238922032184975]} - solutions: [[135.000000, -135.000000, 124.000000, 98.000000, 78.000000, -115.000000], [135.000000, -1.948300, -113.045263, 76.381893, 85.307036, -9.603587], [-45.000000, 177.479660, 119.738364, -103.785538, 85.834006, -7.435962], [-45.000000, -54.877385, -108.783627, -83.159556, 77.309967, -109.580350], [135.000000, -135.000000, 124.000000, -82.000000, -78.000000, 65.000000], [135.000000, -1.948300, -113.045263, -103.618107, -85.307036, 170.396413], [-45.000000, 177.479660, 119.738364, 76.214462, -85.834006, 172.564038], [-45.000000, -54.877385, -108.783627, 96.840444, -77.309967, 70.419650]] + joints: [135.000000, -134.000000, 124.000000, -82.000000, -77.000000, 65.000000] + pose: {translation: [-0.1786078367588732, -0.06944327061791644, 0.7382505559212522], quaternion: [-0.5379549606741509, 0.3525625036345645, 0.7657018386432805, 0.002199003251558538]} + solutions: [[135.000000, -134.000000, 124.000000, 98.000000, 77.000000, -115.000000], [135.000000, -0.948300, -113.045263, 75.414900, 85.573185, -9.526708], [-45.000000, 176.641835, 119.583854, -104.741587, 86.138291, -7.361629], [-45.000000, -55.908865, -108.629117, -83.286530, 76.300041, -109.432416], [135.000000, -134.000000, 124.000000, -82.000000, -77.000000, 65.000000], [135.000000, -0.948300, -113.045263, -104.585100, -85.573185, 170.473292], [-45.000000, 176.641835, 119.583854, 75.258413, -86.138291, 172.638371], [-45.000000, -55.908865, -108.629117, 96.713470, -76.300041, 70.567584]] - id: 1331 parameters: KukaKR6_R700_sixx - joints: [-131.000000, -136.000000, -151.000000, 156.000000, -80.000000, -175.000000] - pose: {translation: [0.05859228204165513, -0.1162467783792545, 0.2456713484222514], quaternion: [0.7216704660097299, -0.4401597023340541, 0.3846823737791972, 0.3707703416322537]} - solutions: [[49.000000, -31.166014, 166.122586, 155.429509, 105.567992, -6.416578], [49.000000, 177.412655, -155.167849, 77.243941, 24.248422, 104.523299], [-131.000000, 27.510978, 161.954737, -144.249422, 43.281494, 152.920403], [-131.000000, -136.000000, -151.000000, -24.000000, 80.000000, 5.000000], [49.000000, -31.166014, 166.122586, -24.570491, -105.567992, 173.583422], [49.000000, 177.412655, -155.167849, -102.756059, -24.248422, -75.476701], [-131.000000, 27.510978, 161.954737, 35.750578, -43.281494, -27.079597], [-131.000000, -136.000000, -151.000000, 156.000000, -80.000000, -175.000000]] + joints: [-131.000000, -135.000000, -151.000000, 156.000000, -79.000000, -175.000000] + pose: {translation: [0.06002746391117358, -0.1177400177494601, 0.2470775665604137], quaternion: [0.7206602839745879, -0.4426599906087916, 0.3857846956536923, 0.3686069131409219]} + solutions: [[49.000000, -32.540356, 166.278944, 155.657262, 104.389099, -6.270528], [49.000000, 176.547251, -155.324207, 74.812801, 24.438271, 106.747054], [-131.000000, 28.510978, 161.954737, -145.012141, 44.131367, 153.471784], [-131.000000, -135.000000, -151.000000, -24.000000, 79.000000, 5.000000], [49.000000, -32.540356, 166.278944, -24.342738, -104.389099, 173.729472], [49.000000, 176.547251, -155.324207, -105.187199, -24.438271, -73.252946], [-131.000000, 28.510978, 161.954737, 34.987859, -44.131367, -26.528216], [-131.000000, -135.000000, -151.000000, 156.000000, -79.000000, -175.000000]] - id: 1332 parameters: KukaKR6_R700_sixx - joints: [72.000000, -14.000000, 120.000000, 104.000000, 106.000000, 150.000000] - pose: {translation: [0.01792133348893502, -0.2966207422115898, 0.131766378295419], quaternion: [-0.6208704237614591, -0.1187007542919789, 0.7023901320856538, -0.3272279789038208]} - solutions: [[72.000000, -14.000000, 120.000000, 104.000000, 106.000000, 150.000000], [72.000000, 113.971241, -109.045263, 103.611116, 73.670328, -112.865112], [-108.000000, 75.777778, 112.989513, -80.692619, 70.935441, -98.776193], [-108.000000, -164.902383, -102.034776, -71.624823, 100.636039, 168.810742], [72.000000, -14.000000, 120.000000, -76.000000, -106.000000, -30.000000], [72.000000, 113.971241, -109.045263, -76.388884, -73.670328, 67.134888], [-108.000000, 75.777778, 112.989513, 99.307381, -70.935441, 81.223807], [-108.000000, -164.902383, -102.034776, 108.375177, -100.636039, -11.189258]] + joints: [72.000000, -14.000000, 120.000000, 104.000000, 105.000000, 150.000000] + pose: {translation: [0.01748921819651671, -0.2964624363389498, 0.1304481531162717], quaternion: [-0.6275828103928297, -0.1181045115155501, 0.6981891433671524, -0.3236094259185802]} + solutions: [[72.000000, -14.000000, 120.000000, 104.000000, 105.000000, 150.000000], [72.000000, 113.971241, -109.045263, 102.577812, 73.797043, -112.575674], [-108.000000, 75.777778, 112.989513, -81.676743, 71.300051, -98.457698], [-108.000000, -164.902383, -102.034776, -71.951918, 99.689286, 168.753027], [72.000000, -14.000000, 120.000000, -76.000000, -105.000000, -30.000000], [72.000000, 113.971241, -109.045263, -77.422188, -73.797043, 67.424326], [-108.000000, 75.777778, 112.989513, 98.323257, -71.300051, 81.542302], [-108.000000, -164.902383, -102.034776, 108.048082, -99.689286, -11.246973]] - id: 1333 parameters: KukaKR6_R700_sixx - joints: [148.000000, -146.000000, 162.000000, -175.000000, 73.000000, -83.000000] - pose: {translation: [-0.1388130649690236, -0.09460255110751274, 0.575996089831358], quaternion: [-0.08278666388780231, -0.2748819993621837, 0.8076861759660299, 0.5150041707232555]} - solutions: [[148.000000, -146.000000, 162.000000, -175.000000, 73.000000, -83.000000], [148.000000, 50.607321, -151.045263, -6.927872, 43.708796, 103.484818], [-32.000000, 125.677284, 155.175908, 173.123957, 44.121038, 103.412872], [-32.000000, -53.343974, -144.221171, 4.960470, 74.559237, -82.858498], [148.000000, -146.000000, 162.000000, 5.000000, -73.000000, 97.000000], [148.000000, 50.607321, -151.045263, 173.072128, -43.708796, -76.515182], [-32.000000, 125.677284, 155.175908, -6.876043, -44.121038, -76.587128], [-32.000000, -53.343974, -144.221171, -175.039530, -74.559237, 97.141502]] + joints: [148.000000, -145.000000, 162.000000, -175.000000, 73.000000, -83.000000] + pose: {translation: [-0.1413994405765931, -0.09621869795720882, 0.5734761758832857], quaternion: [-0.08637924647929436, -0.2824178633539788, 0.8057716041171364, 0.5133331259861763]} + solutions: [[148.000000, -145.000000, 162.000000, -175.000000, 73.000000, -83.000000], [148.000000, 51.607321, -151.045263, -6.927872, 43.708796, 103.484818], [-32.000000, 124.990254, 155.083110, 173.150981, 44.339632, 103.375157], [-32.000000, -54.219038, -144.128372, 4.965712, 74.342318, -82.878051], [148.000000, -145.000000, 162.000000, 5.000000, -73.000000, 97.000000], [148.000000, 51.607321, -151.045263, 173.072128, -43.708796, -76.515182], [-32.000000, 124.990254, 155.083110, -6.849019, -44.339632, -76.624843], [-32.000000, -54.219038, -144.128372, -175.034288, -74.342318, 97.121949]] - id: 1334 parameters: KukaKR6_R700_sixx joints: [91.000000, -7.000000, -53.000000, 103.000000, -52.000000, 58.000000] @@ -6676,49 +6676,49 @@ cases: solutions: [[91.000000, -70.336930, 63.954737, -116.957771, 59.475791, -56.405175], [91.000000, -7.000000, -53.000000, -77.000000, 52.000000, -122.000000], [-89.000000, -167.199451, 48.180007, 103.742315, 52.226771, -123.208753], [-89.000000, -121.102076, -37.225269, 72.455638, 53.636557, -73.376822], [91.000000, -70.336930, 63.954737, 63.042229, -59.475791, 123.594825], [91.000000, -7.000000, -53.000000, 103.000000, -52.000000, 58.000000], [-89.000000, -167.199451, 48.180007, -76.257685, -52.226771, 56.791247], [-89.000000, -121.102076, -37.225269, -107.544362, -53.636557, 106.623178]] - id: 1335 parameters: KukaKR6_R700_sixx - joints: [-165.000000, 99.000000, -79.000000, -56.000000, -118.000000, -14.000000] - pose: {translation: [-0.2832165726428193, 0.1365131541428816, 0.04689251914727455], quaternion: [0.1670133629355021, 0.3998014259842834, 0.8790968956686196, 0.1986303209676308]} - solutions: [[-165.000000, 6.647829, 89.954737, 64.938402, 126.091761, 72.395832], [-165.000000, 99.000000, -79.000000, 124.000000, 118.000000, 166.000000], [15.000000, 89.952911, 81.626935, -51.708155, 111.149717, 176.278599], [15.000000, 172.899489, -70.672198, -100.361954, 131.915342, 95.531100], [-165.000000, 6.647829, 89.954737, -115.061598, -126.091761, -107.604168], [-165.000000, 99.000000, -79.000000, -56.000000, -118.000000, -14.000000], [15.000000, 89.952911, 81.626935, 128.291845, -111.149717, -3.721401], [15.000000, 172.899489, -70.672198, 79.638046, -131.915342, -84.468900]] + joints: [-165.000000, 98.000000, -79.000000, -56.000000, -118.000000, -14.000000] + pose: {translation: [-0.2891273974887208, 0.1380969548869427, 0.05190100949791423], quaternion: [0.1748657000031532, 0.3994749720851589, 0.8785586245857774, 0.1948755418361059]} + solutions: [[-165.000000, 5.647829, 89.954737, 64.938402, 126.091761, 72.395832], [-165.000000, 98.000000, -79.000000, 124.000000, 118.000000, 166.000000], [15.000000, 90.991001, 81.448354, -51.750922, 111.236734, 176.160298], [15.000000, 173.737254, -70.493616, -100.347517, 131.918280, 95.552711], [-165.000000, 5.647829, 89.954737, -115.061598, -126.091761, -107.604168], [-165.000000, 98.000000, -79.000000, -56.000000, -118.000000, -14.000000], [15.000000, 90.991001, 81.448354, 128.249078, -111.236734, -3.839702], [15.000000, 173.737254, -70.493616, 79.652483, -131.918280, -84.447289]] - id: 1336 parameters: KukaKR6_R700_sixx - joints: [46.000000, -87.000000, 167.000000, 45.000000, -38.000000, -47.000000] - pose: {translation: [0.1532729467978283, -0.1085832429652868, 0.3051556894913489], quaternion: [0.3566231496201976, 0.8503185395412997, 0.09585519586206549, 0.374953452969254]} - solutions: [[46.000000, -87.000000, 167.000000, -135.000000, 38.000000, 133.000000], [46.000000, 124.497399, -156.045263, -25.993631, 83.367893, -5.538349], [-134.000000, 73.094868, 158.116775, 153.668563, 101.050728, -14.180604], [-134.000000, -99.669462, -147.162037, 60.693073, 29.949434, 114.175330], [46.000000, -87.000000, 167.000000, 45.000000, -38.000000, -47.000000], [46.000000, 124.497399, -156.045263, 154.006369, -83.367893, 174.461651], [-134.000000, 73.094868, 158.116775, -26.331437, -101.050728, 165.819396], [-134.000000, -99.669462, -147.162037, -119.306927, -29.949434, -65.824670]] + joints: [46.000000, -86.000000, 167.000000, 45.000000, -38.000000, -47.000000] + pose: {translation: [0.1521062219732847, -0.1073750640416199, 0.3023850695317262], quaternion: [0.3595443528774819, 0.8519573991312862, 0.09902745263049638, 0.3675459318301343]} + solutions: [[46.000000, -86.000000, 167.000000, -135.000000, 38.000000, 133.000000], [46.000000, 125.497399, -156.045263, -25.993631, 83.367893, -5.538349], [-134.000000, 72.340835, 158.154291, 153.643705, 101.304770, -14.308834], [-134.000000, -100.339574, -147.199553, 61.137799, 29.807311, 113.662433], [46.000000, -86.000000, 167.000000, 45.000000, -38.000000, -47.000000], [46.000000, 125.497399, -156.045263, 154.006369, -83.367893, 174.461651], [-134.000000, 72.340835, 158.154291, -26.356295, -101.304770, 165.691166], [-134.000000, -100.339574, -147.199553, -118.862201, -29.807311, -66.337567]] - id: 1337 parameters: KukaKR6_R700_sixx - joints: [130.000000, 175.000000, -151.000000, 13.000000, -53.000000, 55.000000] - pose: {translation: [-0.07138402473550773, -0.107431516160534, 0.2933499797172562], quaternion: [-0.2177508415981255, -0.4685396792787722, 0.8547166943623057, 0.05014491303239513]} - solutions: [[130.000000, -21.489022, 161.954737, -136.894603, 164.757519, -75.006833], [130.000000, 175.000000, -151.000000, -167.000000, 53.000000, -125.000000], [-50.000000, 26.149025, 158.528900, 24.516854, 25.654396, -139.438605], [-50.000000, -145.687117, -147.574163, 16.364834, 140.384683, -104.343584], [130.000000, -21.489022, 161.954737, 43.105397, -164.757519, 104.993167], [130.000000, 175.000000, -151.000000, 13.000000, -53.000000, 55.000000], [-50.000000, 26.149025, 158.528900, -155.483146, -25.654396, 40.561395], [-50.000000, -145.687117, -147.574163, -163.635166, -140.384683, 75.656416]] + joints: [130.000000, 174.000000, -151.000000, 13.000000, -52.000000, 55.000000] + pose: {translation: [-0.07316423065380878, -0.1092556223202927, 0.293971821442308], quaternion: [-0.2179418672707731, -0.4683931001247524, 0.8546311560094454, 0.05210406341171114]} + solutions: [[130.000000, -22.489022, 161.954737, -139.690911, 164.096621, -77.700571], [130.000000, 174.000000, -151.000000, -167.000000, 52.000000, -125.000000], [-50.000000, 27.151262, 158.392019, 24.990145, 24.809133, -139.842721], [-50.000000, -144.994710, -147.437282, 15.876906, 139.611911, -104.686892], [130.000000, -22.489022, 161.954737, 40.309089, -164.096621, 102.299429], [130.000000, 174.000000, -151.000000, 13.000000, -52.000000, 55.000000], [-50.000000, 27.151262, 158.392019, -155.009855, -24.809133, 40.157279], [-50.000000, -144.994710, -147.437282, -164.123094, -139.611911, 75.313108]] - id: 1338 parameters: KukaKR6_R700_sixx - joints: [-64.000000, 129.000000, -15.000000, -36.000000, 138.000000, -15.000000] - pose: {translation: [-0.1620281644870935, -0.2604312401214947, -0.1205545649188911], quaternion: [-0.09145171636642528, -0.205176233463523, 0.3975215475729112, 0.8896718024140108]} - solutions: [[116.000000, 46.639787, 41.245131, 119.808314, 153.045896, -43.904699], [116.000000, 85.209988, -30.290394, 149.737335, 128.700807, -6.677324], [-64.000000, 106.953708, 25.954737, -27.580500, 121.844697, -2.042629], [-64.000000, 129.000000, -15.000000, -36.000000, 138.000000, -15.000000], [116.000000, 46.639787, 41.245131, -60.191686, -153.045896, 136.095301], [116.000000, 85.209988, -30.290394, -30.262665, -128.700807, 173.322676], [-64.000000, 106.953708, 25.954737, 152.419500, -121.844697, 177.957371], [-64.000000, 129.000000, -15.000000, 144.000000, -138.000000, 165.000000]] + joints: [-64.000000, 128.000000, -15.000000, -36.000000, 137.000000, -15.000000] + pose: {translation: [-0.1590650271820597, -0.2529756211542307, -0.1267792601100666], quaternion: [-0.08466268472766142, -0.2200734037633335, 0.3957789466683172, 0.8875578584773181]} + solutions: [[116.000000, 47.910676, 40.801934, 121.122815, 152.077887, -42.669588], [116.000000, 86.000654, -29.847197, 149.462289, 127.912716, -6.940692], [-64.000000, 105.953708, 25.954737, -27.841721, 120.869893, -2.178567], [-64.000000, 128.000000, -15.000000, -36.000000, 137.000000, -15.000000], [116.000000, 47.910676, 40.801934, -58.877185, -152.077887, 137.330412], [116.000000, 86.000654, -29.847197, -30.537711, -127.912716, 173.059308], [-64.000000, 105.953708, 25.954737, 152.158279, -120.869893, 177.821433], [-64.000000, 128.000000, -15.000000, 144.000000, -137.000000, 165.000000]] - id: 1339 parameters: KukaKR6_R700_sixx - joints: [-98.000000, -110.000000, -13.000000, -154.000000, -118.000000, 66.000000] - pose: {translation: [0.06367283954562343, -0.230565243713626, 0.9861345299758528], quaternion: [0.3072805112621451, 0.621558658887166, 0.7060768966931243, -0.1438712511833735]} - solutions: [[82.000000, -83.033555, 41.001558, -149.048345, 131.186341, -105.347158], [82.000000, -44.727288, -30.046821, -156.706505, 101.818249, -121.857946], [-98.000000, -129.890239, 23.954737, 23.353953, 102.469873, -121.570563], [-98.000000, -110.000000, -13.000000, 26.000000, 118.000000, -114.000000], [82.000000, -83.033555, 41.001558, 30.951655, -131.186341, 74.652842], [82.000000, -44.727288, -30.046821, 23.293495, -101.818249, 58.142054], [-98.000000, -129.890239, 23.954737, -156.646047, -102.469873, 58.429437], [-98.000000, -110.000000, -13.000000, -154.000000, -118.000000, 66.000000]] + joints: [-98.000000, -110.000000, -13.000000, -154.000000, -117.000000, 66.000000] + pose: {translation: [0.06397895391692453, -0.2307126216885247, 0.9874888104942057], quaternion: [0.3059096144979314, 0.6153954286124977, 0.712095793054822, -0.1436222674733671]} + solutions: [[82.000000, -83.033555, 41.001558, -149.245301, 130.197554, -105.475577], [82.000000, -44.727288, -30.046821, -156.567316, 100.827606, -121.830616], [-98.000000, -129.890239, 23.954737, 23.488382, 101.478557, -121.542672], [-98.000000, -110.000000, -13.000000, 26.000000, 117.000000, -114.000000], [82.000000, -83.033555, 41.001558, 30.754699, -130.197554, 74.524423], [82.000000, -44.727288, -30.046821, 23.432684, -100.827606, 58.169384], [-98.000000, -129.890239, 23.954737, -156.511618, -101.478557, 58.457328], [-98.000000, -110.000000, -13.000000, -154.000000, -117.000000, 66.000000]] - id: 1340 parameters: KukaKR6_R700_sixx - joints: [-20.000000, 140.000000, 55.000000, 167.000000, 13.000000, -141.000000] - pose: {translation: [-0.6167052727498544, -0.2287704076507928, 0.2614209323832372], quaternion: [0.2891221089822983, -0.6294236604000613, -0.02225879944885424, 0.7209291280516498]} - solutions: [[160.000000, -21.702295, 71.963654, -176.349815, 52.639779, 24.105371], [160.000000, 50.473010, -61.008916, -19.527440, 8.707421, -134.358581], [-20.000000, 140.000000, 55.000000, 167.000000, 13.000000, -141.000000], [-20.000000, -166.472342, -44.045263, 5.337799, 32.953444, 21.839437], [160.000000, -21.702295, 71.963654, 3.650185, -52.639779, -155.894629], [160.000000, 50.473010, -61.008916, 160.472560, -8.707421, 45.641419], [-20.000000, 140.000000, 55.000000, -13.000000, -13.000000, 39.000000], [-20.000000, -166.472342, -44.045263, -174.662201, -32.953444, -158.160563]] + joints: [-20.000000, 139.000000, 55.000000, 167.000000, 12.000000, -141.000000] + pose: {translation: [-0.6144133490003505, -0.2276098942143582, 0.2508881451685175], quaternion: [0.2876559091206868, -0.6302531963691438, -0.02327696501788121, 0.7207587455688519]} + solutions: [[160.000000, -20.579199, 71.894205, -176.671417, 53.660166, 24.300863], [160.000000, 51.519152, -60.939467, -20.690459, 7.606749, -133.201647], [-20.000000, 139.000000, 55.000000, 167.000000, 12.000000, -141.000000], [-20.000000, -167.472342, -44.045263, 4.808951, 33.910064, 22.280799], [160.000000, -20.579199, 71.894205, 3.328583, -53.660166, -155.699137], [160.000000, 51.519152, -60.939467, 159.309541, -7.606749, 46.798353], [-20.000000, 139.000000, 55.000000, -13.000000, -12.000000, 39.000000], [-20.000000, -167.472342, -44.045263, -175.191049, -33.910064, -157.719201]] - id: 1341 parameters: KukaKR6_R700_sixx - joints: [-167.000000, -154.000000, 46.000000, 138.000000, -109.000000, -122.000000] - pose: {translation: [0.32251971499958, -0.1264049336205054, 0.8670068898921542], quaternion: [-0.4924571958325467, -0.5511227213303547, 0.6255768403747405, 0.2498064712791195]} - solutions: [[13.000000, -80.677340, 59.661988, 106.664436, 138.668676, 6.072188], [13.000000, -22.051259, -48.707251, 137.705627, 109.920489, 57.116447], [-167.000000, -154.000000, 46.000000, -42.000000, 109.000000, 58.000000], [-167.000000, -110.271600, -35.045263, -60.260286, 133.226908, 24.171716], [13.000000, -80.677340, 59.661988, -73.335564, -138.668676, -173.927812], [13.000000, -22.051259, -48.707251, -42.294373, -109.920489, -122.883553], [-167.000000, -154.000000, 46.000000, 138.000000, -109.000000, -122.000000], [-167.000000, -110.271600, -35.045263, 119.739714, -133.226908, -155.828284]] + joints: [-167.000000, -153.000000, 46.000000, 138.000000, -109.000000, -122.000000] + pose: {translation: [0.3145236495786808, -0.1245588964606608, 0.8733528112532444], quaternion: [-0.4982480271574049, -0.5519977749916983, 0.6224475961660328, 0.2441441169987425]} + solutions: [[13.000000, -81.588100, 59.406334, 106.845468, 138.620702, 6.313362], [13.000000, -23.242061, -48.451596, 137.689788, 109.968455, 57.070013], [-167.000000, -153.000000, 46.000000, -42.000000, 109.000000, 58.000000], [-167.000000, -109.271600, -35.045263, -60.260286, 133.226908, 24.171716], [13.000000, -81.588100, 59.406334, -73.154532, -138.620702, -173.686638], [13.000000, -23.242061, -48.451596, -42.310212, -109.968455, -122.929987], [-167.000000, -153.000000, 46.000000, 138.000000, -109.000000, -122.000000], [-167.000000, -109.271600, -35.045263, 119.739714, -133.226908, -155.828284]] - id: 1342 parameters: KukaKR6_R700_sixx - joints: [-84.000000, 101.000000, 125.000000, 141.000000, -120.000000, 169.000000] - pose: {translation: [-0.06921318536888757, -0.2414025026985444, 0.337661800120184], quaternion: [0.6109257812952663, -0.2698931688088293, -0.5790440324769124, -0.4675846186862587]} - solutions: [[96.000000, -59.690195, 134.425936, 35.160211, 108.841466, -156.141758], [96.000000, 87.298661, -123.471199, 136.673460, 127.411606, -18.772028], [-84.000000, 101.000000, 125.000000, -39.000000, 120.000000, -11.000000], [-84.000000, -124.658608, -114.045263, -140.213663, 121.606010, -145.379403], [96.000000, -59.690195, 134.425936, -144.839789, -108.841466, 23.858242], [96.000000, 87.298661, -123.471199, -43.326540, -127.411606, 161.227972], [-84.000000, 101.000000, 125.000000, 141.000000, -120.000000, 169.000000], [-84.000000, -124.658608, -114.045263, 39.786337, -121.606010, 34.620597]] + joints: [-84.000000, 100.000000, 125.000000, 141.000000, -119.000000, 169.000000] + pose: {translation: [-0.06957577130286106, -0.2407128725699771, 0.3341558660999264], quaternion: [0.6031620113328315, -0.2594010358785453, -0.5864281129172472, -0.4743508817851899]} + solutions: [[96.000000, -58.498666, 134.384803, 35.735834, 109.538989, -156.034921], [96.000000, 88.432689, -123.430065, 136.752828, 126.548354, -18.820228], [-84.000000, 100.000000, 125.000000, -39.000000, 119.000000, -11.000000], [-84.000000, -125.658608, -114.045263, -139.368085, 122.302634, -144.931872], [96.000000, -58.498666, 134.384803, -144.264166, -109.538989, 23.965079], [96.000000, 88.432689, -123.430065, -43.247172, -126.548354, 161.179772], [-84.000000, 100.000000, 125.000000, 141.000000, -119.000000, 169.000000], [-84.000000, -125.658608, -114.045263, 40.631915, -122.302634, 35.068128]] - id: 1343 parameters: KukaKR6_R700_sixx - joints: [-159.000000, -166.000000, -144.000000, -166.000000, -102.000000, -97.000000] - pose: {translation: [0.08900399864028315, -0.01388777483589057, 0.1830331206487948], quaternion: [0.7088241213381044, 0.4721927537244772, 0.4055278317604862, 0.3318878515507889]} - solutions: [[21.000000, 0.592919, 155.906534, -162.632577, 127.556470, 90.825827], [21.000000, -176.929154, -144.951797, -126.741254, 17.175385, 28.034528], [-159.000000, 13.468546, 154.954737, 138.651988, 20.989443, -60.560394], [-159.000000, -166.000000, -144.000000, 14.000000, 102.000000, 83.000000], [21.000000, 0.592919, 155.906534, 17.367423, -127.556470, -89.174173], [21.000000, -176.929154, -144.951797, 53.258746, -17.175385, -151.965472], [-159.000000, 13.468546, 154.954737, -41.348012, -20.989443, 119.439606], [-159.000000, -166.000000, -144.000000, -166.000000, -102.000000, -97.000000]] + joints: [-159.000000, -165.000000, -144.000000, -166.000000, -101.000000, -97.000000] + pose: {translation: [0.0919392532010271, -0.01494237939989024, 0.1838062161645642], quaternion: [0.7077914735613992, 0.4739113682317423, 0.404968339958568, 0.3323249744537761]} + solutions: [[21.000000, -0.565743, 156.065262, -162.802084, 126.565725, 90.723683], [21.000000, -177.757588, -145.110524, -123.913317, 16.628048, 25.331711], [-159.000000, 14.468546, 154.954737, 140.251425, 21.801653, -62.049654], [-159.000000, -165.000000, -144.000000, 14.000000, 101.000000, 83.000000], [21.000000, -0.565743, 156.065262, 17.197916, -126.565725, -89.276317], [21.000000, -177.757588, -145.110524, 56.086683, -16.628048, -154.668289], [-159.000000, 14.468546, 154.954737, -39.748575, -21.801653, 117.950346], [-159.000000, -165.000000, -144.000000, -166.000000, -101.000000, -97.000000]] - id: 1344 parameters: KukaKR6_R700_sixx joints: [75.000000, 105.000000, 148.000000, 172.000000, -69.000000, -20.000000] @@ -6726,14 +6726,14 @@ cases: solutions: [[-105.000000, -103.737630, 156.969275, 26.787828, 163.244330, 2.917436], [-105.000000, 80.983865, -146.014537, 172.333688, 76.895237, 158.864821], [75.000000, 105.000000, 148.000000, -8.000000, 69.000000, 160.000000], [75.000000, -87.284735, -137.045263, -129.230612, 170.343800, 27.485020], [-105.000000, -103.737630, 156.969275, -153.212172, -163.244330, -177.082564], [-105.000000, 80.983865, -146.014537, -7.666312, -76.895237, -21.135179], [75.000000, 105.000000, 148.000000, 172.000000, -69.000000, -20.000000], [75.000000, -87.284735, -137.045263, 50.769388, -170.343800, -152.514980]] - id: 1345 parameters: KukaKR6_R700_sixx - joints: [-45.000000, 44.000000, -162.000000, -83.000000, -80.000000, 142.000000] - pose: {translation: [0.0795705370123083, -0.0310172464869345, 0.4947851609209149], quaternion: [0.587054763533054, 0.3269221220203593, 0.06492017548382298, 0.7377492809633942]} - solutions: [[-45.000000, 167.240772, 172.954737, 98.997168, 98.253088, -134.931887], [-45.000000, 44.000000, -162.000000, 97.000000, 80.000000, -38.000000], [135.000000, 121.628220, 168.195556, -81.648533, 81.093969, -46.214578], [135.000000, -22.631028, -157.240818, -84.309739, 100.793799, -154.720653], [-45.000000, 167.240772, 172.954737, -81.002832, -98.253088, 45.068113], [-45.000000, 44.000000, -162.000000, -83.000000, -80.000000, 142.000000], [135.000000, 121.628220, 168.195556, 98.351467, -81.093969, 133.785422], [135.000000, -22.631028, -157.240818, 95.690261, -100.793799, 25.279347]] + joints: [-45.000000, 44.000000, -162.000000, -83.000000, -79.000000, 142.000000] + pose: {translation: [0.07895557273829543, -0.03127505258735233, 0.4960118870331613], quaternion: [0.5835152149349567, 0.3214876747108908, 0.06263717958192375, 0.7431233092040765]} + solutions: [[-45.000000, 167.240772, 172.954737, 100.000553, 98.372524, -134.786816], [-45.000000, 44.000000, -162.000000, 97.000000, 79.000000, -38.000000], [135.000000, 121.628220, 168.195556, -81.503502, 80.104258, -46.238268], [135.000000, -22.631028, -157.240818, -83.399064, 101.242092, -154.546603], [-45.000000, 167.240772, 172.954737, -79.999447, -98.372524, 45.213184], [-45.000000, 44.000000, -162.000000, -83.000000, -79.000000, 142.000000], [135.000000, 121.628220, 168.195556, 98.496498, -80.104258, 133.761732], [135.000000, -22.631028, -157.240818, 96.600936, -101.242092, 25.453397]] - id: 1346 parameters: KukaKR6_R700_sixx - joints: [-23.000000, 44.000000, 43.000000, -170.000000, 137.000000, 173.000000] - pose: {translation: [0.324220572985629, 0.1479158872907383, -0.1202452335558759], quaternion: [-0.08114191758925308, 0.3326633378692107, 0.3197784637920004, 0.8834550508896775]} - solutions: [[-23.000000, 44.000000, 43.000000, -170.000000, 137.000000, 173.000000], [-23.000000, 84.472596, -32.045263, -173.025213, 102.772513, 167.201115], [157.000000, 107.635133, 27.744889, 6.827703, 95.021544, 166.252294], [157.000000, 131.612086, -16.790151, 7.534586, 115.422150, 168.901605], [-23.000000, 44.000000, 43.000000, 10.000000, -137.000000, -7.000000], [-23.000000, 84.472596, -32.045263, 6.974787, -102.772513, -12.798885], [157.000000, 107.635133, 27.744889, -173.172297, -95.021544, -13.747706], [157.000000, 131.612086, -16.790151, -172.465414, -115.422150, -11.098395]] + joints: [-23.000000, 43.000000, 43.000000, -170.000000, 137.000000, 173.000000] + pose: {translation: [0.3325318863371496, 0.1514438304980855, -0.114385028501348], quaternion: [-0.08069520788024316, 0.3244636792644888, 0.3202487811804179, 0.8863703077245831]} + solutions: [[-23.000000, 43.000000, 43.000000, -170.000000, 137.000000, 173.000000], [-23.000000, 83.472596, -32.045263, -173.025213, 102.772513, 167.201115], [157.000000, 108.959582, 27.073819, 6.831450, 95.365705, 166.293683], [157.000000, 132.212695, -16.119081, 7.517775, 115.152811, 168.862250], [-23.000000, 43.000000, 43.000000, 10.000000, -137.000000, -7.000000], [-23.000000, 83.472596, -32.045263, 6.974787, -102.772513, -12.798885], [157.000000, 108.959582, 27.073819, -173.168550, -95.365705, -13.706317], [157.000000, 132.212695, -16.119081, -172.482225, -115.152811, -11.137750]] - id: 1347 parameters: KukaKR6_R700_sixx joints: [-12.000000, -166.000000, 130.000000, -40.000000, 126.000000, 143.000000] @@ -6741,59 +6741,59 @@ cases: solutions: [[168.000000, -164.005416, 130.178542, 34.191104, 112.273137, 3.692813], [168.000000, -22.837442, -119.223804, 139.060681, 127.475016, 141.429819], [-12.000000, -166.000000, 130.000000, -40.000000, 126.000000, 143.000000], [-12.000000, -25.071949, -119.045263, -145.312410, 113.968776, 4.957006], [168.000000, -164.005416, 130.178542, -145.808896, -112.273137, -176.307187], [168.000000, -22.837442, -119.223804, -40.939319, -127.475016, -38.570181], [-12.000000, -166.000000, 130.000000, 140.000000, -126.000000, -37.000000], [-12.000000, -25.071949, -119.045263, 34.687590, -113.968776, -175.042994]] - id: 1348 parameters: KukaKR6_R700_sixx - joints: [158.000000, -19.000000, -143.000000, -36.000000, -109.000000, -100.000000] - pose: {translation: [0.01046712359759664, 0.0521816716673026, 0.5158095670418577], quaternion: [0.800788045015311, -0.5222953403149959, -0.2603293085684887, -0.1348137068181549]} - solutions: [[-22.000000, -177.807026, 155.662192, -36.929634, 112.333990, 77.367518], [-22.000000, 4.165762, -144.707454, -140.984353, 118.015975, -65.855967], [158.000000, 162.455111, 153.954737, 40.518039, 121.192768, -62.816446], [158.000000, -19.000000, -143.000000, 144.000000, 109.000000, 80.000000], [-22.000000, -177.807026, 155.662192, 143.070366, -112.333990, -102.632482], [-22.000000, 4.165762, -144.707454, 39.015647, -118.015975, 114.144033], [158.000000, 162.455111, 153.954737, -139.481961, -121.192768, 117.183554], [158.000000, -19.000000, -143.000000, -36.000000, -109.000000, -100.000000]] + joints: [158.000000, -18.000000, -143.000000, -36.000000, -108.000000, -100.000000] + pose: {translation: [0.009756914314031997, 0.05217558928054179, 0.5168309529703223], quaternion: [0.800788045015311, -0.5222953403149959, -0.2522820230578794, -0.149331394179598]} + solutions: [[-22.000000, -178.656892, 155.503616, -36.882307, 111.341790, 77.380418], [-22.000000, 2.990113, -144.548879, -140.349611, 118.828971, -65.563356], [158.000000, 163.455111, 153.954737, 41.230584, 121.987510, -62.443174], [158.000000, -18.000000, -143.000000, 144.000000, 108.000000, 80.000000], [-22.000000, -178.656892, 155.503616, 143.117693, -111.341790, -102.619582], [-22.000000, 2.990113, -144.548879, 39.650389, -118.828971, 114.436644], [158.000000, 163.455111, 153.954737, -138.769416, -121.987510, 117.556826], [158.000000, -18.000000, -143.000000, -36.000000, -108.000000, -100.000000]] - id: 1349 parameters: KukaKR6_R700_sixx - joints: [-94.000000, -148.000000, -43.000000, -167.000000, 115.000000, 45.000000] - pose: {translation: [0.02189228606332599, -0.5468875774172419, 0.4000251207406403], quaternion: [0.3438483399506511, 0.8802703555507152, 0.2327912547340971, -0.2295662256759988]} - solutions: [[86.000000, -42.160933, 71.530697, 11.854627, 97.052676, 40.903678], [86.000000, 29.534725, -60.575960, 28.672000, 154.854335, 65.763871], [-94.000000, 159.613184, 53.954737, -148.488846, 157.041248, 68.872283], [-94.000000, -148.000000, -43.000000, -167.000000, 115.000000, 45.000000], [86.000000, -42.160933, 71.530697, -168.145373, -97.052676, -139.096322], [86.000000, 29.534725, -60.575960, -151.328000, -154.854335, -114.236129], [-94.000000, 159.613184, 53.954737, 31.511154, -157.041248, -111.127717], [-94.000000, -148.000000, -43.000000, 13.000000, -115.000000, -135.000000]] + joints: [-94.000000, -147.000000, -43.000000, -167.000000, 115.000000, 45.000000] + pose: {translation: [0.02188617753388375, -0.5468002213763691, 0.4100093334898065], quaternion: [0.3456919775293052, 0.8824030945505109, 0.2253287041173462, -0.2260283400380536]} + solutions: [[86.000000, -43.229755, 71.498333, 11.857217, 97.151704, 40.924627], [86.000000, 28.430058, -60.543596, 28.746097, 154.917750, 65.845705], [-94.000000, 160.613184, 53.954737, -148.488846, 157.041248, 68.872283], [-94.000000, -147.000000, -43.000000, -167.000000, 115.000000, 45.000000], [86.000000, -43.229755, 71.498333, -168.142783, -97.151704, -139.075373], [86.000000, 28.430058, -60.543596, -151.253903, -154.917750, -114.154295], [-94.000000, 160.613184, 53.954737, 31.511154, -157.041248, -111.127717], [-94.000000, -147.000000, -43.000000, 13.000000, -115.000000, -135.000000]] - id: 1350 parameters: KukaKR6_R700_sixx - joints: [176.000000, -48.000000, 163.000000, 66.000000, 101.000000, 32.000000] - pose: {translation: [-0.09552727343463514, 0.06523615060589655, 0.3158300648665756], quaternion: [0.2294889623631633, 0.5258335306566765, 0.8061837262886353, -0.144574249636592]} - solutions: [[176.000000, -48.000000, 163.000000, 66.000000, 101.000000, 32.000000], [176.000000, 151.285404, -152.045263, 111.063058, 106.061004, 153.109753], [-4.000000, 49.225423, 156.523462, -64.386760, 96.019307, 176.463367], [-4.000000, -127.003699, -145.568725, -108.282290, 109.190006, 53.656278], [176.000000, -48.000000, 163.000000, -114.000000, -101.000000, -148.000000], [176.000000, 151.285404, -152.045263, -68.936942, -106.061004, -26.890247], [-4.000000, 49.225423, 156.523462, 115.613240, -96.019307, -3.536633], [-4.000000, -127.003699, -145.568725, 71.717710, -109.190006, -126.343722]] + joints: [176.000000, -47.000000, 163.000000, 66.000000, 100.000000, 32.000000] + pose: {translation: [-0.09337495956626156, 0.06561967025661082, 0.313506939359372], quaternion: [0.2277007869801686, 0.531336968594501, 0.8043593162580303, -0.13725694067089]} + solutions: [[176.000000, -47.000000, 163.000000, 66.000000, 100.000000, 32.000000], [176.000000, 152.285404, -152.045263, 110.169765, 106.575817, 152.858753], [-4.000000, 48.337083, 156.624012, -64.949236, 96.742910, 176.591474], [-4.000000, -127.678853, -145.669275, -108.600606, 108.331861, 53.755377], [176.000000, -47.000000, 163.000000, -114.000000, -100.000000, -148.000000], [176.000000, 152.285404, -152.045263, -69.830235, -106.575817, -27.141247], [-4.000000, 48.337083, 156.624012, 115.050764, -96.742910, -3.408526], [-4.000000, -127.678853, -145.669275, 71.399394, -108.331861, -126.244623]] - id: 1351 parameters: KukaKR6_R700_sixx - joints: [83.000000, -179.000000, -13.000000, 46.000000, -110.000000, 65.000000] - pose: {translation: [-0.01970125229976853, 0.6041803809932327, 0.2499833052971256], quaternion: [0.165340878299482, 0.8696883514748192, -0.1364588842587868, 0.4446161694979326]} - solutions: [[-97.000000, -16.172542, 53.292211, 42.556511, 91.866302, -132.790005], [-97.000000, 35.491569, -42.337473, 53.112658, 122.312964, -99.041491], [83.000000, 161.109761, 23.954737, -127.764802, 121.232722, -100.707756], [83.000000, -179.000000, -13.000000, -134.000000, 110.000000, -115.000000], [-97.000000, -16.172542, 53.292211, -137.443489, -91.866302, 47.209995], [-97.000000, 35.491569, -42.337473, -126.887342, -122.312964, 80.958509], [83.000000, 161.109761, 23.954737, 52.235198, -121.232722, 79.292244], [83.000000, -179.000000, -13.000000, 46.000000, -110.000000, 65.000000]] + joints: [83.000000, -178.000000, -13.000000, 46.000000, -110.000000, 65.000000] + pose: {translation: [-0.02000868542956687, 0.6066842229057469, 0.2609501717832763], quaternion: [0.1690404971526223, 0.8713100215928009, -0.1290967315893473, 0.4422422305561686]} + solutions: [[-97.000000, -17.283191, 53.349917, 42.557690, 91.905300, -132.754178], [-97.000000, 34.443855, -42.395179, 53.166071, 122.376203, -98.941655], [83.000000, 162.109761, 23.954737, -127.764802, 121.232722, -100.707756], [83.000000, -178.000000, -13.000000, -134.000000, 110.000000, -115.000000], [-97.000000, -17.283191, 53.349917, -137.442310, -91.905300, 47.245822], [-97.000000, 34.443855, -42.395179, -126.833929, -122.376203, 81.058345], [83.000000, 162.109761, 23.954737, 52.235198, -121.232722, 79.292244], [83.000000, -178.000000, -13.000000, 46.000000, -110.000000, 65.000000]] - id: 1352 parameters: KukaKR6_R700_sixx - joints: [-62.000000, 161.000000, 175.000000, 87.000000, -169.000000, -67.000000] - pose: {translation: [-0.02552295452137301, -0.01553157203310795, 0.4466677231678736], quaternion: [0.6347588546922888, 0.540510553439047, -0.544404509667042, 0.09248387894620737]} - solutions: [[-62.000000, 161.000000, 175.000000, -93.000000, 169.000000, 113.000000], [-62.000000, 49.688519, -164.045263, -169.013821, 89.077619, 25.876991], [118.000000, 116.297201, 169.896787, 11.070447, 97.090129, 27.439468], [118.000000, -21.302804, -158.942050, 154.189777, 154.046210, -177.446382], [-62.000000, 161.000000, 175.000000, 87.000000, -169.000000, -67.000000], [-62.000000, 49.688519, -164.045263, 10.986179, -89.077619, -154.123009], [118.000000, 116.297201, 169.896787, -168.929553, -97.090129, -152.560532], [118.000000, -21.302804, -158.942050, -25.810223, -154.046210, 2.553618]] + joints: [-62.000000, 160.000000, 175.000000, 87.000000, -168.000000, -67.000000] + pose: {translation: [-0.0270038707391002, -0.01540639057737929, 0.4459583912814594], quaternion: [0.6402078605514164, 0.5402726447053233, -0.5397961189480254, 0.08282218688215595]} + solutions: [[-62.000000, 160.000000, 175.000000, -93.000000, 168.000000, 113.000000], [-62.000000, 48.688519, -164.045263, -168.014938, 89.027570, 25.860475], [118.000000, 116.714770, 170.023098, 12.087079, 97.457666, 27.659006], [118.000000, -20.357740, -159.068361, 152.246528, 153.521082, -179.153697], [-62.000000, 160.000000, 175.000000, 87.000000, -168.000000, -67.000000], [-62.000000, 48.688519, -164.045263, 11.985062, -89.027570, -154.139525], [118.000000, 116.714770, 170.023098, -167.912921, -97.457666, -152.340994], [118.000000, -20.357740, -159.068361, -27.753472, -153.521082, 0.846303]] - id: 1353 parameters: KukaKR6_R700_sixx - joints: [104.000000, -54.000000, -37.000000, -11.000000, -39.000000, -126.000000] - pose: {translation: [-0.03793784364987685, -0.1124516991869351, 1.080473626504121], quaternion: [-0.3217359709070305, 0.1155977842209383, 0.2674352573789019, 0.9008892831077525]} - solutions: [[104.000000, -99.852452, 47.954737, 172.939759, 77.674945, 46.924126], [104.000000, -54.000000, -37.000000, 169.000000, 39.000000, 54.000000], [-76.000000, -126.705546, 41.321715, -11.947021, 35.455926, 55.188790], [-76.000000, -88.052354, -30.366977, -7.437671, 68.068969, 48.201138], [104.000000, -99.852452, 47.954737, -7.060241, -77.674945, -133.075874], [104.000000, -54.000000, -37.000000, -11.000000, -39.000000, -126.000000], [-76.000000, -126.705546, 41.321715, 168.052979, -35.455926, -124.811210], [-76.000000, -88.052354, -30.366977, 172.562329, -68.068969, -131.798862]] + joints: [104.000000, -53.000000, -37.000000, -11.000000, -39.000000, -126.000000] + pose: {translation: [-0.04080744711651115, -0.1239610500577203, 1.078741862581455], quaternion: [-0.3146601955249186, 0.1114270192715145, 0.2677246480247645, 0.9038232645647607]} + solutions: [[104.000000, -98.852452, 47.954737, 172.939759, 77.674945, 46.924126], [104.000000, -53.000000, -37.000000, 169.000000, 39.000000, 54.000000], [-76.000000, -127.433060, 40.862390, -11.893013, 35.638736, 55.122411], [-76.000000, -89.277581, -29.907653, -7.449954, 67.836844, 48.233859], [104.000000, -98.852452, 47.954737, -7.060241, -77.674945, -133.075874], [104.000000, -53.000000, -37.000000, -11.000000, -39.000000, -126.000000], [-76.000000, -127.433060, 40.862390, 168.106987, -35.638736, -124.877589], [-76.000000, -89.277581, -29.907653, 172.550046, -67.836844, -131.766141]] - id: 1354 parameters: KukaKR6_R700_sixx - joints: [-32.000000, -146.000000, -27.000000, -91.000000, -10.000000, 129.000000] - pose: {translation: [-0.5700411055892671, -0.3725796957805292, 0.5957310286959583], quaternion: [0.4314262156702602, -0.5023529523772956, 0.01856230736326157, 0.7491117222521648]} - solutions: [[148.000000, -47.245686, 59.836448, -152.467361, 22.061293, 12.198287], [148.000000, 11.571528, -48.881710, -19.350174, 31.600781, -125.363204], [-32.000000, 178.992990, 37.954737, 160.452343, 31.259008, -125.131765], [-32.000000, -146.000000, -27.000000, 89.000000, 10.000000, -51.000000], [148.000000, -47.245686, 59.836448, 27.532639, -22.061293, -167.801713], [148.000000, 11.571528, -48.881710, 160.649826, -31.600781, 54.636796], [-32.000000, 178.992990, 37.954737, -19.547657, -31.259008, 54.868235], [-32.000000, -146.000000, -27.000000, -91.000000, -10.000000, 129.000000]] + joints: [-32.000000, -145.000000, -27.000000, -91.000000, -10.000000, 129.000000] + pose: {translation: [-0.5670530223054889, -0.3707125341155436, 0.608020163617257], quaternion: [0.4280829973050037, -0.4967041678952984, 0.01769188197909676, 0.7547959421763217]} + solutions: [[148.000000, -48.267984, 59.734453, -152.324860, 21.951148, 12.044589], [148.000000, 10.437484, -48.779715, -19.332931, 31.631021, -125.383453], [-32.000000, 179.992990, 37.954737, 160.452343, 31.259008, -125.131765], [-32.000000, -145.000000, -27.000000, 89.000000, 10.000000, -51.000000], [148.000000, -48.267984, 59.734453, 27.675140, -21.951148, -167.955411], [148.000000, 10.437484, -48.779715, 160.667069, -31.631021, 54.616547], [-32.000000, 179.992990, 37.954737, -19.547657, -31.259008, 54.868235], [-32.000000, -145.000000, -27.000000, -91.000000, -10.000000, 129.000000]] - id: 1355 parameters: KukaKR6_R700_sixx - joints: [-136.000000, 122.000000, -37.000000, -47.000000, -74.000000, -36.000000] - pose: {translation: [0.05423056638020084, 0.02581543115570091, -0.2450918446151918], quaternion: [-0.3308404647640656, 0.7065904684581717, 0.5661462212711469, 0.265994272305176]} - solutions: [[44.000000, 61.030795, 50.650182, -52.019748, 63.113990, 157.613514], [44.000000, 109.815876, -39.695445, -44.688785, 91.475733, 126.073807], [-136.000000, 76.147548, 47.954737, 134.155154, 101.512259, 115.917654], [-136.000000, 122.000000, -37.000000, 133.000000, 74.000000, 144.000000], [44.000000, 61.030795, 50.650182, 127.980252, -63.113990, -22.386486], [44.000000, 109.815876, -39.695445, 135.311215, -91.475733, -53.926193], [-136.000000, 76.147548, 47.954737, -45.844846, -101.512259, -64.082346], [-136.000000, 122.000000, -37.000000, -47.000000, -74.000000, -36.000000]] + joints: [-136.000000, 121.000000, -37.000000, -47.000000, -74.000000, -36.000000] + pose: {translation: [0.0461268993511648, 0.03364105144041519, -0.2457977537602683], quaternion: [-0.3256615257300645, 0.7048013450146688, 0.572484787477149, 0.2635541743777239]} + solutions: [[44.000000, 62.245967, 50.265257, -51.952092, 63.218533, 157.463634], [44.000000, 110.611977, -39.310520, -44.685648, 91.347031, 126.201149], [-136.000000, 75.147548, 47.954737, 134.155154, 101.512259, 115.917654], [-136.000000, 121.000000, -37.000000, 133.000000, 74.000000, 144.000000], [44.000000, 62.245967, 50.265257, 128.047908, -63.218533, -22.536366], [44.000000, 110.611977, -39.310520, 135.314352, -91.347031, -53.798851], [-136.000000, 75.147548, 47.954737, -45.844846, -101.512259, -64.082346], [-136.000000, 121.000000, -37.000000, -47.000000, -74.000000, -36.000000]] - id: 1356 parameters: KukaKR6_R700_sixx - joints: [35.000000, 103.000000, -44.000000, -76.000000, 118.000000, -41.000000] - pose: {translation: [0.1524683591836934, -0.02309050704152979, -0.1783741988423701], quaternion: [-0.4815639531745159, -0.3491353761532844, -0.5640684553450102, 0.5727367857977447]} - solutions: [[35.000000, 49.521760, 54.954737, -60.510815, 100.189380, 3.657737], [35.000000, 103.000000, -44.000000, -76.000000, 118.000000, -41.000000], [-145.000000, 84.605479, 49.069876, 97.012653, 120.324751, -55.279771], [-145.000000, 131.670656, -38.115139, 115.352961, 108.553399, -12.854339], [35.000000, 49.521760, 54.954737, 119.489185, -100.189380, -176.342263], [35.000000, 103.000000, -44.000000, 104.000000, -118.000000, 139.000000], [-145.000000, 84.605479, 49.069876, -82.987347, -120.324751, 124.720229], [-145.000000, 131.670656, -38.115139, -64.647039, -108.553399, 167.145661]] + joints: [35.000000, 102.000000, -44.000000, -76.000000, 117.000000, -41.000000] + pose: {translation: [0.1615108483330052, -0.0286584538025972, -0.1774445095910965], quaternion: [-0.487338651596341, -0.3565266530767379, -0.5645948744312528, 0.5626921112581174]} + solutions: [[35.000000, 48.521760, 54.954737, -61.223394, 99.477307, 3.536037], [35.000000, 102.000000, -44.000000, -76.000000, 117.000000, -41.000000], [-145.000000, 85.786014, 48.691591, 97.405887, 119.330043, -54.913969], [-145.000000, 132.439719, -37.736854, 114.815225, 107.732899, -13.148612], [35.000000, 48.521760, 54.954737, 118.776606, -99.477307, -176.463963], [35.000000, 102.000000, -44.000000, 104.000000, -117.000000, 139.000000], [-145.000000, 85.786014, 48.691591, -82.594113, -119.330043, 125.086031], [-145.000000, 132.439719, -37.736854, -65.184775, -107.732899, 166.851388]] - id: 1357 parameters: KukaKR6_R700_sixx - joints: [2.000000, -163.000000, -30.000000, 24.000000, -83.000000, 62.000000] - pose: {translation: [-0.6156866509085344, 0.05381632888195424, 0.3030141134878121], quaternion: [-0.5196700779580826, 0.82788800574437, 0.1465126493769738, 0.1519161070860831]} - solutions: [[-178.000000, -28.567518, 62.506185, 26.682009, 64.032560, -127.304264], [-178.000000, 33.177901, -51.551447, 25.732773, 111.592931, -104.836216], [2.000000, 158.744464, 40.954737, -154.031454, 112.785946, -104.211973], [2.000000, -163.000000, -30.000000, -156.000000, 83.000000, -118.000000], [-178.000000, -28.567518, 62.506185, -153.317991, -64.032560, 52.695736], [-178.000000, 33.177901, -51.551447, -154.267227, -111.592931, 75.163784], [2.000000, 158.744464, 40.954737, 25.968546, -112.785946, 75.788027], [2.000000, -163.000000, -30.000000, 24.000000, -83.000000, 62.000000]] + joints: [2.000000, -162.000000, -30.000000, 24.000000, -82.000000, 62.000000] + pose: {translation: [-0.6186709145714738, 0.05384637009881256, 0.3141116815901204], quaternion: [-0.5200424060590823, 0.8285328969323872, 0.1555506508580003, 0.1374522812424723]} + solutions: [[-178.000000, -29.656109, 62.515704, 26.845245, 63.116375, -127.345024], [-178.000000, 32.099762, -51.560966, 25.503690, 110.698154, -104.883508], [2.000000, 159.744464, 40.954737, -154.288156, 111.814557, -104.309385], [2.000000, -162.000000, -30.000000, -156.000000, 82.000000, -118.000000], [-178.000000, -29.656109, 62.515704, -153.154755, -63.116375, 52.654976], [-178.000000, 32.099762, -51.560966, -154.496310, -110.698154, 75.116492], [2.000000, 159.744464, 40.954737, 25.711844, -111.814557, 75.690615], [2.000000, -162.000000, -30.000000, 24.000000, -82.000000, 62.000000]] - id: 1358 parameters: KukaKR6_R700_sixx - joints: [121.000000, 158.000000, -23.000000, 45.000000, -139.000000, 76.000000] - pose: {translation: [0.2540364604099005, 0.3507302717772703, 0.01560667039990636], quaternion: [-0.2534616679683167, -0.5770110996483154, 0.7247906800731332, -0.2783771611186625]} - solutions: [[-59.000000, 13.920510, 53.995494, 32.752115, 120.964706, -122.729170], [-59.000000, 66.351795, -43.040756, 71.842250, 150.776614, -71.638258], [121.000000, 127.318614, 33.954737, -100.012565, 151.895674, -62.360559], [121.000000, 158.000000, -23.000000, -135.000000, 139.000000, -104.000000], [-59.000000, 13.920510, 53.995494, -147.247885, -120.964706, 57.270830], [-59.000000, 66.351795, -43.040756, -108.157750, -150.776614, 108.361742], [121.000000, 127.318614, 33.954737, 79.987435, -151.895674, 117.639441], [121.000000, 158.000000, -23.000000, 45.000000, -139.000000, 76.000000]] + joints: [121.000000, 157.000000, -23.000000, 45.000000, -138.000000, 76.000000] + pose: {translation: [0.2512363523438412, 0.3446344095382624, 0.006519486257746995], quaternion: [-0.2472931900490621, -0.5795661668616697, 0.7248165224596668, -0.2785500765645295]} + solutions: [[-59.000000, 15.109492, 53.760810, 33.137373, 120.055401, -122.512158], [-59.000000, 67.284734, -42.806073, 70.501246, 149.872012, -72.881970], [121.000000, 126.318614, 33.954737, -101.389276, 151.141308, -63.570688], [121.000000, 157.000000, -23.000000, -135.000000, 138.000000, -104.000000], [-59.000000, 15.109492, 53.760810, -146.862627, -120.055401, 57.487842], [-59.000000, 67.284734, -42.806073, -109.498754, -149.872012, 107.118030], [121.000000, 126.318614, 33.954737, 78.610724, -151.141308, 116.429312], [121.000000, 157.000000, -23.000000, 45.000000, -138.000000, 76.000000]] - id: 1359 parameters: KukaKR6_R700_sixx joints: [-170.000000, -121.000000, -87.000000, -175.000000, -148.000000, -174.000000] @@ -6811,24 +6811,24 @@ cases: solutions: [[74.000000, -81.215087, 139.458593, 162.958452, 77.182735, -146.964618], [74.000000, 73.007972, -128.503856, 26.292726, 40.175011, 8.463242], [-106.000000, 113.000000, 130.000000, -157.000000, 47.000000, 13.000000], [-106.000000, -106.071949, -119.045263, -18.430085, 64.674341, -142.742039], [74.000000, -81.215087, 139.458593, -17.041548, -77.182735, 33.035382], [74.000000, 73.007972, -128.503856, -153.707274, -40.175011, -171.536758], [-106.000000, 113.000000, 130.000000, 23.000000, -47.000000, -167.000000], [-106.000000, -106.071949, -119.045263, 161.569915, -64.674341, 37.257961]] - id: 1362 parameters: KukaKR6_R700_sixx - joints: [8.000000, -36.000000, 105.000000, 156.000000, -117.000000, -56.000000] - pose: {translation: [0.3699503331353878, -0.02271580349317563, 0.2675091055096199], quaternion: [-0.515570990737937, 0.4100237804584972, 0.7430095723748527, -0.1183377721919877]} - solutions: [[8.000000, -36.000000, 105.000000, -24.000000, 117.000000, 124.000000], [8.000000, 73.760442, -94.045263, -140.764779, 145.042595, -10.779543], [-172.000000, 114.549538, 93.960442, 33.073912, 138.387802, -18.611047], [-172.000000, -148.523096, -83.005704, 150.483740, 132.642652, 114.444303], [8.000000, -36.000000, 105.000000, 156.000000, -117.000000, -56.000000], [8.000000, 73.760442, -94.045263, 39.235221, -145.042595, 169.220457], [-172.000000, 114.549538, 93.960442, -146.926088, -138.387802, 161.388953], [-172.000000, -148.523096, -83.005704, -29.516260, -132.642652, -65.555697]] + joints: [8.000000, -36.000000, 105.000000, 156.000000, -116.000000, -56.000000] + pose: {translation: [0.3699028719487994, -0.02245324532653582, 0.2661385900434209], quaternion: [-0.520033239411287, 0.4148060975963616, 0.7374990202814296, -0.1166041439581477]} + solutions: [[8.000000, -36.000000, 105.000000, -24.000000, 116.000000, 124.000000], [8.000000, 73.760442, -94.045263, -139.503824, 145.740556, -9.741677], [-172.000000, 114.549538, 93.960442, 34.002803, 139.178638, -17.912292], [-172.000000, -148.523096, -83.005704, 150.705916, 131.656311, 114.593404], [8.000000, -36.000000, 105.000000, 156.000000, -116.000000, -56.000000], [8.000000, 73.760442, -94.045263, 40.496176, -145.740556, 170.258323], [-172.000000, 114.549538, 93.960442, -145.997197, -139.178638, 162.087708], [-172.000000, -148.523096, -83.005704, -29.294084, -131.656311, -65.406596]] - id: 1363 parameters: KukaKR6_R700_sixx - joints: [-49.000000, 143.000000, -45.000000, 152.000000, -2.000000, 87.000000] - pose: {translation: [-0.1691222126147342, -0.1925549421712953, -0.2347207387079909], quaternion: [0.586094700607008, 0.8057177820819197, -0.08408161054294733, -0.01556085877700777]} - solutions: [[131.000000, 37.258475, 63.382934, 177.309423, 20.428124, -118.463936], [131.000000, 99.966933, -52.428196, 1.737584, 32.707190, 57.552261], [-49.000000, 88.429603, 55.954737, -178.663533, 44.626081, 58.063213], [-49.000000, 143.000000, -45.000000, -28.000000, 2.000000, -93.000000], [131.000000, 37.258475, 63.382934, -2.690577, -20.428124, 61.536064], [131.000000, 99.966933, -52.428196, -178.262416, -32.707190, -122.447739], [-49.000000, 88.429603, 55.954737, 1.336467, -44.626081, -121.936787], [-49.000000, 143.000000, -45.000000, 152.000000, -2.000000, 87.000000]] + joints: [-49.000000, 142.000000, -45.000000, 152.000000, -2.000000, 87.000000] + pose: {translation: [-0.1618266760104742, -0.1841623873480302, -0.2395330319282952], quaternion: [0.5864512776140997, 0.806329952121093, -0.07541648780397416, -0.01480745300512776]} + solutions: [[131.000000, 38.445231, 63.097256, 177.296894, 20.329311, -118.450570], [131.000000, 100.839815, -52.142518, 1.745110, 32.548703, 57.543325], [-49.000000, 87.429603, 55.954737, -178.663533, 44.626081, 58.063213], [-49.000000, 142.000000, -45.000000, -28.000000, 2.000000, -93.000000], [131.000000, 38.445231, 63.097256, -2.703106, -20.329311, 61.549430], [131.000000, 100.839815, -52.142518, -178.254890, -32.548703, -122.456675], [-49.000000, 87.429603, 55.954737, 1.336467, -44.626081, -121.936787], [-49.000000, 142.000000, -45.000000, 152.000000, -2.000000, 87.000000]] - id: 1364 parameters: KukaKR6_R700_sixx - joints: [-156.000000, -161.000000, -3.000000, 114.000000, 119.000000, -22.000000] - pose: {translation: [0.5776964308087039, -0.1872374458252415, 0.5314701829158104], quaternion: [0.1337326163956138, 0.8484756744578582, 0.5047611551955266, -0.08614402690229768]} - solutions: [[24.000000, -39.523327, 49.842037, -56.253292, 106.071270, 2.929726], [24.000000, 8.382025, -38.887299, -74.407682, 123.949223, -38.011834], [-156.000000, -170.121163, 13.954737, 109.716355, 121.922481, -30.435665], [-156.000000, -161.000000, -3.000000, 114.000000, 119.000000, -22.000000], [24.000000, -39.523327, 49.842037, 123.746708, -106.071270, -177.070274], [24.000000, 8.382025, -38.887299, 105.592318, -123.949223, 141.988166], [-156.000000, -170.121163, 13.954737, -70.283645, -121.922481, 149.564335], [-156.000000, -161.000000, -3.000000, -66.000000, -119.000000, 158.000000]] + joints: [-156.000000, -160.000000, -3.000000, 114.000000, 118.000000, -22.000000] + pose: {translation: [0.5769047333807782, -0.1862187285626815, 0.5425257354692975], quaternion: [0.1343304438216413, 0.8498840676138196, 0.5045070971662045, -0.07158905215044592]} + solutions: [[24.000000, -40.540280, 49.733431, -56.718497, 105.232935, 2.703406], [24.000000, 7.246879, -38.778693, -74.095416, 122.994857, -37.860913], [-156.000000, -169.121163, 13.954737, 109.887371, 120.933186, -30.346490], [-156.000000, -160.000000, -3.000000, 114.000000, 118.000000, -22.000000], [24.000000, -40.540280, 49.733431, 123.281503, -105.232935, -177.296594], [24.000000, 7.246879, -38.778693, 105.904584, -122.994857, 142.139087], [-156.000000, -169.121163, 13.954737, -70.112629, -120.933186, 149.653510], [-156.000000, -160.000000, -3.000000, -66.000000, -118.000000, 158.000000]] - id: 1365 parameters: KukaKR6_R700_sixx - joints: [-142.000000, 83.000000, 152.000000, 61.000000, 107.000000, -11.000000] - pose: {translation: [0.1442975727999637, -0.02782476965938459, 0.3683775169928556], quaternion: [-0.2618466613570385, 0.6467011398392956, 0.6392383396531401, 0.3234011545808473]} - solutions: [[38.000000, -84.245998, 160.941652, -57.800431, 98.725810, 127.645502], [38.000000, 109.656630, -149.986915, -114.118780, 113.593968, 2.986862], [-142.000000, 83.000000, 152.000000, 61.000000, 107.000000, -11.000000], [-142.000000, -102.183630, -141.045263, 119.690456, 105.675814, 115.834958], [38.000000, -84.245998, 160.941652, 122.199569, -98.725810, -52.354498], [38.000000, 109.656630, -149.986915, 65.881220, -113.593968, -177.013138], [-142.000000, 83.000000, 152.000000, -119.000000, -107.000000, 169.000000], [-142.000000, -102.183630, -141.045263, -60.309544, -105.675814, -64.165042]] + joints: [-142.000000, 82.000000, 152.000000, 61.000000, 107.000000, -11.000000] + pose: {translation: [0.1438439753617125, -0.02747038050065873, 0.3656625733061368], quaternion: [-0.2557033998685669, 0.6454660504443313, 0.6444890763550246, 0.3203485281353718]} + solutions: [[38.000000, -82.882969, 160.904695, -57.758520, 98.551956, 127.924524], [38.000000, 110.927447, -149.949957, -113.995665, 113.719432, 3.293686], [-142.000000, 82.000000, 152.000000, 61.000000, 107.000000, -11.000000], [-142.000000, -103.183630, -141.045263, 119.690456, 105.675814, 115.834958], [38.000000, -82.882969, 160.904695, 122.241480, -98.551956, -52.075476], [38.000000, 110.927447, -149.949957, 66.004335, -113.719432, -176.706314], [-142.000000, 82.000000, 152.000000, -119.000000, -107.000000, 169.000000], [-142.000000, -103.183630, -141.045263, -60.309544, -105.675814, -64.165042]] - id: 1366 parameters: KukaKR6_R700_sixx joints: [92.000000, 111.000000, 22.000000, -88.000000, -5.000000, 151.000000] @@ -6836,19 +6836,19 @@ cases: solutions: [[-88.000000, 45.318924, 39.991761, -171.941119, 38.412260, 56.676927], [-88.000000, 82.531275, -29.037024, -141.537676, 8.049955, 24.821328], [92.000000, 111.000000, 22.000000, 92.000000, 5.000000, -29.000000], [92.000000, 128.783829, -11.045263, 18.568774, 15.874246, 45.100970], [-88.000000, 45.318924, 39.991761, 8.058881, -38.412260, -123.323073], [-88.000000, 82.531275, -29.037024, 38.462324, -8.049955, -155.178672], [92.000000, 111.000000, 22.000000, -88.000000, -5.000000, 151.000000], [92.000000, 128.783829, -11.045263, -161.431226, -15.874246, -134.899030]] - id: 1367 parameters: KukaKR6_R700_sixx - joints: [38.000000, 166.000000, 123.000000, -64.000000, 63.000000, -90.000000] - pose: {translation: [-0.08154364575411972, 0.1450104449180921, 0.7044711507843874], quaternion: [0.4130400889898657, 0.4223171141410455, 0.7221774980808308, 0.3598691446297317]} - solutions: [[-142.000000, -128.309290, 128.602626, 110.501399, 121.242158, 172.840834], [-142.000000, 10.752929, -117.647888, 116.940888, 63.938409, -92.106147], [38.000000, 166.000000, 123.000000, -64.000000, 63.000000, -90.000000], [38.000000, -62.229791, -112.045263, -66.262278, 118.973337, 179.286123], [-142.000000, -128.309290, 128.602626, -69.498601, -121.242158, -7.159166], [-142.000000, 10.752929, -117.647888, -63.059112, -63.938409, 87.893853], [38.000000, 166.000000, 123.000000, 116.000000, -63.000000, 90.000000], [38.000000, -62.229791, -112.045263, 113.737722, -118.973337, -0.713877]] + joints: [38.000000, 165.000000, 123.000000, -64.000000, 62.000000, -90.000000] + pose: {translation: [-0.08597649733067618, 0.1477384157888049, 0.7025741246668318], quaternion: [0.4029243400732165, 0.4173833337366458, 0.7263913446305467, 0.3685088103984399]} + solutions: [[-142.000000, -127.324568, 128.746633, 111.590383, 121.409005, 173.304379], [-142.000000, 11.928982, -117.791896, 116.996737, 62.953633, -92.156663], [38.000000, 165.000000, 123.000000, -64.000000, 62.000000, -90.000000], [38.000000, -63.229791, -112.045263, -65.119205, 118.980964, 179.839911], [-142.000000, -127.324568, 128.746633, -68.409617, -121.409005, -6.695621], [-142.000000, 11.928982, -117.791896, -63.003263, -62.953633, 87.843337], [38.000000, 165.000000, 123.000000, 116.000000, -62.000000, 90.000000], [38.000000, -63.229791, -112.045263, 114.880795, -118.980964, -0.160089]] - id: 1368 parameters: KukaKR6_R700_sixx - joints: [-122.000000, -36.000000, 65.000000, 46.000000, 73.000000, 119.000000] - pose: {translation: [-0.2769710173205588, 0.5470972830665217, 0.3809878168193878], quaternion: [0.7113026585869026, 0.5961778283084878, 0.3620653689610618, 0.0867709255434669]} - solutions: [[-122.000000, -36.000000, 65.000000, 46.000000, 73.000000, 119.000000], [-122.000000, 28.486602, -54.045263, 47.815951, 111.819168, 158.144383], [58.000000, 162.265839, 44.773898, -131.731993, 112.809433, 159.334904], [58.000000, -155.336981, -33.819161, -136.468549, 87.162280, 133.151429], [-122.000000, -36.000000, 65.000000, -134.000000, -73.000000, -61.000000], [-122.000000, 28.486602, -54.045263, -132.184049, -111.819168, -21.855617], [58.000000, 162.265839, 44.773898, 48.268007, -112.809433, -20.665096], [58.000000, -155.336981, -33.819161, 43.531451, -87.162280, -46.848571]] + joints: [-122.000000, -36.000000, 65.000000, 46.000000, 72.000000, 119.000000] + pose: {translation: [-0.277919253847543, 0.5480448401781804, 0.380597323532339], quaternion: [0.7104060517828563, 0.5992856578575598, 0.3605106291159128, 0.07881642069374924]} + solutions: [[-122.000000, -36.000000, 65.000000, 46.000000, 72.000000, 119.000000], [-122.000000, 28.486602, -54.045263, 47.139589, 111.042241, 157.897248], [58.000000, 162.265839, 44.773898, -132.430286, 112.045646, 159.068486], [58.000000, -155.336981, -33.819161, -136.713564, 86.192656, 133.165630], [-122.000000, -36.000000, 65.000000, -134.000000, -72.000000, -61.000000], [-122.000000, 28.486602, -54.045263, -132.860411, -111.042241, -22.102752], [58.000000, 162.265839, 44.773898, 47.569714, -112.045646, -20.931514], [58.000000, -155.336981, -33.819161, 43.286436, -86.192656, -46.834370]] - id: 1369 parameters: KukaKR6_R700_sixx - joints: [109.000000, -132.000000, -61.000000, -6.000000, 103.000000, 86.000000] - pose: {translation: [0.1813789812035712, 0.5017359384597659, 0.5974644612239962], quaternion: [0.04997085763661369, -0.01016668589034337, 0.9885494320627159, 0.1420196192557572]} - solutions: [[-71.000000, -56.870853, 85.797507, 173.323686, 118.830815, 84.123702], [-71.000000, 30.769687, -74.842770, 171.899112, 46.283144, 92.972425], [109.000000, 155.834575, 71.954737, -8.653080, 42.606493, 93.745480], [109.000000, -132.000000, -61.000000, -6.000000, 103.000000, 86.000000], [-71.000000, -56.870853, 85.797507, -6.676314, -118.830815, -95.876298], [-71.000000, 30.769687, -74.842770, -8.100888, -46.283144, -87.027575], [109.000000, 155.834575, 71.954737, 171.346920, -42.606493, -86.254520], [109.000000, -132.000000, -61.000000, 174.000000, -103.000000, -94.000000]] + joints: [109.000000, -131.000000, -61.000000, -6.000000, 102.000000, 86.000000] + pose: {translation: [0.1807136188364979, 0.4997065591401406, 0.6071912805066267], quaternion: [0.05016458968763354, -0.01020610112159554, 0.9886658315857885, 0.1411354770996595]} + solutions: [[-71.000000, -57.933492, 85.743599, 173.367802, 117.715579, 84.156494], [-71.000000, 29.646174, -74.788861, 171.718381, 45.221786, 93.105641], [109.000000, 156.834575, 71.954737, -8.856000, 41.615793, 93.896022], [109.000000, -131.000000, -61.000000, -6.000000, 102.000000, 86.000000], [-71.000000, -57.933492, 85.743599, -6.632198, -117.715579, -95.843506], [-71.000000, 29.646174, -74.788861, -8.281619, -45.221786, -86.894359], [109.000000, 156.834575, 71.954737, 171.144000, -41.615793, -86.103978], [109.000000, -131.000000, -61.000000, 174.000000, -102.000000, -94.000000]] - id: 1370 parameters: KukaKR6_R700_sixx joints: [-166.000000, -1.000000, 54.000000, 129.000000, 10.000000, 104.000000] @@ -6871,19 +6871,19 @@ cases: solutions: [[-118.000000, 14.281013, 135.992766, 124.297536, 103.164676, 79.505082], [-118.000000, 163.478467, -125.038028, 90.523846, 53.556713, -172.912525], [62.000000, 27.000000, 135.000000, -104.000000, 56.000000, -148.000000], [62.000000, 174.793864, -124.045263, -53.563109, 90.903110, 96.746222], [-118.000000, 14.281013, 135.992766, -55.702464, -103.164676, -100.494918], [-118.000000, 163.478467, -125.038028, -89.476154, -53.556713, 7.087475], [62.000000, 27.000000, 135.000000, 76.000000, -56.000000, 32.000000], [62.000000, 174.793864, -124.045263, 126.436891, -90.903110, -83.253778]] - id: 1374 parameters: KukaKR6_R700_sixx - joints: [-12.000000, -82.000000, 162.000000, -155.000000, 174.000000, 123.000000] - pose: {translation: [0.1560987627429912, 0.03679282008701446, 0.4382263721267808], quaternion: [-0.04086850943778778, -0.01995123516130501, 0.7292809218874874, 0.6827012890882865]} - solutions: [[-12.000000, -82.000000, 162.000000, -155.000000, 174.000000, 123.000000], [-12.000000, 114.607321, -151.045263, -177.019104, 58.155446, 96.546543], [168.000000, 79.301984, 153.155636, 3.773476, 42.162850, 95.321464], [168.000000, -103.700836, -142.200899, 7.531387, 160.303343, 105.215694], [-12.000000, -82.000000, 162.000000, 25.000000, -174.000000, -57.000000], [-12.000000, 114.607321, -151.045263, 2.980896, -58.155446, -83.453457], [168.000000, 79.301984, 153.155636, -176.226524, -42.162850, -84.678536], [168.000000, -103.700836, -142.200899, -172.468613, -160.303343, -74.784306]] + joints: [-12.000000, -82.000000, 162.000000, -155.000000, 173.000000, 123.000000] + pose: {translation: [0.157214849406558, 0.03762943541415764, 0.4382890407153207], quaternion: [-0.03933661025285442, -0.011368344803399, 0.7292049296427309, 0.6830692222717886]} + solutions: [[-12.000000, -82.000000, 162.000000, -155.000000, 173.000000, 123.000000], [-12.000000, 114.607321, -151.045263, -176.489523, 57.261245, 96.263615], [168.000000, 79.301984, 153.155636, 4.477547, 41.279408, 94.795931], [168.000000, -103.700836, -142.200899, 8.397426, 159.348961, 106.028632], [-12.000000, -82.000000, 162.000000, 25.000000, -173.000000, -57.000000], [-12.000000, 114.607321, -151.045263, 3.510477, -57.261245, -83.736385], [168.000000, 79.301984, 153.155636, -175.522453, -41.279408, -85.204069], [168.000000, -103.700836, -142.200899, -171.602574, -159.348961, -73.971368]] - id: 1375 parameters: KukaKR6_R700_sixx - joints: [-127.000000, -80.000000, -85.000000, 38.000000, -178.000000, 126.000000] - pose: {translation: [0.1221586946509886, -0.1649662597978377, 0.7480579514779357], quaternion: [-0.7625369886344111, -0.247285422355306, 0.2075711674212938, 0.5606259638210519]} - solutions: [[53.000000, -108.973045, 102.968537, 6.681160, 169.357605, -85.415814], [53.000000, -1.602794, -92.013800, 178.736663, 102.956626, 87.733636], [-127.000000, -179.219646, 95.954737, -1.249549, 99.838878, 87.803384], [-127.000000, -80.000000, -85.000000, -142.000000, 178.000000, -54.000000], [53.000000, -108.973045, 102.968537, -173.318840, -169.357605, 94.584186], [53.000000, -1.602794, -92.013800, -1.263337, -102.956626, -92.266364], [-127.000000, -179.219646, 95.954737, 178.750451, -99.838878, -92.196616], [-127.000000, -80.000000, -85.000000, 38.000000, -178.000000, 126.000000]] + joints: [-127.000000, -79.000000, -85.000000, 38.000000, -177.000000, 126.000000] + pose: {translation: [0.1180136013082837, -0.1608925459003445, 0.750983775673897], quaternion: [-0.7703342003862163, -0.2530550555453964, 0.207454663263426, 0.5472759096365413]} + solutions: [[53.000000, -109.939638, 102.805475, 9.398770, 168.620457, -82.744677], [53.000000, -2.760621, -91.850738, 178.099074, 103.746210, 87.586257], [-127.000000, -178.219646, 95.954737, -1.878676, 100.624176, 87.691630], [-127.000000, -79.000000, -85.000000, -142.000000, 177.000000, -54.000000], [53.000000, -109.939638, 102.805475, -170.601230, -168.620457, 97.255323], [53.000000, -2.760621, -91.850738, -1.900926, -103.746210, -92.413743], [-127.000000, -178.219646, 95.954737, 178.121324, -100.624176, -92.308370], [-127.000000, -79.000000, -85.000000, 38.000000, -177.000000, 126.000000]] - id: 1376 parameters: KukaKR6_R700_sixx - joints: [133.000000, -164.000000, -41.000000, -132.000000, -7.000000, 149.000000] - pose: {translation: [0.4506370349719517, 0.4938727262297629, 0.2732043774474428], quaternion: [0.6823717622041079, 0.4551370401916577, 0.5413985235920445, -0.1846799703389415]} - solutions: [[-47.000000, -25.062528, 69.909080, -167.650970, 25.054026, 5.568730], [-47.000000, 44.838628, -58.954343, -9.139888, 34.761057, -155.683787], [133.000000, 145.793922, 51.954737, 171.607091, 38.351665, -156.613244], [133.000000, -164.000000, -41.000000, 48.000000, 7.000000, -31.000000], [-47.000000, -25.062528, 69.909080, 12.349030, -25.054026, -174.431270], [-47.000000, 44.838628, -58.954343, 170.860112, -34.761057, 24.316213], [133.000000, 145.793922, 51.954737, -8.392909, -38.351665, 23.386756], [133.000000, -164.000000, -41.000000, -132.000000, -7.000000, 149.000000]] + joints: [133.000000, -163.000000, -41.000000, -132.000000, -7.000000, 149.000000] + pose: {translation: [0.4520741834211521, 0.495413879258346, 0.2853274453941589], quaternion: [0.6779449939646206, 0.4527635246369973, 0.5483438010221565, -0.1863192201496325]} + solutions: [[-47.000000, -26.172851, 69.954059, -167.620995, 24.990197, 5.535650], [-47.000000, 43.778037, -58.999321, -9.115803, 34.865290, -155.713122], [133.000000, 146.793922, 51.954737, 171.607091, 38.351665, -156.613244], [133.000000, -163.000000, -41.000000, 48.000000, 7.000000, -31.000000], [-47.000000, -26.172851, 69.954059, 12.379005, -24.990197, -174.464350], [-47.000000, 43.778037, -58.999321, 170.884197, -34.865290, 24.286878], [133.000000, 146.793922, 51.954737, -8.392909, -38.351665, 23.386756], [133.000000, -163.000000, -41.000000, -132.000000, -7.000000, 149.000000]] - id: 1377 parameters: KukaKR6_R700_sixx joints: [133.000000, -13.000000, -176.000000, 87.000000, -81.000000, -143.000000] @@ -6901,9 +6901,9 @@ cases: solutions: [[42.000000, 67.992990, 37.954737, -161.511226, 65.705447, 148.900197], [42.000000, 103.000000, -27.000000, -152.000000, 38.000000, 134.000000], [-138.000000, 83.340692, 34.233236, 40.081396, 26.673128, 119.791256], [-138.000000, 114.323053, -23.278499, 22.252015, 49.753231, 141.926164], [42.000000, 67.992990, 37.954737, 18.488774, -65.705447, -31.099803], [42.000000, 103.000000, -27.000000, 28.000000, -38.000000, -46.000000], [-138.000000, 83.340692, 34.233236, -139.918604, -26.673128, -60.208744], [-138.000000, 114.323053, -23.278499, -157.747985, -49.753231, -38.073836]] - id: 1380 parameters: KukaKR6_R700_sixx - joints: [73.000000, 112.000000, -1.000000, 126.000000, -93.000000, 5.000000] - pose: {translation: [-0.006451220800458957, 0.2421643174276581, -0.2246254848513383], quaternion: [-0.1969290697056216, 0.5758573358372753, 0.4127973606923884, 0.677647112642467]} - solutions: [[-107.000000, 62.439843, 29.850413, 122.689347, 106.269562, 165.535623], [-107.000000, 88.688690, -18.895675, 125.963752, 93.465924, -175.642731], [73.000000, 105.031094, 11.954737, -53.895360, 89.475099, -170.160208], [73.000000, 112.000000, -1.000000, -54.000000, 93.000000, -175.000000], [-107.000000, 62.439843, 29.850413, -57.310653, -106.269562, -14.464377], [-107.000000, 88.688690, -18.895675, -54.036248, -93.465924, 4.357269], [73.000000, 105.031094, 11.954737, 126.104640, -89.475099, 9.839792], [73.000000, 112.000000, -1.000000, 126.000000, -93.000000, 5.000000]] + joints: [73.000000, 111.000000, -1.000000, 126.000000, -92.000000, 5.000000] + pose: {translation: [-0.003354707369813109, 0.2322046031214576, -0.2303398074673254], quaternion: [-0.2076796904887972, 0.5831087211168706, 0.4061270689239729, 0.6722456168716519]} + solutions: [[-107.000000, 63.829170, 29.162356, 123.103067, 105.163436, 165.889155], [-107.000000, 89.335455, -18.207619, 125.962843, 92.662643, -175.913404], [73.000000, 104.031094, 11.954737, -53.979756, 88.478665, -170.158701], [73.000000, 111.000000, -1.000000, -54.000000, 92.000000, -175.000000], [-107.000000, 63.829170, 29.162356, -56.896933, -105.163436, -14.110845], [-107.000000, 89.335455, -18.207619, -54.037157, -92.662643, 4.086596], [73.000000, 104.031094, 11.954737, 126.020244, -88.478665, 9.841299], [73.000000, 111.000000, -1.000000, 126.000000, -92.000000, 5.000000]] - id: 1381 parameters: KukaKR6_R700_sixx joints: [169.000000, 19.000000, -51.000000, 13.000000, 81.000000, -116.000000] @@ -6911,14 +6911,14 @@ cases: solutions: [[169.000000, -42.140062, 61.954737, 25.208103, 31.444102, -135.812461], [169.000000, 19.000000, -51.000000, 13.000000, 81.000000, -116.000000], [-11.000000, 171.754077, 40.593524, -167.012142, 81.338700, -115.920905], [-11.000000, -150.381736, -29.638787, -163.137533, 49.991066, -124.958662], [169.000000, -42.140062, 61.954737, -154.791897, -31.444102, 44.187539], [169.000000, 19.000000, -51.000000, -167.000000, -81.000000, 64.000000], [-11.000000, 171.754077, 40.593524, 12.987858, -81.338700, 64.079095], [-11.000000, -150.381736, -29.638787, 16.862467, -49.991066, 55.041338]] - id: 1382 parameters: KukaKR6_R700_sixx - joints: [-104.000000, -166.000000, 4.000000, 34.000000, 112.000000, 12.000000] - pose: {translation: [0.1832435204946457, -0.5634977104114499, 0.6049327458763155], quaternion: [-0.1225367289284085, 0.4211178288515973, 0.6535101729965515, 0.6169027298341774]} - solutions: [[76.000000, -37.818567, 49.155938, -133.180568, 134.682223, 34.664295], [76.000000, 9.340234, -38.201200, -147.867757, 102.888743, 5.794774], [-104.000000, -167.589367, 6.954737, 33.701422, 110.866050, 11.182955], [-104.000000, -166.000000, 4.000000, 34.000000, 112.000000, 12.000000], [76.000000, -37.818567, 49.155938, 46.819432, -134.682223, -145.335705], [76.000000, 9.340234, -38.201200, 32.132243, -102.888743, -174.205226], [-104.000000, -167.589367, 6.954737, -146.298578, -110.866050, -168.817045], [-104.000000, -166.000000, 4.000000, -146.000000, -112.000000, -168.000000]] + joints: [-104.000000, -165.000000, 4.000000, 34.000000, 111.000000, 12.000000] + pose: {translation: [0.1828969653789548, -0.5609249198976632, 0.6164778569165085], quaternion: [-0.1224659447951629, 0.4212311071441388, 0.6499666959722871, 0.6205721077090234]} + solutions: [[76.000000, -38.839812, 49.054616, -133.798698, 133.673424, 34.169737], [76.000000, 8.208766, -38.099879, -147.760685, 101.869080, 5.802042], [-104.000000, -166.589367, 6.954737, 33.716583, 109.866151, 11.188232], [-104.000000, -165.000000, 4.000000, 34.000000, 111.000000, 12.000000], [76.000000, -38.839812, 49.054616, 46.201302, -133.673424, -145.830263], [76.000000, 8.208766, -38.099879, 32.239315, -101.869080, -174.197958], [-104.000000, -166.589367, 6.954737, -146.283417, -109.866151, -168.811768], [-104.000000, -165.000000, 4.000000, -146.000000, -111.000000, -168.000000]] - id: 1383 parameters: KukaKR6_R700_sixx - joints: [163.000000, 90.000000, 35.000000, 1.000000, -95.000000, -22.000000] - pose: {translation: [0.08304380552334305, 0.02393460794151568, -0.2740587093542417], quaternion: [0.8653290632940406, -0.03408957606975168, -0.4686627449891486, 0.1743523572575927]} - solutions: [[-17.000000, 58.615275, 42.082279, 1.313847, 49.310652, 157.056177], [-17.000000, 98.092814, -31.127541, 1.003598, 83.036543, 157.791151], [163.000000, 90.000000, 35.000000, -179.000000, 95.000000, 158.000000], [163.000000, 121.811153, -24.045263, -178.923808, 67.770188, 157.505647], [-17.000000, 58.615275, 42.082279, -178.686153, -49.310652, -22.943823], [-17.000000, 98.092814, -31.127541, -178.996402, -83.036543, -22.208849], [163.000000, 90.000000, 35.000000, 1.000000, -95.000000, -22.000000], [163.000000, 121.811153, -24.045263, 1.076192, -67.770188, -22.494353]] + joints: [163.000000, 90.000000, 35.000000, 1.000000, -94.000000, -22.000000] + pose: {translation: [0.0837220612613765, 0.02413997229413945, -0.2752617457770853], quaternion: [0.8696580736207016, -0.03420964201887779, -0.4615319938945298, 0.1717927646643196]} + solutions: [[-17.000000, 58.615275, 42.082279, 1.335903, 48.310790, 157.041651], [-17.000000, 98.092814, -31.127541, 1.007278, 82.036549, 157.790673], [163.000000, 90.000000, 35.000000, -179.000000, 94.000000, 158.000000], [163.000000, 121.811153, -24.045263, -178.914419, 66.770225, 157.502019], [-17.000000, 58.615275, 42.082279, -178.664097, -48.310790, -22.958349], [-17.000000, 98.092814, -31.127541, -178.992722, -82.036549, -22.209327], [163.000000, 90.000000, 35.000000, 1.000000, -94.000000, -22.000000], [163.000000, 121.811153, -24.045263, 1.085581, -66.770225, -22.497981]] - id: 1384 parameters: KukaKR6_R700_sixx joints: [81.000000, -116.000000, 115.000000, 19.000000, 111.000000, -74.000000] @@ -6926,14 +6926,14 @@ cases: solutions: [[81.000000, -116.000000, 115.000000, 19.000000, 111.000000, -74.000000], [81.000000, 5.772166, -104.045263, 146.955367, 146.124049, 70.592530], [-99.000000, 172.630774, 108.504747, -30.887085, 143.695100, 73.228582], [-99.000000, -73.448866, -97.550010, -159.758265, 118.538362, -71.043126], [81.000000, -116.000000, 115.000000, -161.000000, -111.000000, 106.000000], [81.000000, 5.772166, -104.045263, -33.044633, -146.124049, -109.407470], [-99.000000, 172.630774, 108.504747, 149.112915, -143.695100, -106.771418], [-99.000000, -73.448866, -97.550010, 20.241735, -118.538362, 108.956874]] - id: 1385 parameters: KukaKR6_R700_sixx - joints: [-70.000000, 149.000000, -145.000000, -143.000000, -163.000000, -111.000000] - pose: {translation: [0.028250144008496, 0.0364603002616473, 0.2339189402462264], quaternion: [0.6322256518154264, -0.4282538020076718, 0.2666407897338219, 0.5880408961140856]} - solutions: [[-70.000000, -33.578038, 155.954737, 13.544093, 48.704607, 24.189436], [-70.000000, 149.000000, -145.000000, 37.000000, 163.000000, 69.000000], [110.000000, 47.930662, 150.317205, -50.324023, 166.784746, 163.655852], [110.000000, -140.318678, -139.362467, -169.269432, 70.912100, 29.676279], [-70.000000, -33.578038, 155.954737, -166.455907, -48.704607, -155.810564], [-70.000000, 149.000000, -145.000000, -143.000000, -163.000000, -111.000000], [110.000000, 47.930662, 150.317205, 129.675977, -166.784746, -16.344148], [110.000000, -140.318678, -139.362467, 10.730568, -70.912100, -150.323721]] + joints: [-70.000000, 148.000000, -145.000000, -143.000000, -162.000000, -111.000000] + pose: {translation: [0.03011793675767026, 0.03924890862865474, 0.2331904996213825], quaternion: [0.6417702586544214, -0.4318223842764778, 0.2665269739632671, 0.5749989006027743]} + solutions: [[-70.000000, -34.578038, 155.954737, 14.492458, 47.999033, 23.559176], [-70.000000, 148.000000, -145.000000, 37.000000, 162.000000, 69.000000], [110.000000, 48.867893, 150.203154, -55.323736, 166.930213, 158.754930], [110.000000, -139.584872, -139.248417, -168.584760, 69.990620, 29.419639], [-70.000000, -34.578038, 155.954737, -165.507542, -47.999033, -156.440824], [-70.000000, 148.000000, -145.000000, -143.000000, -162.000000, -111.000000], [110.000000, 48.867893, 150.203154, 124.676264, -166.930213, -21.245070], [110.000000, -139.584872, -139.248417, 11.415240, -69.990620, -150.580361]] - id: 1386 parameters: KukaKR6_R700_sixx - joints: [170.000000, 170.000000, -88.000000, -80.000000, 83.000000, -149.000000] - pose: {translation: [0.2224113752496463, -0.04018656585831822, -0.02284958943281478], quaternion: [0.2091679394070111, 0.7270377853425882, -0.5357748600064087, 0.374980174400571]} - solutions: [[-10.000000, 12.724225, 103.937857, 101.692391, 86.542341, -167.403043], [-10.000000, 121.233147, -92.983119, 86.798062, 78.235942, -78.306893], [170.000000, 67.312043, 98.954737, -96.075719, 79.416631, -63.556781], [170.000000, 170.000000, -88.000000, -80.000000, 83.000000, -149.000000], [-10.000000, 12.724225, 103.937857, -78.307609, -86.542341, 12.596957], [-10.000000, 121.233147, -92.983119, -93.201938, -78.235942, 101.693107], [170.000000, 67.312043, 98.954737, 83.924281, -79.416631, 116.443219], [170.000000, 170.000000, -88.000000, 100.000000, -83.000000, 31.000000]] + joints: [170.000000, 169.000000, -88.000000, -80.000000, 83.000000, -149.000000] + pose: {translation: [0.2151081912470678, -0.04147431424305125, -0.02692235229054628], quaternion: [0.2039873222383016, 0.7294207817023592, -0.5386537547246407, 0.3690347247994598]} + solutions: [[-10.000000, 13.873324, 103.757053, 101.690514, 86.535917, -167.371940], [-10.000000, 122.169607, -92.802315, 86.822452, 78.229418, -78.426487], [170.000000, 66.312043, 98.954737, -96.075719, 79.416631, -63.556781], [170.000000, 169.000000, -88.000000, -80.000000, 83.000000, -149.000000], [-10.000000, 13.873324, 103.757053, -78.309486, -86.535917, 12.628060], [-10.000000, 122.169607, -92.802315, -93.177548, -78.229418, 101.573513], [170.000000, 66.312043, 98.954737, 83.924281, -79.416631, 116.443219], [170.000000, 169.000000, -88.000000, 100.000000, -83.000000, 31.000000]] - id: 1387 parameters: KukaKR6_R700_sixx joints: [-79.000000, -21.000000, -69.000000, 102.000000, -78.000000, 77.000000] @@ -6941,14 +6941,14 @@ cases: solutions: [[-79.000000, -102.072814, 79.954737, -96.915208, 74.532923, -32.912031], [-79.000000, -21.000000, -69.000000, -78.000000, 78.000000, -103.000000], [101.000000, -159.270298, 72.485913, 102.648276, 78.686530, -106.207667], [101.000000, -86.516106, -61.531175, 85.888012, 73.585402, -43.093557], [-79.000000, -102.072814, 79.954737, 83.084792, -74.532923, 147.087969], [-79.000000, -21.000000, -69.000000, 102.000000, -78.000000, 77.000000], [101.000000, -159.270298, 72.485913, -77.351724, -78.686530, 73.792333], [101.000000, -86.516106, -61.531175, -94.111988, -73.585402, 136.906443]] - id: 1388 parameters: KukaKR6_R700_sixx - joints: [-130.000000, -52.000000, 148.000000, 48.000000, 167.000000, -145.000000] - pose: {translation: [-0.1258724554213295, 0.170814729973561, 0.3603456920708583], quaternion: [-0.05927706877889055, 0.06405583258907359, -0.3202661292743525, 0.9432988316901103]} - solutions: [[-130.000000, -52.000000, 148.000000, 48.000000, 167.000000, -145.000000], [-130.000000, 115.715265, -137.045263, 169.860010, 71.722011, -9.048895], [50.000000, 76.331658, 139.925814, -11.490357, 57.055766, -5.951094], [50.000000, -128.751313, -128.971077, -45.784348, 166.511820, -57.242515], [-130.000000, -52.000000, 148.000000, -132.000000, -167.000000, 35.000000], [-130.000000, 115.715265, -137.045263, -10.139990, -71.722011, 170.951105], [50.000000, 76.331658, 139.925814, 168.509643, -57.055766, 174.048906], [50.000000, -128.751313, -128.971077, 134.215652, -166.511820, 122.757485]] + joints: [-130.000000, -52.000000, 148.000000, 48.000000, 166.000000, -145.000000] + pose: {translation: [-0.1244969138311634, 0.1707450606742604, 0.3601164901497267], quaternion: [-0.0617069610793045, 0.07239947191193313, -0.3203570474035763, 0.9425083180535295]} + solutions: [[-130.000000, -52.000000, 148.000000, 48.000000, 166.000000, -145.000000], [-130.000000, 115.715265, -137.045263, 169.130782, 72.442128, -8.824538], [50.000000, 76.331658, 139.925814, -12.264772, 57.813427, -5.534242], [50.000000, -128.751313, -128.971077, -50.048784, 166.436518, -61.388781], [-130.000000, -52.000000, 148.000000, -132.000000, -166.000000, 35.000000], [-130.000000, 115.715265, -137.045263, -10.869218, -72.442128, 171.175462], [50.000000, 76.331658, 139.925814, 167.735228, -57.813427, 174.465758], [50.000000, -128.751313, -128.971077, 129.951216, -166.436518, 118.611219]] - id: 1389 parameters: KukaKR6_R700_sixx - joints: [109.000000, 80.000000, 141.000000, 151.000000, -82.000000, -69.000000] - pose: {translation: [0.09546316775690912, 0.1592750359084683, 0.3624295281260768], quaternion: [0.2326002731563131, -0.2709506183932905, 0.9078092441953542, 0.2199210118960025]} - solutions: [[-71.000000, -58.427547, 149.399209, 45.260292, 137.476826, -36.772016], [-71.000000, 111.700365, -138.444472, 151.211776, 94.496278, 104.122073], [109.000000, 80.000000, 141.000000, -29.000000, 82.000000, 111.000000], [109.000000, -123.471025, -130.045263, -115.865951, 147.754821, -13.234858], [-71.000000, -58.427547, 149.399209, -134.739708, -137.476826, 143.227984], [-71.000000, 111.700365, -138.444472, -28.788224, -94.496278, -75.877927], [109.000000, 80.000000, 141.000000, 151.000000, -82.000000, -69.000000], [109.000000, -123.471025, -130.045263, 64.134049, -147.754821, 166.765142]] + joints: [109.000000, 80.000000, 141.000000, 151.000000, -81.000000, -69.000000] + pose: {translation: [0.09574642092226719, 0.1604049845421042, 0.3631992590711811], quaternion: [0.2315440944395125, -0.2628566883367863, 0.9107095046608924, 0.2188650082747718]} + solutions: [[-71.000000, -58.427547, 149.399209, 46.062253, 138.319996, -36.176975], [-71.000000, 111.700365, -138.444472, 151.331748, 93.503465, 104.130442], [109.000000, 80.000000, 141.000000, -29.000000, 81.000000, 111.000000], [109.000000, -123.471025, -130.045263, -114.292160, 148.307784, -11.899713], [-71.000000, -58.427547, 149.399209, -133.937747, -138.319996, 143.823025], [-71.000000, 111.700365, -138.444472, -28.668252, -93.503465, -75.869558], [109.000000, 80.000000, 141.000000, 151.000000, -81.000000, -69.000000], [109.000000, -123.471025, -130.045263, 65.707840, -148.307784, 168.100287]] - id: 1390 parameters: KukaKR6_R700_sixx joints: [-164.000000, 26.000000, -139.000000, -12.000000, 70.000000, -64.000000] @@ -6961,39 +6961,39 @@ cases: solutions: [[52.000000, -29.502793, 176.653006, 64.393256, 84.043169, 10.860482], [52.000000, -129.342046, -165.698269, 79.809562, 114.316073, 89.495150], [-128.000000, -7.399409, 174.954737, -75.699379, 112.241950, 147.036357], [-128.000000, -119.000000, -164.000000, -113.000000, 103.000000, 51.000000], [52.000000, -29.502793, 176.653006, -115.606744, -84.043169, -169.139518], [52.000000, -129.342046, -165.698269, -100.190438, -114.316073, -90.504850], [-128.000000, -7.399409, 174.954737, 104.300621, -112.241950, -32.963643], [-128.000000, -119.000000, -164.000000, 67.000000, -103.000000, -129.000000]] - id: 1392 parameters: KukaKR6_R700_sixx - joints: [-21.000000, -5.000000, -60.000000, -125.000000, -92.000000, 133.000000] - pose: {translation: [0.4918643313187696, 0.1186573385702844, 0.7511371686956775], quaternion: [0.4184549126960629, 0.6795869584976847, -0.06005268936833329, 0.5995420972542521]} - solutions: [[-21.000000, -76.057937, 70.954737, 68.789964, 61.418525, -100.805009], [-21.000000, -5.000000, -60.000000, 55.000000, 92.000000, -47.000000], [159.000000, -170.662893, 57.542801, -124.931688, 93.077418, -45.457936], [159.000000, -114.356518, -46.588063, -117.362878, 67.189024, -86.691027], [-21.000000, -76.057937, 70.954737, -111.210036, -61.418525, 79.194991], [-21.000000, -5.000000, -60.000000, -125.000000, -92.000000, 133.000000], [159.000000, -170.662893, 57.542801, 55.068312, -93.077418, 134.542064], [159.000000, -114.356518, -46.588063, 62.637122, -67.189024, 93.308973]] + joints: [-21.000000, -5.000000, -60.000000, -125.000000, -91.000000, 133.000000] + pose: {translation: [0.4924434958475294, 0.1188475893961255, 0.7523933036685547], quaternion: [0.4142551886575625, 0.6763761846852741, -0.05820358096314443, 0.6062344749549847]} + solutions: [[-21.000000, -76.057937, 70.954737, 69.714171, 60.831123, -101.251325], [-21.000000, -5.000000, -60.000000, 55.000000, 91.000000, -47.000000], [159.000000, -170.662893, 57.542801, -124.958615, 92.077780, -45.459147], [159.000000, -114.356518, -46.588063, -116.666071, 66.421046, -86.965481], [-21.000000, -76.057937, 70.954737, -110.285829, -60.831123, 78.748675], [-21.000000, -5.000000, -60.000000, -125.000000, -91.000000, 133.000000], [159.000000, -170.662893, 57.542801, 55.041385, -92.077780, 134.540853], [159.000000, -114.356518, -46.588063, 63.333929, -66.421046, 93.034519]] - id: 1393 parameters: KukaKR6_R700_sixx - joints: [-155.000000, -16.000000, -39.000000, -116.000000, 49.000000, 143.000000] - pose: {translation: [-0.4914095455488129, 0.1692718212795064, 0.8640655016193657], quaternion: [-0.09403572496266303, -0.3571685709304248, 0.8782798217152192, 0.3036650278483632]} - solutions: [[-155.000000, -64.028012, 49.954737, -135.059870, 73.802387, -179.183683], [-155.000000, -16.000000, -39.000000, -116.000000, 49.000000, 143.000000], [25.000000, -154.034264, 26.467043, 62.051185, 50.164796, 146.005234], [25.000000, -131.435540, -15.512305, 50.858692, 60.997083, 165.588127], [-155.000000, -64.028012, 49.954737, 44.940130, -73.802387, 0.816317], [-155.000000, -16.000000, -39.000000, 64.000000, -49.000000, -37.000000], [25.000000, -154.034264, 26.467043, -117.948815, -50.164796, -33.994766], [25.000000, -131.435540, -15.512305, -129.141308, -60.997083, -14.411873]] + joints: [-155.000000, -16.000000, -39.000000, -116.000000, 48.000000, 143.000000] + pose: {translation: [-0.4919028242193952, 0.1704193510769499, 0.8646894836025348], quaternion: [-0.09855838259263208, -0.3504261169713988, 0.8794667780182591, 0.3066365407567307]} + solutions: [[-155.000000, -64.028012, 49.954737, -135.700952, 73.013378, -179.000611], [-155.000000, -16.000000, -39.000000, -116.000000, 48.000000, 143.000000], [25.000000, -154.034264, 26.467043, 61.981896, 49.166191, 146.050083], [25.000000, -131.435540, -15.512305, 50.415517, 60.074520, 165.806124], [-155.000000, -64.028012, 49.954737, 44.299048, -73.013378, 0.999389], [-155.000000, -16.000000, -39.000000, 64.000000, -48.000000, -37.000000], [25.000000, -154.034264, 26.467043, -118.018104, -49.166191, -33.949917], [25.000000, -131.435540, -15.512305, -129.584483, -60.074520, -14.193876]] - id: 1394 parameters: KukaKR6_R700_sixx - joints: [139.000000, -162.000000, 50.000000, 46.000000, 68.000000, 71.000000] - pose: {translation: [0.2723260274899535, 0.3074278837180234, 0.8697395742597388], quaternion: [-0.4301785113835364, -0.1436812194300563, 0.7469483838434285, 0.4861792543914505]} - solutions: [[-41.000000, -77.005572, 64.086663, -135.379024, 108.281598, 109.402763], [-41.000000, -13.523598, -53.131925, -134.380370, 68.937185, 72.036341], [139.000000, -162.000000, 50.000000, 46.000000, 68.000000, 71.000000], [139.000000, -113.922724, -39.045263, 42.340785, 98.014504, 99.442584], [-41.000000, -77.005572, 64.086663, 44.620976, -108.281598, -70.597237], [-41.000000, -13.523598, -53.131925, 45.619630, -68.937185, -107.963659], [139.000000, -162.000000, 50.000000, -134.000000, -68.000000, -109.000000], [139.000000, -113.922724, -39.045263, -137.659215, -98.014504, -80.557416]] + joints: [139.000000, -161.000000, 50.000000, 46.000000, 68.000000, 71.000000] + pose: {translation: [0.266089171782937, 0.3020062677662405, 0.8772112731210051], quaternion: [-0.4322980977748009, -0.1511540959591904, 0.7432641941177832, 0.4876772823061281]} + solutions: [[-41.000000, -77.945043, 63.870016, -135.415121, 108.170444, 109.287348], [-41.000000, -14.701251, -52.915278, -134.391095, 68.964460, 72.066200], [139.000000, -161.000000, 50.000000, 46.000000, 68.000000, 71.000000], [139.000000, -112.922724, -39.045263, 42.340785, 98.014504, 99.442584], [-41.000000, -77.945043, 63.870016, 44.584879, -108.170444, -70.712652], [-41.000000, -14.701251, -52.915278, 45.608905, -68.964460, -107.933800], [139.000000, -161.000000, 50.000000, -134.000000, -68.000000, -109.000000], [139.000000, -112.922724, -39.045263, -137.659215, -98.014504, -80.557416]] - id: 1395 parameters: KukaKR6_R700_sixx - joints: [-156.000000, -69.000000, 129.000000, -73.000000, 23.000000, 108.000000] - pose: {translation: [-0.3589423866956298, 0.1270898755313503, 0.3271345659285778], quaternion: [0.9524643515268275, 0.1412856478913711, -0.2624231561750637, 0.06311982155879162]} - solutions: [[-156.000000, -69.000000, 129.000000, -73.000000, 23.000000, 108.000000], [-156.000000, 70.590698, -118.045263, -23.883722, 112.648924, 26.696364], [24.000000, 115.898635, 119.083848, 154.577691, 119.493005, 23.202586], [24.000000, -117.277656, -108.129111, 132.507052, 30.455244, 79.616898], [-156.000000, -69.000000, 129.000000, 107.000000, -23.000000, -72.000000], [-156.000000, 70.590698, -118.045263, 156.116278, -112.648924, -153.303636], [24.000000, 115.898635, 119.083848, -25.422309, -119.493005, -156.797414], [24.000000, -117.277656, -108.129111, -47.492948, -30.455244, -100.383102]] + joints: [-156.000000, -68.000000, 129.000000, -73.000000, 23.000000, 108.000000] + pose: {translation: [-0.3577313133519539, 0.1265506709387333, 0.32095700028913], quaternion: [0.9542961071940094, 0.1398456262555273, -0.2553215148852073, 0.06762443824744296]} + solutions: [[-156.000000, -68.000000, 129.000000, -73.000000, 23.000000, 108.000000], [-156.000000, 71.590698, -118.045263, -23.883722, 112.648924, 26.696364], [24.000000, 115.029514, 119.087327, 154.544968, 119.614336, 23.136241], [24.000000, -118.142430, -108.132590, 132.671718, 30.544402, 79.425788], [-156.000000, -68.000000, 129.000000, 107.000000, -23.000000, -72.000000], [-156.000000, 71.590698, -118.045263, 156.116278, -112.648924, -153.303636], [24.000000, 115.029514, 119.087327, -25.455032, -119.614336, -156.863759], [24.000000, -118.142430, -108.132590, -47.328282, -30.544402, -100.574212]] - id: 1396 parameters: KukaKR6_R700_sixx - joints: [-37.000000, -55.000000, 137.000000, 92.000000, -88.000000, -178.000000] - pose: {translation: [0.1825271106644674, 0.2375928905660224, 0.2983029898274702], quaternion: [-0.2542129362079856, -0.6745982269878021, -0.3532978301521061, 0.5962161172085522]} - solutions: [[-37.000000, -55.000000, 137.000000, -88.000000, 88.000000, 2.000000], [-37.000000, 95.637069, -126.045263, -88.911984, 92.610635, -110.348487], [143.000000, 93.588506, 127.949297, 90.563296, 92.771520, -121.489263], [143.000000, -128.214631, -116.994560, 92.492280, 88.662823, -14.784984], [-37.000000, -55.000000, 137.000000, 92.000000, -88.000000, -178.000000], [-37.000000, 95.637069, -126.045263, 91.088016, -92.610635, 69.651513], [143.000000, 93.588506, 127.949297, -89.436704, -92.771520, 58.510737], [143.000000, -128.214631, -116.994560, -87.507720, -88.662823, 165.215016]] + joints: [-37.000000, -54.000000, 137.000000, 92.000000, -88.000000, -178.000000] + pose: {translation: [0.1810775637178094, 0.2365005785935541, 0.293715238980365], quaternion: [-0.2597966866436152, -0.6722727542415401, -0.3479698579712794, 0.5995598414311458]} + solutions: [[-37.000000, -54.000000, 137.000000, -88.000000, 88.000000, 2.000000], [-37.000000, 96.637069, -126.045263, -88.911984, 92.610635, -110.348487], [143.000000, 92.698170, 128.001066, 90.555479, 92.773096, -121.650877], [143.000000, -129.036555, -117.046328, 92.495220, 88.668319, -14.911206], [-37.000000, -54.000000, 137.000000, 92.000000, -88.000000, -178.000000], [-37.000000, 96.637069, -126.045263, 91.088016, -92.610635, 69.651513], [143.000000, 92.698170, 128.001066, -89.444521, -92.773096, 58.349123], [143.000000, -129.036555, -117.046328, -87.504780, -88.668319, 165.088794]] - id: 1397 parameters: KukaKR6_R700_sixx - joints: [40.000000, -118.000000, -46.000000, 150.000000, 59.000000, 97.000000] - pose: {translation: [-0.4352184291935759, 0.3204335257173322, 0.699363297559338], quaternion: [0.7945864473619582, 0.3929841769522972, -0.3799119796266955, -0.2643155350522423]} - solutions: [[-140.000000, -72.554334, 71.048219, -36.004307, 46.808873, 106.883183], [-140.000000, -1.392918, -60.093481, -25.771457, 99.686701, 75.795430], [40.000000, -173.663310, 56.954737, 154.082709, 101.311219, 74.995196], [40.000000, -118.000000, -46.000000, 150.000000, 59.000000, 97.000000], [-140.000000, -72.554334, 71.048219, 143.995693, -46.808873, -73.116817], [-140.000000, -1.392918, -60.093481, 154.228543, -99.686701, -104.204570], [40.000000, -173.663310, 56.954737, -25.917291, -101.311219, -105.004804], [40.000000, -118.000000, -46.000000, -30.000000, -59.000000, -83.000000]] + joints: [40.000000, -117.000000, -46.000000, 150.000000, 58.000000, 97.000000] + pose: {translation: [-0.4316464512279736, 0.317912451367296, 0.7101195292073414], quaternion: [0.7885604707956909, 0.3897123386297548, -0.385556424405865, -0.2786447929130743]} + solutions: [[-140.000000, -73.531397, 70.881931, -36.161512, 45.939635, 106.930534], [-140.000000, -2.554045, -59.927194, -25.405170, 98.749556, 75.856309], [40.000000, -172.663310, 56.954737, 154.463615, 100.383829, 75.066884], [40.000000, -117.000000, -46.000000, 150.000000, 58.000000, 97.000000], [-140.000000, -73.531397, 70.881931, 143.838488, -45.939635, -73.069466], [-140.000000, -2.554045, -59.927194, 154.594830, -98.749556, -104.143691], [40.000000, -172.663310, 56.954737, -25.536385, -100.383829, -104.933116], [40.000000, -117.000000, -46.000000, -30.000000, -58.000000, -83.000000]] - id: 1398 parameters: KukaKR6_R700_sixx - joints: [-140.000000, -41.000000, -32.000000, -14.000000, 134.000000, -29.000000] - pose: {translation: [-0.2947819218495017, 0.2291776210312139, 0.8964730425571785], quaternion: [0.8507842463391695, -0.4586419065813334, -0.2534727291754462, 0.03956441927896719]} - solutions: [[-140.000000, -81.423510, 42.954737, -10.183635, 100.173079, -20.991206], [-140.000000, -41.000000, -32.000000, -14.000000, 134.000000, -29.000000], [40.000000, -133.356123, 25.587082, 166.176245, 133.253516, -28.744562], [40.000000, -111.706243, -14.632345, 168.919729, 115.108322, -23.924267], [-140.000000, -81.423510, 42.954737, 169.816365, -100.173079, 159.008794], [-140.000000, -41.000000, -32.000000, 166.000000, -134.000000, 151.000000], [40.000000, -133.356123, 25.587082, -13.823755, -133.253516, 151.255438], [40.000000, -111.706243, -14.632345, -11.080271, -115.108322, 156.075733]] + joints: [-140.000000, -40.000000, -32.000000, -14.000000, 133.000000, -29.000000] + pose: {translation: [-0.3024474396943413, 0.2353062286765779, 0.8909967987172731], quaternion: [0.8501458299003382, -0.4595708082638857, -0.2536456151178744, 0.04135990844065496]} + solutions: [[-140.000000, -80.423510, 42.954737, -10.324762, 99.182803, -21.014932], [-140.000000, -40.000000, -32.000000, -14.000000, 133.000000, -29.000000], [40.000000, -133.926626, 24.865547, 166.233184, 131.969916, -28.654759], [40.000000, -113.054625, -13.910810, 168.790104, 114.478267, -24.044108], [-140.000000, -80.423510, 42.954737, 169.675238, -99.182803, 158.985068], [-140.000000, -40.000000, -32.000000, 166.000000, -133.000000, 151.000000], [40.000000, -133.926626, 24.865547, -13.766816, -131.969916, 151.345241], [40.000000, -113.054625, -13.910810, -11.209896, -114.478267, 155.955892]] - id: 1399 parameters: KukaKR6_R700_sixx joints: [-82.000000, 4.000000, -158.000000, 149.000000, -2.000000, -23.000000] @@ -7001,24 +7001,24 @@ cases: solutions: [[98.000000, 148.910129, 169.322407, 4.234265, 14.089877, -58.091909], [98.000000, 8.971889, -158.367670, 1.210224, 121.675549, -53.349021], [-82.000000, 145.385307, 168.954737, -178.925154, 106.622762, -53.677075], [-82.000000, 4.000000, -158.000000, -31.000000, 2.000000, 157.000000], [98.000000, 148.910129, 169.322407, -175.765735, -14.089877, 121.908091], [98.000000, 8.971889, -158.367670, -178.789776, -121.675549, 126.650979], [-82.000000, 145.385307, 168.954737, 1.074846, -106.622762, 126.322925], [-82.000000, 4.000000, -158.000000, 149.000000, -2.000000, -23.000000]] - id: 1400 parameters: KukaKR6_R700_sixx - joints: [88.000000, 54.000000, -16.000000, -69.000000, 145.000000, -134.000000] - pose: {translation: [0.05878090953415014, -0.4557866035053919, -0.02458892466584383], quaternion: [-0.559614430927765, 0.1251394100515614, -0.2820737096106101, 0.7691594367202748]} - solutions: [[88.000000, 30.875319, 26.954737, -48.650849, 134.495178, -107.641479], [88.000000, 54.000000, -16.000000, -69.000000, 145.000000, -134.000000], [88.000000, 30.875319, 26.954737, 131.349151, -134.495178, 72.358521], [88.000000, 54.000000, -16.000000, 111.000000, -145.000000, 46.000000]] + joints: [88.000000, 54.000000, -16.000000, -69.000000, 144.000000, -134.000000] + pose: {translation: [0.05985501431534451, -0.4561374587041917, -0.0254091085151622], quaternion: [-0.5627114813264491, 0.13156793337395, -0.2846697867609146, 0.7648586668114552]} + solutions: [[88.000000, 30.875319, 26.954737, -49.263899, 133.597489, -108.067711], [88.000000, 54.000000, -16.000000, -69.000000, 144.000000, -134.000000], [88.000000, 30.875319, 26.954737, 130.736101, -133.597489, 71.932289], [88.000000, 54.000000, -16.000000, 111.000000, -144.000000, 46.000000]] - id: 1401 parameters: KukaKR6_R700_sixx - joints: [128.000000, 15.000000, -72.000000, 44.000000, 138.000000, -98.000000] - pose: {translation: [-0.3362842741906461, -0.3700251832056894, 0.5728166411507002], quaternion: [0.7347227617108728, -0.6347326076557913, -0.2391036165840285, 0.01124458709180431]} - solutions: [[128.000000, -69.437710, 82.954737, 28.359102, 78.117058, -140.007196], [128.000000, 15.000000, -72.000000, 44.000000, 138.000000, -98.000000], [-52.000000, 170.038644, 69.837639, -133.651401, 140.028283, -94.889559], [-52.000000, -120.139186, -58.882902, -152.297672, 90.926943, -133.178314], [128.000000, -69.437710, 82.954737, -151.640898, -78.117058, 39.992804], [128.000000, 15.000000, -72.000000, -136.000000, -138.000000, 82.000000], [-52.000000, 170.038644, 69.837639, 46.348599, -140.028283, 85.110441], [-52.000000, -120.139186, -58.882902, 27.702328, -90.926943, 46.821686]] + joints: [128.000000, 15.000000, -72.000000, 44.000000, 137.000000, -98.000000] + pose: {translation: [-0.3375464239117921, -0.3704791536725566, 0.573204443800015], quaternion: [0.7348880054939552, -0.6326285423694314, -0.2436873034907943, 0.0183642282176655]} + solutions: [[128.000000, -69.437710, 82.954737, 29.044889, 77.374839, -140.152757], [128.000000, 15.000000, -72.000000, 44.000000, 137.000000, -98.000000], [-52.000000, 170.038644, 69.837639, -133.734154, 139.029726, -94.952514], [-52.000000, -120.139186, -58.882902, -151.721568, 90.109546, -133.173103], [128.000000, -69.437710, 82.954737, -150.955111, -77.374839, 39.847243], [128.000000, 15.000000, -72.000000, -136.000000, -137.000000, 82.000000], [-52.000000, 170.038644, 69.837639, 46.265846, -139.029726, 85.047486], [-52.000000, -120.139186, -58.882902, 28.278432, -90.109546, 46.826897]] - id: 1402 parameters: KukaKR6_R700_sixx - joints: [-3.000000, -168.000000, -21.000000, -4.000000, -128.000000, 73.000000] - pose: {translation: [-0.5786387027593829, -0.03472871243702665, 0.3194163158771343], quaternion: [-0.5711403654050591, 0.7168332457358102, -0.2562511431304175, 0.3070572136543829]} - solutions: [[177.000000, -25.545466, 57.244297, -3.267687, 105.345174, -105.400480], [177.000000, 30.434452, -46.289559, -6.896055, 152.753957, -110.671995], [-3.000000, 163.479236, 31.954737, 173.200588, 152.335827, -110.563087], [-3.000000, -168.000000, -21.000000, 176.000000, 128.000000, -107.000000], [177.000000, -25.545466, 57.244297, 176.732313, -105.345174, 74.599520], [177.000000, 30.434452, -46.289559, 173.103945, -152.753957, 69.328005], [-3.000000, 163.479236, 31.954737, -6.799412, -152.335827, 69.436913], [-3.000000, -168.000000, -21.000000, -4.000000, -128.000000, 73.000000]] + joints: [-3.000000, -167.000000, -21.000000, -4.000000, -127.000000, 73.000000] + pose: {translation: [-0.5809256726579125, -0.03490794046284016, 0.3289875956161456], quaternion: [-0.5753362854567881, 0.722203778495372, -0.2470418860147031, 0.2939050314609998]} + solutions: [[177.000000, -26.633037, 57.255531, -3.297623, 104.421772, -105.412394], [177.000000, 29.359167, -46.300794, -6.779747, 151.841860, -110.573804], [-3.000000, 164.479236, 31.954737, 173.330151, 151.337698, -110.448859], [-3.000000, -167.000000, -21.000000, 176.000000, 127.000000, -107.000000], [177.000000, -26.633037, 57.255531, 176.702377, -104.421772, 74.587606], [177.000000, 29.359167, -46.300794, 173.220253, -151.841860, 69.426196], [-3.000000, 164.479236, 31.954737, -6.669849, -151.337698, 69.551141], [-3.000000, -167.000000, -21.000000, -4.000000, -127.000000, 73.000000]] - id: 1403 parameters: KukaKR6_R700_sixx - joints: [169.000000, 150.000000, -123.000000, -63.000000, 150.000000, -107.000000] - pose: {translation: [-0.01610481502780167, -0.03943778778389816, 0.1232517405222586], quaternion: [0.5241270368458524, -0.3603252983325411, 0.7317108407069625, -0.2450627964842116]} - solutions: [[169.000000, 3.668422, 133.954737, -31.374731, 58.836619, -29.956885], [169.000000, 150.000000, -123.000000, -63.000000, 150.000000, -107.000000], [-11.000000, 40.878919, 131.055513, 81.535292, 153.230027, -146.933823], [-11.000000, -176.769399, -120.100776, 152.791450, 76.995219, -40.870996], [169.000000, 3.668422, 133.954737, 148.625269, -58.836619, 150.043115], [169.000000, 150.000000, -123.000000, 117.000000, -150.000000, 73.000000], [-11.000000, 40.878919, 131.055513, -98.464708, -153.230027, 33.066177], [-11.000000, -176.769399, -120.100776, -27.208550, -76.995219, 139.129004]] + joints: [169.000000, 150.000000, -123.000000, -63.000000, 149.000000, -107.000000] + pose: {translation: [-0.01627669113951645, -0.04056318177799365, 0.1224433786240547], quaternion: [0.5242853032291046, -0.3670431228792991, 0.7300132364078455, -0.2397601748296004]} + solutions: [[169.000000, 3.668422, 133.954737, -32.516284, 58.617436, -29.364271], [169.000000, 150.000000, -123.000000, -63.000000, 149.000000, -107.000000], [-11.000000, 40.878919, 131.055513, 82.923481, 152.456313, -145.698628], [-11.000000, -176.769399, -120.100776, 151.851375, 76.592245, -40.656223], [169.000000, 3.668422, 133.954737, 147.483716, -58.617436, 150.635729], [169.000000, 150.000000, -123.000000, 117.000000, -149.000000, 73.000000], [-11.000000, 40.878919, 131.055513, -97.076519, -152.456313, 34.301372], [-11.000000, -176.769399, -120.100776, -28.148625, -76.592245, 139.343777]] - id: 1404 parameters: KukaKR6_R700_sixx joints: [-60.000000, 44.000000, 109.000000, -97.000000, 30.000000, 65.000000] @@ -7026,44 +7026,44 @@ cases: solutions: [[120.000000, 27.355322, 110.477586, 149.156696, 104.539401, -41.595332], [120.000000, 143.639567, -99.522848, 111.616346, 32.263622, 31.822108], [-60.000000, 44.000000, 109.000000, -97.000000, 30.000000, 65.000000], [-60.000000, 158.512193, -98.045263, -29.762101, 88.704989, -32.329160], [120.000000, 27.355322, 110.477586, -30.843304, -104.539401, 138.404668], [120.000000, 143.639567, -99.522848, -68.383654, -32.263622, -148.177892], [-60.000000, 44.000000, 109.000000, 83.000000, -30.000000, -115.000000], [-60.000000, 158.512193, -98.045263, 150.237899, -88.704989, 147.670840]] - id: 1405 parameters: KukaKR6_R700_sixx - joints: [142.000000, 143.000000, 56.000000, -63.000000, 162.000000, 33.000000] - pose: {translation: [0.4134656024054379, 0.2950822042252748, 0.2820085998100756], quaternion: [0.2235632631787798, 0.7338341472405924, -0.6072239096490647, -0.2068478553213277]} - solutions: [[-38.000000, -26.086673, 72.935199, 18.765203, 121.140324, -75.215047], [-38.000000, 47.165792, -61.980462, 104.363200, 163.487763, 19.773851], [142.000000, 143.000000, 56.000000, -63.000000, 162.000000, 33.000000], [142.000000, -162.380151, -45.045263, -155.068831, 139.217899, -65.788939], [-38.000000, -26.086673, 72.935199, -161.234797, -121.140324, 104.784953], [-38.000000, 47.165792, -61.980462, -75.636800, -163.487763, -160.226149], [142.000000, 143.000000, 56.000000, 117.000000, -162.000000, -147.000000], [142.000000, -162.380151, -45.045263, 24.931169, -139.217899, 114.211061]] + joints: [142.000000, 142.000000, 56.000000, -63.000000, 161.000000, 33.000000] + pose: {translation: [0.4126909886065822, 0.2929798532155717, 0.2734420166736198], quaternion: [0.2149966594621206, 0.7277236481940785, -0.6177364843576322, -0.2063888663971555]} + solutions: [[-38.000000, -24.971872, 72.884039, 19.865442, 121.388270, -74.662016], [-38.000000, 48.223841, -61.929301, 104.789402, 162.541020, 20.150598], [142.000000, 142.000000, 56.000000, -63.000000, 161.000000, 33.000000], [142.000000, -163.380151, -45.045263, -153.551354, 139.360777, -64.638642], [-38.000000, -24.971872, 72.884039, -160.134558, -121.388270, 105.337984], [-38.000000, 48.223841, -61.929301, -75.210598, -162.541020, -159.849402], [142.000000, 142.000000, 56.000000, 117.000000, -161.000000, -147.000000], [142.000000, -163.380151, -45.045263, 26.448646, -139.360777, 115.361358]] - id: 1406 parameters: KukaKR6_R700_sixx - joints: [52.000000, -176.000000, 180.000000, 117.000000, 51.000000, -101.000000] - pose: {translation: [0.03608313835277482, -0.1361613064288421, 0.4560715795024502], quaternion: [-0.4115970367992097, -0.4201889400699333, 0.6567267214205946, -0.4719524841688755]} - solutions: [[52.000000, -176.000000, 180.000000, 117.000000, 51.000000, -101.000000], [52.000000, 114.015960, -169.045263, 62.657997, 51.217626, -22.464973], [-128.000000, 86.435797, 169.623788, -128.911921, 62.860656, -1.474762], [-128.000000, -52.287702, -158.669051, -49.102225, 66.358924, -127.162118], [52.000000, -176.000000, 180.000000, -63.000000, -51.000000, 79.000000], [52.000000, 114.015960, -169.045263, -117.342003, -51.217626, 157.535027], [-128.000000, 86.435797, 169.623788, 51.088079, -62.860656, 178.525238], [-128.000000, -52.287702, -158.669051, 130.897775, -66.358924, 52.837882]] + joints: [52.000000, -175.000000, 180.000000, 117.000000, 51.000000, -101.000000] + pose: {translation: [0.03667581495434405, -0.1369198978856172, 0.4542390610993892], quaternion: [-0.4112984701527067, -0.4272245980485991, 0.6560235852429331, -0.4668466202911444]} + solutions: [[52.000000, -175.000000, 180.000000, 117.000000, 51.000000, -101.000000], [52.000000, 115.015960, -169.045263, 62.657997, 51.217626, -22.464973], [-128.000000, 85.982113, 169.574788, -129.108673, 63.173698, -1.041128], [-128.000000, -52.940687, -158.620050, -49.234198, 66.099992, -126.834704], [52.000000, -175.000000, 180.000000, -63.000000, -51.000000, 79.000000], [52.000000, 115.015960, -169.045263, -117.342003, -51.217626, 157.535027], [-128.000000, 85.982113, 169.574788, 50.891327, -63.173698, 178.958872], [-128.000000, -52.940687, -158.620050, 130.765802, -66.099992, 53.165296]] - id: 1407 parameters: KukaKR6_R700_sixx - joints: [-48.000000, 130.000000, 27.000000, 30.000000, -158.000000, -63.000000] - pose: {translation: [-0.2930855409893524, -0.3031108389668693, -0.01104649218150262], quaternion: [0.1865680831684903, 0.6583062399277875, 0.7032169999605001, 0.193160802911791]} - solutions: [[132.000000, 17.237187, 49.922668, 12.033423, 116.049674, 94.187408], [132.000000, 65.230294, -38.967931, 26.440127, 155.123847, 113.121444], [-48.000000, 130.000000, 27.000000, -150.000000, 158.000000, 117.000000], [-48.000000, 153.173497, -16.045263, -163.197134, 139.614313, 101.792859], [132.000000, 17.237187, 49.922668, -167.966577, -116.049674, -85.812592], [132.000000, 65.230294, -38.967931, -153.559873, -155.123847, -66.878556], [-48.000000, 130.000000, 27.000000, 30.000000, -158.000000, -63.000000], [-48.000000, 153.173497, -16.045263, 16.802866, -139.614313, -78.207141]] + joints: [-48.000000, 129.000000, 27.000000, 30.000000, -157.000000, -63.000000] + pose: {translation: [-0.2887417683747404, -0.2973226811577245, -0.02001196557373104], quaternion: [0.1824156513275549, 0.6588529179507078, 0.704175454524783, 0.1917662428671873]} + solutions: [[132.000000, 18.438083, 49.661981, 12.467710, 115.185648, 94.386624], [132.000000, 66.147488, -38.707244, 26.431976, 153.966882, 113.080047], [-48.000000, 129.000000, 27.000000, -150.000000, 157.000000, 117.000000], [-48.000000, 152.173497, -16.045263, -162.800118, 138.648640, 102.093098], [132.000000, 18.438083, 49.661981, -167.532290, -115.185648, -85.613376], [132.000000, 66.147488, -38.707244, -153.568024, -153.966882, -66.919953], [-48.000000, 129.000000, 27.000000, 30.000000, -157.000000, -63.000000], [-48.000000, 152.173497, -16.045263, 17.199882, -138.648640, -77.906902]] - id: 1408 parameters: KukaKR6_R700_sixx - joints: [67.000000, 63.000000, 155.000000, -109.000000, 62.000000, 171.000000] - pose: {translation: [-0.01077549356145785, 0.1963149504994676, 0.3214701497605674], quaternion: [0.4602405770119162, 0.5068742141868429, 0.7209257026937081, -0.1073465111673048]} - solutions: [[-113.000000, -63.701157, 162.836925, 122.412487, 98.543441, 31.573206], [-113.000000, 135.138830, -151.882188, 83.325325, 57.197232, 146.931674], [67.000000, 63.000000, 155.000000, -109.000000, 62.000000, 171.000000], [67.000000, -116.377250, -144.045263, -56.637012, 88.317817, 47.295013], [-113.000000, -63.701157, 162.836925, -57.587513, -98.543441, -148.426794], [-113.000000, 135.138830, -151.882188, -96.674675, -57.197232, -33.068326], [67.000000, 63.000000, 155.000000, 71.000000, -62.000000, -9.000000], [67.000000, -116.377250, -144.045263, 123.362988, -88.317817, -132.704987]] + joints: [67.000000, 62.000000, 155.000000, -109.000000, 62.000000, 171.000000] + pose: {translation: [-0.01022749058564952, 0.1950239363924312, 0.3178185152928093], quaternion: [0.4586271861574099, 0.5130120016520395, 0.7183959192700159, -0.1019170910813932]} + solutions: [[-113.000000, -62.290806, 162.741555, 122.372131, 98.712181, 31.304193], [-113.000000, 136.290301, -151.786817, 83.483454, 57.168879, 146.639900], [67.000000, 62.000000, 155.000000, -109.000000, 62.000000, 171.000000], [67.000000, -117.377250, -144.045263, -56.637012, 88.317817, 47.295013], [-113.000000, -62.290806, 162.741555, -57.627869, -98.712181, -148.695807], [-113.000000, 136.290301, -151.786817, -96.516546, -57.168879, -33.360100], [67.000000, 62.000000, 155.000000, 71.000000, -62.000000, -9.000000], [67.000000, -117.377250, -144.045263, 123.362988, -88.317817, -132.704987]] - id: 1409 parameters: KukaKR6_R700_sixx - joints: [-121.000000, 113.000000, -34.000000, -128.000000, 160.000000, -25.000000] - pose: {translation: [-0.02266049687316671, -0.004149998297293775, -0.1645661392665838], quaternion: [0.03987298188819192, -0.1307938874551737, 0.1419978231533663, 0.9803773368144597]} - solutions: [[-121.000000, 70.406528, 44.954737, -34.816070, 151.832380, 73.229659], [-121.000000, 113.000000, -34.000000, -128.000000, 160.000000, -25.000000], [59.000000, 71.588301, 44.723142, 30.849206, 148.291593, -48.322467], [59.000000, 113.930390, -33.768404, 117.025953, 162.388919, 42.895789], [-121.000000, 70.406528, 44.954737, 145.183930, -151.832380, -106.770341], [-121.000000, 113.000000, -34.000000, 52.000000, -160.000000, 155.000000], [59.000000, 71.588301, 44.723142, -149.150794, -148.291593, 131.677533], [59.000000, 113.930390, -33.768404, -62.974047, -162.388919, -137.104211]] + joints: [-121.000000, 112.000000, -34.000000, -128.000000, 160.000000, -25.000000] + pose: {translation: [-0.02773651105673742, 0.004297907960543175, -0.1647748583561338], quaternion: [0.04784299396310093, -0.1274447612438875, 0.1408348557999317, 0.9806296059940001]} + solutions: [[-121.000000, 69.406528, 44.954737, -34.816070, 151.832380, 73.229659], [-121.000000, 112.000000, -34.000000, -128.000000, 160.000000, -25.000000], [59.000000, 72.823276, 44.281967, 31.021374, 148.468461, -48.120284], [59.000000, 114.686575, -33.327230, 116.469242, 162.477744, 42.311848], [-121.000000, 69.406528, 44.954737, 145.183930, -151.832380, -106.770341], [-121.000000, 112.000000, -34.000000, 52.000000, -160.000000, 155.000000], [59.000000, 72.823276, 44.281967, -148.978626, -148.468461, 131.879716], [59.000000, 114.686575, -33.327230, -63.530758, -162.477744, -137.688152]] - id: 1410 parameters: KukaKR6_R700_sixx - joints: [24.000000, 149.000000, -4.000000, 59.000000, 48.000000, -54.000000] - pose: {translation: [-0.5554577863894214, 0.1915231239078443, -0.005884221619652856], quaternion: [0.04099964410814299, -0.7303789764311572, 0.1472565267302647, 0.6657184805198962]} - solutions: [[-156.000000, 16.845510, 46.052923, -135.638364, 65.652280, -27.881627], [-156.000000, 60.631389, -35.098185, -112.777785, 43.699712, -65.774710], [24.000000, 138.802567, 14.954737, 66.542687, 43.978280, -64.832620], [24.000000, 149.000000, -4.000000, 59.000000, 48.000000, -54.000000], [-156.000000, 16.845510, 46.052923, 44.361636, -65.652280, 152.118373], [-156.000000, 60.631389, -35.098185, 67.222215, -43.699712, 114.225290], [24.000000, 138.802567, 14.954737, -113.457313, -43.978280, 115.167380], [24.000000, 149.000000, -4.000000, -121.000000, -48.000000, 126.000000]] + joints: [24.000000, 148.000000, -4.000000, 59.000000, 48.000000, -54.000000] + pose: {translation: [-0.5489016237787924, 0.1886041322480449, -0.0164742251278981], quaternion: [0.03746123880209951, -0.7351356588181048, 0.1501701807974722, 0.6600160115639148]} + solutions: [[-156.000000, 18.052780, 45.782617, -135.618396, 65.607220, -27.930020], [-156.000000, 61.545101, -34.827880, -112.954995, 43.771218, -65.529449], [24.000000, 137.802567, 14.954737, 66.542687, 43.978280, -64.832620], [24.000000, 148.000000, -4.000000, 59.000000, 48.000000, -54.000000], [-156.000000, 18.052780, 45.782617, 44.381604, -65.607220, 152.069980], [-156.000000, 61.545101, -34.827880, 67.045005, -43.771218, 114.470551], [24.000000, 137.802567, 14.954737, -113.457313, -43.978280, 115.167380], [24.000000, 148.000000, -4.000000, -121.000000, -48.000000, 126.000000]] - id: 1411 parameters: KukaKR6_R700_sixx - joints: [32.000000, -96.000000, -2.000000, -170.000000, -132.000000, -161.000000] - pose: {translation: [-0.0291782617615542, 0.006059165102350716, 1.024990049733212], quaternion: [0.1809453014586581, 0.8646622950814057, -0.228248799961508, 0.4092925587653933]} - solutions: [[-148.000000, -93.857372, 23.474648, -167.500617, 143.398241, 22.362141], [-148.000000, -74.484548, -12.519911, -170.693037, 127.066226, 17.912245], [32.000000, -104.044991, 12.954737, 9.084699, 125.185418, 17.535298], [32.000000, -96.000000, -2.000000, 10.000000, 132.000000, 19.000000], [-148.000000, -93.857372, 23.474648, 12.499383, -143.398241, -157.637859], [-148.000000, -74.484548, -12.519911, 9.306963, -127.066226, -162.087755], [32.000000, -104.044991, 12.954737, -170.915301, -125.185418, -162.464702], [32.000000, -96.000000, -2.000000, -170.000000, -132.000000, -161.000000]] + joints: [32.000000, -95.000000, -2.000000, -170.000000, -131.000000, -161.000000] + pose: {translation: [-0.01934756250147902, -0.0002731795253558614, 1.026968030229823], quaternion: [0.1804160129805818, 0.8647225998861223, -0.2295348081621061, 0.4086791643188589]} + solutions: [[-148.000000, -94.344339, 22.509681, -167.721164, 141.958432, 22.127958], [-148.000000, -76.011357, -11.554944, -170.617259, 126.498733, 18.014605], [32.000000, -103.044991, 12.954737, 9.115598, 124.185741, 17.552882], [32.000000, -95.000000, -2.000000, 10.000000, 131.000000, 19.000000], [-148.000000, -94.344339, 22.509681, 12.278836, -141.958432, -157.872042], [-148.000000, -76.011357, -11.554944, 9.382741, -126.498733, -161.985395], [32.000000, -103.044991, 12.954737, -170.884402, -124.185741, -162.447118], [32.000000, -95.000000, -2.000000, -170.000000, -131.000000, -161.000000]] - id: 1412 parameters: KukaKR6_R700_sixx - joints: [-68.000000, 115.000000, 82.000000, -75.000000, -108.000000, -10.000000] - pose: {translation: [-0.1002545281316913, -0.4443231562507939, 0.1616985557896524], quaternion: [-0.5447169012783923, 0.6051077210544937, -0.4468432107321703, 0.3707550247865409]} - solutions: [[112.000000, -22.695004, 93.716742, -70.943509, 76.388484, -106.662530], [112.000000, 73.952936, -82.762005, -72.612531, 105.711572, 178.219108], [-68.000000, 115.000000, 82.000000, 105.000000, 108.000000, 170.000000], [-68.000000, -161.634767, -71.045263, 112.219849, 82.904531, -124.104120], [112.000000, -22.695004, 93.716742, 109.056491, -76.388484, 73.337470], [112.000000, 73.952936, -82.762005, 107.387469, -105.711572, -1.780892], [-68.000000, 115.000000, 82.000000, -75.000000, -108.000000, -10.000000], [-68.000000, -161.634767, -71.045263, -67.780151, -82.904531, 55.895880]] + joints: [-68.000000, 114.000000, 82.000000, -75.000000, -107.000000, -10.000000] + pose: {translation: [-0.09878419971717887, -0.4417665756548875, 0.1537158296191234], quaternion: [-0.5358303232702643, 0.6100336316808402, -0.4492573199683719, 0.3727099319004055]} + solutions: [[112.000000, -21.549848, 93.622962, -71.977895, 76.258654, -106.370624], [112.000000, 74.990604, -82.668225, -72.727397, 104.682802, 178.310092], [-68.000000, 114.000000, 82.000000, 105.000000, 107.000000, 170.000000], [-68.000000, -162.634767, -71.045263, 111.299168, 82.497058, -123.987144], [112.000000, -21.549848, 93.622962, 108.022105, -76.258654, 73.629376], [112.000000, 74.990604, -82.668225, 107.272603, -104.682802, -1.689908], [-68.000000, 114.000000, 82.000000, -75.000000, -107.000000, -10.000000], [-68.000000, -162.634767, -71.045263, -68.700832, -82.497058, 56.012856]] - id: 1413 parameters: KukaKR6_R700_sixx joints: [-68.000000, -77.000000, 92.000000, 104.000000, -84.000000, -23.000000] @@ -7071,9 +7071,9 @@ cases: solutions: [[-68.000000, -77.000000, 92.000000, -76.000000, 84.000000, 157.000000], [-68.000000, 17.683578, -81.045263, -81.111371, 102.389906, 80.342426], [112.000000, 166.207256, 80.484787, 98.149993, 102.883420, 76.967039], [112.000000, -112.126474, -69.530049, 104.981147, 87.353153, 144.045813], [-68.000000, -77.000000, 92.000000, 104.000000, -84.000000, -23.000000], [-68.000000, 17.683578, -81.045263, 98.888629, -102.389906, -99.657574], [112.000000, 166.207256, 80.484787, -81.850007, -102.883420, -103.032961], [112.000000, -112.126474, -69.530049, -75.018853, -87.353153, -35.954187]] - id: 1414 parameters: KukaKR6_R700_sixx - joints: [104.000000, 132.000000, -153.000000, 107.000000, -149.000000, -145.000000] - pose: {translation: [0.01821654662706083, -0.08981093443188026, 0.2935680190045329], quaternion: [0.1154033326018547, 0.8429490969708161, 0.404712398024947, 0.3351518545754571]} - solutions: [[104.000000, -69.966144, 163.954737, -34.624397, 60.093459, 124.366733], [104.000000, 132.000000, -153.000000, -73.000000, 149.000000, 35.000000], [-76.000000, 66.031181, 155.775182, 71.613773, 148.732871, -5.879615], [-76.000000, -111.762920, -144.820444, 149.308413, 74.788390, 114.222084], [104.000000, -69.966144, 163.954737, 145.375603, -60.093459, -55.633267], [104.000000, 132.000000, -153.000000, 107.000000, -149.000000, -145.000000], [-76.000000, 66.031181, 155.775182, -108.386227, -148.732871, 174.120385], [-76.000000, -111.762920, -144.820444, -30.691587, -74.788390, -65.777916]] + joints: [104.000000, 131.000000, -153.000000, 107.000000, -148.000000, -145.000000] + pose: {translation: [0.01867878080768394, -0.09266298020566871, 0.2945424314072898], quaternion: [0.1179248098295686, 0.846617869102732, 0.3922501959919846, 0.339811280988226]} + solutions: [[104.000000, -70.966144, 163.954737, -35.778032, 60.087426, 124.941987], [104.000000, 131.000000, -153.000000, -73.000000, 148.000000, 35.000000], [-76.000000, 66.839899, 155.714447, 73.233726, 148.044288, -4.374047], [-76.000000, -111.079607, -144.759709, 148.252143, 74.385991, 114.630716], [104.000000, -70.966144, 163.954737, 144.221968, -60.087426, -55.058013], [104.000000, 131.000000, -153.000000, 107.000000, -148.000000, -145.000000], [-76.000000, 66.839899, 155.714447, -106.766274, -148.044288, 175.625953], [-76.000000, -111.079607, -144.759709, -31.747857, -74.385991, -65.369284]] - id: 1415 parameters: KukaKR6_R700_sixx joints: [29.000000, -56.000000, 2.000000, 28.000000, -128.000000, 11.000000] @@ -7081,29 +7081,29 @@ cases: solutions: [[29.000000, -59.741051, 8.954737, -150.734211, 130.821020, -167.006955], [29.000000, -56.000000, 2.000000, -152.000000, 128.000000, -169.000000], [29.000000, -59.741051, 8.954737, 29.265789, -130.821020, 12.993045], [29.000000, -56.000000, 2.000000, 28.000000, -128.000000, 11.000000]] - id: 1416 parameters: KukaKR6_R700_sixx - joints: [-155.000000, 10.000000, 78.000000, 3.000000, -104.000000, 157.000000] - pose: {translation: [-0.4183701959475399, 0.1906067442788415, 0.00379193039609033], quaternion: [-0.2296468799556006, -0.5562974353128769, 0.006406876002247153, 0.7985952829380257]} - solutions: [[-155.000000, 10.000000, 78.000000, -177.000000, 104.000000, -23.000000], [-155.000000, 88.887994, -67.045263, -175.264072, 37.956177, -27.463800], [25.000000, 100.555502, 67.696139, 6.228784, 27.906895, -29.235572], [25.000000, 168.012653, -56.741401, 2.923064, 84.754000, -23.993883], [-155.000000, 10.000000, 78.000000, 3.000000, -104.000000, 157.000000], [-155.000000, 88.887994, -67.045263, 4.735928, -37.956177, 152.536200], [25.000000, 100.555502, 67.696139, -173.771216, -27.906895, 150.764428], [25.000000, 168.012653, -56.741401, -177.076936, -84.754000, 156.006117]] + joints: [-155.000000, 9.000000, 78.000000, 3.000000, -103.000000, 157.000000] + pose: {translation: [-0.4249433174442301, 0.1936530189202784, 0.01010051935580832], quaternion: [-0.2293248271486309, -0.556440822460724, 0.006116316390951884, 0.798590211201145]} + solutions: [[-155.000000, 9.000000, 78.000000, -177.000000, 103.000000, -23.000000], [-155.000000, 87.887994, -67.045263, -175.134632, 36.959280, -27.566553], [25.000000, 101.607409, 67.492839, 6.435331, 27.063447, -29.411106], [25.000000, 168.840304, -56.538101, 2.940686, 83.723241, -23.997227], [-155.000000, 9.000000, 78.000000, 3.000000, -103.000000, 157.000000], [-155.000000, 87.887994, -67.045263, 4.865368, -36.959280, 152.433447], [25.000000, 101.607409, 67.492839, -173.564669, -27.063447, 150.588894], [25.000000, 168.840304, -56.538101, -177.059314, -83.723241, 156.002773]] - id: 1417 parameters: KukaKR6_R700_sixx - joints: [-80.000000, 14.000000, -136.000000, 1.000000, 48.000000, -128.000000] - pose: {translation: [0.02352387878997595, 0.1274353999432863, 0.6916811211159544], quaternion: [0.06172900313794539, 0.1248546016006907, 0.962433515707411, -0.2330720628342256]} - solutions: [[-80.000000, -151.956897, 146.954737, 179.204020, 69.004030, 52.954385], [-80.000000, 14.000000, -136.000000, 1.000000, 48.000000, -128.000000], [100.000000, 158.638062, 142.852959, -178.991897, 47.491099, -128.012050], [100.000000, -41.994422, -131.898222, -0.802066, 67.898941, 52.970955], [-80.000000, -151.956897, 146.954737, -0.795980, -69.004030, -127.045615], [-80.000000, 14.000000, -136.000000, -179.000000, -48.000000, 52.000000], [100.000000, 158.638062, 142.852959, 1.008103, -47.491099, 51.987950], [100.000000, -41.994422, -131.898222, 179.197934, -67.898941, -127.029045]] + joints: [-80.000000, 14.000000, -136.000000, 1.000000, 47.000000, -128.000000] + pose: {translation: [0.02327404985240725, 0.1261133544208121, 0.692054327676255], quaternion: [0.05815863458600866, 0.1169793724999609, 0.9635870895489193, -0.2333094950644952]} + solutions: [[-80.000000, -151.956897, 146.954737, 179.221744, 70.003892, 52.948179], [-80.000000, 14.000000, -136.000000, 1.000000, 47.000000, -128.000000], [100.000000, 158.638062, 142.852959, -178.991607, 46.491099, -128.012248], [100.000000, -41.994422, -131.898222, -0.783903, 68.898798, 52.964269], [-80.000000, -151.956897, 146.954737, -0.778256, -70.003892, -127.051821], [-80.000000, 14.000000, -136.000000, -179.000000, -47.000000, 52.000000], [100.000000, 158.638062, 142.852959, 1.008393, -46.491099, 51.987752], [100.000000, -41.994422, -131.898222, 179.216097, -68.898798, -127.035731]] - id: 1418 parameters: KukaKR6_R700_sixx - joints: [-175.000000, 125.000000, -100.000000, 33.000000, 138.000000, 74.000000] - pose: {translation: [-0.1140763054097749, 0.03924652181194567, 0.003869384133384415], quaternion: [0.6672703430239213, 0.3898948192928822, 0.6171082245922729, 0.1480194526063448]} - solutions: [[-175.000000, 8.141424, 110.954737, 27.463553, 52.205591, 30.569949], [-175.000000, 125.000000, -100.000000, 33.000000, 138.000000, 74.000000], [5.000000, 63.913669, 106.117752, -133.780725, 149.684445, 90.250519], [5.000000, 174.995625, -95.163015, -157.083417, 69.375718, 39.768104], [-175.000000, 8.141424, 110.954737, -152.536447, -52.205591, -149.430051], [-175.000000, 125.000000, -100.000000, -147.000000, -138.000000, -106.000000], [5.000000, 63.913669, 106.117752, 46.219275, -149.684445, -89.749481], [5.000000, 174.995625, -95.163015, 22.916583, -69.375718, -140.231896]] + joints: [-175.000000, 124.000000, -100.000000, 33.000000, 137.000000, 74.000000] + pose: {translation: [-0.1214092384562449, 0.04045087444028135, 0.004364058609996974], quaternion: [0.6753766159195378, 0.3954661062992675, 0.6066616834329647, 0.1394079886227868]} + solutions: [[-175.000000, 7.141424, 110.954737, 28.342187, 51.482625, 30.027108], [-175.000000, 124.000000, -100.000000, 33.000000, 137.000000, 74.000000], [5.000000, 64.955481, 105.950813, -134.466649, 148.635729, 89.615513], [5.000000, 175.839768, -94.996076, -156.480767, 68.560170, 39.555889], [-175.000000, 7.141424, 110.954737, -151.657813, -51.482625, -149.972892], [-175.000000, 124.000000, -100.000000, -147.000000, -137.000000, -106.000000], [5.000000, 64.955481, 105.950813, 45.533351, -148.635729, -90.384487], [5.000000, 175.839768, -94.996076, 23.519233, -68.560170, -140.444111]] - id: 1419 parameters: KukaKR6_R700_sixx - joints: [-45.000000, -52.000000, -145.000000, -83.000000, -130.000000, -34.000000] - pose: {translation: [-0.005443614278550113, -0.09146563915327649, 0.515929436493845], quaternion: [-0.1945822092786351, 0.6425031829830034, -0.2737137704358726, 0.6887729637280583]} - solutions: [[135.000000, -147.951148, 162.706234, -84.881390, 130.237030, 143.080643], [135.000000, 50.534381, -151.751496, -128.764110, 77.193682, 29.754151], [-45.000000, 125.421962, 155.954737, 51.264295, 77.093795, 29.626494], [-45.000000, -52.000000, -145.000000, 97.000000, 130.000000, 146.000000], [135.000000, -147.951148, 162.706234, 95.118610, -130.237030, -36.919357], [135.000000, 50.534381, -151.751496, 51.235890, -77.193682, -150.245849], [-45.000000, 125.421962, 155.954737, -128.735705, -77.093795, -150.373506], [-45.000000, -52.000000, -145.000000, -83.000000, -130.000000, -34.000000]] + joints: [-45.000000, -51.000000, -145.000000, -83.000000, -129.000000, -34.000000] + pose: {translation: [-0.004090787935420073, -0.09135944424934839, 0.517143012080665], quaternion: [-0.1951703891530027, 0.6486116645328572, -0.2810550785197526, 0.6798672448853802]} + solutions: [[135.000000, -149.012923, 162.584303, -84.965116, 129.254670, 142.886408], [135.000000, 49.143887, -151.629565, -127.799105, 77.472793, 29.336847], [-45.000000, 126.421962, 155.954737, 52.181817, 77.539600, 29.425035], [-45.000000, -51.000000, -145.000000, 97.000000, 129.000000, 146.000000], [135.000000, -149.012923, 162.584303, 95.034884, -129.254670, -37.113592], [135.000000, 49.143887, -151.629565, 52.200895, -77.472793, -150.663153], [-45.000000, 126.421962, 155.954737, -127.818183, -77.539600, -150.574965], [-45.000000, -51.000000, -145.000000, -83.000000, -129.000000, -34.000000]] - id: 1420 parameters: KukaKR6_R700_sixx - joints: [-126.000000, 61.000000, 101.000000, -139.000000, 143.000000, -60.000000] - pose: {translation: [0.02535608107024627, -0.08863712498920738, -0.03639728519955182], quaternion: [-0.6968917004961376, -0.3269997102272439, 0.3620079903224632, 0.5257027318110414]} - solutions: [[54.000000, 17.554218, 104.968659, 30.918623, 50.211611, -115.741239], [54.000000, 127.277673, -94.013921, 31.337270, 130.608752, -73.150265], [-126.000000, 61.000000, 101.000000, -139.000000, 143.000000, -60.000000], [-126.000000, 166.067493, -90.045263, -154.520344, 66.605628, -105.484538], [54.000000, 17.554218, 104.968659, -149.081377, -50.211611, 64.258761], [54.000000, 127.277673, -94.013921, -148.662730, -130.608752, 106.849735], [-126.000000, 61.000000, 101.000000, 41.000000, -143.000000, 120.000000], [-126.000000, 166.067493, -90.045263, 25.479656, -66.605628, 74.515462]] + joints: [-126.000000, 60.000000, 101.000000, -139.000000, 142.000000, -60.000000] + pose: {translation: [0.02059388018679111, -0.08331889994747291, -0.03934591687394787], quaternion: [-0.6937082197250845, -0.3319018407295659, 0.3637925739200908, 0.5256092057477451]} + solutions: [[54.000000, 18.696897, 104.782982, 31.983737, 49.690172, -116.409425], [54.000000, 128.201297, -93.828245, 31.585298, 129.541511, -73.034235], [-126.000000, 60.000000, 101.000000, -139.000000, 142.000000, -60.000000], [-126.000000, 165.067493, -90.045263, -153.739248, 65.906475, -105.799056], [54.000000, 18.696897, 104.782982, -148.016263, -49.690172, 63.590575], [54.000000, 128.201297, -93.828245, -148.414702, -129.541511, 106.965765], [-126.000000, 60.000000, 101.000000, 41.000000, -142.000000, 120.000000], [-126.000000, 165.067493, -90.045263, 26.260752, -65.906475, 74.200944]] - id: 1421 parameters: KukaKR6_R700_sixx joints: [-108.000000, -52.000000, -169.000000, 177.000000, 110.000000, -75.000000] @@ -7111,14 +7111,14 @@ cases: solutions: [[-108.000000, 18.456322, 179.954737, 164.965984, 169.070806, -88.746472], [-108.000000, -52.000000, -169.000000, 177.000000, 110.000000, -75.000000], [-108.000000, 18.456322, 179.954737, -15.034016, -169.070806, 91.253528], [-108.000000, -52.000000, -169.000000, -3.000000, -110.000000, 105.000000]] - id: 1422 parameters: KukaKR6_R700_sixx - joints: [70.000000, 50.000000, 122.000000, 53.000000, 119.000000, -130.000000] - pose: {translation: [-0.0855328526275981, 0.07161684027745797, 0.1203351757773743], quaternion: [0.08713366816002448, -0.4450315733423117, 0.5625867356918832, 0.6912675223276417]} - solutions: [[-110.000000, 4.744505, 125.638730, -45.296023, 100.652279, 6.665084], [-110.000000, 139.914139, -114.683993, -117.209762, 128.240655, -112.470578], [70.000000, 50.000000, 122.000000, 53.000000, 119.000000, -130.000000], [70.000000, -179.503462, -111.045263, 130.071031, 114.107561, -8.654624], [-110.000000, 4.744505, 125.638730, 134.703977, -100.652279, -173.334916], [-110.000000, 139.914139, -114.683993, 62.790238, -128.240655, 67.529422], [70.000000, 50.000000, 122.000000, -127.000000, -119.000000, 50.000000], [70.000000, -179.503462, -111.045263, -49.928969, -114.107561, 171.345376]] + joints: [70.000000, 50.000000, 122.000000, 53.000000, 118.000000, -130.000000] + pose: {translation: [-0.08646751500672059, 0.07262911901777552, 0.1205614499189511], quaternion: [0.0793535636409867, -0.4448979388030198, 0.5600790759658711, 0.6943200016213822]} + solutions: [[-110.000000, 4.744505, 125.638730, -45.996027, 101.378841, 6.531326], [-110.000000, 139.914139, -114.683993, -117.588314, 127.286482, -112.702414], [70.000000, 50.000000, 122.000000, 53.000000, 118.000000, -130.000000], [70.000000, -179.503462, -111.045263, 129.131548, 114.624877, -9.042235], [-110.000000, 4.744505, 125.638730, 134.003973, -101.378841, -173.468674], [-110.000000, 139.914139, -114.683993, 62.411686, -127.286482, 67.297586], [70.000000, 50.000000, 122.000000, -127.000000, -118.000000, 50.000000], [70.000000, -179.503462, -111.045263, -50.868452, -114.624877, 170.957765]] - id: 1423 parameters: KukaKR6_R700_sixx - joints: [-69.000000, -180.000000, -85.000000, -119.000000, -168.000000, -169.000000] - pose: {translation: [-0.08968535806615235, -0.2742320788713299, 0.1119953275955586], quaternion: [0.09127924795085524, 0.007926390946709232, 0.8559741252459484, 0.5088355020333387]} - solutions: [[111.000000, 0.698930, 103.094203, -39.615705, 163.430123, 92.112826], [111.000000, 108.216620, -92.139466, -169.152199, 104.934354, -46.632888], [-69.000000, 80.780354, 95.954737, 10.486022, 92.341651, -49.026812], [-69.000000, 180.000000, -85.000000, 61.000000, 168.000000, 11.000000], [111.000000, 0.698930, 103.094203, 140.384295, -163.430123, -87.887174], [111.000000, 108.216620, -92.139466, 10.847801, -104.934354, 133.367112], [-69.000000, 80.780354, 95.954737, -169.513978, -92.341651, 130.973188], [-69.000000, 180.000000, -85.000000, -119.000000, -168.000000, -169.000000]] + joints: [-69.000000, -179.000000, -85.000000, -119.000000, -167.000000, -169.000000] + pose: {translation: [-0.09060336476367414, -0.2799504198607051, 0.1172730859448634], quaternion: [0.09798140535850916, 0.01355016875556346, 0.854762153682728, 0.5095073088409351]} + solutions: [[111.000000, -0.459753, 103.253174, -43.044590, 163.247083, 88.827870], [111.000000, 107.244527, -92.298436, -168.286988, 104.269043, -46.439574], [-69.000000, 81.780354, 95.954737, 11.352718, 91.841807, -48.995177], [-69.000000, -179.000000, -85.000000, 61.000000, 167.000000, 11.000000], [111.000000, -0.459753, 103.253174, 136.955410, -163.247083, -91.172130], [111.000000, 107.244527, -92.298436, 11.713012, -104.269043, 133.560426], [-69.000000, 81.780354, 95.954737, -168.647282, -91.841807, 131.004823], [-69.000000, -179.000000, -85.000000, -119.000000, -167.000000, -169.000000]] - id: 1424 parameters: KukaKR6_R700_sixx joints: [-4.000000, -76.000000, -118.000000, -53.000000, -21.000000, -31.000000] @@ -7126,24 +7126,24 @@ cases: solutions: [[176.000000, -114.898182, 136.582533, -72.744319, 17.439252, 169.874945], [176.000000, 35.140250, -125.627795, -18.610228, 116.254984, 89.436754], [-4.000000, 144.469581, 128.954737, 160.892450, 119.034193, 88.365246], [-4.000000, -76.000000, -118.000000, 127.000000, 21.000000, 149.000000], [176.000000, -114.898182, 136.582533, 107.255681, -17.439252, -10.125055], [176.000000, 35.140250, -125.627795, 161.389772, -116.254984, -90.563246], [-4.000000, 144.469581, 128.954737, -19.107550, -119.034193, -91.634754], [-4.000000, -76.000000, -118.000000, -53.000000, -21.000000, -31.000000]] - id: 1425 parameters: KukaKR6_R700_sixx - joints: [-107.000000, -13.000000, 132.000000, 144.000000, -3.000000, -87.000000] - pose: {translation: [-0.04442239833391619, 0.1368818045385844, 0.06642354004803976], quaternion: [0.9526101613834338, -0.1377709404324121, 0.1009432007431416, 0.2517211127917698]} - solutions: [[-107.000000, -13.000000, 132.000000, -36.000000, 3.000000, 93.000000], [-107.000000, 130.636616, -121.045263, -1.898993, 111.825598, 56.331122], [73.000000, 60.315135, 126.461661, 177.757104, 128.183274, 55.650408], [73.000000, -163.442779, -115.506924, 175.397724, 22.543560, 61.289308], [-107.000000, -13.000000, 132.000000, 144.000000, -3.000000, -87.000000], [-107.000000, 130.636616, -121.045263, 178.101007, -111.825598, -123.668878], [73.000000, 60.315135, 126.461661, -2.242896, -128.183274, -124.349592], [73.000000, -163.442779, -115.506924, -4.602276, -22.543560, -118.710692]] + joints: [-107.000000, -12.000000, 132.000000, 144.000000, -3.000000, -87.000000] + pose: {translation: [-0.04271500042086298, 0.1312971576038799, 0.06439945366161867], quaternion: [0.9502156732988912, -0.1375655398209581, 0.1045195689644219, 0.259309768760058]} + solutions: [[-107.000000, -12.000000, 132.000000, -36.000000, 3.000000, 93.000000], [-107.000000, 131.636616, -121.045263, -1.898993, 111.825598, 56.331122], [73.000000, 59.317942, 126.596441, 177.752854, 128.320756, 55.643545], [73.000000, -164.263734, -115.641704, 175.406263, 22.587682, 61.280061], [-107.000000, -12.000000, 132.000000, 144.000000, -3.000000, -87.000000], [-107.000000, 131.636616, -121.045263, 178.101007, -111.825598, -123.668878], [73.000000, 59.317942, 126.596441, -2.247146, -128.320756, -124.356455], [73.000000, -164.263734, -115.641704, -4.593737, -22.587682, -118.719939]] - id: 1426 parameters: KukaKR6_R700_sixx - joints: [-144.000000, 178.000000, 23.000000, -119.000000, 28.000000, -98.000000] - pose: {translation: [0.5596062314005974, -0.4471809849286017, 0.4954502988648501], quaternion: [0.5245721258313082, 0.4157613490530532, -0.1134427154093239, 0.7342324807273012]} - solutions: [[36.000000, -33.701026, 53.007515, 134.076958, 34.858778, -179.841163], [36.000000, 17.652625, -42.052778, 55.750317, 29.785140, -92.005977], [-144.000000, 178.000000, 23.000000, -119.000000, 28.000000, -98.000000], [-144.000000, -163.138678, -12.045263, -86.166737, 24.300967, -134.324994], [36.000000, -33.701026, 53.007515, -45.923042, -34.858778, 0.158837], [36.000000, 17.652625, -42.052778, -124.249683, -29.785140, 87.994023], [-144.000000, 178.000000, 23.000000, 61.000000, -28.000000, 82.000000], [-144.000000, -163.138678, -12.045263, 93.833263, -24.300967, 45.675006]] + joints: [-144.000000, 177.000000, 23.000000, -119.000000, 28.000000, -98.000000] + pose: {translation: [0.5608626703042509, -0.4480938412259463, 0.4825109045964205], quaternion: [0.5275173756053201, 0.421511022416157, -0.1150092540604089, 0.7285785804541814]} + solutions: [[36.000000, -32.647606, 53.055210, 134.181019, 34.929182, -179.968033], [36.000000, 18.758052, -42.100473, 55.833789, 29.752683, -92.102140], [-144.000000, 177.000000, 23.000000, -119.000000, 28.000000, -98.000000], [-144.000000, -164.138678, -12.045263, -86.166737, 24.300967, -134.324994], [36.000000, -32.647606, 53.055210, -45.818981, -34.929182, 0.031967], [36.000000, 18.758052, -42.100473, -124.166211, -29.752683, 87.897860], [-144.000000, 177.000000, 23.000000, 61.000000, -28.000000, 82.000000], [-144.000000, -164.138678, -12.045263, 93.833263, -24.300967, 45.675006]] - id: 1427 parameters: KukaKR6_R700_sixx - joints: [-67.000000, -19.000000, 9.000000, -4.000000, -179.000000, -132.000000] - pose: {translation: [0.23343467896777, 0.5496883811583175, 0.5878857182695131], quaternion: [0.3856049908772045, 0.6553983194880553, -0.6438149189887484, 0.08523018192128527]} - solutions: [[-67.000000, -19.000000, 9.000000, 176.000000, 179.000000, 48.000000], [-67.000000, -15.210252, 1.954737, 179.059537, 175.746350, 51.061520], [-67.000000, -19.000000, 9.000000, -4.000000, -179.000000, -132.000000], [-67.000000, -15.210252, 1.954737, -0.940463, -175.746350, -128.938480]] + joints: [-67.000000, -19.000000, 9.000000, -4.000000, -178.000000, -132.000000] + pose: {translation: [0.2334438951010106, 0.549460909381279, 0.5892632790310519], quaternion: [0.3823836738256729, 0.6507004974711024, -0.6502923364003114, 0.08655325413562254]} + solutions: [[-67.000000, -19.000000, 9.000000, 176.000000, 178.000000, 48.000000], [-67.000000, -15.210252, 1.954737, 178.476147, 174.747506, 50.480114], [-67.000000, -19.000000, 9.000000, -4.000000, -178.000000, -132.000000], [-67.000000, -15.210252, 1.954737, -1.523853, -174.747506, -129.519886]] - id: 1428 parameters: KukaKR6_R700_sixx - joints: [111.000000, -51.000000, 92.000000, 64.000000, 125.000000, 153.000000] - pose: {translation: [-0.2227718930411776, -0.4159846344307875, 0.4401774162724779], quaternion: [-0.2653786771142632, 0.6139458269567805, 0.7421029995407838, -0.04390691708615285]} - solutions: [[111.000000, -51.000000, 92.000000, 64.000000, 125.000000, 153.000000], [111.000000, 43.683578, -81.045263, 123.609747, 117.866898, -111.741588], [-69.000000, 143.416881, 78.830064, -54.386175, 115.090442, -107.249940], [-69.000000, -136.768067, -67.875327, -103.960733, 130.653899, 172.489442], [111.000000, -51.000000, 92.000000, -116.000000, -125.000000, -27.000000], [111.000000, 43.683578, -81.045263, -56.390253, -117.866898, 68.258412], [-69.000000, 143.416881, 78.830064, 125.613825, -115.090442, 72.750060], [-69.000000, -136.768067, -67.875327, 76.039267, -130.653899, -7.510558]] + joints: [111.000000, -51.000000, 92.000000, 64.000000, 124.000000, 153.000000] + pose: {translation: [-0.2236651952586381, -0.4163283179251404, 0.4391608559928183], quaternion: [-0.2713126688692657, 0.6165210930401899, 0.7375790085445578, -0.04762755192105598]} + solutions: [[111.000000, -51.000000, 92.000000, 64.000000, 124.000000, 153.000000], [111.000000, 43.683578, -81.045263, 122.482409, 117.953962, -112.269298], [-69.000000, 143.416881, 78.830064, -55.475906, 115.255810, -107.713474], [-69.000000, -136.768067, -67.875327, -104.394408, 129.710379, 172.209616], [111.000000, -51.000000, 92.000000, -116.000000, -124.000000, -27.000000], [111.000000, 43.683578, -81.045263, -57.517591, -117.953962, 67.730702], [-69.000000, 143.416881, 78.830064, 124.524094, -115.255810, 72.286526], [-69.000000, -136.768067, -67.875327, 75.605592, -129.710379, -7.790384]] - id: 1429 parameters: KukaKR6_R700_sixx joints: [39.000000, 73.000000, 69.000000, -174.000000, -157.000000, -34.000000] @@ -7151,14 +7151,14 @@ cases: solutions: [[-141.000000, 40.680023, 73.059873, -2.935698, 127.110910, -41.298376], [-141.000000, 114.070800, -62.105135, -165.233464, 170.779085, 155.057798], [39.000000, 73.000000, 69.000000, 6.000000, 157.000000, 146.000000], [39.000000, 141.896493, -58.045263, 175.949931, 144.670685, -42.832164], [-141.000000, 40.680023, 73.059873, 177.064302, -127.110910, 138.701624], [-141.000000, 114.070800, -62.105135, 14.766536, -170.779085, -24.942202], [39.000000, 73.000000, 69.000000, -174.000000, -157.000000, -34.000000], [39.000000, 141.896493, -58.045263, -4.050069, -144.670685, 137.167836]] - id: 1430 parameters: KukaKR6_R700_sixx - joints: [151.000000, 16.000000, -36.000000, -123.000000, 84.000000, 65.000000] - pose: {translation: [-0.5377730979319894, -0.3743840530233217, 0.5144800641617662], quaternion: [0.2387523465355978, 0.413070314240312, -0.3716290870397623, 0.7964057095370101]} - solutions: [[151.000000, -28.765563, 46.954737, -120.451234, 104.638954, 97.405880], [151.000000, 16.000000, -36.000000, -123.000000, 84.000000, 65.000000], [151.000000, -28.765563, 46.954737, 59.548766, -104.638954, -82.594120], [151.000000, 16.000000, -36.000000, 57.000000, -84.000000, -115.000000]] + joints: [151.000000, 16.000000, -36.000000, -123.000000, 83.000000, 65.000000] + pose: {translation: [-0.5390032766346669, -0.3749143893704291, 0.5148736447972242], quaternion: [0.243671404688016, 0.4071782595480765, -0.3757623965810917, 0.7960105104861385]} + solutions: [[151.000000, -28.765563, 46.954737, -121.003043, 103.794041, 97.270358], [151.000000, 16.000000, -36.000000, -123.000000, 83.000000, 65.000000], [151.000000, -28.765563, 46.954737, 58.996957, -103.794041, -82.729642], [151.000000, 16.000000, -36.000000, 57.000000, -83.000000, -115.000000]] - id: 1431 parameters: KukaKR6_R700_sixx - joints: [89.000000, 117.000000, -169.000000, 121.000000, -103.000000, -35.000000] - pose: {translation: [0.06854543404966158, -0.09850455803182329, 0.3896069433603974], quaternion: [0.6187795250310654, -0.6001873776553606, 0.4474096463140357, -0.2381420153829651]} - solutions: [[89.000000, -172.543678, 179.954737, -61.736611, 71.486381, -163.908038], [89.000000, 117.000000, -169.000000, -59.000000, 103.000000, 145.000000], [-91.000000, 85.033909, 169.444615, 114.333951, 113.561369, 124.051199], [-91.000000, -54.414932, -158.489878, 107.829717, 61.322656, -138.306987], [89.000000, -172.543678, 179.954737, 118.263389, -71.486381, 16.091962], [89.000000, 117.000000, -169.000000, 121.000000, -103.000000, -35.000000], [-91.000000, 85.033909, 169.444615, -65.666049, -113.561369, -55.948801], [-91.000000, -54.414932, -158.489878, -72.170283, -61.322656, 41.693013]] + joints: [89.000000, 116.000000, -169.000000, 121.000000, -103.000000, -35.000000] + pose: {translation: [0.06854840111292543, -0.09867454097236524, 0.3909119738746316], quaternion: [0.6207656619791107, -0.5962245140461783, 0.4527236086075112, -0.2328253765538204]} + solutions: [[89.000000, -173.543678, 179.954737, -61.736611, 71.486381, -163.908038], [89.000000, 116.000000, -169.000000, -59.000000, 103.000000, 145.000000], [-91.000000, 85.495712, 169.490094, 114.528631, 113.357579, 124.540219], [-91.000000, -53.769902, -158.535357, 107.620553, 61.200738, -137.871963], [89.000000, -173.543678, 179.954737, 118.263389, -71.486381, 16.091962], [89.000000, 116.000000, -169.000000, 121.000000, -103.000000, -35.000000], [-91.000000, 85.495712, 169.490094, -65.471369, -113.357579, -55.459781], [-91.000000, -53.769902, -158.535357, -72.379447, -61.200738, 42.128037]] - id: 1432 parameters: KukaKR6_R700_sixx joints: [-116.000000, 57.000000, 43.000000, -98.000000, 3.000000, 180.000000] @@ -7166,19 +7166,19 @@ cases: solutions: [[-116.000000, 57.000000, 43.000000, -98.000000, 3.000000, -180.000000], [-116.000000, 97.472596, -32.045263, -5.281185, 34.268102, 86.357516], [64.000000, 90.825790, 35.516215, 175.868307, 45.998620, 84.861926], [64.000000, 123.195039, -24.561477, 170.573838, 18.448216, 90.938963], [-116.000000, 57.000000, 43.000000, 82.000000, -3.000000, 0.000000], [-116.000000, 97.472596, -32.045263, 174.718815, -34.268102, -93.642484], [64.000000, 90.825790, 35.516215, -4.131693, -45.998620, -95.138074], [64.000000, 123.195039, -24.561477, -9.426162, -18.448216, -89.061037]] - id: 1433 parameters: KukaKR6_R700_sixx - joints: [94.000000, -72.000000, -117.000000, -160.000000, 152.000000, 115.000000] - pose: {translation: [0.02379412230089685, 0.1561240403220491, 0.5841068005746407], quaternion: [0.8024418125163887, 0.06992283254974298, 0.007266235557382454, 0.592575005239386]} - solutions: [[-86.000000, -118.996555, 135.097617, 16.361425, 145.249208, 110.746165], [-86.000000, 28.934671, -124.142880, 170.545453, 102.177901, -84.827563], [94.000000, 149.795949, 127.954737, -9.374269, 99.669656, -84.404039], [94.000000, -72.000000, -117.000000, -160.000000, 152.000000, 115.000000], [-86.000000, -118.996555, 135.097617, -163.638575, -145.249208, -69.253835], [-86.000000, 28.934671, -124.142880, -9.454547, -102.177901, 95.172437], [94.000000, 149.795949, 127.954737, 170.625731, -99.669656, 95.595961], [94.000000, -72.000000, -117.000000, 20.000000, -152.000000, -65.000000]] + joints: [94.000000, -71.000000, -117.000000, -160.000000, 151.000000, 115.000000] + pose: {translation: [0.02402152868744407, 0.153359830457241, 0.5860275958397569], quaternion: [0.8121353152782191, 0.07171941709366182, 0.01079146570767667, 0.5789439516547116]} + solutions: [[-86.000000, -120.032473, 134.979614, 16.549344, 144.399463, 110.924893], [-86.000000, 27.732723, -124.024877, 170.200508, 103.035676, -84.889152], [94.000000, 150.795949, 127.954737, -9.712263, 100.612686, -84.463553], [94.000000, -71.000000, -117.000000, -160.000000, 151.000000, 115.000000], [-86.000000, -120.032473, 134.979614, -163.450656, -144.399463, -69.075107], [-86.000000, 27.732723, -124.024877, -9.799492, -103.035676, 95.110848], [94.000000, 150.795949, 127.954737, 170.287737, -100.612686, 95.536447], [94.000000, -71.000000, -117.000000, 20.000000, -151.000000, -65.000000]] - id: 1434 parameters: KukaKR6_R700_sixx - joints: [-58.000000, 75.000000, -174.000000, -142.000000, -175.000000, -47.000000] - pose: {translation: [0.02099747108315012, 0.02550235787836475, 0.3729095209996114], quaternion: [0.9653356059358613, -0.2339234466943763, 0.06113320252903702, -0.09833473723771577]} - solutions: [[-58.000000, 82.408805, -175.045263, 16.716025, 169.248211, 111.544466], [-58.000000, 75.000000, -174.000000, 38.000000, 175.000000, 133.000000], [122.000000, 92.058031, 178.953943, -165.430651, 167.683613, 109.353762], [122.000000, 11.663797, -167.999206, -176.869587, 100.705119, 95.687976], [-58.000000, 82.408805, -175.045263, -163.283975, -169.248211, -68.455534], [-58.000000, 75.000000, -174.000000, -142.000000, -175.000000, -47.000000], [122.000000, 92.058031, 178.953943, 14.569349, -167.683613, -70.646238], [122.000000, 11.663797, -167.999206, 3.130413, -100.705119, -84.312024]] + joints: [-58.000000, 74.000000, -174.000000, -142.000000, -174.000000, -47.000000] + pose: {translation: [0.02253225784861352, 0.02634383665615875, 0.3733709453860808], quaternion: [0.9631915526866057, -0.2341298955410319, 0.07109316299854415, -0.1113148104340729]} + solutions: [[-58.000000, 81.408805, -175.045263, 18.521793, 168.311852, 113.315786], [-58.000000, 74.000000, -174.000000, 38.000000, 174.000000, 133.000000], [122.000000, 91.644155, 179.149959, -165.014411, 165.588815, 109.686924], [122.000000, 13.121307, -168.195221, -176.251246, 100.170118, 95.815430], [-58.000000, 81.408805, -175.045263, -161.478207, -168.311852, -66.684214], [-58.000000, 74.000000, -174.000000, -142.000000, -174.000000, -47.000000], [122.000000, 91.644155, 179.149959, 14.985589, -165.588815, -70.313076], [122.000000, 13.121307, -168.195221, 3.748754, -100.170118, -84.184570]] - id: 1435 parameters: KukaKR6_R700_sixx - joints: [168.000000, 155.000000, -48.000000, -18.000000, 8.000000, 48.000000] - pose: {translation: [0.3597153571770365, 0.07294244733795252, -0.1650729429149352], quaternion: [0.91306378581312, 0.3470794988243806, 0.2071047795649197, 0.0543870831521218]} - solutions: [[-12.000000, 23.635578, 68.690656, 174.572292, 27.043522, 35.001263], [-12.000000, 92.190415, -57.735919, 4.787022, 31.020692, -153.940896], [168.000000, 97.148501, 58.954737, -176.282314, 41.549982, -152.619924], [168.000000, 155.000000, -48.000000, -18.000000, 8.000000, 48.000000], [-12.000000, 23.635578, 68.690656, -5.427708, -27.043522, -144.998737], [-12.000000, 92.190415, -57.735919, -175.212978, -31.020692, 26.059104], [168.000000, 97.148501, 58.954737, 3.717686, -41.549982, 27.380076], [168.000000, 155.000000, -48.000000, 162.000000, -8.000000, -132.000000]] + joints: [168.000000, 154.000000, -48.000000, -18.000000, 8.000000, 48.000000] + pose: {translation: [0.3500105784497197, 0.07087963293990571, -0.1718285771956936], quaternion: [0.9146981552175726, 0.3479062828254168, 0.1986734042277466, 0.05307901341141293]} + solutions: [[-12.000000, 24.813381, 68.450111, 174.560638, 26.981062, 35.014344], [-12.000000, 93.102620, -57.495374, 4.808331, 30.868477, -153.965742], [168.000000, 96.148501, 58.954737, -176.282314, 41.549982, -152.619924], [168.000000, 154.000000, -48.000000, -18.000000, 8.000000, 48.000000], [-12.000000, 24.813381, 68.450111, -5.439362, -26.981062, -144.985656], [-12.000000, 93.102620, -57.495374, -175.191669, -30.868477, 26.034258], [168.000000, 96.148501, 58.954737, 3.717686, -41.549982, 27.380076], [168.000000, 154.000000, -48.000000, 162.000000, -8.000000, -132.000000]] - id: 1436 parameters: KukaKR6_R700_sixx joints: [-30.000000, -87.000000, -90.000000, 117.000000, 12.000000, -9.000000] @@ -7191,24 +7191,24 @@ cases: solutions: [[-28.000000, 36.000000, 52.000000, 106.000000, 6.000000, 146.000000], [-28.000000, 86.255401, -41.045263, 8.728641, 41.461374, -114.479893], [152.000000, 104.439938, 39.392517, -172.508540, 50.414421, -112.706397], [152.000000, 141.003343, -28.437780, -162.688761, 19.735267, -124.266693], [-28.000000, 36.000000, 52.000000, -74.000000, -6.000000, -34.000000], [-28.000000, 86.255401, -41.045263, -171.271359, -41.461374, 65.520107], [152.000000, 104.439938, 39.392517, 7.491460, -50.414421, 67.293603], [152.000000, 141.003343, -28.437780, 17.311239, -19.735267, 55.733307]] - id: 1438 parameters: KukaKR6_R700_sixx - joints: [-84.000000, -124.000000, 57.000000, 116.000000, 39.000000, -153.000000] - pose: {translation: [0.041158979764478, -0.04129829286185807, 1.076659490897055], quaternion: [0.2518563516939245, 0.1580772351351644, 0.7999001445881827, 0.5212866049796914]} - solutions: [[96.000000, -117.079539, 58.279706, -129.660799, 47.285230, -70.178348], [96.000000, -59.966949, -47.324969, -70.778326, 36.800019, -144.417517], [-84.000000, -124.000000, 57.000000, 116.000000, 39.000000, -153.000000], [-84.000000, -68.287204, -46.045263, 55.795836, 43.150770, -77.913767], [96.000000, -117.079539, 58.279706, 50.339201, -47.285230, 109.821652], [96.000000, -59.966949, -47.324969, 109.221674, -36.800019, 35.582483], [-84.000000, -124.000000, 57.000000, -64.000000, -39.000000, 27.000000], [-84.000000, -68.287204, -46.045263, -124.204164, -43.150770, 102.086233]] + joints: [-84.000000, -124.000000, 57.000000, 116.000000, 38.000000, -153.000000] + pose: {translation: [0.04026382564035917, -0.04041935719681427, 1.07727241274279], quaternion: [0.243562003525716, 0.1589554121734999, 0.802454235467313, 0.5210354377197988]} + solutions: [[96.000000, -117.079539, 58.279706, -131.013768, 47.168225, -69.259524], [96.000000, -59.966949, -47.324969, -71.033360, 35.811484, -144.211984], [-84.000000, -124.000000, 57.000000, 116.000000, 38.000000, -153.000000], [-84.000000, -68.287204, -46.045263, 54.376274, 42.902150, -76.875986], [96.000000, -117.079539, 58.279706, 48.986232, -47.168225, 110.740476], [96.000000, -59.966949, -47.324969, 108.966640, -35.811484, 35.788016], [-84.000000, -124.000000, 57.000000, -64.000000, -38.000000, 27.000000], [-84.000000, -68.287204, -46.045263, -125.623726, -42.902150, 103.124014]] - id: 1439 parameters: KukaKR6_R700_sixx - joints: [-136.000000, -114.000000, -41.000000, -125.000000, -142.000000, 80.000000] - pose: {translation: [0.3011183909628387, -0.2346996262597457, 0.8092629721932502], quaternion: [0.2563831580218337, 0.6638974325831603, 0.5623204668693536, -0.421074302032399]} - solutions: [[44.000000, -76.788290, 65.847459, -106.681357, 148.232298, -77.792104], [44.000000, -11.368782, -54.892722, -147.286084, 111.067414, -135.374935], [-136.000000, -164.206078, 51.954737, 32.415561, 109.814039, -136.229172], [-136.000000, -114.000000, -41.000000, 55.000000, 142.000000, -100.000000], [44.000000, -76.788290, 65.847459, 73.318643, -148.232298, 102.207896], [44.000000, -11.368782, -54.892722, 32.713916, -111.067414, 44.625065], [-136.000000, -164.206078, 51.954737, -147.584439, -109.814039, 43.770828], [-136.000000, -114.000000, -41.000000, -125.000000, -142.000000, 80.000000]] + joints: [-136.000000, -113.000000, -41.000000, -125.000000, -142.000000, 80.000000] + pose: {translation: [0.2959360852326623, -0.2296951317884961, 0.8162626248871961], quaternion: [0.2553960525247369, 0.6699241464740151, 0.5598839404882097, -0.4153365713601914]} + solutions: [[44.000000, -77.734862, 65.640863, -106.917943, 148.188028, -78.070445], [44.000000, -12.542848, -54.686126, -147.279306, 111.094783, -135.356091], [-136.000000, -163.206078, 51.954737, 32.415561, 109.814039, -136.229172], [-136.000000, -113.000000, -41.000000, 55.000000, 142.000000, -100.000000], [44.000000, -77.734862, 65.640863, 73.082057, -148.188028, 101.929555], [44.000000, -12.542848, -54.686126, 32.720694, -111.094783, 44.643909], [-136.000000, -163.206078, 51.954737, -147.584439, -109.814039, 43.770828], [-136.000000, -113.000000, -41.000000, -125.000000, -142.000000, 80.000000]] - id: 1440 parameters: KukaKR6_R700_sixx - joints: [-122.000000, -8.000000, 96.000000, 125.000000, 68.000000, 151.000000] - pose: {translation: [-0.1753923403251302, 0.3953460808568766, 0.05181788024097121], quaternion: [-0.2604859195651534, 0.7810610203330565, 0.4295958894644779, 0.370861348727264]} - solutions: [[-122.000000, -8.000000, 96.000000, 125.000000, 68.000000, 151.000000], [-122.000000, 91.271791, -85.045263, 68.795790, 54.553682, -113.365398], [58.000000, 97.856382, 86.421886, -117.504654, 58.902312, -101.916056], [58.000000, -173.797624, -75.467149, -63.220649, 58.293212, 169.015009], [-122.000000, -8.000000, 96.000000, -55.000000, -68.000000, -29.000000], [-122.000000, 91.271791, -85.045263, -111.204210, -54.553682, 66.634602], [58.000000, 97.856382, 86.421886, 62.495346, -58.902312, 78.083944], [58.000000, -173.797624, -75.467149, 116.779351, -58.293212, -10.984991]] + joints: [-122.000000, -7.000000, 96.000000, 125.000000, 68.000000, 151.000000] + pose: {translation: [-0.1721396812240473, 0.390140738186214, 0.04483381581836773], quaternion: [-0.2652071742953266, 0.7824955175584157, 0.4225946921721971, 0.3725314025034149]} + solutions: [[-122.000000, -7.000000, 96.000000, 125.000000, 68.000000, 151.000000], [-122.000000, 92.271791, -85.045263, 68.795790, 54.553682, -113.365398], [58.000000, 96.851809, 86.563376, -117.577790, 58.965621, -101.774326], [58.000000, -174.642230, -75.608639, -63.228318, 58.286949, 169.029600], [-122.000000, -7.000000, 96.000000, -55.000000, -68.000000, -29.000000], [-122.000000, 92.271791, -85.045263, -111.204210, -54.553682, 66.634602], [58.000000, 96.851809, 86.563376, 62.422210, -58.965621, 78.225674], [58.000000, -174.642230, -75.608639, 116.771682, -58.286949, -10.970400]] - id: 1441 parameters: KukaKR6_R700_sixx - joints: [87.000000, 52.000000, 164.000000, -104.000000, -139.000000, 133.000000] - pose: {translation: [-0.05298186249871178, 0.03790034765334448, 0.312786315439462], quaternion: [0.729063091577104, -0.3550619736227018, -0.1332159641962349, 0.5697819848595204]} - solutions: [[-93.000000, -75.221993, 172.014886, -43.893758, 66.656367, 82.150072], [-93.000000, 156.738662, -161.060148, -67.685134, 136.519914, 0.775691], [87.000000, 52.000000, 164.000000, 76.000000, 139.000000, -47.000000], [87.000000, -105.903534, -153.045263, 139.723039, 79.954040, 69.689853], [-93.000000, -75.221993, 172.014886, 136.106242, -66.656367, -97.849928], [-93.000000, 156.738662, -161.060148, 112.314866, -136.519914, -179.224309], [87.000000, 52.000000, 164.000000, -104.000000, -139.000000, 133.000000], [87.000000, -105.903534, -153.045263, -40.276961, -79.954040, -110.310147]] + joints: [87.000000, 52.000000, 164.000000, -104.000000, -138.000000, 133.000000] + pose: {translation: [-0.05402652598206568, 0.03844620862373412, 0.3135347912278107], quaternion: [0.7246060450662672, -0.3575892928892806, -0.1398159691231958, 0.5723001588698964]} + solutions: [[-93.000000, -75.221993, 172.014886, -44.734418, 67.289955, 82.478917], [-93.000000, 156.738662, -161.060148, -68.748147, 135.842914, 0.008665], [87.000000, 52.000000, 164.000000, 76.000000, 138.000000, -47.000000], [87.000000, -105.903534, -153.045263, 138.816918, 80.404415, 69.844412], [-93.000000, -75.221993, 172.014886, 135.265582, -67.289955, -97.521083], [-93.000000, 156.738662, -161.060148, 111.251853, -135.842914, -179.991335], [87.000000, 52.000000, 164.000000, -104.000000, -138.000000, 133.000000], [87.000000, -105.903534, -153.045263, -41.183082, -80.404415, -110.155588]] - id: 1442 parameters: KukaKR6_R700_sixx joints: [173.000000, 60.000000, 41.000000, 96.000000, 125.000000, 159.000000] @@ -7216,69 +7216,69 @@ cases: solutions: [[173.000000, 60.000000, 41.000000, 96.000000, 125.000000, 159.000000], [173.000000, 98.304579, -30.045263, 115.135529, 115.857954, -164.293236], [-7.000000, 89.679840, 34.121649, -60.286689, 110.282360, -152.658748], [-7.000000, 120.541605, -23.166912, -72.167655, 121.154084, -179.510150], [173.000000, 60.000000, 41.000000, -84.000000, -125.000000, -21.000000], [173.000000, 98.304579, -30.045263, -64.864471, -115.857954, 15.706764], [-7.000000, 89.679840, 34.121649, 119.713311, -110.282360, 27.341252], [-7.000000, 120.541605, -23.166912, 107.832345, -121.154084, 0.489850]] - id: 1443 parameters: KukaKR6_R700_sixx - joints: [53.000000, -160.000000, 100.000000, -121.000000, 95.000000, -147.000000] - pose: {translation: [-0.04043819188530505, 0.1671739882825374, 0.8558204185261229], quaternion: [0.5113544281840255, 0.3846903203149011, 0.6669134736643391, -0.3817805978275642]} - solutions: [[-127.000000, -131.681523, 102.963515, 84.936898, 59.009248, 124.509970], [-127.000000, -24.317164, -92.008777, 58.777172, 93.101119, -150.153332], [53.000000, -160.000000, 100.000000, -121.000000, 95.000000, -147.000000], [53.000000, -56.097538, -89.045263, -98.675118, 59.744563, 131.594026], [-127.000000, -131.681523, 102.963515, -95.063102, -59.009248, -55.490030], [-127.000000, -24.317164, -92.008777, -121.222828, -93.101119, 29.846668], [53.000000, -160.000000, 100.000000, 59.000000, -95.000000, 33.000000], [53.000000, -56.097538, -89.045263, 81.324882, -59.744563, -48.405974]] + joints: [53.000000, -159.000000, 100.000000, -121.000000, 95.000000, -147.000000] + pose: {translation: [-0.03563389548391659, 0.1607984716215452, 0.8589421219183404], quaternion: [0.5121766754004669, 0.3780227181885701, 0.6668835992050659, -0.3873501553121501]} + solutions: [[-127.000000, -132.590299, 102.770326, 84.875907, 59.018301, 124.628439], [-127.000000, -25.452493, -91.815589, 58.774505, 93.071125, -150.202882], [53.000000, -159.000000, 100.000000, -121.000000, 95.000000, -147.000000], [53.000000, -55.097538, -89.045263, -98.675118, 59.744563, 131.594026], [-127.000000, -132.590299, 102.770326, -95.124093, -59.018301, -55.371561], [-127.000000, -25.452493, -91.815589, -121.225495, -93.071125, 29.797118], [53.000000, -159.000000, 100.000000, 59.000000, -95.000000, 33.000000], [53.000000, -55.097538, -89.045263, 81.324882, -59.744563, -48.405974]] - id: 1444 parameters: KukaKR6_R700_sixx - joints: [114.000000, -153.000000, -28.000000, -154.000000, -67.000000, -20.000000] - pose: {translation: [0.235867934913812, 0.6091359266996496, 0.567274135727394], quaternion: [-0.282419560996976, 0.1001980744913906, 0.6186057921097154, 0.7263101344486422]} - solutions: [[-66.000000, -39.754510, 61.025706, -156.120369, 85.418021, 168.764112], [-66.000000, 20.366320, -50.070968, -141.748973, 40.676007, 139.914317], [114.000000, 170.910585, 38.954737, 38.367182, 40.549930, 139.761305], [114.000000, -153.000000, -28.000000, 26.000000, 67.000000, 160.000000], [-66.000000, -39.754510, 61.025706, 23.879631, -85.418021, -11.235888], [-66.000000, 20.366320, -50.070968, 38.251027, -40.676007, -40.085683], [114.000000, 170.910585, 38.954737, -141.632818, -40.549930, -40.238695], [114.000000, -153.000000, -28.000000, -154.000000, -67.000000, -20.000000]] + joints: [114.000000, -152.000000, -28.000000, -154.000000, -67.000000, -20.000000] + pose: {translation: [0.2346385697699272, 0.6063747273779281, 0.5790710848273588], quaternion: [-0.2788142803260886, 0.09268471368016935, 0.6183786047650182, 0.7288895952784206]} + solutions: [[-66.000000, -40.805127, 60.969376, -156.116862, 85.320230, 168.720674], [-66.000000, 19.253928, -50.014638, -141.708538, 40.631994, 139.861018], [114.000000, 171.910585, 38.954737, 38.367182, 40.549930, 139.761305], [114.000000, -152.000000, -28.000000, 26.000000, 67.000000, 160.000000], [-66.000000, -40.805127, 60.969376, 23.883138, -85.320230, -11.279326], [-66.000000, 19.253928, -50.014638, 38.291462, -40.631994, -40.138982], [114.000000, 171.910585, 38.954737, -141.632818, -40.549930, -40.238695], [114.000000, -152.000000, -28.000000, -154.000000, -67.000000, -20.000000]] - id: 1445 parameters: KukaKR6_R700_sixx - joints: [-72.000000, -14.000000, -48.000000, -125.000000, -96.000000, 92.000000] - pose: {translation: [0.2187984764735553, 0.4624876557362776, 0.7861051052950905], quaternion: [0.3646918563711049, 0.7396267804325156, 0.3436261807458353, 0.449302930626609]} - solutions: [[-72.000000, -71.851499, 58.954737, 60.951692, 68.730742, -129.639946], [-72.000000, -14.000000, -48.000000, 55.000000, 96.000000, -88.000000], [108.000000, -160.022727, 42.435585, -124.963740, 96.236699, -87.659794], [108.000000, -120.162157, -31.480847, -123.185160, 76.761235, -115.788806], [-72.000000, -71.851499, 58.954737, -119.048308, -68.730742, 50.360054], [-72.000000, -14.000000, -48.000000, -125.000000, -96.000000, 92.000000], [108.000000, -160.022727, 42.435585, 55.036260, -96.236699, 92.340206], [108.000000, -120.162157, -31.480847, 56.814840, -76.761235, 64.211194]] + joints: [-72.000000, -14.000000, -48.000000, -125.000000, -95.000000, 92.000000] + pose: {translation: [0.2191253041320739, 0.4631387823615191, 0.787296205541804], quaternion: [0.3608641524662237, 0.7364649423830339, 0.3499524765115976, 0.4526916348785211]} + solutions: [[-72.000000, -71.851499, 58.954737, 61.668380, 67.984931, -129.904275], [-72.000000, -14.000000, -48.000000, 55.000000, 95.000000, -88.000000], [108.000000, -160.022727, 42.435585, -124.969702, 95.236717, -87.660390], [108.000000, -120.162157, -31.480847, -122.704434, 75.877020, -115.902508], [-72.000000, -71.851499, 58.954737, -118.331620, -67.984931, 50.095725], [-72.000000, -14.000000, -48.000000, -125.000000, -95.000000, 92.000000], [108.000000, -160.022727, 42.435585, 55.030298, -95.236717, 92.339610], [108.000000, -120.162157, -31.480847, 57.295566, -75.877020, 64.097492]] - id: 1446 parameters: KukaKR6_R700_sixx - joints: [137.000000, -170.000000, -67.000000, -26.000000, 127.000000, 41.000000] - pose: {translation: [0.3676593064869357, 0.3045518774844667, 0.2011757534055423], quaternion: [0.2283938191034484, -0.000795209051156973, 0.962292296096761, 0.147746972594128]} - solutions: [[-43.000000, -13.721816, 89.492458, 144.231075, 143.205035, 27.378327], [-43.000000, 78.104674, -78.537721, 158.604929, 73.680409, 63.640824], [137.000000, 111.162528, 77.954737, -22.603786, 65.625901, 67.107602], [137.000000, -170.000000, -67.000000, -26.000000, 127.000000, 41.000000], [-43.000000, -13.721816, 89.492458, -35.768925, -143.205035, -152.621673], [-43.000000, 78.104674, -78.537721, -21.395071, -73.680409, -116.359176], [137.000000, 111.162528, 77.954737, 157.396214, -65.625901, -112.892398], [137.000000, -170.000000, -67.000000, 154.000000, -127.000000, -139.000000]] + joints: [137.000000, -169.000000, -67.000000, -26.000000, 127.000000, 41.000000] + pose: {translation: [0.3701412039352127, 0.3068662842972315, 0.209960038034652], quaternion: [0.223122909614369, -0.007465193286321396, 0.963708573668584, 0.1463769897630068]} + solutions: [[-43.000000, -14.871559, 89.608347, 144.257510, 143.177562, 27.411344], [-43.000000, 77.086671, -78.653610, 158.590566, 73.555751, 63.691750], [137.000000, 112.162528, 77.954737, -22.603786, 65.625901, 67.107602], [137.000000, -169.000000, -67.000000, -26.000000, 127.000000, 41.000000], [-43.000000, -14.871559, 89.608347, -35.742490, -143.177562, -152.588656], [-43.000000, 77.086671, -78.653610, -21.409434, -73.555751, -116.308250], [137.000000, 112.162528, 77.954737, 157.396214, -65.625901, -112.892398], [137.000000, -169.000000, -67.000000, 154.000000, -127.000000, -139.000000]] - id: 1447 parameters: KukaKR6_R700_sixx - joints: [129.000000, 14.000000, 78.000000, -3.000000, 118.000000, 102.000000] - pose: {translation: [-0.1756641330773811, -0.2228013999145899, -0.002207909768510367], quaternion: [0.1301710778433899, 0.4827800798950289, 0.7718368795549575, 0.392742557292313]} - solutions: [[129.000000, 14.000000, 78.000000, -3.000000, 118.000000, 102.000000], [129.000000, 92.887994, -67.045263, -147.659834, 175.044467, -44.347316], [-51.000000, 96.323720, 68.535303, 10.204169, 164.879941, -66.732616], [-51.000000, 164.707015, -57.580565, 176.108060, 137.093073, 100.556693], [129.000000, 14.000000, 78.000000, 177.000000, -118.000000, -78.000000], [129.000000, 92.887994, -67.045263, 32.340166, -175.044467, 135.652684], [-51.000000, 96.323720, 68.535303, -169.795831, -164.879941, 113.267384], [-51.000000, 164.707015, -57.580565, -3.891940, -137.093073, -79.443307]] + joints: [129.000000, 14.000000, 78.000000, -3.000000, 117.000000, 102.000000] + pose: {translation: [-0.1752057808874933, -0.22228899827039, -0.003423170984561692], quaternion: [0.1321181275857995, 0.4900625450020676, 0.7679227327025315, 0.3907405519625461]} + solutions: [[129.000000, 14.000000, 78.000000, -3.000000, 117.000000, 102.000000], [129.000000, 92.887994, -67.045263, -139.998468, 175.839898, -36.709924], [-51.000000, 96.323720, 68.535303, 11.003931, 165.859349, -65.958757], [-51.000000, 164.707015, -57.580565, 176.144378, 136.093384, 100.583079], [129.000000, 14.000000, 78.000000, 177.000000, -117.000000, -78.000000], [129.000000, 92.887994, -67.045263, 40.001532, -175.839898, 143.290076], [-51.000000, 96.323720, 68.535303, -168.996069, -165.859349, 114.041243], [-51.000000, 164.707015, -57.580565, -3.855622, -136.093384, -79.416921]] - id: 1448 parameters: KukaKR6_R700_sixx - joints: [163.000000, 47.000000, 88.000000, -1.000000, -61.000000, 141.000000] - pose: {translation: [-0.02763819995908093, -0.00717291230245135, -0.1901125287310577], quaternion: [0.1941001311717035, 0.9710349584948668, -0.05918178002732244, -0.1261497735741033]} - solutions: [[163.000000, 47.000000, 88.000000, 179.000000, 61.000000, -39.000000], [163.000000, 137.132405, -77.045263, 3.631910, 13.943473, 136.989987], [-17.000000, 48.536239, 87.837762, -178.270882, 30.389088, 139.023482], [-17.000000, 138.484764, -76.883025, -1.250063, 44.401378, -38.591663], [163.000000, 47.000000, 88.000000, -1.000000, -61.000000, 141.000000], [163.000000, 137.132405, -77.045263, -176.368090, -13.943473, -43.010013], [-17.000000, 48.536239, 87.837762, 1.729118, -30.389088, -40.976518], [-17.000000, 138.484764, -76.883025, 178.749937, -44.401378, 141.408337]] + joints: [163.000000, 47.000000, 88.000000, -1.000000, -60.000000, 141.000000] + pose: {translation: [-0.02634808807099362, -0.006791033086949892, -0.1904857332047392], quaternion: [0.1943841695745809, 0.9721785196759443, -0.05516315634663012, -0.11849365671363]} + solutions: [[163.000000, 47.000000, 88.000000, 179.000000, 60.000000, -39.000000], [163.000000, 137.132405, -77.045263, 3.360691, 14.941185, 137.252645], [-17.000000, 48.536239, 87.837762, -178.337099, 31.388510, 139.080309], [-17.000000, 138.484764, -76.883025, -1.260435, 43.401403, -38.584190], [163.000000, 47.000000, 88.000000, -1.000000, -60.000000, 141.000000], [163.000000, 137.132405, -77.045263, -176.639309, -14.941185, -42.747355], [-17.000000, 48.536239, 87.837762, 1.662901, -31.388510, -40.919691], [-17.000000, 138.484764, -76.883025, 178.739565, -43.401403, 141.415810]] - id: 1449 parameters: KukaKR6_R700_sixx - joints: [167.000000, -146.000000, -36.000000, 157.000000, 7.000000, 26.000000] - pose: {translation: [0.6604919870025141, 0.1563962462061411, 0.5166885817186115], quaternion: [-0.1217676925537612, 0.7473612257495273, 0.07400091183654868, 0.6489589296277972]} - solutions: [[-13.000000, -45.480072, 66.162348, -167.321107, 12.530083, 170.767441], [-13.000000, 20.286258, -55.207610, -3.971204, 43.438533, 6.039505], [167.000000, 169.234437, 46.954737, 176.118475, 44.703380, 5.914694], [167.000000, -146.000000, -36.000000, 157.000000, 7.000000, 26.000000], [-13.000000, -45.480072, 66.162348, 12.678893, -12.530083, -9.232559], [-13.000000, 20.286258, -55.207610, 176.028796, -43.438533, -173.960495], [167.000000, 169.234437, 46.954737, -3.881525, -44.703380, -174.085306], [167.000000, -146.000000, -36.000000, -23.000000, -7.000000, -154.000000]] + joints: [167.000000, -145.000000, -36.000000, 157.000000, 7.000000, 26.000000] + pose: {translation: [0.6584032490456013, 0.1559140230522933, 0.5289528553561781], quaternion: [-0.1211183419948859, 0.741669484893308, 0.07442982113733126, 0.6555279735724252]} + solutions: [[-13.000000, -46.526124, 66.095862, -167.208976, 12.420314, 170.652599], [-13.000000, 19.166970, -55.141124, -3.967348, 43.491208, 6.034191], [167.000000, 170.234437, 46.954737, 176.118475, 44.703380, 5.914694], [167.000000, -145.000000, -36.000000, 157.000000, 7.000000, 26.000000], [-13.000000, -46.526124, 66.095862, 12.791024, -12.420314, -9.347401], [-13.000000, 19.166970, -55.141124, 176.032652, -43.491208, -173.965809], [167.000000, 170.234437, 46.954737, -3.881525, -44.703380, -174.085306], [167.000000, -145.000000, -36.000000, -23.000000, -7.000000, -154.000000]] - id: 1450 parameters: KukaKR6_R700_sixx - joints: [-3.000000, 130.000000, 14.000000, 124.000000, -80.000000, 129.000000] - pose: {translation: [-0.4920786455938803, 0.03961629661302234, -0.05668474716718164], quaternion: [-0.55821350709873, -0.129111496719733, 0.2748866771969579, 0.7721173593482679]} - solutions: [[177.000000, 28.345034, 42.991305, 123.950740, 100.186486, -80.154997], [177.000000, 68.808201, -32.036567, 124.110243, 80.432112, -51.648732], [-3.000000, 130.000000, 14.000000, -56.000000, 80.000000, -51.000000], [-3.000000, 139.169875, -3.045263, -55.112351, 84.459211, -57.553284], [177.000000, 28.345034, 42.991305, -56.049260, -100.186486, 99.845003], [177.000000, 68.808201, -32.036567, -55.889757, -80.432112, 128.351268], [-3.000000, 130.000000, 14.000000, 124.000000, -80.000000, 129.000000], [-3.000000, 139.169875, -3.045263, 124.887649, -84.459211, 122.446716]] + joints: [-3.000000, 129.000000, 14.000000, 124.000000, -80.000000, 129.000000] + pose: {translation: [-0.4840410929866266, 0.04003752689603912, -0.06559150399021715], quaternion: [-0.5602351379628314, -0.1359607999526248, 0.2699526495597746, 0.7712177500963443]} + solutions: [[177.000000, 29.584667, 42.642800, 123.966916, 100.125671, -80.063257], [177.000000, 69.669913, -31.688063, 124.139392, 80.550043, -51.825178], [-3.000000, 129.000000, 14.000000, -56.000000, 80.000000, -51.000000], [-3.000000, 138.169875, -3.045263, -55.112351, 84.459211, -57.553284], [177.000000, 29.584667, 42.642800, -56.033084, -100.125671, 99.936743], [177.000000, 69.669913, -31.688063, -55.860608, -80.550043, 128.174822], [-3.000000, 129.000000, 14.000000, 124.000000, -80.000000, 129.000000], [-3.000000, 138.169875, -3.045263, 124.887649, -84.459211, 122.446716]] - id: 1451 parameters: KukaKR6_R700_sixx - joints: [11.000000, 144.000000, -166.000000, 82.000000, -43.000000, -174.000000] - pose: {translation: [0.1544846934973968, 0.02501135579680893, 0.412988434292933], quaternion: [0.1867775089706361, 0.5330356383747904, 0.6738012437291127, 0.4764231882624991]} - solutions: [[11.000000, -118.463401, 176.954737, -137.498363, 88.441047, 83.694212], [11.000000, 144.000000, -166.000000, -98.000000, 43.000000, 6.000000], [-169.000000, 66.951282, 166.852347, 114.287882, 47.811699, -38.776891], [-169.000000, -82.053435, -155.897609, 42.512842, 88.042747, 83.328974], [11.000000, -118.463401, 176.954737, 42.501637, -88.441047, -96.305788], [11.000000, 144.000000, -166.000000, 82.000000, -43.000000, -174.000000], [-169.000000, 66.951282, 166.852347, -65.712118, -47.811699, 141.223109], [-169.000000, -82.053435, -155.897609, -137.487158, -88.042747, -96.671026]] + joints: [11.000000, 143.000000, -166.000000, 82.000000, -43.000000, -174.000000] + pose: {translation: [0.1542439578410727, 0.02505815006810568, 0.4151134503750241], quaternion: [0.1802051848826633, 0.5300561510121229, 0.6744880033473845, 0.4812821432965049]} + solutions: [[11.000000, -119.463401, 176.954737, -137.498363, 88.441047, 83.694212], [11.000000, 143.000000, -166.000000, -98.000000, 43.000000, 6.000000], [-169.000000, 67.578508, 166.831547, 113.961394, 47.650836, -38.291486], [-169.000000, -81.496575, -155.876810, 42.503866, 88.354088, 83.614489], [11.000000, -119.463401, 176.954737, 42.501637, -88.441047, -96.305788], [11.000000, 143.000000, -166.000000, 82.000000, -43.000000, -174.000000], [-169.000000, 67.578508, 166.831547, -66.038606, -47.650836, 141.708514], [-169.000000, -81.496575, -155.876810, -137.496134, -88.354088, -96.385511]] - id: 1452 parameters: KukaKR6_R700_sixx - joints: [-28.000000, -175.000000, 81.000000, 79.000000, -165.000000, -130.000000] - pose: {translation: [-0.316567654366335, -0.1453024025877798, 0.711762036479905], quaternion: [0.9917113522024884, -0.004182758832920806, -0.05256640506884931, -0.1171659997584424]} - solutions: [[152.000000, -96.293318, 89.804892, 14.841556, 97.312112, -26.690288], [152.000000, -4.111594, -78.850154, 68.415359, 164.143821, 39.022363], [-28.000000, -175.000000, 81.000000, -101.000000, 165.000000, 50.000000], [-28.000000, -92.756456, -70.045263, -164.536942, 107.651837, -23.826990], [152.000000, -96.293318, 89.804892, -165.158444, -97.312112, 153.309712], [152.000000, -4.111594, -78.850154, -111.584641, -164.143821, -140.977637], [-28.000000, -175.000000, 81.000000, 79.000000, -165.000000, -130.000000], [-28.000000, -92.756456, -70.045263, 15.463058, -107.651837, 156.173010]] + joints: [-28.000000, -174.000000, 81.000000, 79.000000, -164.000000, -130.000000] + pose: {translation: [-0.3125770752055453, -0.1416847379165911, 0.718578737084178], quaternion: [0.9906173578729365, -0.005068657973397952, -0.06571377358674775, -0.1197215893152988]} + solutions: [[152.000000, -97.258697, 89.634177, 15.826825, 97.211784, -26.530038], [152.000000, -5.271100, -78.679440, 69.038118, 163.157064, 39.617020], [-28.000000, -174.000000, 81.000000, -101.000000, 164.000000, 50.000000], [-28.000000, -91.756456, -70.045263, -163.530621, 107.370754, -23.524186], [152.000000, -97.258697, 89.634177, -164.173175, -97.211784, 153.469962], [152.000000, -5.271100, -78.679440, -110.961882, -163.157064, -140.382980], [-28.000000, -174.000000, 81.000000, 79.000000, -164.000000, -130.000000], [-28.000000, -91.756456, -70.045263, 16.469379, -107.370754, 156.475814]] - id: 1453 parameters: KukaKR6_R700_sixx - joints: [-4.000000, 80.000000, 166.000000, 110.000000, -31.000000, 140.000000] - pose: {translation: [-0.1181700479708215, 0.03054948944559949, 0.4773706141356533], quaternion: [-0.2364322012575273, 0.1294030397334404, 0.7780093521847263, 0.5674998814355544]} - solutions: [[176.000000, -134.511902, 176.010219, 147.664827, 115.197082, -122.076007], [176.000000, 120.966866, -165.055481, 134.959835, 43.154517, -70.843512], [-4.000000, 80.000000, 166.000000, -70.000000, 31.000000, -40.000000], [-4.000000, -71.817085, -155.045263, -33.857486, 119.692193, -125.375723], [176.000000, -134.511902, 176.010219, -32.335173, -115.197082, 57.923993], [176.000000, 120.966866, -165.055481, -45.040165, -43.154517, 109.156488], [-4.000000, 80.000000, 166.000000, 110.000000, -31.000000, 140.000000], [-4.000000, -71.817085, -155.045263, 146.142514, -119.692193, 54.624277]] + joints: [-4.000000, 80.000000, 166.000000, 110.000000, -30.000000, 140.000000] + pose: {translation: [-0.1187536970273023, 0.0293754227361151, 0.4778506382379041], quaternion: [-0.2344055551450223, 0.1212403297662154, 0.7802861185326505, 0.5670170997250294]} + solutions: [[176.000000, -134.511902, 176.010219, 148.758172, 115.055206, -121.611747], [176.000000, 120.966866, -165.055481, 135.721632, 42.298444, -71.403149], [-4.000000, 80.000000, 166.000000, -70.000000, 30.000000, -40.000000], [-4.000000, -71.817085, -155.045263, -32.711043, 119.606636, -124.808573], [176.000000, -134.511902, 176.010219, -31.241828, -115.055206, 58.388253], [176.000000, 120.966866, -165.055481, -44.278368, -42.298444, 108.596851], [-4.000000, 80.000000, 166.000000, 110.000000, -30.000000, 140.000000], [-4.000000, -71.817085, -155.045263, 147.288957, -119.606636, 55.191427]] - id: 1454 parameters: KukaKR6_R700_sixx - joints: [-87.000000, 90.000000, 150.000000, -52.000000, 161.000000, 63.000000] - pose: {translation: [-0.02761906383861833, -0.1348425984465903, 0.3261094146954791], quaternion: [0.9029360638659316, 0.2098048500554855, -0.03639577734519132, -0.3733145280523284]} - solutions: [[93.000000, -88.948612, 159.068969, 16.754321, 62.869869, -74.383862], [93.000000, 100.453164, -148.114231, 88.606211, 165.129978, 21.990883], [-87.000000, 90.000000, 150.000000, -52.000000, 161.000000, 63.000000], [-87.000000, -98.813822, -139.045263, -164.571513, 74.654985, -70.744122], [93.000000, -88.948612, 159.068969, -163.245679, -62.869869, 105.616138], [93.000000, 100.453164, -148.114231, -91.393789, -165.129978, -158.009117], [-87.000000, 90.000000, 150.000000, 128.000000, -161.000000, -117.000000], [-87.000000, -98.813822, -139.045263, 15.428487, -74.654985, 109.255878]] + joints: [-87.000000, 89.000000, 150.000000, -52.000000, 161.000000, 63.000000] + pose: {translation: [-0.02755028887929727, -0.1335302940470922, 0.3233090288174764], quaternion: [0.8996650273420885, 0.2102845321684541, -0.0341536498203896, -0.3810731981026739]} + solutions: [[93.000000, -87.624495, 159.051205, 16.799918, 62.576556, -74.483354], [93.000000, 101.736162, -148.096467, 87.474529, 165.119693, 20.819963], [-87.000000, 89.000000, 150.000000, -52.000000, 161.000000, 63.000000], [-87.000000, -99.813822, -139.045263, -164.571513, 74.654985, -70.744122], [93.000000, -87.624495, 159.051205, -163.200082, -62.576556, 105.516646], [93.000000, 101.736162, -148.096467, -92.525471, -165.119693, -159.180037], [-87.000000, 89.000000, 150.000000, 128.000000, -161.000000, -117.000000], [-87.000000, -99.813822, -139.045263, 15.428487, -74.654985, 109.255878]] - id: 1455 parameters: KukaKR6_R700_sixx - joints: [83.000000, -117.000000, 164.000000, 72.000000, -7.000000, -61.000000] - pose: {translation: [0.03514635877928983, -0.2101596002768103, 0.381575420661395], quaternion: [0.524586387537845, 0.7582337019791875, -0.2435370913248068, 0.3009658790327954]} - solutions: [[83.000000, -117.000000, 164.000000, -108.000000, 7.000000, 119.000000], [83.000000, 85.096466, -153.045263, -7.212973, 112.613856, 8.087565], [-97.000000, 101.277511, 155.110505, 172.230286, 120.981398, 6.855998], [-97.000000, -77.876326, -144.155767, 112.678988, 7.216413, 78.032090], [83.000000, -117.000000, 164.000000, 72.000000, -7.000000, -61.000000], [83.000000, 85.096466, -153.045263, 172.787027, -112.613856, -171.912435], [-97.000000, 101.277511, 155.110505, -7.769714, -120.981398, -173.144002], [-97.000000, -77.876326, -144.155767, -67.321012, -7.216413, -101.967910]] + joints: [83.000000, -116.000000, 164.000000, 72.000000, -7.000000, -61.000000] + pose: {translation: [0.03510368406824335, -0.2098120426463341, 0.3782993321120123], quaternion: [0.5269142246114068, 0.7606343010108495, -0.2375182812668745, 0.295604340448388]} + solutions: [[83.000000, -116.000000, 164.000000, -108.000000, 7.000000, 119.000000], [83.000000, 86.096466, -153.045263, -7.212973, 112.613856, 8.087565], [-97.000000, 100.573424, 155.079313, 172.208657, 121.243682, 6.814139], [-97.000000, -78.643550, -144.124575, 114.574990, 7.322221, 76.120729], [83.000000, -116.000000, 164.000000, 72.000000, -7.000000, -61.000000], [83.000000, 86.096466, -153.045263, 172.787027, -112.613856, -171.912435], [-97.000000, 100.573424, 155.079313, -7.791343, -121.243682, -173.185861], [-97.000000, -78.643550, -144.124575, -65.425010, -7.322221, -103.879271]] - id: 1456 parameters: KukaKR6_R700_sixx joints: [-11.000000, -41.000000, -133.000000, 98.000000, -22.000000, -152.000000] @@ -7286,44 +7286,44 @@ cases: solutions: [[169.000000, -153.267011, 148.008349, 99.807651, 22.114757, 26.049623], [169.000000, 14.462445, -137.053611, 23.517340, 111.617388, 135.727352], [-11.000000, 157.906691, 143.954737, -156.595831, 110.947973, 135.415567], [-11.000000, -41.000000, -133.000000, -82.000000, 22.000000, 28.000000], [169.000000, -153.267011, 148.008349, -80.192349, -22.114757, -153.950377], [169.000000, 14.462445, -137.053611, -156.482660, -111.617388, -44.272648], [-11.000000, 157.906691, 143.954737, 23.404169, -110.947973, -44.584433], [-11.000000, -41.000000, -133.000000, 98.000000, -22.000000, -152.000000]] - id: 1457 parameters: KukaKR6_R700_sixx - joints: [-97.000000, 176.000000, 141.000000, 158.000000, 170.000000, -40.000000] - pose: {translation: [0.0188830824478417, -0.1110890586045783, 0.6082425671782622], quaternion: [0.6717885829923265, 0.5706517136879939, -0.2279979896189136, 0.4136104908677388]} - solutions: [[83.000000, -164.744205, 142.658736, -4.506527, 55.882894, -15.771750], [83.000000, -5.677869, -131.703999, -22.841150, 170.353012, -40.853662], [-97.000000, 176.000000, 141.000000, 158.000000, 170.000000, -40.000000], [-97.000000, -27.471025, -130.045263, 175.514465, 56.279912, -15.809370], [83.000000, -164.744205, 142.658736, 175.493473, -55.882894, 164.228250], [83.000000, -5.677869, -131.703999, 157.158850, -170.353012, 139.146338], [-97.000000, 176.000000, 141.000000, -22.000000, -170.000000, 140.000000], [-97.000000, -27.471025, -130.045263, -4.485535, -56.279912, 164.190630]] + joints: [-97.000000, 175.000000, 141.000000, 158.000000, 169.000000, -40.000000] + pose: {translation: [0.01991934844476125, -0.1153088022739539, 0.6069024572944084], quaternion: [0.6712975440157649, 0.5715560949789322, -0.225051160667951, 0.4147712776613687]} + solutions: [[83.000000, -163.850518, 142.819429, -5.010984, 54.917818, -15.481576], [83.000000, -4.535060, -131.864691, -22.797376, 169.369601, -40.811791], [-97.000000, 175.000000, 141.000000, 158.000000, 169.000000, -40.000000], [-97.000000, -28.471025, -130.045263, 175.016477, 55.368722, -15.529624], [83.000000, -163.850518, 142.819429, 174.989016, -54.917818, 164.518424], [83.000000, -4.535060, -131.864691, 157.202624, -169.369601, 139.188209], [-97.000000, 175.000000, 141.000000, -22.000000, -169.000000, 140.000000], [-97.000000, -28.471025, -130.045263, -4.983523, -55.368722, 164.470376]] - id: 1458 parameters: KukaKR6_R700_sixx - joints: [61.000000, 75.000000, 89.000000, -126.000000, 117.000000, 26.000000] - pose: {translation: [-0.04081615321044324, 0.1925823285714128, -0.06878208630701026], quaternion: [0.7775544696687259, -0.2907866944451918, 0.547942336385931, -0.1030113635855395]} - solutions: [[-119.000000, 15.478927, 94.834639, 60.171019, 56.193920, -50.138032], [-119.000000, 113.409861, -83.879901, 49.511776, 108.594289, 14.480775], [61.000000, 75.000000, 89.000000, -126.000000, 117.000000, 26.000000], [61.000000, 166.266990, -78.045263, -128.273413, 66.663187, -32.659803], [-119.000000, 15.478927, 94.834639, -119.828981, -56.193920, 129.861968], [-119.000000, 113.409861, -83.879901, -130.488224, -108.594289, -165.519225], [61.000000, 75.000000, 89.000000, 54.000000, -117.000000, -154.000000], [61.000000, 166.266990, -78.045263, 51.726587, -66.663187, 147.340197]] + joints: [61.000000, 75.000000, 89.000000, -126.000000, 116.000000, 26.000000] + pose: {translation: [-0.04090871911799143, 0.1937889444491881, -0.06947851410258733], quaternion: [0.7814285047748473, -0.2878715349177097, 0.5429352275010664, -0.1082626900083018]} + solutions: [[-119.000000, 15.478927, 94.834639, 61.342683, 55.959871, -50.791931], [-119.000000, 113.409861, -83.879901, 49.721286, 107.614316, 14.545883], [61.000000, 75.000000, 89.000000, -126.000000, 116.000000, 26.000000], [61.000000, 166.266990, -78.045263, -127.339552, 66.145845, -33.033617], [-119.000000, 15.478927, 94.834639, -118.657317, -55.959871, 129.208069], [-119.000000, 113.409861, -83.879901, -130.278714, -107.614316, -165.454117], [61.000000, 75.000000, 89.000000, 54.000000, -116.000000, -154.000000], [61.000000, 166.266990, -78.045263, 52.660448, -66.145845, 146.966383]] - id: 1459 parameters: KukaKR6_R700_sixx - joints: [16.000000, -37.000000, -82.000000, 33.000000, 58.000000, -146.000000] - pose: {translation: [0.08422526856091046, -0.06259069544983097, 0.9565028224405113], quaternion: [0.2676970860020871, -0.1555411817052029, 0.7542398066579832, 0.5790229054124444]} - solutions: [[16.000000, -132.775159, 92.954737, 129.957266, 37.053803, 96.597801], [16.000000, -37.000000, -82.000000, 33.000000, 58.000000, -146.000000], [-164.000000, -147.728386, 91.240220, -148.397945, 61.814485, -143.213880], [-164.000000, -53.911979, -80.285483, -56.847772, 33.482529, 104.923703], [16.000000, -132.775159, 92.954737, -50.042734, -37.053803, -83.402199], [16.000000, -37.000000, -82.000000, -147.000000, -58.000000, 34.000000], [-164.000000, -147.728386, 91.240220, 31.602055, -61.814485, 36.786120], [-164.000000, -53.911979, -80.285483, 123.152228, -33.482529, -75.076297]] + joints: [16.000000, -36.000000, -82.000000, 33.000000, 58.000000, -146.000000] + pose: {translation: [0.09355062444284534, -0.06526469821953455, 0.955140288901042], quaternion: [0.2754065797588849, -0.1524923522502712, 0.7515913823029853, 0.5796617051165103]} + solutions: [[16.000000, -131.775159, 92.954737, 129.957266, 37.053803, 96.597801], [16.000000, -36.000000, -82.000000, 33.000000, 58.000000, -146.000000], [-164.000000, -148.587184, 91.026871, -148.377654, 61.753042, -143.256797], [-164.000000, -55.014047, -80.072134, -56.988901, 33.421788, 105.092851], [16.000000, -131.775159, 92.954737, -50.042734, -37.053803, -83.402199], [16.000000, -36.000000, -82.000000, -147.000000, -58.000000, 34.000000], [-164.000000, -148.587184, 91.026871, 31.622346, -61.753042, 36.743203], [-164.000000, -55.014047, -80.072134, 123.011099, -33.421788, -74.907149]] - id: 1460 parameters: KukaKR6_R700_sixx - joints: [-99.000000, -146.000000, -6.000000, 146.000000, 134.000000, 12.000000] - pose: {translation: [0.1175387168297876, -0.5364012542698943, 0.6483855807221097], quaternion: [0.3947580603539559, 0.8777838228446981, 0.2593604914685397, 0.0799610505366689]} - solutions: [[81.000000, -53.152331, 48.494153, -26.053407, 113.673147, 25.999786], [81.000000, -6.713352, -37.539416, -46.771886, 146.491474, -4.468668], [-99.000000, -158.350314, 16.954737, 138.728976, 142.423595, 2.284870], [-99.000000, -146.000000, -6.000000, 146.000000, 134.000000, 12.000000], [81.000000, -53.152331, 48.494153, 153.946593, -113.673147, -154.000214], [81.000000, -6.713352, -37.539416, 133.228114, -146.491474, 175.531332], [-99.000000, -158.350314, 16.954737, -41.271024, -142.423595, -177.715130], [-99.000000, -146.000000, -6.000000, -34.000000, -134.000000, -168.000000]] + joints: [-99.000000, -146.000000, -6.000000, 146.000000, 133.000000, 12.000000] + pose: {translation: [0.1182679566305522, -0.5375698879309028, 0.6481575309961045], quaternion: [0.3971019660041174, 0.8775384351955573, 0.2543884182862791, 0.08673439912746642]} + solutions: [[81.000000, -53.152331, 48.494153, -26.315631, 112.702631, 25.896532], [81.000000, -6.713352, -37.539416, -46.270997, 145.531470, -4.053340], [-99.000000, -158.350314, 16.954737, 138.999671, 141.437621, 2.497986], [-99.000000, -146.000000, -6.000000, 146.000000, 133.000000, 12.000000], [81.000000, -53.152331, 48.494153, 153.684369, -112.702631, -154.103468], [81.000000, -6.713352, -37.539416, 133.729003, -145.531470, 175.946660], [-99.000000, -158.350314, 16.954737, -41.000329, -141.437621, -177.502014], [-99.000000, -146.000000, -6.000000, -34.000000, -133.000000, -168.000000]] - id: 1461 parameters: KukaKR6_R700_sixx - joints: [-71.000000, -42.000000, 179.000000, 11.000000, -63.000000, -8.000000] - pose: {translation: [-0.0007572003087339763, 0.03957702142113061, 0.2603062226744435], quaternion: [-0.5619053528934816, 0.8117308561472912, 0.1486994045840594, 0.05695505811061805]} - solutions: [[-71.000000, -42.000000, 179.000000, -169.000000, 63.000000, 172.000000], [-71.000000, -121.957750, -168.045263, -65.856642, 10.737489, 62.519782], [109.000000, -5.359049, 176.116368, 169.238338, 65.574439, 1.537010], [109.000000, -109.127383, -165.161630, 26.926578, 22.050784, 151.833958], [-71.000000, -42.000000, 179.000000, 11.000000, -63.000000, -8.000000], [-71.000000, -121.957750, -168.045263, 114.143358, -10.737489, -117.480218], [109.000000, -5.359049, 176.116368, -10.761662, -65.574439, -178.462990], [109.000000, -109.127383, -165.161630, -153.073422, -22.050784, -28.166042]] + joints: [-71.000000, -41.000000, 179.000000, 11.000000, -63.000000, -8.000000] + pose: {translation: [-0.001551536722632534, 0.0372701009673524, 0.2601150280803846], quaternion: [-0.561931432009696, 0.8130886957847006, 0.1435924881669972, 0.05001035741401913]} + solutions: [[-71.000000, -41.000000, 179.000000, -169.000000, 63.000000, 172.000000], [-71.000000, -120.957750, -168.045263, -65.856642, 10.737489, 62.519782], [109.000000, -6.618312, 176.287366, 169.230836, 65.487728, 1.555124], [109.000000, -109.157161, -165.332628, 27.850687, 21.341121, 150.839415], [-71.000000, -41.000000, 179.000000, 11.000000, -63.000000, -8.000000], [-71.000000, -120.957750, -168.045263, 114.143358, -10.737489, -117.480218], [109.000000, -6.618312, 176.287366, -10.769164, -65.487728, -178.444876], [109.000000, -109.157161, -165.332628, -152.149313, -21.341121, -29.160585]] - id: 1462 parameters: KukaKR6_R700_sixx - joints: [-118.000000, 32.000000, 160.000000, -89.000000, 177.000000, 90.000000] - pose: {translation: [-0.006510301116749495, 0.00332717890874272, 0.2581893667757955], quaternion: [-0.3917242942241503, -0.670759823278228, -0.301949266302483, 0.55268433790885]} - solutions: [[62.000000, -32.474841, 164.543775, 5.096340, 36.091440, -5.123381], [62.000000, 171.211538, -153.589037, 6.061097, 150.291848, 4.267880], [-118.000000, 32.000000, 160.000000, -89.000000, 177.000000, 90.000000], [-118.000000, -136.403007, -149.045263, -176.622389, 62.644810, -2.554822], [62.000000, -32.474841, 164.543775, -174.903660, -36.091440, 174.876619], [62.000000, 171.211538, -153.589037, -173.938903, -150.291848, -175.732120], [-118.000000, 32.000000, 160.000000, 91.000000, -177.000000, -90.000000], [-118.000000, -136.403007, -149.045263, 3.377611, -62.644810, 177.445178]] + joints: [-118.000000, 32.000000, 160.000000, -89.000000, 176.000000, 90.000000] + pose: {translation: [-0.007703857396550169, 0.002603851822534808, 0.2582308798038536], quaternion: [-0.3868863590691797, -0.6733692537905772, -0.296084359590926, 0.5560816893419046]} + solutions: [[62.000000, -32.474841, 164.543775, 6.783209, 36.192585, -6.485659], [62.000000, 171.211538, -153.589037, 8.068142, 150.202260, 6.010388], [-118.000000, 32.000000, 160.000000, -89.000000, 176.000000, 90.000000], [-118.000000, -136.403007, -149.045263, -175.498086, 62.693887, -3.071030], [62.000000, -32.474841, 164.543775, -173.216791, -36.192585, 173.514341], [62.000000, 171.211538, -153.589037, -171.931858, -150.202260, -173.989612], [-118.000000, 32.000000, 160.000000, 91.000000, -176.000000, -90.000000], [-118.000000, -136.403007, -149.045263, 4.501914, -62.693887, 176.928970]] - id: 1463 parameters: KukaKR6_R700_sixx - joints: [91.000000, 78.000000, -62.000000, -138.000000, -149.000000, 8.000000] - pose: {translation: [-0.0341393480546818, -0.3761045412967143, 0.01438774639195526], quaternion: [-0.4676908707868961, 0.5891451633656797, 0.6226429082507033, 0.2156131597804914]} - solutions: [[91.000000, 4.725861, 72.954737, 20.210346, 93.996129, 151.808745], [91.000000, 78.000000, -62.000000, 42.000000, 149.000000, -172.000000], [-89.000000, 112.183434, 60.147543, -126.446450, 154.632562, -158.920764], [-89.000000, 171.341540, -49.192806, -158.093381, 112.526898, 159.097478], [91.000000, 4.725861, 72.954737, -159.789654, -93.996129, -28.191255], [91.000000, 78.000000, -62.000000, -138.000000, -149.000000, 8.000000], [-89.000000, 112.183434, 60.147543, 53.553550, -154.632562, 21.079236], [-89.000000, 171.341540, -49.192806, 21.906619, -112.526898, -20.902522]] + joints: [91.000000, 77.000000, -62.000000, -138.000000, -148.000000, 8.000000] + pose: {translation: [-0.03506064313065785, -0.3832415524538829, 0.01954011238889644], quaternion: [-0.4750350414484765, 0.5956427366971905, 0.6141917423822147, 0.2057181158902268]} + solutions: [[91.000000, 3.725861, 72.954737, 20.801724, 93.188880, 151.845802], [91.000000, 77.000000, -62.000000, 42.000000, 148.000000, -172.000000], [-89.000000, 113.226337, 59.950263, -127.204641, 153.564517, -159.656799], [-89.000000, 172.168259, -48.995526, -157.569757, 111.672808, 159.302875], [91.000000, 3.725861, 72.954737, -159.198276, -93.188880, -28.154198], [91.000000, 77.000000, -62.000000, -138.000000, -148.000000, 8.000000], [-89.000000, 113.226337, 59.950263, 52.795359, -153.564517, 20.343201], [-89.000000, 172.168259, -48.995526, 22.430243, -111.672808, -20.697125]] - id: 1464 parameters: KukaKR6_R700_sixx - joints: [37.000000, -101.000000, 74.000000, -24.000000, -14.000000, 27.000000] - pose: {translation: [0.2630924080748839, -0.2081110112710762, 0.9570981961505942], quaternion: [0.1642886463255266, 0.3928072515330483, -0.3336798724606917, 0.8410525825096759]} - solutions: [[37.000000, -101.000000, 74.000000, 156.000000, 14.000000, -153.000000], [37.000000, -26.565612, -63.045263, 7.378506, 50.014122, -1.121358], [-143.000000, -153.648271, 66.475218, -172.941760, 53.204732, -0.605851], [-143.000000, -87.537238, -55.520481, -62.989054, 6.341024, -113.517982], [37.000000, -101.000000, 74.000000, -24.000000, -14.000000, 27.000000], [37.000000, -26.565612, -63.045263, -172.621494, -50.014122, 178.878642], [-143.000000, -153.648271, 66.475218, 7.058240, -53.204732, 179.394149], [-143.000000, -87.537238, -55.520481, 117.010946, -6.341024, 66.482018]] + joints: [37.000000, -100.000000, 74.000000, -24.000000, -14.000000, 27.000000] + pose: {translation: [0.2708195539805218, -0.2139338333640048, 0.9515968312303306], quaternion: [0.1663738749797294, 0.4004062668315435, -0.3327492178123058, 0.837420153358847]} + solutions: [[37.000000, -100.000000, 74.000000, 156.000000, 14.000000, -153.000000], [37.000000, -25.565612, -63.045263, 7.378506, 50.014122, -1.121358], [-143.000000, -154.466845, 66.225505, -172.935473, 53.136961, -0.616339], [-143.000000, -88.630940, -55.270767, -64.253790, 6.271704, -112.245547], [37.000000, -100.000000, 74.000000, -24.000000, -14.000000, 27.000000], [37.000000, -25.565612, -63.045263, -172.621494, -50.014122, 178.878642], [-143.000000, -154.466845, 66.225505, 7.064527, -53.136961, 179.383661], [-143.000000, -88.630940, -55.270767, 115.746210, -6.271704, 67.754453]] - id: 1465 parameters: KukaKR6_R700_sixx joints: [-129.000000, -90.000000, 7.000000, 173.000000, 83.000000, 129.000000] @@ -7336,34 +7336,34 @@ cases: solutions: [[47.000000, -105.000000, 61.000000, -142.000000, 4.000000, 38.000000], [47.000000, -44.907361, -50.045263, -3.321001, 47.846556, -101.837617], [-133.000000, -136.467939, 55.330822, 176.865147, 51.750621, -102.125838], [-133.000000, -82.579043, -44.376084, 157.274749, 6.382766, -81.469190], [47.000000, -105.000000, 61.000000, 38.000000, -4.000000, -142.000000], [47.000000, -44.907361, -50.045263, 176.678999, -47.846556, 78.162383], [-133.000000, -136.467939, 55.330822, -3.134853, -51.750621, 77.874162], [-133.000000, -82.579043, -44.376084, -22.725251, -6.382766, 98.530810]] - id: 1467 parameters: KukaKR6_R700_sixx - joints: [-125.000000, -141.000000, -60.000000, 54.000000, -52.000000, -100.000000] - pose: {translation: [0.2913081245723072, -0.5049488694434113, 0.3825122947450044], quaternion: [-0.4089872845119615, 0.8119448722876094, -0.2728850846707868, -0.3146564094971005]} - solutions: [[55.000000, -47.304439, 85.234467, 67.518604, 43.625955, 60.034222], [55.000000, 39.700580, -74.279730, 39.634244, 91.952357, 121.893807], [-125.000000, 147.942063, 70.954737, -140.191442, 95.273971, 124.658133], [-125.000000, -141.000000, -60.000000, -126.000000, 52.000000, 80.000000], [55.000000, -47.304439, 85.234467, -112.481396, -43.625955, -119.965778], [55.000000, 39.700580, -74.279730, -140.365756, -91.952357, -58.106193], [-125.000000, 147.942063, 70.954737, 39.808558, -95.273971, -55.341867], [-125.000000, -141.000000, -60.000000, 54.000000, -52.000000, -100.000000]] + joints: [-125.000000, -140.000000, -60.000000, 54.000000, -52.000000, -100.000000] + pose: {translation: [0.2914302670146721, -0.5051233069290133, 0.3930861840155302], quaternion: [-0.4053565531274285, 0.8115382360378118, -0.2807258862214441, -0.3135039602468714]} + solutions: [[55.000000, -48.389681, 85.216979, 67.419119, 43.665320, 60.171703], [55.000000, 38.595608, -74.262241, 39.636179, 92.019730, 121.949646], [-125.000000, 148.942063, 70.954737, -140.191442, 95.273971, 124.658133], [-125.000000, -140.000000, -60.000000, -126.000000, 52.000000, 80.000000], [55.000000, -48.389681, 85.216979, -112.580881, -43.665320, -119.828297], [55.000000, 38.595608, -74.262241, -140.363821, -92.019730, -58.050354], [-125.000000, 148.942063, 70.954737, 39.808558, -95.273971, -55.341867], [-125.000000, -140.000000, -60.000000, 54.000000, -52.000000, -100.000000]] - id: 1468 parameters: KukaKR6_R700_sixx - joints: [106.000000, -104.000000, 146.000000, 25.000000, 67.000000, 142.000000] - pose: {translation: [-0.09111683173531526, -0.2048537548470324, 0.4169064160168018], quaternion: [-0.4081556718220345, 0.879842197997684, 0.235664161895721, -0.06122954336017255]} - solutions: [[106.000000, -104.000000, 146.000000, 25.000000, 67.000000, 142.000000], [106.000000, 60.381022, -135.045263, 93.707261, 157.055585, -113.649168], [-74.000000, 122.521588, 137.273576, -74.557952, 156.197093, -100.873975], [-74.000000, -86.447495, -126.318839, -156.298345, 75.415851, 146.018100], [106.000000, -104.000000, 146.000000, -155.000000, -67.000000, -38.000000], [106.000000, 60.381022, -135.045263, -86.292739, -157.055585, 66.350832], [-74.000000, 122.521588, 137.273576, 105.442048, -156.197093, 79.126025], [-74.000000, -86.447495, -126.318839, 23.701655, -75.415851, -33.981900]] + joints: [106.000000, -103.000000, 146.000000, 25.000000, 67.000000, 142.000000] + pose: {translation: [-0.09118988900916331, -0.2051085358390778, 0.4134651363715283], quaternion: [-0.409220610521576, 0.8779791102212219, 0.2420539700141309, -0.05568706797721046]} + solutions: [[106.000000, -103.000000, 146.000000, 25.000000, 67.000000, 142.000000], [106.000000, 61.381022, -135.045263, 93.707261, 157.055585, -113.649168], [-74.000000, 121.726063, 137.223944, -74.220207, 156.155424, -100.504771], [-74.000000, -87.314565, -126.269206, -156.317317, 75.583027, 146.093872], [106.000000, -103.000000, 146.000000, -155.000000, -67.000000, -38.000000], [106.000000, 61.381022, -135.045263, -86.292739, -157.055585, 66.350832], [-74.000000, 121.726063, 137.223944, 105.779793, -156.155424, 79.495229], [-74.000000, -87.314565, -126.269206, 23.682683, -75.583027, -33.906128]] - id: 1469 parameters: KukaKR6_R700_sixx - joints: [43.000000, -151.000000, -47.000000, 111.000000, -109.000000, -98.000000] - pose: {translation: [-0.3690260240909101, 0.4406794596682461, 0.4404660863063942], quaternion: [0.5087277490268212, 0.1725205682163814, 0.8139680239817638, -0.2211080886074124]} - solutions: [[-137.000000, -38.272495, 74.681283, 103.914735, 114.576826, 63.083504], [-137.000000, 36.918887, -63.726546, 118.024769, 89.552519, 123.143054], [43.000000, 152.242997, 57.954737, -62.040214, 87.961016, 126.137137], [43.000000, -151.000000, -47.000000, -69.000000, 109.000000, 82.000000], [-137.000000, -38.272495, 74.681283, -76.085265, -114.576826, -116.916496], [-137.000000, 36.918887, -63.726546, -61.975231, -89.552519, -56.856946], [43.000000, 152.242997, 57.954737, 117.959786, -87.961016, -53.862863], [43.000000, -151.000000, -47.000000, 111.000000, -109.000000, -98.000000]] + joints: [43.000000, -151.000000, -47.000000, 111.000000, -108.000000, -98.000000] + pose: {translation: [-0.3697008097304749, 0.4418742464596183, 0.4402079180240822], quaternion: [0.5077862118399274, 0.1798165284875258, 0.8118283258546148, -0.225286369956206]} + solutions: [[-137.000000, -38.272495, 74.681283, 104.268580, 113.630422, 63.228015], [-137.000000, 36.918887, -63.726546, 117.366702, 88.799496, 123.152518], [43.000000, 152.242997, 57.954737, -62.737381, 87.243510, 126.166304], [43.000000, -151.000000, -47.000000, -69.000000, 108.000000, 82.000000], [-137.000000, -38.272495, 74.681283, -75.731420, -113.630422, -116.771985], [-137.000000, 36.918887, -63.726546, -62.633298, -88.799496, -56.847482], [43.000000, 152.242997, 57.954737, 117.262619, -87.243510, -53.833696], [43.000000, -151.000000, -47.000000, 111.000000, -108.000000, -98.000000]] - id: 1470 parameters: KukaKR6_R700_sixx - joints: [-118.000000, -26.000000, 88.000000, -26.000000, -37.000000, 97.000000] - pose: {translation: [-0.252993149719895, 0.5207667072580602, 0.1961455453537705], quaternion: [-0.8511766699179603, -0.03323434243803296, 0.07805160487769519, 0.5179784764313083]} - solutions: [[-118.000000, -26.000000, 88.000000, 154.000000, 37.000000, -83.000000], [-118.000000, 64.132405, -77.045263, 22.711726, 43.102005, 58.724959], [62.000000, 124.871200, 74.924355, -159.702021, 49.508026, 62.212975], [62.000000, -159.667186, -63.969617, -45.224143, 21.817070, -61.185482], [-118.000000, -26.000000, 88.000000, -26.000000, -37.000000, 97.000000], [-118.000000, 64.132405, -77.045263, -157.288274, -43.102005, -121.275041], [62.000000, 124.871200, 74.924355, 20.297979, -49.508026, -117.787025], [62.000000, -159.667186, -63.969617, 134.775857, -21.817070, 118.814518]] + joints: [-118.000000, -25.000000, 88.000000, -26.000000, -37.000000, 97.000000] + pose: {translation: [-0.2512833041771146, 0.5175509554940986, 0.1865152413525297], quaternion: [-0.8554550884753132, -0.03475376905743117, 0.07481755409172977, 0.5112642181276995]} + solutions: [[-118.000000, -25.000000, 88.000000, 154.000000, 37.000000, -83.000000], [-118.000000, 65.132405, -77.045263, 22.711726, 43.102005, 58.724959], [62.000000, 123.911850, 75.003846, -159.737506, 49.620719, 62.267686], [62.000000, -160.538145, -64.049108, -45.312152, 21.782197, -61.090695], [-118.000000, -25.000000, 88.000000, -26.000000, -37.000000, 97.000000], [-118.000000, 65.132405, -77.045263, -157.288274, -43.102005, -121.275041], [62.000000, 123.911850, 75.003846, 20.262494, -49.620719, -117.732314], [62.000000, -160.538145, -64.049108, 134.687848, -21.782197, 118.909305]] - id: 1471 parameters: KukaKR6_R700_sixx - joints: [-33.000000, -65.000000, -20.000000, -37.000000, 72.000000, 164.000000] - pose: {translation: [0.1576879882222235, 0.1570006707296626, 1.071479841866694], quaternion: [-0.5579747378577894, -0.2604670991160799, -0.5656160471642503, 0.5485431335646034]} - solutions: [[-33.000000, -92.440950, 30.954737, -44.958523, 54.098472, -178.757437], [-33.000000, -65.000000, -20.000000, -37.000000, 72.000000, 164.000000], [147.000000, -113.021424, 19.574632, 143.291577, 73.242853, 163.023875], [147.000000, -97.850127, -8.619894, 140.033754, 63.006749, 171.718448], [-33.000000, -92.440950, 30.954737, 135.041477, -54.098472, 1.242563], [-33.000000, -65.000000, -20.000000, 143.000000, -72.000000, -16.000000], [147.000000, -113.021424, 19.574632, -36.708423, -73.242853, -16.976125], [147.000000, -97.850127, -8.619894, -39.966246, -63.006749, -8.281552]] + joints: [-33.000000, -64.000000, -20.000000, -37.000000, 72.000000, 164.000000] + pose: {translation: [0.16749169600575, 0.1633672730057743, 1.068013499277498], quaternion: [-0.5647001818574472, -0.2591308316776651, -0.5602729158295996, 0.547776575322463]} + solutions: [[-33.000000, -91.440950, 30.954737, -44.958523, 54.098472, -178.757437], [-33.000000, -64.000000, -20.000000, -37.000000, 72.000000, 164.000000], [147.000000, -113.350867, 18.366878, 143.193461, 72.812462, 163.359987], [147.000000, -99.480152, -7.412140, 140.220614, 63.450141, 171.303608], [-33.000000, -91.440950, 30.954737, 135.041477, -54.098472, 1.242563], [-33.000000, -64.000000, -20.000000, 143.000000, -72.000000, -16.000000], [147.000000, -113.350867, 18.366878, -36.806539, -72.812462, -16.640013], [147.000000, -99.480152, -7.412140, -39.779386, -63.450141, -8.696392]] - id: 1472 parameters: KukaKR6_R700_sixx - joints: [98.000000, 43.000000, -25.000000, -174.000000, -67.000000, -153.000000] - pose: {translation: [-0.0939690425616078, -0.6133155407848985, 0.02635438132991776], quaternion: [0.5644337134576708, 0.8228693838933798, -0.06127351648427443, -0.02336913222532656]} - solutions: [[98.000000, 10.156571, 35.954737, 8.774638, 39.105027, 22.521435], [98.000000, 43.000000, -25.000000, 6.000000, 67.000000, 27.000000], [98.000000, 10.156571, 35.954737, -171.225362, -39.105027, -157.478565], [98.000000, 43.000000, -25.000000, -174.000000, -67.000000, -153.000000]] + joints: [98.000000, 43.000000, -25.000000, -174.000000, -66.000000, -153.000000] + pose: {translation: [-0.0941047065914522, -0.6146989988773416, 0.02648530487880023], quaternion: [0.5638432124557622, 0.8227770046760771, -0.06891989578365711, -0.01920625702729926]} + solutions: [[98.000000, 10.156571, 35.954737, 8.901159, 38.108148, 22.422562], [98.000000, 43.000000, -25.000000, 6.000000, 66.000000, 27.000000], [98.000000, 10.156571, 35.954737, -171.098841, -38.108148, -157.577438], [98.000000, 43.000000, -25.000000, -174.000000, -66.000000, -153.000000]] - id: 1473 parameters: KukaKR6_R700_sixx joints: [-174.000000, 42.000000, 57.000000, -134.000000, 27.000000, -138.000000] @@ -7396,9 +7396,9 @@ cases: solutions: [[86.000000, 76.000000, 179.000000, -41.000000, 121.000000, 115.000000], [86.000000, -3.957750, -168.045263, -111.486915, 142.817614, 22.825448], [86.000000, 76.000000, 179.000000, 139.000000, -121.000000, -65.000000], [86.000000, -3.957750, -168.045263, 68.513085, -142.817614, -157.174552]] - id: 1479 parameters: KukaKR6_R700_sixx - joints: [111.000000, -102.000000, 111.000000, -38.000000, -133.000000, -92.000000] - pose: {translation: [-0.133546627630575, -0.2473860002804446, 0.7396595857196852], quaternion: [-0.3292319949248291, -0.2316304661451628, -0.2899990612661034, 0.8682477556181593]} - solutions: [[111.000000, -102.000000, 111.000000, 142.000000, 133.000000, 88.000000], [111.000000, 14.913111, -100.045263, 144.817107, 51.394156, 139.793815], [-69.000000, 165.612692, 102.757316, -36.774764, 48.773479, 142.273777], [-69.000000, -87.264755, -91.802578, -33.305764, 124.915454, 95.441138], [111.000000, -102.000000, 111.000000, -38.000000, -133.000000, -92.000000], [111.000000, 14.913111, -100.045263, -35.182893, -51.394156, -40.206185], [-69.000000, 165.612692, 102.757316, 143.225236, -48.773479, -37.726223], [-69.000000, -87.264755, -91.802578, 146.694236, -124.915454, -84.558862]] + joints: [111.000000, -102.000000, 111.000000, -38.000000, -132.000000, -92.000000] + pose: {translation: [-0.1344948427145596, -0.2482356515566808, 0.7402327199635463], quaternion: [-0.3217355992034049, -0.2344152181704547, -0.2878676506829512, 0.8710154564562002]} + solutions: [[111.000000, -102.000000, 111.000000, 142.000000, 132.000000, 88.000000], [111.000000, 14.913111, -100.045263, 143.802821, 50.780022, 140.430945], [-69.000000, 165.612692, 102.757316, -37.863856, 48.194671, 142.995679], [-69.000000, -87.264755, -91.802578, -33.461831, 123.923775, 95.352918], [111.000000, -102.000000, 111.000000, -38.000000, -132.000000, -92.000000], [111.000000, 14.913111, -100.045263, -36.197179, -50.780022, -39.569055], [-69.000000, 165.612692, 102.757316, 142.136144, -48.194671, -37.004321], [-69.000000, -87.264755, -91.802578, 146.538169, -123.923775, -84.647082]] - id: 1480 parameters: KukaKR6_R700_sixx joints: [-35.000000, -100.000000, -2.000000, 145.000000, -35.000000, 58.000000] @@ -7406,9 +7406,9 @@ cases: solutions: [[145.000000, -91.658306, 26.891069, 152.971329, 46.381710, -132.448994], [145.000000, -68.602292, -15.936332, 138.626264, 29.850566, -114.459734], [-35.000000, -108.044991, 12.954737, -41.805425, 29.572994, -113.962701], [-35.000000, -100.000000, -2.000000, -35.000000, 35.000000, -122.000000], [145.000000, -91.658306, 26.891069, -27.028671, -46.381710, 47.551006], [145.000000, -68.602292, -15.936332, -41.373736, -29.850566, 65.540266], [-35.000000, -108.044991, 12.954737, 138.194575, -29.572994, 66.037299], [-35.000000, -100.000000, -2.000000, 145.000000, -35.000000, 58.000000]] - id: 1481 parameters: KukaKR6_R700_sixx - joints: [122.000000, -81.000000, -91.000000, -167.000000, -62.000000, 118.000000] - pose: {translation: [0.1559165245449767, 0.2795035416754203, 0.8006432638289697], quaternion: [-0.1761842127643344, -0.1015757909945073, -0.5195336888017857, 0.8298953115040844]} - solutions: [[-58.000000, -108.232606, 109.318661, -167.864165, 70.869472, -59.845156], [-58.000000, 6.660945, -98.363923, -28.081134, 24.957640, 149.999268], [122.000000, 172.817259, 101.954737, 154.705204, 27.700645, 146.891462], [122.000000, -81.000000, -91.000000, 13.000000, 62.000000, -62.000000], [-58.000000, -108.232606, 109.318661, 12.135835, -70.869472, 120.154844], [-58.000000, 6.660945, -98.363923, 151.918866, -24.957640, -30.000732], [122.000000, 172.817259, 101.954737, -25.294796, -27.700645, -33.108538], [122.000000, -81.000000, -91.000000, -167.000000, -62.000000, 118.000000]] + joints: [122.000000, -80.000000, -91.000000, -167.000000, -62.000000, 118.000000] + pose: {translation: [0.1521834119506444, 0.2735293126899123, 0.8065973138168577], quaternion: [-0.1676333354218544, -0.1015648369791836, -0.5210803595056622, 0.8306978437929075]} + solutions: [[-58.000000, -109.218483, 109.171576, -167.854429, 70.739484, -59.874766], [-58.000000, 5.498990, -98.216838, -28.066103, 24.970760, 149.982687], [122.000000, 173.817259, 101.954737, 154.705204, 27.700645, 146.891462], [122.000000, -80.000000, -91.000000, 13.000000, 62.000000, -62.000000], [-58.000000, -109.218483, 109.171576, 12.145571, -70.739484, 120.125234], [-58.000000, 5.498990, -98.216838, 151.933897, -24.970760, -30.017313], [122.000000, 173.817259, 101.954737, -25.294796, -27.700645, -33.108538], [122.000000, -80.000000, -91.000000, -167.000000, -62.000000, 118.000000]] - id: 1482 parameters: KukaKR6_R700_sixx joints: [-63.000000, -2.000000, -85.000000, 159.000000, -36.000000, 18.000000] @@ -7416,14 +7416,14 @@ cases: solutions: [[-63.000000, -101.219646, 95.954737, -163.729692, 48.750302, -10.144831], [-63.000000, -2.000000, -85.000000, -21.000000, 36.000000, -162.000000], [117.000000, -177.771494, 87.897541, 160.415012, 38.932338, -163.782139], [117.000000, -87.755222, -76.942803, 19.471722, 39.191516, -14.576615], [-63.000000, -101.219646, 95.954737, 16.270308, -48.750302, 169.855169], [-63.000000, -2.000000, -85.000000, 159.000000, -36.000000, 18.000000], [117.000000, -177.771494, 87.897541, -19.584988, -38.932338, 16.217861], [117.000000, -87.755222, -76.942803, -160.528278, -39.191516, 165.423385]] - id: 1483 parameters: KukaKR6_R700_sixx - joints: [155.000000, 14.000000, -99.000000, -96.000000, -148.000000, -29.000000] - pose: {translation: [-0.3133557478958962, -0.09960033212644209, 0.6224842213099877], quaternion: [0.6593846140278675, 0.7000259205071594, 0.1104169942189843, -0.2509655928390769]} - solutions: [[155.000000, -101.656097, 109.954737, 31.998370, 84.024865, 64.343583], [155.000000, 14.000000, -99.000000, 84.000000, 148.000000, 151.000000], [-25.000000, 166.545559, 101.688209, -90.811531, 148.192356, 157.110102], [-25.000000, -87.583333, -90.733471, -148.161970, 92.503483, 69.618671], [155.000000, -101.656097, 109.954737, -148.001630, -84.024865, -115.656417], [155.000000, 14.000000, -99.000000, -96.000000, -148.000000, -29.000000], [-25.000000, 166.545559, 101.688209, 89.188469, -148.192356, -22.889898], [-25.000000, -87.583333, -90.733471, 31.838030, -92.503483, -110.381329]] + joints: [155.000000, 14.000000, -99.000000, -96.000000, -147.000000, -29.000000] + pose: {translation: [-0.314021081198484, -0.09861838233422196, 0.6232208407505531], quaternion: [0.6574549977922202, 0.6985509379945561, 0.1124838714399794, -0.2590885786190347]} + solutions: [[155.000000, -101.656097, 109.954737, 33.002228, 83.967455, 64.238582], [155.000000, 14.000000, -99.000000, 84.000000, 147.000000, 151.000000], [-25.000000, 166.545559, 101.688209, -91.007999, 147.197882, 156.944038], [-25.000000, -87.583333, -90.733471, -147.172429, 92.353260, 69.660599], [155.000000, -101.656097, 109.954737, -146.997772, -83.967455, -115.761418], [155.000000, 14.000000, -99.000000, -96.000000, -147.000000, -29.000000], [-25.000000, 166.545559, 101.688209, 88.992001, -147.197882, -23.055962], [-25.000000, -87.583333, -90.733471, 32.827571, -92.353260, -110.339401]] - id: 1484 parameters: KukaKR6_R700_sixx - joints: [99.000000, 96.000000, 32.000000, 12.000000, -140.000000, 111.000000] - pose: {translation: [0.03053590519751661, 0.1244515575692868, -0.2051217097546314], quaternion: [0.06723581295023984, -0.6222536223472366, 0.7736029682098833, 0.09908694419307508]} - solutions: [[-81.000000, 54.295430, 41.771567, 7.730092, 96.496054, -77.368364], [-81.000000, 93.436167, -30.816830, 9.984325, 129.572805, -71.849151], [99.000000, 96.000000, 32.000000, -168.000000, 140.000000, -69.000000], [99.000000, 124.569647, -21.045263, -171.456613, 115.894454, -74.494638], [-81.000000, 54.295430, 41.771567, -172.269908, -96.496054, 102.631636], [-81.000000, 93.436167, -30.816830, -170.015675, -129.572805, 108.150849], [99.000000, 96.000000, 32.000000, 12.000000, -140.000000, 111.000000], [99.000000, 124.569647, -21.045263, 8.543387, -115.894454, 105.505362]] + joints: [99.000000, 96.000000, 32.000000, 12.000000, -139.000000, 111.000000] + pose: {translation: [0.0307132440475947, 0.1241601438862806, -0.2064756414352571], quaternion: [0.06884529592672006, -0.6288422880977469, 0.7682937923253074, 0.09768495586911095]} + solutions: [[-81.000000, 54.295430, 41.771567, 7.876296, 95.506681, -77.353077], [-81.000000, 93.436167, -30.816830, 10.047901, 128.574024, -71.809076], [99.000000, 96.000000, 32.000000, -168.000000, 139.000000, -69.000000], [99.000000, 124.569647, -21.045263, -171.351053, 114.899011, -74.449364], [-81.000000, 54.295430, 41.771567, -172.123704, -95.506681, 102.646923], [-81.000000, 93.436167, -30.816830, -169.952099, -128.574024, 108.190924], [99.000000, 96.000000, 32.000000, 12.000000, -139.000000, 111.000000], [99.000000, 124.569647, -21.045263, 8.648947, -114.899011, 105.550636]] - id: 1485 parameters: KukaKR6_R700_sixx joints: [-60.000000, -67.000000, -105.000000, -47.000000, 148.000000, -139.000000] @@ -7431,14 +7431,14 @@ cases: solutions: [[120.000000, -122.893189, 121.856634, 123.438780, 152.326417, -150.006071], [120.000000, 7.421368, -110.901897, 154.420901, 63.848452, -84.802824], [-60.000000, 170.055649, 115.954737, -26.148561, 61.571904, -83.561075], [-60.000000, -67.000000, -105.000000, -47.000000, 148.000000, -139.000000], [120.000000, -122.893189, 121.856634, -56.561220, -152.326417, 29.993929], [120.000000, 7.421368, -110.901897, -25.579099, -63.848452, 95.197176], [-60.000000, 170.055649, 115.954737, 153.851439, -61.571904, 96.438925], [-60.000000, -67.000000, -105.000000, 133.000000, -148.000000, 41.000000]] - id: 1486 parameters: KukaKR6_R700_sixx - joints: [72.000000, -92.000000, -12.000000, 38.000000, 61.000000, 151.000000] - pose: {translation: [-0.06078927444575632, 0.0476881955071493, 1.111470274498062], quaternion: [0.08688631992745606, -0.4169879535371637, 0.7120987784282113, 0.5581103329767344]} - solutions: [[-108.000000, -96.229858, 30.387044, -144.820306, 69.165493, 157.670966], [-108.000000, -69.401772, -19.432306, -136.341877, 51.259738, 140.902127], [72.000000, -110.812548, 22.954737, 45.603193, 48.904858, 137.871999], [72.000000, -92.000000, -12.000000, 38.000000, 61.000000, 151.000000], [-108.000000, -96.229858, 30.387044, 35.179694, -69.165493, -22.329034], [-108.000000, -69.401772, -19.432306, 43.658123, -51.259738, -39.097873], [72.000000, -110.812548, 22.954737, -134.396807, -48.904858, -42.128001], [72.000000, -92.000000, -12.000000, -142.000000, -61.000000, -29.000000]] + joints: [72.000000, -91.000000, -12.000000, 38.000000, 60.000000, 151.000000] + pose: {translation: [-0.0567930859097638, 0.03675900167527527, 1.11397981308223], quaternion: [0.09038793533842372, -0.4141014445447637, 0.7108454865350397, 0.5612919998039878]} + solutions: [[-108.000000, -96.866772, 29.698097, -144.869898, 67.905681, 157.514492], [-108.000000, -70.782319, -18.743359, -136.290591, 50.498048, 141.035025], [72.000000, -109.812548, 22.954737, 45.909139, 47.931394, 137.668938], [72.000000, -91.000000, -12.000000, 38.000000, 60.000000, 151.000000], [-108.000000, -96.866772, 29.698097, 35.130102, -67.905681, -22.485508], [-108.000000, -70.782319, -18.743359, 43.709409, -50.498048, -38.964975], [72.000000, -109.812548, 22.954737, -134.090861, -47.931394, -42.331062], [72.000000, -91.000000, -12.000000, -142.000000, -60.000000, -29.000000]] - id: 1487 parameters: KukaKR6_R700_sixx - joints: [-164.000000, -153.000000, 168.000000, 109.000000, -139.000000, -155.000000] - pose: {translation: [-0.05521712827651427, -0.03579189392383245, 0.4814670001983022], quaternion: [0.67495994189772, 0.2234266094646716, 0.2096145833223471, 0.671246119895785]} - solutions: [[-164.000000, -153.000000, 168.000000, -71.000000, 139.000000, 25.000000], [-164.000000, 62.023980, -157.045263, -141.585112, 86.691870, -92.144406], [16.000000, 115.506576, 160.703520, 38.463638, 85.760698, -92.885071], [16.000000, -51.182431, -149.748783, 115.089299, 136.768985, 33.201025], [-164.000000, -153.000000, 168.000000, 109.000000, -139.000000, -155.000000], [-164.000000, 62.023980, -157.045263, 38.414888, -86.691870, 87.855594], [16.000000, 115.506576, 160.703520, -141.536362, -85.760698, 87.114929], [16.000000, -51.182431, -149.748783, -64.910701, -136.768985, -146.798975]] + joints: [-164.000000, -152.000000, 168.000000, 109.000000, -138.000000, -155.000000] + pose: {translation: [-0.05761839859882579, -0.03613194048583542, 0.4805544591855284], quaternion: [0.675722382743762, 0.2137388799756397, 0.2086065079801561, 0.6739423398735066]} + solutions: [[-164.000000, -152.000000, 168.000000, -71.000000, 138.000000, 25.000000], [-164.000000, 63.023980, -157.045263, -140.694159, 87.148486, -92.192276], [16.000000, 114.884758, 160.619321, 39.362093, 86.001570, -93.133797], [16.000000, -52.012024, -149.664583, 114.646769, 135.885685, 32.721413], [-164.000000, -152.000000, 168.000000, 109.000000, -138.000000, -155.000000], [-164.000000, 63.023980, -157.045263, 39.305841, -87.148486, 87.807724], [16.000000, 114.884758, 160.619321, -140.637907, -86.001570, 86.866203], [16.000000, -52.012024, -149.664583, -65.353231, -135.885685, -147.278587]] - id: 1488 parameters: KukaKR6_R700_sixx joints: [133.000000, -18.000000, -162.000000, -85.000000, 29.000000, 163.000000] @@ -7446,29 +7446,29 @@ cases: solutions: [[-47.000000, 143.650942, 179.045978, 44.211955, 43.836802, -136.346611], [-47.000000, 64.130905, -168.091241, 29.347042, 99.787600, -95.827871], [133.000000, 105.240772, 172.954737, -151.011690, 94.752737, -98.659322], [133.000000, -18.000000, -162.000000, -85.000000, 29.000000, 163.000000], [-47.000000, 143.650942, 179.045978, -135.788045, -43.836802, 43.653389], [-47.000000, 64.130905, -168.091241, -150.652958, -99.787600, 84.172129], [133.000000, 105.240772, 172.954737, 28.988310, -94.752737, 81.340678], [133.000000, -18.000000, -162.000000, 95.000000, -29.000000, -17.000000]] - id: 1489 parameters: KukaKR6_R700_sixx - joints: [165.000000, -166.000000, -53.000000, -85.000000, -39.000000, 158.000000] - pose: {translation: [0.554819627145008, 0.2005867653454937, 0.1767673944740066], quaternion: [0.5215865201964953, 0.7027070494149472, 0.4774814310145692, -0.07849705528317039]} - solutions: [[-15.000000, -20.598202, 78.733788, -107.936607, 41.220006, 7.707387], [-15.000000, 59.109271, -67.779051, -45.715469, 61.132639, -79.241729], [165.000000, 130.663070, 63.954737, 136.393964, 65.365953, -83.922943], [165.000000, -166.000000, -53.000000, 95.000000, 39.000000, -22.000000], [-15.000000, -20.598202, 78.733788, 72.063393, -41.220006, -172.292613], [-15.000000, 59.109271, -67.779051, 134.284531, -61.132639, 100.758271], [165.000000, 130.663070, 63.954737, -43.606036, -65.365953, 96.077057], [165.000000, -166.000000, -53.000000, -85.000000, -39.000000, 158.000000]] + joints: [165.000000, -166.000000, -53.000000, -85.000000, -38.000000, 158.000000] + pose: {translation: [0.5558117236949172, 0.1997256415927649, 0.1762944121103433], quaternion: [0.5256866193991004, 0.7017545249628188, 0.4755402016274248, -0.07110331578134835]} + solutions: [[-15.000000, -20.598202, 78.733788, -108.701942, 40.353939, 8.286876], [-15.000000, 59.109271, -67.779051, -44.750150, 60.594982, -79.711744], [165.000000, 130.663070, 63.954737, 137.368295, 64.898440, -84.332686], [165.000000, -166.000000, -53.000000, 95.000000, 38.000000, -22.000000], [-15.000000, -20.598202, 78.733788, 71.298058, -40.353939, -171.713124], [-15.000000, 59.109271, -67.779051, 135.249850, -60.594982, 100.288256], [165.000000, 130.663070, 63.954737, -42.631705, -64.898440, 95.667314], [165.000000, -166.000000, -53.000000, -85.000000, -38.000000, 158.000000]] - id: 1490 parameters: KukaKR6_R700_sixx - joints: [122.000000, 178.000000, 35.000000, 178.000000, -154.000000, 103.000000] - pose: {translation: [0.2848590808853991, 0.4535601984090405, 0.5486789720227557], quaternion: [0.7413474546381861, -0.1070074956074629, -0.2578440243911087, 0.6103030447827528]} - solutions: [[-58.000000, -43.613628, 58.324819, 2.367054, 158.258232, 106.996569], [-58.000000, 13.548333, -47.370081, 178.056925, 153.178738, -76.936443], [122.000000, 178.000000, 35.000000, -2.000000, 154.000000, -77.000000], [122.000000, -150.188847, -24.045263, -144.908513, 178.475052, 139.879669], [-58.000000, -43.613628, 58.324819, -177.632946, -158.258232, -73.003431], [-58.000000, 13.548333, -47.370081, -1.943075, -153.178738, 103.063557], [122.000000, 178.000000, 35.000000, 178.000000, -154.000000, 103.000000], [122.000000, -150.188847, -24.045263, 35.091487, -178.475052, -40.120331]] + joints: [122.000000, 177.000000, 35.000000, 178.000000, -153.000000, 103.000000] + pose: {translation: [0.2861551533413469, 0.4555520549906867, 0.5402617996338611], quaternion: [0.7298309869515907, -0.1050802998573862, -0.2628067335488151, 0.6222840845374009]} + solutions: [[-58.000000, -42.579776, 58.407793, 2.550099, 159.138980, 107.165294], [-58.000000, 14.672993, -47.453055, 178.051863, 152.220401, -76.941591], [122.000000, 177.000000, 35.000000, -2.000000, 153.000000, -77.000000], [122.000000, -151.188847, -24.045263, -105.291382, 179.058843, 179.488814], [-58.000000, -42.579776, 58.407793, -177.449901, -159.138980, -72.834706], [-58.000000, 14.672993, -47.453055, -1.948137, -152.220401, 103.058409], [122.000000, 177.000000, 35.000000, 178.000000, -153.000000, 103.000000], [122.000000, -151.188847, -24.045263, 74.708618, -179.058843, -0.511186]] - id: 1491 parameters: KukaKR6_R700_sixx - joints: [69.000000, -18.000000, 162.000000, -72.000000, 103.000000, -90.000000] - pose: {translation: [0.08722379121095312, -0.0203588079149581, 0.2845483756124146], quaternion: [-0.2560620207941868, 0.4965123636861018, -0.09519704295593162, 0.823920649835944]} - solutions: [[69.000000, -18.000000, 162.000000, -72.000000, 103.000000, -90.000000], [69.000000, 178.607321, -151.045263, -109.901532, 99.756004, 149.778783], [-111.000000, 22.525787, 159.067063, 67.940093, 89.114546, 122.512096], [-111.000000, -148.076849, -148.112325, 99.878072, 109.843094, -118.146489], [69.000000, -18.000000, 162.000000, 108.000000, -103.000000, 90.000000], [69.000000, 178.607321, -151.045263, 70.098468, -99.756004, -30.221217], [-111.000000, 22.525787, 159.067063, -112.059907, -89.114546, -57.487904], [-111.000000, -148.076849, -148.112325, -80.121928, -109.843094, 61.853511]] + joints: [69.000000, -18.000000, 162.000000, -72.000000, 102.000000, -90.000000] + pose: {translation: [0.08707723029918338, -0.01917500112249727, 0.2838226874042584], quaternion: [-0.2632422435356895, 0.4973241983913867, -0.09086058537714761, 0.8216547431479864]} + solutions: [[69.000000, -18.000000, 162.000000, -72.000000, 102.000000, -90.000000], [69.000000, 178.607321, -151.045263, -109.023417, 100.258202, 149.931378], [-111.000000, 22.525787, 159.067063, 68.477551, 89.957851, 122.507746], [-111.000000, -148.076849, -148.112325, 100.376844, 108.960663, -117.980795], [69.000000, -18.000000, 162.000000, 108.000000, -102.000000, 90.000000], [69.000000, 178.607321, -151.045263, 70.976583, -100.258202, -30.068622], [-111.000000, 22.525787, 159.067063, -111.522449, -89.957851, -57.492254], [-111.000000, -148.076849, -148.112325, -79.623156, -108.960663, 62.019205]] - id: 1492 parameters: KukaKR6_R700_sixx - joints: [-133.000000, -44.000000, -17.000000, -172.000000, 31.000000, 28.000000] - pose: {translation: [-0.2739205167169542, 0.2853356247846821, 1.034778781182627], quaternion: [0.03727336403351187, 0.01141455754672452, -0.6551131974260038, 0.7545244215848256]} - solutions: [[-133.000000, -68.203327, 27.954737, -174.753767, 51.621727, 31.606421], [-133.000000, -44.000000, -17.000000, -172.000000, 31.000000, 28.000000], [-133.000000, -68.203327, 27.954737, 5.246233, -51.621727, -148.393579], [-133.000000, -44.000000, -17.000000, 8.000000, -31.000000, -152.000000]] + joints: [-133.000000, -43.000000, -17.000000, -172.000000, 31.000000, 28.000000] + pose: {translation: [-0.2814374952511187, 0.2933965973586474, 1.028216078807898], quaternion: [0.03635532604884815, 0.002742530731089882, -0.6549392707411819, 0.754801510619898]} + solutions: [[-133.000000, -67.203327, 27.954737, -174.753767, 51.621727, 31.606421], [-133.000000, -43.000000, -17.000000, -172.000000, 31.000000, 28.000000], [-133.000000, -67.203327, 27.954737, 5.246233, -51.621727, -148.393579], [-133.000000, -43.000000, -17.000000, 8.000000, -31.000000, -152.000000]] - id: 1493 parameters: KukaKR6_R700_sixx - joints: [43.000000, 55.000000, 169.000000, -42.000000, 67.000000, 1.000000] - pose: {translation: [-0.01441918276998227, 0.08082121760163144, 0.4314207013512908], quaternion: [-0.2180195790405869, 0.2659254008193896, -0.1604754542575263, 0.9252020173642365]} - solutions: [[-137.000000, -113.350689, 179.240193, 102.335775, 140.913378, -92.647714], [-137.000000, 169.000077, -168.285456, 141.014794, 101.749478, -27.741557], [43.000000, 55.000000, 169.000000, -42.000000, 67.000000, 1.000000], [43.000000, -86.209177, -158.045263, -75.718248, 140.536909, -90.134090], [-137.000000, -113.350689, 179.240193, -77.664225, -140.913378, 87.352286], [-137.000000, 169.000077, -168.285456, -38.985206, -101.749478, 152.258443], [43.000000, 55.000000, 169.000000, 138.000000, -67.000000, -179.000000], [43.000000, -86.209177, -158.045263, 104.281752, -140.536909, 89.865910]] + joints: [43.000000, 55.000000, 169.000000, -42.000000, 66.000000, 1.000000] + pose: {translation: [-0.01555708427095741, 0.08137294432104782, 0.4320125457559723], quaternion: [-0.2192705516013237, 0.2578182563690556, -0.1586075782009485, 0.9275202466903357]} + solutions: [[-137.000000, -113.350689, 179.240193, 103.920542, 140.966283, -91.417135], [-137.000000, 169.000077, -168.285456, 141.504424, 100.872272, -27.645521], [43.000000, 55.000000, 169.000000, -42.000000, 66.000000, 1.000000], [43.000000, -86.209177, -158.045263, -74.144768, 140.546102, -88.919199], [-137.000000, -113.350689, 179.240193, -76.079458, -140.966283, 88.582865], [-137.000000, 169.000077, -168.285456, -38.495576, -100.872272, 152.354479], [43.000000, 55.000000, 169.000000, 138.000000, -66.000000, -179.000000], [43.000000, -86.209177, -158.045263, 105.855232, -140.546102, 91.080801]] - id: 1494 parameters: KukaKR6_R700_sixx joints: [143.000000, -109.000000, -38.000000, -43.000000, -122.000000, 87.000000] @@ -7476,14 +7476,14 @@ cases: solutions: [[-37.000000, -81.655338, 62.020620, -38.545619, 111.851189, -83.220729], [-37.000000, -20.442967, -51.065883, -74.961890, 143.210498, -138.158047], [143.000000, -155.939928, 48.954737, 103.071301, 143.576291, -140.607994], [143.000000, -109.000000, -38.000000, 137.000000, 122.000000, -93.000000], [-37.000000, -81.655338, 62.020620, 141.454381, -111.851189, 96.779271], [-37.000000, -20.442967, -51.065883, 105.038110, -143.210498, 41.841953], [143.000000, -155.939928, 48.954737, -76.928699, -143.576291, 39.392006], [143.000000, -109.000000, -38.000000, -43.000000, -122.000000, 87.000000]] - id: 1495 parameters: KukaKR6_R700_sixx - joints: [79.000000, -152.000000, 75.000000, -123.000000, -30.000000, -50.000000] - pose: {translation: [-0.06504592514177393, 0.1588186422450778, 0.9740075561229518], quaternion: [0.07500422815440551, -0.3210748085014989, 0.6734635347254048, 0.6616133315614575]} - solutions: [[-101.000000, -111.352044, 80.345540, -155.206364, 89.499895, -177.096187], [-101.000000, -29.841722, -69.390802, -128.085994, 32.192767, 135.936999], [79.000000, -152.000000, 75.000000, 57.000000, 30.000000, 130.000000], [79.000000, -76.454271, -64.045263, 25.066650, 81.794853, 179.315842], [-101.000000, -111.352044, 80.345540, 24.793636, -89.499895, 2.903813], [-101.000000, -29.841722, -69.390802, 51.914006, -32.192767, -44.063001], [79.000000, -152.000000, 75.000000, -123.000000, -30.000000, -50.000000], [79.000000, -76.454271, -64.045263, -154.933350, -81.794853, -0.684158]] + joints: [79.000000, -151.000000, 75.000000, -123.000000, -30.000000, -50.000000] + pose: {translation: [-0.06312881840815175, 0.148955983099578, 0.9772938923546657], quaternion: [0.08179027241922587, -0.3257299559611437, 0.6705626091895468, 0.6614802599352813]} + solutions: [[-101.000000, -112.252921, 80.115192, -155.205826, 89.380766, -177.151220], [-101.000000, -31.000505, -69.160454, -128.175334, 32.236955, 136.042596], [79.000000, -151.000000, 75.000000, 57.000000, 30.000000, 130.000000], [79.000000, -75.454271, -64.045263, 25.066650, 81.794853, 179.315842], [-101.000000, -112.252921, 80.115192, 24.794174, -89.380766, 2.848780], [-101.000000, -31.000505, -69.160454, 51.824666, -32.236955, -43.957404], [79.000000, -151.000000, 75.000000, -123.000000, -30.000000, -50.000000], [79.000000, -75.454271, -64.045263, -154.933350, -81.794853, -0.684158]] - id: 1496 parameters: KukaKR6_R700_sixx - joints: [-91.000000, 28.000000, 135.000000, -141.000000, -136.000000, 21.000000] - pose: {translation: [0.03485047831476625, 0.007325280316299129, 0.1700562496009924], quaternion: [-0.3679382141983515, -0.03651238866392487, -0.6475318389848723, 0.6663263716133799]} - solutions: [[89.000000, 13.159079, 136.157294, -26.024403, 85.118800, -6.842178], [89.000000, 162.590593, -125.202557, -120.297425, 149.581233, -133.341224], [-91.000000, 28.000000, 135.000000, 39.000000, 136.000000, -159.000000], [-91.000000, 175.793864, -124.045263, 153.217675, 104.028711, -16.196991], [89.000000, 13.159079, 136.157294, 153.975597, -85.118800, 173.157822], [89.000000, 162.590593, -125.202557, 59.702575, -149.581233, 46.658776], [-91.000000, 28.000000, 135.000000, -141.000000, -136.000000, 21.000000], [-91.000000, 175.793864, -124.045263, -26.782325, -104.028711, 163.803009]] + joints: [-91.000000, 28.000000, 135.000000, -141.000000, -135.000000, 21.000000] + pose: {translation: [0.0354973883997439, 0.006174237854066976, 0.1705102436431173], quaternion: [-0.3647326219267113, -0.02905745571455584, -0.6506189327392806, 0.6654478064664897]} + solutions: [[89.000000, 13.159079, 136.157294, -26.492561, 86.003190, -6.805943], [89.000000, 162.590593, -125.202557, -121.130349, 148.677138, -134.056170], [-91.000000, 28.000000, 135.000000, 39.000000, 135.000000, -159.000000], [-91.000000, 175.793864, -124.045263, 152.592321, 104.824458, -16.352797], [89.000000, 13.159079, 136.157294, 153.507439, -86.003190, 173.194057], [89.000000, 162.590593, -125.202557, 58.869651, -148.677138, 45.943830], [-91.000000, 28.000000, 135.000000, -141.000000, -135.000000, 21.000000], [-91.000000, 175.793864, -124.045263, -27.407679, -104.824458, 163.647203]] - id: 1497 parameters: KukaKR6_R700_sixx joints: [-1.000000, -57.000000, 134.000000, -165.000000, 40.000000, -132.000000] @@ -7496,64 +7496,64 @@ cases: solutions: [[-16.000000, -160.574792, 131.954737, 170.851001, 88.207874, 109.574118], [-16.000000, -17.000000, -121.000000, 24.000000, 23.000000, -93.000000], [164.000000, -171.460509, 130.986976, -157.376180, 24.401967, -91.497181], [164.000000, -29.201655, -120.032239, -9.166013, 86.089168, 109.916064], [-16.000000, -160.574792, 131.954737, -9.148999, -88.207874, -70.425882], [-16.000000, -17.000000, -121.000000, -156.000000, -23.000000, 87.000000], [164.000000, -171.460509, 130.986976, 22.623820, -24.401967, 88.502819], [164.000000, -29.201655, -120.032239, 170.833987, -86.089168, -70.083936]] - id: 1499 parameters: KukaKR6_R700_sixx - joints: [-64.000000, -105.000000, 48.000000, 78.000000, -148.000000, 173.000000] - pose: {translation: [-0.007211645322111757, 0.07980761719403168, 0.9773456304304278], quaternion: [0.8762846593406765, -0.2402883645865088, -0.3367531587481389, 0.2469494031612276]} - solutions: [[-64.000000, -105.000000, 48.000000, -102.000000, 148.000000, -7.000000], [-64.000000, -59.098339, -37.045263, -140.139373, 126.027029, -56.773598], [116.000000, -122.960325, 43.674396, 37.906207, 122.468001, -60.244062], [116.000000, -81.756235, -32.719659, 65.642863, 145.320659, -21.762728], [-64.000000, -105.000000, 48.000000, 78.000000, -148.000000, 173.000000], [-64.000000, -59.098339, -37.045263, 39.860627, -126.027029, 123.226402], [116.000000, -122.960325, 43.674396, -142.093793, -122.468001, 119.755938], [116.000000, -81.756235, -32.719659, -114.357137, -145.320659, 158.237272]] + joints: [-64.000000, -104.000000, 48.000000, 78.000000, -147.000000, 173.000000] + pose: {translation: [-0.003737848985999666, 0.08955752015673092, 0.9772561646464134], quaternion: [0.8697926113810687, -0.2438132590285039, -0.3460140308265657, 0.2535551190174504]} + solutions: [[-64.000000, -104.000000, 48.000000, -102.000000, 147.000000, -7.000000], [-64.000000, -58.098339, -37.045263, -139.202978, 125.377569, -56.227126], [116.000000, -123.703216, 43.232137, 38.922030, 122.010193, -59.604843], [116.000000, -82.978855, -32.277399, 65.800889, 144.263329, -21.749043], [-64.000000, -104.000000, 48.000000, 78.000000, -147.000000, 173.000000], [-64.000000, -58.098339, -37.045263, 40.797022, -125.377569, 123.772874], [116.000000, -123.703216, 43.232137, -141.077970, -122.010193, 120.395157], [116.000000, -82.978855, -32.277399, -114.199111, -144.263329, 158.250957]] - id: 1500 parameters: KukaKR6_R700_sixx - joints: [140.000000, 50.000000, -131.000000, 143.000000, 180.000000, 144.000000] - pose: {translation: [-0.1819300609148387, -0.1526574470137013, 0.4456623837635443], quaternion: [0.9337847414874845, 0.3491278087788492, 0.07395879898663972, -0.02619018432323376]} - solutions: [[140.000000, -107.981965, 141.954737, 0.000000, 65.027227, 1.000000], [140.000000, 50.000000, -131.000000, 116.565051, 180.000000, 125.118594], [-40.000000, 131.492002, 133.565749, -0.000000, 175.942250, -179.000000], [-40.000000, -82.716720, -122.611011, -180.000000, 73.672268, 1.000000], [140.000000, -107.981965, 141.954737, -180.000000, -65.027227, -179.000000], [140.000000, 50.000000, -131.000000, -63.434949, -180.000000, -54.881406], [-40.000000, 131.492002, 133.565749, 180.000000, -175.942250, 1.000000], [-40.000000, -82.716720, -122.611011, 0.000000, -73.672268, -179.000000]] + joints: [140.000000, 49.000000, -131.000000, 143.000000, 179.000000, 144.000000] + pose: {translation: [-0.1809903307441167, -0.1507720517812299, 0.4495311909807472], quaternion: [0.9337712595601173, 0.3495138806656773, 0.07055760761027058, -0.03054351076490474]} + solutions: [[140.000000, -108.981965, 141.954737, 0.659638, 65.827311, 0.725682], [140.000000, 49.000000, -131.000000, 143.000000, 179.000000, 144.000000], [-40.000000, 132.293289, 133.635432, -7.263138, 175.234550, 173.757508], [-40.000000, -81.818795, -122.680695, -179.374882, 74.300064, 0.826643], [140.000000, -108.981965, 141.954737, -179.340362, -65.827311, -179.274318], [140.000000, 49.000000, -131.000000, -37.000000, -179.000000, -36.000000], [-40.000000, 132.293289, 133.635432, 172.736862, -175.234550, -6.242492], [-40.000000, -81.818795, -122.680695, 0.625118, -74.300064, -179.173357]] - id: 1501 parameters: KukaKR6_R700_sixx - joints: [81.000000, 143.000000, -98.000000, -80.000000, -69.000000, 22.000000] - pose: {translation: [-0.05923738236851736, -0.09616619630055059, -0.03401873943528717], quaternion: [0.752676276572085, 0.05352084760425661, -0.5859883578051669, 0.295349938334356]} - solutions: [[81.000000, 28.541939, 108.954737, 110.893591, 100.228349, 113.252013], [81.000000, 143.000000, -98.000000, 100.000000, 69.000000, -158.000000], [-99.000000, 44.502529, 107.523629, -86.882392, 67.037437, -139.749269], [-99.000000, 157.253459, -96.568891, -67.074536, 93.393696, 130.230864], [81.000000, 28.541939, 108.954737, -69.106409, -100.228349, -66.747987], [81.000000, 143.000000, -98.000000, -80.000000, -69.000000, 22.000000], [-99.000000, 44.502529, 107.523629, 93.117608, -67.037437, 40.250731], [-99.000000, 157.253459, -96.568891, 112.925464, -93.393696, -49.769136]] + joints: [81.000000, 142.000000, -98.000000, -80.000000, -69.000000, 22.000000] + pose: {translation: [-0.05805388928365009, -0.1036384775577388, -0.03289300534830837], quaternion: [0.7509019179119069, 0.04806492765260646, -0.5853998449085218, 0.3018991453897284]} + solutions: [[81.000000, 27.541939, 108.954737, 110.893591, 100.228349, 113.252013], [81.000000, 142.000000, -98.000000, 100.000000, 69.000000, -158.000000], [-99.000000, 45.590895, 107.336625, -86.840667, 67.042838, -139.856233], [-99.000000, 158.119374, -96.381887, -67.071655, 93.373081, 130.279688], [81.000000, 27.541939, 108.954737, -69.106409, -100.228349, -66.747987], [81.000000, 142.000000, -98.000000, -80.000000, -69.000000, 22.000000], [-99.000000, 45.590895, 107.336625, 93.159333, -67.042838, 40.143767], [-99.000000, 158.119374, -96.381887, 112.928345, -93.373081, -49.720312]] - id: 1502 parameters: KukaKR6_R700_sixx - joints: [69.000000, 88.000000, 34.000000, 130.000000, -42.000000, 158.000000] - pose: {translation: [-0.02924432086016346, 0.1906103161448609, -0.2750768064304986], quaternion: [0.8113473688843368, 0.2070392187325272, 0.2512681935988262, -0.4855043808212975]} - solutions: [[-111.000000, 62.277893, 40.057965, 148.208725, 76.646919, -55.383177], [-111.000000, 99.561948, -29.103227, 138.545757, 50.738927, -34.324267], [69.000000, 88.000000, 34.000000, -50.000000, 42.000000, -22.000000], [69.000000, 118.730300, -23.045263, -35.637626, 61.610454, -44.706804], [-111.000000, 62.277893, 40.057965, -31.791275, -76.646919, 124.616823], [-111.000000, 99.561948, -29.103227, -41.454243, -50.738927, 145.675733], [69.000000, 88.000000, 34.000000, 130.000000, -42.000000, 158.000000], [69.000000, 118.730300, -23.045263, 144.362374, -61.610454, 135.293196]] + joints: [69.000000, 87.000000, 34.000000, 130.000000, -42.000000, 158.000000] + pose: {translation: [-0.02501048260859832, 0.1795807904140262, -0.2786988610873119], quaternion: [0.8144860482458139, 0.2105967208844457, 0.2521092288122692, -0.4782284340284666]} + solutions: [[-111.000000, 63.557072, 39.563527, 148.181605, 76.463981, -55.266533], [-111.000000, 100.305654, -28.608789, 138.674047, 50.917589, -34.527369], [69.000000, 87.000000, 34.000000, -50.000000, 42.000000, -22.000000], [69.000000, 117.730300, -23.045263, -35.637626, 61.610454, -44.706804], [-111.000000, 63.557072, 39.563527, -31.818395, -76.463981, 124.733467], [-111.000000, 100.305654, -28.608789, -41.325953, -50.917589, 145.472631], [69.000000, 87.000000, 34.000000, 130.000000, -42.000000, 158.000000], [69.000000, 117.730300, -23.045263, 144.362374, -61.610454, 135.293196]] - id: 1503 parameters: KukaKR6_R700_sixx - joints: [-38.000000, 119.000000, 104.000000, -142.000000, -50.000000, -18.000000] - pose: {translation: [-0.3102591407147456, -0.2902809681466919, 0.4182158283869736], quaternion: [0.06671647068367791, -0.2358337833170329, 0.935835425183141, -0.2532654657827996]} - solutions: [[142.000000, -53.155463, 114.708379, -134.930575, 138.227820, -134.552040], [142.000000, 68.259666, -103.753642, -145.352477, 56.053095, 167.563477], [-38.000000, 119.000000, 104.000000, 38.000000, 50.000000, 162.000000], [-38.000000, -132.417965, -93.045263, 35.600496, 125.887493, -148.567226], [142.000000, -53.155463, 114.708379, 45.069425, -138.227820, 45.447960], [142.000000, 68.259666, -103.753642, 34.647523, -56.053095, -12.436523], [-38.000000, 119.000000, 104.000000, -142.000000, -50.000000, -18.000000], [-38.000000, -132.417965, -93.045263, -144.399504, -125.887493, 31.432774]] + joints: [-38.000000, 119.000000, 104.000000, -142.000000, -49.000000, -18.000000] + pose: {translation: [-0.31159875019671, -0.2906191245433443, 0.4184173195416834], quaternion: [0.05826406341846095, -0.2354031435880674, 0.9369894606587247, -0.2514784474210414]} + solutions: [[142.000000, -53.155463, 114.708379, -136.261636, 137.773078, -135.541245], [142.000000, 68.259666, -103.753642, -145.470740, 55.057862, 167.630370], [-38.000000, 119.000000, 104.000000, 38.000000, 49.000000, 162.000000], [-38.000000, -132.417965, -93.045263, 34.670487, 125.233558, -149.108101], [142.000000, -53.155463, 114.708379, 43.738364, -137.773078, 44.458755], [142.000000, 68.259666, -103.753642, 34.529260, -55.057862, -12.369630], [-38.000000, 119.000000, 104.000000, -142.000000, -49.000000, -18.000000], [-38.000000, -132.417965, -93.045263, -145.329513, -125.233558, 30.891899]] - id: 1504 parameters: KukaKR6_R700_sixx - joints: [47.000000, 152.000000, -109.000000, 56.000000, -74.000000, 100.000000] - pose: {translation: [0.1033280522105358, -0.01732495137513782, 0.04519570435633922], quaternion: [0.6025373173635595, -0.1854140044848323, 0.7057053853567911, -0.3233424457191582]} - solutions: [[47.000000, 24.085585, 119.954737, -101.876676, 125.476356, 12.308312], [47.000000, 152.000000, -109.000000, -124.000000, 74.000000, -80.000000], [-133.000000, 36.267949, 118.931828, 61.954132, 64.549209, -96.664282], [-133.000000, 162.901780, -107.977090, 66.463515, 119.629856, -9.153225], [47.000000, 24.085585, 119.954737, 78.123324, -125.476356, -167.691688], [47.000000, 152.000000, -109.000000, 56.000000, -74.000000, 100.000000], [-133.000000, 36.267949, 118.931828, -118.045868, -64.549209, 83.335718], [-133.000000, 162.901780, -107.977090, -113.536485, -119.629856, 170.846775]] + joints: [47.000000, 151.000000, -109.000000, 56.000000, -73.000000, 100.000000] + pose: {translation: [0.1078819503129216, -0.02269046192034478, 0.04520383948318993], quaternion: [0.6041868479116508, -0.1845915788916314, 0.7079728832057822, -0.3156875012701172]} + solutions: [[47.000000, 23.085585, 119.954737, -103.104197, 125.510419, 11.595584], [47.000000, 151.000000, -109.000000, -124.000000, 73.000000, -80.000000], [-133.000000, 37.353939, 118.756836, 62.235212, 63.632990, -96.716351], [-133.000000, 163.769385, -107.802098, 65.358593, 119.279608, -9.730432], [47.000000, 23.085585, 119.954737, 76.895803, -125.510419, -168.404416], [47.000000, 151.000000, -109.000000, 56.000000, -73.000000, 100.000000], [-133.000000, 37.353939, 118.756836, -117.764788, -63.632990, 83.283649], [-133.000000, 163.769385, -107.802098, -114.641407, -119.279608, 170.269568]] - id: 1505 parameters: KukaKR6_R700_sixx - joints: [-108.000000, 136.000000, 166.000000, 149.000000, 170.000000, -147.000000] - pose: {translation: [0.03452376349194142, -0.08309968983100138, 0.4487642849604419], quaternion: [0.9355923306438052, -0.05301982086389836, 0.1697719176726426, 0.3050137462571257]} - solutions: [[72.000000, 167.223578, 169.046069, -5.360399, 73.205213, -114.832817], [72.000000, 26.194242, -158.091331, -104.204068, 174.706601, 139.351744], [-108.000000, 136.000000, 166.000000, 149.000000, 170.000000, -147.000000], [-108.000000, -15.817085, -155.045263, 173.990828, 58.683282, -113.254073], [72.000000, 167.223578, 169.046069, 174.639601, -73.205213, 65.167183], [72.000000, 26.194242, -158.091331, 75.795932, -174.706601, -40.648256], [-108.000000, 136.000000, 166.000000, -31.000000, -170.000000, 33.000000], [-108.000000, -15.817085, -155.045263, -6.009172, -58.683282, 66.745927]] + joints: [-108.000000, 136.000000, 166.000000, 149.000000, 169.000000, -147.000000] + pose: {translation: [0.03546295534616577, -0.08370207279063288, 0.4496036629617597], quaternion: [0.9328645254215309, -0.05159239542580225, 0.1763607688588369, 0.3098368621578291]} + solutions: [[72.000000, 167.223578, 169.046069, -5.919041, 72.359477, -114.667452], [72.000000, 26.194242, -158.091331, -94.422126, 174.343323, 149.089322], [-108.000000, 136.000000, 166.000000, 149.000000, 169.000000, -147.000000], [-108.000000, -15.817085, -155.045263, 173.334750, 57.853439, -112.909002], [72.000000, 167.223578, 169.046069, 174.080959, -72.359477, 65.332548], [72.000000, 26.194242, -158.091331, 85.577874, -174.343323, -30.910678], [-108.000000, 136.000000, 166.000000, -31.000000, -169.000000, 33.000000], [-108.000000, -15.817085, -155.045263, -6.665250, -57.853439, 67.090998]] - id: 1506 parameters: KukaKR6_R700_sixx - joints: [53.000000, -144.000000, -98.000000, -167.000000, 164.000000, 50.000000] - pose: {translation: [-0.1857429765157338, 0.2547316434359284, 0.3042574914944948], quaternion: [0.3717612742863225, -0.02157192579217916, 0.6615837210939162, 0.6508726349618286]} - solutions: [[-127.000000, -39.160421, 118.641007, 6.491651, 146.740461, 42.922705], [-127.000000, 87.110583, -107.686270, 176.138005, 112.987603, -144.022736], [53.000000, 101.541939, 108.954737, -3.649831, 103.087799, -143.340109], [53.000000, -144.000000, -98.000000, -167.000000, 164.000000, 50.000000], [-127.000000, -39.160421, 118.641007, -173.508349, -146.740461, -137.077295], [-127.000000, 87.110583, -107.686270, -3.861995, -112.987603, 35.977264], [53.000000, 101.541939, 108.954737, 176.350169, -103.087799, 36.659891], [53.000000, -144.000000, -98.000000, 13.000000, -164.000000, -130.000000]] + joints: [53.000000, -143.000000, -98.000000, -167.000000, 163.000000, 50.000000] + pose: {translation: [-0.1859059751985766, 0.2554483574992603, 0.3092305045393548], quaternion: [0.3877766685641879, -0.02199130365063902, 0.6574526719259989, 0.6456791943824506]} + solutions: [[-127.000000, -40.325963, 118.711699, 6.726873, 145.842083, 43.124445], [-127.000000, 86.033186, -107.756962, 175.877584, 113.809876, -144.116697], [53.000000, 102.541939, 108.954737, -3.887677, 104.060706, -143.395935], [53.000000, -143.000000, -98.000000, -167.000000, 163.000000, 50.000000], [-127.000000, -40.325963, 118.711699, -173.273127, -145.842083, -136.875555], [-127.000000, 86.033186, -107.756962, -4.122416, -113.809876, 35.883303], [53.000000, 102.541939, 108.954737, 176.112323, -104.060706, 36.604065], [53.000000, -143.000000, -98.000000, 13.000000, -163.000000, -130.000000]] - id: 1507 parameters: KukaKR6_R700_sixx - joints: [-34.000000, 79.000000, 91.000000, -50.000000, 26.000000, 82.000000] - pose: {translation: [-0.2993808299474809, -0.1695299437719577, 0.002651559327750266], quaternion: [0.2630064877760738, -0.6083709582997542, -0.1191227764092596, 0.739271349793621]} - solutions: [[146.000000, 8.542802, 97.659002, 158.740011, 112.162069, 26.682962], [146.000000, 109.729670, -86.704264, 144.859939, 35.692497, 64.786937], [-34.000000, 79.000000, 91.000000, -50.000000, 26.000000, 82.000000], [-34.000000, 172.542505, -80.045263, -19.688616, 94.623674, 33.380512], [146.000000, 8.542802, 97.659002, -21.259989, -112.162069, -153.317038], [146.000000, 109.729670, -86.704264, -35.140061, -35.692497, -115.213063], [-34.000000, 79.000000, 91.000000, 130.000000, -26.000000, -98.000000], [-34.000000, 172.542505, -80.045263, 160.311384, -94.623674, -146.619488]] + joints: [-34.000000, 78.000000, 91.000000, -50.000000, 26.000000, 82.000000] + pose: {translation: [-0.2935852485147813, -0.165620774735548, -0.00371037146431096], quaternion: [0.2674657907024997, -0.6131148476665931, -0.1201842258310754, 0.7335584409139071]} + solutions: [[146.000000, 9.698604, 97.481571, 158.743204, 112.141911, 26.691429], [146.000000, 110.680292, -86.526833, 144.962211, 35.797278, 64.660928], [-34.000000, 78.000000, 91.000000, -50.000000, 26.000000, 82.000000], [-34.000000, 171.542505, -80.045263, -19.688616, 94.623674, 33.380512], [146.000000, 9.698604, 97.481571, -21.256796, -112.141911, -153.308571], [146.000000, 110.680292, -86.526833, -35.037789, -35.797278, -115.339072], [-34.000000, 78.000000, 91.000000, 130.000000, -26.000000, -98.000000], [-34.000000, 171.542505, -80.045263, 160.311384, -94.623674, -146.619488]] - id: 1508 parameters: KukaKR6_R700_sixx - joints: [160.000000, -68.000000, -110.000000, 179.000000, -45.000000, -69.000000] - pose: {translation: [0.2611570794171533, 0.09400278621290452, 0.7283222372542274], quaternion: [0.1592619941996243, 0.330170533944435, 0.6545953577316056, 0.661156527120951]} - solutions: [[-20.000000, -122.372275, 127.259351, 179.101280, 51.886136, 110.847599], [-20.000000, 14.915344, -116.304614, 0.869667, 54.396757, -70.213461], [160.000000, 162.826814, 120.954737, -179.154855, 56.788771, -70.170075], [160.000000, -68.000000, -110.000000, -1.000000, 45.000000, 111.000000], [-20.000000, -122.372275, 127.259351, -0.898720, -51.886136, -69.152401], [-20.000000, 14.915344, -116.304614, -179.130333, -54.396757, 109.786539], [160.000000, 162.826814, 120.954737, 0.845145, -56.788771, 109.829925], [160.000000, -68.000000, -110.000000, 179.000000, -45.000000, -69.000000]] + joints: [160.000000, -67.000000, -110.000000, 179.000000, -45.000000, -69.000000] + pose: {translation: [0.2557293263106992, 0.09202724564320933, 0.7335526013324235], quaternion: [0.1558613986378787, 0.3227825673315425, 0.6568618664565574, 0.6633634954055809]} + solutions: [[-20.000000, -123.368506, 127.120953, 179.099618, 51.751523, 110.850288], [-20.000000, 13.737283, -116.166215, 0.869236, 54.436416, -70.212721], [160.000000, 163.826814, 120.954737, -179.154855, 56.788771, -70.170075], [160.000000, -67.000000, -110.000000, -1.000000, 45.000000, 111.000000], [-20.000000, -123.368506, 127.120953, -0.900382, -51.751523, -69.149712], [-20.000000, 13.737283, -116.166215, -179.130764, -54.436416, 109.787279], [160.000000, 163.826814, 120.954737, 0.845145, -56.788771, 109.829925], [160.000000, -67.000000, -110.000000, 179.000000, -45.000000, -69.000000]] - id: 1509 parameters: KukaKR6_R700_sixx - joints: [109.000000, 169.000000, -87.000000, 99.000000, -103.000000, 179.000000] - pose: {translation: [0.1422504465336429, 0.1766466486492936, -0.000557749868275087], quaternion: [0.6318080111527045, -0.006666940131494364, 0.7681578888218101, 0.1034777598973169]} - solutions: [[-71.000000, 13.716475, 102.904439, 94.315190, 105.179591, -20.073166], [-71.000000, 121.011542, -91.949702, 105.378894, 86.479817, 66.435219], [109.000000, 67.470950, 97.954737, -75.945281, 82.780684, 80.507099], [109.000000, 169.000000, -87.000000, -81.000000, 103.000000, -1.000000], [-71.000000, 13.716475, 102.904439, -85.684810, -105.179591, 159.926834], [-71.000000, 121.011542, -91.949702, -74.621106, -86.479817, -113.564781], [109.000000, 67.470950, 97.954737, 104.054719, -82.780684, -99.492901], [109.000000, 169.000000, -87.000000, 99.000000, -103.000000, 179.000000]] + joints: [109.000000, 168.000000, -87.000000, 99.000000, -102.000000, 179.000000] + pose: {translation: [0.1401906772972157, 0.1697478402101163, -0.006010022463179492], quaternion: [0.6397587841480241, -0.001099748945577739, 0.7608354062676422, 0.108797854883497]} + solutions: [[-71.000000, 14.865247, 102.721730, 94.660880, 104.231487, -19.952683], [-71.000000, 121.946084, -91.766992, 104.461025, 86.125836, 66.381341], [109.000000, 66.470950, 97.954737, -76.942545, 82.634086, 80.633692], [109.000000, 168.000000, -87.000000, -81.000000, 102.000000, -1.000000], [-71.000000, 14.865247, 102.721730, -85.339120, -104.231487, 160.047317], [-71.000000, 121.946084, -91.766992, -75.538975, -86.125836, -113.618659], [109.000000, 66.470950, 97.954737, 103.057455, -82.634086, -99.366308], [109.000000, 168.000000, -87.000000, 99.000000, -102.000000, 179.000000]] - id: 1510 parameters: KukaKR6_R700_sixx - joints: [106.000000, -147.000000, 4.000000, -83.000000, -71.000000, 14.000000] - pose: {translation: [0.08717537478671736, 0.5763950754132841, 0.7715839569349573], quaternion: [-0.4036853123408278, -0.5339340237196029, 0.02272490022734492, 0.7425875071831873]} - solutions: [[-74.000000, -56.424151, 45.940728, -92.577348, 69.954567, -137.855022], [-74.000000, -12.760123, -34.985991, -79.501284, 72.640077, -177.180463], [106.000000, -148.589367, 6.954737, 97.464146, 71.171894, -167.431822], [106.000000, -147.000000, 4.000000, 97.000000, 71.000000, -166.000000], [-74.000000, -56.424151, 45.940728, 87.422652, -69.954567, 42.144978], [-74.000000, -12.760123, -34.985991, 100.498716, -72.640077, 2.819537], [106.000000, -148.589367, 6.954737, -82.535854, -71.171894, 12.568178], [106.000000, -147.000000, 4.000000, -83.000000, -71.000000, 14.000000]] + joints: [106.000000, -146.000000, 4.000000, -83.000000, -71.000000, 14.000000] + pose: {translation: [0.08536253860985751, 0.5700729643457858, 0.7820528271512567], quaternion: [-0.3974954191333371, -0.5358905102872028, 0.01727412958279758, 0.7446612365359773]} + solutions: [[-74.000000, -57.354307, 45.694441, -92.513019, 69.946731, -138.042663], [-74.000000, -13.957739, -34.739703, -79.516248, 72.631215, -177.130321], [106.000000, -147.589367, 6.954737, 97.464146, 71.171894, -167.431822], [106.000000, -146.000000, 4.000000, 97.000000, 71.000000, -166.000000], [-74.000000, -57.354307, 45.694441, 87.486981, -69.946731, 41.957337], [-74.000000, -13.957739, -34.739703, 100.483752, -72.631215, 2.869679], [106.000000, -147.589367, 6.954737, -82.535854, -71.171894, 12.568178], [106.000000, -146.000000, 4.000000, -83.000000, -71.000000, 14.000000]] - id: 1511 parameters: KukaKR6_R700_sixx joints: [158.000000, -48.000000, 131.000000, 24.000000, -97.000000, 116.000000] @@ -7561,19 +7561,19 @@ cases: solutions: [[158.000000, -48.000000, 131.000000, -156.000000, 97.000000, -64.000000], [158.000000, 94.276489, -120.045263, -66.402524, 26.138527, 176.946606], [-22.000000, 94.802435, 121.879258, 130.362110, 31.993264, 157.832894], [-22.000000, -134.854301, -110.924520, 24.107733, 81.254633, -70.998040], [158.000000, -48.000000, 131.000000, 24.000000, -97.000000, 116.000000], [158.000000, 94.276489, -120.045263, 113.597476, -26.138527, -3.053394], [-22.000000, 94.802435, 121.879258, -49.637890, -31.993264, -22.167106], [-22.000000, -134.854301, -110.924520, -155.892267, -81.254633, 109.001960]] - id: 1512 parameters: KukaKR6_R700_sixx - joints: [-51.000000, 8.000000, -145.000000, 180.000000, 144.000000, 166.000000] - pose: {translation: [0.03863090620671486, 0.04770519622904445, 0.5009623203879072], quaternion: [-0.3158438487098327, 0.9439577612139181, 0.05149788529082299, 0.08083548779305584]} - solutions: [[-51.000000, -174.578038, 155.954737, 0.000000, 97.623301, -14.000000], [-51.000000, 8.000000, -145.000000, 180.000000, 144.000000, 166.000000], [129.000000, 159.351037, 153.710362, -0.000000, 147.938600, 166.000000], [129.000000, -22.580998, -142.755625, -180.000000, 93.663377, -14.000000], [-51.000000, -174.578038, 155.954737, -180.000000, -97.623301, 166.000000], [-51.000000, 8.000000, -145.000000, -0.000000, -144.000000, -14.000000], [129.000000, 159.351037, 153.710362, -180.000000, -147.938600, -14.000000], [129.000000, -22.580998, -142.755625, 0.000000, -93.663377, 166.000000]] + joints: [-51.000000, 8.000000, -145.000000, 180.000000, 143.000000, 166.000000] + pose: {translation: [0.03776693400577491, 0.04663827941477838, 0.5007078748227437], quaternion: [-0.3160972163905758, 0.9447149973914003, 0.04682874644349337, 0.07350640788684351]} + solutions: [[-51.000000, -174.578038, 155.954737, -0.000000, 98.623301, -14.000000], [-51.000000, 8.000000, -145.000000, -180.000000, 143.000000, 166.000000], [129.000000, 159.351037, 153.710362, -0.000000, 146.938600, 166.000000], [129.000000, -22.580998, -142.755625, -180.000000, 94.663377, -14.000000], [-51.000000, -174.578038, 155.954737, -180.000000, -98.623301, 166.000000], [-51.000000, 8.000000, -145.000000, 0.000000, -143.000000, -14.000000], [129.000000, 159.351037, 153.710362, -180.000000, -146.938600, -14.000000], [129.000000, -22.580998, -142.755625, 0.000000, -94.663377, 166.000000]] - id: 1513 parameters: KukaKR6_R700_sixx - joints: [-30.000000, 61.000000, 94.000000, 101.000000, -99.000000, -97.000000] - pose: {translation: [-0.1542446581171068, 0.000509233160735964, -0.04252847270143327], quaternion: [-0.2461842968921752, -0.566512100406285, -0.5073786079656331, 0.600852960578394]} - solutions: [[150.000000, 25.745029, 97.430670, 79.388554, 99.456458, -16.924254], [150.000000, 126.667872, -86.475932, 98.267521, 101.557669, 67.777827], [-30.000000, 61.000000, 94.000000, -79.000000, 99.000000, 83.000000], [-30.000000, 157.972737, -83.045263, -97.148794, 102.275202, 1.289385], [150.000000, 25.745029, 97.430670, -100.611446, -99.456458, 163.075746], [150.000000, 126.667872, -86.475932, -81.732479, -101.557669, -112.222173], [-30.000000, 61.000000, 94.000000, 101.000000, -99.000000, -97.000000], [-30.000000, 157.972737, -83.045263, 82.851206, -102.275202, -178.710615]] + joints: [-30.000000, 61.000000, 94.000000, 101.000000, -98.000000, -97.000000] + pose: {translation: [-0.1554442195888672, 5.059276498195486e-05, -0.0430763807786167], quaternion: [-0.2415102372082439, -0.5715241891198042, -0.5021906337903667, 0.6023599205689221]} + solutions: [[150.000000, 25.745029, 97.430670, 80.387662, 99.627384, -16.758628], [150.000000, 126.667872, -86.475932, 98.534623, 100.592635, 67.829138], [-30.000000, 61.000000, 94.000000, -79.000000, 98.000000, 83.000000], [-30.000000, 157.972737, -83.045263, -96.136646, 102.129178, 1.503321], [150.000000, 25.745029, 97.430670, -99.612338, -99.627384, 163.241372], [150.000000, 126.667872, -86.475932, -81.465377, -100.592635, -112.170862], [-30.000000, 61.000000, 94.000000, 101.000000, -98.000000, -97.000000], [-30.000000, 157.972737, -83.045263, 83.863354, -102.129178, -178.496679]] - id: 1514 parameters: KukaKR6_R700_sixx - joints: [36.000000, -151.000000, -33.000000, -152.000000, 23.000000, -81.000000] - pose: {translation: [-0.5445075699013336, 0.4137471696622478, 0.4596699044019881], quaternion: [-0.5520528599592198, 0.6319972985980831, 0.5437571212476556, -0.01205186574907735]} - solutions: [[-144.000000, -40.789550, 64.289305, 84.414263, 10.621042, -139.238504], [-144.000000, 22.915251, -53.334567, 12.838385, 55.643611, -62.249683], [36.000000, 167.491766, 43.954737, -167.313842, 56.645424, -61.976445], [36.000000, -151.000000, -33.000000, -152.000000, 23.000000, -81.000000], [-144.000000, -40.789550, 64.289305, -95.585737, -10.621042, 40.761496], [-144.000000, 22.915251, -53.334567, -167.161615, -55.643611, 117.750317], [36.000000, 167.491766, 43.954737, 12.686158, -56.645424, 118.023555], [36.000000, -151.000000, -33.000000, 28.000000, -23.000000, 99.000000]] + joints: [36.000000, -150.000000, -33.000000, -152.000000, 23.000000, -81.000000] + pose: {translation: [-0.5435777477026478, 0.4130716142914191, 0.4720295176725834], quaternion: [-0.5482547781212997, 0.6290990398234119, 0.5508755851858181, -0.01368159371594913]} + solutions: [[-144.000000, -41.845265, 64.239755, 83.856146, 10.631799, -138.670648], [-144.000000, 21.805046, -53.285017, 12.829185, 55.702750, -62.233369], [36.000000, 168.491766, 43.954737, -167.313842, 56.645424, -61.976445], [36.000000, -150.000000, -33.000000, -152.000000, 23.000000, -81.000000], [-144.000000, -41.845265, 64.239755, -96.143854, -10.631799, 41.329352], [-144.000000, 21.805046, -53.285017, -167.170815, -55.702750, 117.766631], [36.000000, 168.491766, 43.954737, 12.686158, -56.645424, 118.023555], [36.000000, -150.000000, -33.000000, 28.000000, -23.000000, 99.000000]] - id: 1515 parameters: KukaKR6_R700_sixx joints: [175.000000, -120.000000, -29.000000, -72.000000, -17.000000, -148.000000] @@ -7581,14 +7581,14 @@ cases: solutions: [[-5.000000, -72.293113, 56.886780, -121.447321, 19.022251, 83.663241], [-5.000000, -16.704099, -45.932042, -25.670755, 39.932180, -19.002312], [175.000000, -157.172252, 39.954737, 154.404699, 40.064122, -19.100808], [175.000000, -120.000000, -29.000000, 108.000000, 17.000000, 32.000000], [-5.000000, -72.293113, 56.886780, 58.552679, -19.022251, -96.336759], [-5.000000, -16.704099, -45.932042, 154.329245, -39.932180, 160.997688], [175.000000, -157.172252, 39.954737, -25.595301, -40.064122, 160.899192], [175.000000, -120.000000, -29.000000, -72.000000, -17.000000, -148.000000]] - id: 1516 parameters: KukaKR6_R700_sixx - joints: [-88.000000, 63.000000, 86.000000, -139.000000, -146.000000, -112.000000] - pose: {translation: [0.02628197856606783, -0.08834270571272818, -0.03555803007138227], quaternion: [-0.1454866551457464, 0.2906308159979665, 0.396200436817965, 0.8587156548195174]} - solutions: [[92.000000, 32.724492, 89.176279, -23.704259, 114.138451, -157.958192], [92.000000, 124.191700, -78.221542, -117.815395, 155.493893, 92.114983], [-88.000000, 63.000000, 86.000000, 41.000000, 146.000000, 68.000000], [-88.000000, 150.869245, -75.045263, 151.347283, 130.084388, -167.163272], [92.000000, 32.724492, 89.176279, 156.295741, -114.138451, 22.041808], [92.000000, 124.191700, -78.221542, 62.184605, -155.493893, -87.885017], [-88.000000, 63.000000, 86.000000, -139.000000, -146.000000, -112.000000], [-88.000000, 150.869245, -75.045263, -28.652717, -130.084388, 12.836728]] + joints: [-88.000000, 63.000000, 86.000000, -139.000000, -145.000000, -112.000000] + pose: {translation: [0.02699716692902738, -0.08949352573749697, -0.03522095311537597], quaternion: [-0.1372379725483672, 0.291018291433572, 0.3943094253602727, 0.8608101823363555]} + solutions: [[92.000000, 32.724492, 89.176279, -24.496306, 114.831584, -158.286471], [92.000000, 124.191700, -78.221542, -118.767144, 154.578085, 91.252122], [-88.000000, 63.000000, 86.000000, 41.000000, 145.000000, 68.000000], [-88.000000, 150.869245, -75.045263, 150.265440, 130.650618, -167.863990], [92.000000, 32.724492, 89.176279, 155.503694, -114.831584, 21.713529], [92.000000, 124.191700, -78.221542, 61.232856, -154.578085, -88.747878], [-88.000000, 63.000000, 86.000000, -139.000000, -145.000000, -112.000000], [-88.000000, 150.869245, -75.045263, -29.734560, -130.650618, 12.136010]] - id: 1517 parameters: KukaKR6_R700_sixx - joints: [138.000000, -76.000000, 165.000000, 169.000000, -175.000000, 177.000000] - pose: {translation: [-0.09894088802023829, -0.09087701623768958, 0.4208735666177728], quaternion: [0.05022349311628454, 0.01423656618097589, 0.9550220966513616, -0.2919036070866726]} - solutions: [[138.000000, -76.000000, 165.000000, -11.000000, 175.000000, -3.000000], [138.000000, 129.056256, -154.045263, -178.991739, 70.922323, -172.370423], [-42.000000, 68.801599, 156.533355, 1.233516, 50.580149, -172.824196], [-42.000000, -107.406578, -145.578618, 4.934934, 168.853494, -167.198554], [138.000000, -76.000000, 165.000000, 169.000000, -175.000000, 177.000000], [138.000000, 129.056256, -154.045263, 1.008261, -70.922323, 7.629577], [-42.000000, 68.801599, 156.533355, -178.766484, -50.580149, 7.175804], [-42.000000, -107.406578, -145.578618, -175.065066, -168.853494, 12.801446]] + joints: [138.000000, -76.000000, 165.000000, 169.000000, -174.000000, 177.000000] + pose: {translation: [-0.09775147185500759, -0.09016290906273522, 0.4207159527644515], quaternion: [0.05867750924105481, 0.0163436706388397, 0.9545545578889023, -0.2917454890016935]} + solutions: [[138.000000, -76.000000, 165.000000, -11.000000, 174.000000, -3.000000], [138.000000, 129.056256, -154.045263, -178.797692, 71.905264, -172.432274], [-42.000000, 68.801599, 156.533355, 1.459047, 51.564638, -172.965911], [-42.000000, -107.406578, -145.578618, 6.474558, 169.812111, -165.685481], [138.000000, -76.000000, 165.000000, 169.000000, -174.000000, 177.000000], [138.000000, 129.056256, -154.045263, 1.202308, -71.905264, 7.567726], [-42.000000, 68.801599, 156.533355, -178.540953, -51.564638, 7.034089], [-42.000000, -107.406578, -145.578618, -173.525442, -169.812111, 14.314519]] - id: 1518 parameters: KukaKR6_R700_sixx joints: [163.000000, 126.000000, -11.000000, 37.000000, 67.000000, 77.000000] @@ -7596,34 +7596,34 @@ cases: solutions: [[-17.000000, 48.866333, 38.698852, -146.241198, 85.485194, 90.394580], [-17.000000, 84.678737, -27.744115, -140.543134, 60.658782, 71.441489], [163.000000, 108.264936, 21.954737, 42.394823, 55.248506, 65.913745], [163.000000, 126.000000, -11.000000, 37.000000, 67.000000, 77.000000], [-17.000000, 48.866333, 38.698852, 33.758802, -85.485194, -89.605420], [-17.000000, 84.678737, -27.744115, 39.456866, -60.658782, -108.558511], [163.000000, 108.264936, 21.954737, -137.605177, -55.248506, -114.086255], [163.000000, 126.000000, -11.000000, -143.000000, -67.000000, -103.000000]] - id: 1519 parameters: KukaKR6_R700_sixx - joints: [-163.000000, 129.000000, -162.000000, 131.000000, 151.000000, -1.000000] - pose: {translation: [-0.0309149747940525, 0.04006034775195069, 0.3665776321751132], quaternion: [-0.2933134852593238, 0.7202554213737314, -0.1857167613802423, 0.6005902196083542]} - solutions: [[-163.000000, -107.759228, 172.954737, 21.881566, 100.960794, -131.457948], [-163.000000, 129.000000, -162.000000, 131.000000, 151.000000, -1.000000], [17.000000, 72.906037, 163.440141, -29.810004, 132.607175, 22.975918], [17.000000, -86.588560, -152.485403, -157.550793, 106.630786, -129.080758], [-163.000000, -107.759228, 172.954737, -158.118434, -100.960794, 48.542052], [-163.000000, 129.000000, -162.000000, -49.000000, -151.000000, 179.000000], [17.000000, 72.906037, 163.440141, 150.189996, -132.607175, -157.024082], [17.000000, -86.588560, -152.485403, 22.449207, -106.630786, 50.919242]] + joints: [-163.000000, 129.000000, -162.000000, 131.000000, 150.000000, -1.000000] + pose: {translation: [-0.03078300759789811, 0.04097905335348564, 0.3676207365203441], quaternion: [-0.2950142031728986, 0.7150160071087848, -0.1830407749425208, 0.6068070568252412]} + solutions: [[-163.000000, -107.759228, 172.954737, 22.658321, 101.608684, -131.305944], [-163.000000, 129.000000, -162.000000, 131.000000, 150.000000, -1.000000], [17.000000, 72.906037, 163.440141, -30.354161, 131.692160, 22.610737], [17.000000, -86.588560, -152.485403, -156.726609, 107.245918, -128.840631], [-163.000000, -107.759228, 172.954737, -157.341679, -101.608684, 48.694056], [-163.000000, 129.000000, -162.000000, -49.000000, -150.000000, 179.000000], [17.000000, 72.906037, 163.440141, 149.645839, -131.692160, -157.389263], [17.000000, -86.588560, -152.485403, 23.273391, -107.245918, 51.159369]] - id: 1520 parameters: KukaKR6_R700_sixx - joints: [-80.000000, 40.000000, 77.000000, -77.000000, 66.000000, -4.000000] - pose: {translation: [-0.05235369096687546, 0.1131724342912968, -0.1651138328016287], quaternion: [-0.1307469463793263, -0.7857859309821897, 0.2254294330530831, 0.5609164620478709]} - solutions: [[-80.000000, 40.000000, 77.000000, -77.000000, 66.000000, -4.000000], [-80.000000, 117.772490, -66.045263, -62.905041, 90.946736, -66.270038], [100.000000, 69.140189, 73.516229, 116.149501, 97.419526, -79.156396], [100.000000, 143.037413, -62.561491, 109.668588, 70.958712, -22.031833], [-80.000000, 40.000000, 77.000000, 103.000000, -66.000000, 176.000000], [-80.000000, 117.772490, -66.045263, 117.094959, -90.946736, 113.729962], [100.000000, 69.140189, 73.516229, -63.850499, -97.419526, 100.843604], [100.000000, 143.037413, -62.561491, -70.331412, -70.958712, 157.968167]] + joints: [-80.000000, 39.000000, 77.000000, -77.000000, 66.000000, -4.000000] + pose: {translation: [-0.05064311512089768, 0.1228735919876678, -0.1636776107248446], quaternion: [-0.1262630782134921, -0.7885433252211829, 0.2184697096851878, 0.5608279997282976]} + solutions: [[-80.000000, 39.000000, 77.000000, -77.000000, 66.000000, -4.000000], [-80.000000, 116.772490, -66.045263, -62.905041, 90.946736, -66.270038], [100.000000, 70.255675, 73.262725, 116.165566, 97.358682, -79.031476], [100.000000, 143.871537, -62.307988, 109.697040, 70.988226, -22.119109], [-80.000000, 39.000000, 77.000000, 103.000000, -66.000000, 176.000000], [-80.000000, 116.772490, -66.045263, 117.094959, -90.946736, 113.729962], [100.000000, 70.255675, 73.262725, -63.834434, -97.358682, 100.968524], [100.000000, 143.871537, -62.307988, -70.302960, -70.988226, 157.880891]] - id: 1521 parameters: KukaKR6_R700_sixx - joints: [72.000000, 161.000000, 146.000000, 116.000000, -109.000000, 110.000000] - pose: {translation: [0.04292835952527264, 0.08788779176264269, 0.5692550837718295], quaternion: [0.6654008502388061, 0.5585422315724292, 0.4243211536560997, 0.2553895898652127]} - solutions: [[-108.000000, -159.997205, 149.280776, 60.774423, 103.148130, 165.849437], [-108.000000, 9.923728, -138.326039, 116.425627, 108.380561, -68.671867], [72.000000, 161.000000, 146.000000, -64.000000, 109.000000, -70.000000], [72.000000, -34.618978, -135.045263, -119.302582, 102.962045, 165.508539], [-108.000000, -159.997205, 149.280776, -119.225577, -103.148130, -14.150563], [-108.000000, 9.923728, -138.326039, -63.574373, -108.380561, 111.328133], [72.000000, 161.000000, 146.000000, 116.000000, -109.000000, 110.000000], [72.000000, -34.618978, -135.045263, 60.697418, -102.962045, -14.491461]] + joints: [72.000000, 160.000000, 146.000000, 116.000000, -109.000000, 110.000000] + pose: {translation: [0.04202003784133022, 0.09068331845577159, 0.567565730425354], quaternion: [0.6621116814920647, 0.5613538912822338, 0.4214637672389209, 0.2624085038233734]} + solutions: [[-108.000000, -159.069859, 149.434314, 60.757961, 103.108628, 165.776961], [-108.000000, 11.119506, -138.479576, 116.413050, 108.399355, -68.711732], [72.000000, 160.000000, 146.000000, -64.000000, 109.000000, -70.000000], [72.000000, -35.618978, -135.045263, -119.302582, 102.962045, 165.508539], [-108.000000, -159.069859, 149.434314, -119.242039, -103.108628, -14.223039], [-108.000000, 11.119506, -138.479576, -63.586950, -108.399355, 111.288268], [72.000000, 160.000000, 146.000000, 116.000000, -109.000000, 110.000000], [72.000000, -35.618978, -135.045263, 60.697418, -102.962045, -14.491461]] - id: 1522 parameters: KukaKR6_R700_sixx - joints: [-79.000000, 67.000000, -161.000000, 50.000000, -28.000000, -172.000000] - pose: {translation: [-0.01704288133955081, 0.0631056775862322, 0.5404900793810149], quaternion: [-0.2416912693395438, -0.108222756308005, 0.9493093456865311, -0.169366264451775]} - solutions: [[-79.000000, -164.666286, 171.954737, -155.974652, 117.954364, 66.261152], [-79.000000, 67.000000, -161.000000, -130.000000, 28.000000, 8.000000], [101.000000, 110.548819, 164.594505, 51.693219, 27.278014, 6.088752], [101.000000, -45.614136, -153.639767, 27.458436, 128.744556, 72.474138], [-79.000000, -164.666286, 171.954737, 24.025348, -117.954364, -113.738848], [-79.000000, 67.000000, -161.000000, 50.000000, -28.000000, -172.000000], [101.000000, 110.548819, 164.594505, -128.306781, -27.278014, -173.911248], [101.000000, -45.614136, -153.639767, -152.541564, -128.744556, -107.525862]] + joints: [-79.000000, 66.000000, -161.000000, 50.000000, -28.000000, -172.000000] + pose: {translation: [-0.01751170319565787, 0.06069379822362195, 0.5410567289149559], quaternion: [-0.2447135889154093, -0.1160686014542226, 0.9479437001492204, -0.1674696405442072]} + solutions: [[-79.000000, -165.666286, 171.954737, -155.974652, 117.954364, 66.261152], [-79.000000, 66.000000, -161.000000, -130.000000, 28.000000, 8.000000], [101.000000, 111.102629, 164.682428, 51.152644, 27.501420, 6.697575], [101.000000, -44.798227, -153.727691, 27.559690, 128.985816, 72.635500], [-79.000000, -165.666286, 171.954737, 24.025348, -117.954364, -113.738848], [-79.000000, 66.000000, -161.000000, 50.000000, -28.000000, -172.000000], [101.000000, 111.102629, 164.682428, -128.847356, -27.501420, -173.302425], [101.000000, -44.798227, -153.727691, -152.440310, -128.985816, -107.364500]] - id: 1523 parameters: KukaKR6_R700_sixx - joints: [-161.000000, 143.000000, -178.000000, 133.000000, -155.000000, -78.000000] - pose: {translation: [-0.01389196131708202, -0.02136805634630157, 0.387979039957026], quaternion: [0.461030378296901, 0.8157324431696027, -0.1062036861608473, 0.3327947543063374]} - solutions: [[-161.000000, 143.000000, -178.000000, -47.000000, 155.000000, 102.000000], [-161.000000, 95.876647, -171.045263, -139.692122, 151.458470, 2.877137], [19.000000, 94.177887, 172.768127, 29.970224, 141.776995, -9.444722], [19.000000, -30.046514, -161.813390, 160.197655, 114.167537, 137.797647], [-161.000000, 143.000000, -178.000000, 133.000000, -155.000000, -78.000000], [-161.000000, 95.876647, -171.045263, 40.307878, -151.458470, -177.122863], [19.000000, 94.177887, 172.768127, -150.029776, -141.776995, 170.555278], [19.000000, -30.046514, -161.813390, -19.802345, -114.167537, -42.202353]] + joints: [-161.000000, 143.000000, -178.000000, 133.000000, -154.000000, -78.000000] + pose: {translation: [-0.01512371149152023, -0.02191871272228112, 0.3876197753448575], quaternion: [0.4640461968939286, 0.8153986506773038, -0.1123261337814213, 0.3273667779290256]} + solutions: [[-161.000000, 143.000000, -178.000000, -47.000000, 154.000000, 102.000000], [-161.000000, 95.876647, -171.045263, -137.615781, 151.601297, 4.702424], [19.000000, 94.177887, 172.768127, 31.486652, 142.132906, -8.250462], [19.000000, -30.046514, -161.813390, 159.560547, 113.355132, 137.540930], [-161.000000, 143.000000, -178.000000, 133.000000, -154.000000, -78.000000], [-161.000000, 95.876647, -171.045263, 42.384219, -151.601297, -175.297576], [19.000000, 94.177887, 172.768127, -148.513348, -142.132906, 171.749538], [19.000000, -30.046514, -161.813390, -20.439453, -113.355132, -42.459070]] - id: 1524 parameters: KukaKR6_R700_sixx - joints: [-48.000000, 87.000000, 157.000000, 11.000000, 9.000000, 143.000000] - pose: {translation: [-0.1143689864487718, -0.1305883304297155, 0.4745521185264805], quaternion: [0.1436891672866565, 0.04279036837607544, -0.7875774973417371, 0.5976989988778911]} - solutions: [[132.000000, -103.565737, 166.199661, -177.561620, 135.445255, 155.605874], [132.000000, 105.263218, -155.244923, -175.603531, 22.916067, 149.817129], [-48.000000, 87.000000, 157.000000, 11.000000, 9.000000, 143.000000], [-48.000000, -88.212468, -146.045263, 2.144074, 127.075707, 155.160797], [132.000000, -103.565737, 166.199661, 2.438380, -135.445255, -24.394126], [132.000000, 105.263218, -155.244923, 4.396469, -22.916067, -30.182871], [-48.000000, 87.000000, 157.000000, -169.000000, -9.000000, -37.000000], [-48.000000, -88.212468, -146.045263, -177.855926, -127.075707, -24.839203]] + joints: [-48.000000, 86.000000, 157.000000, 11.000000, 9.000000, 143.000000] + pose: {translation: [-0.1152193645407414, -0.1315327709809935, 0.4710751726664609], quaternion: [0.1521586379013049, 0.04440616268377841, -0.7864309812200116, 0.5969942658058375]} + solutions: [[132.000000, -102.158689, 166.195231, -177.544037, 135.847506, 155.630465], [132.000000, 106.655852, -155.240494, -175.674271, 23.311980, 149.894042], [-48.000000, 86.000000, 157.000000, 11.000000, 9.000000, 143.000000], [-48.000000, -89.212468, -146.045263, 2.144074, 127.075707, 155.160797], [132.000000, -102.158689, 166.195231, 2.455963, -135.847506, -24.369535], [132.000000, 106.655852, -155.240494, 4.325729, -23.311980, -30.105958], [-48.000000, 86.000000, 157.000000, -169.000000, -9.000000, -37.000000], [-48.000000, -89.212468, -146.045263, -177.855926, -127.075707, -24.839203]] - id: 1525 parameters: KukaKR6_R700_sixx joints: [17.000000, -7.000000, -89.000000, -106.000000, -63.000000, 6.000000] @@ -7631,24 +7631,24 @@ cases: solutions: [[17.000000, -110.849803, 99.954737, 116.732450, 73.534472, 93.092127], [17.000000, -7.000000, -89.000000, 74.000000, 63.000000, -174.000000], [-163.000000, -174.201750, 93.384627, -107.522656, 63.918193, -170.593277], [-163.000000, -77.934379, -82.429890, -65.890569, 69.775477, 101.408431], [17.000000, -110.849803, 99.954737, -63.267550, -73.534472, -86.907873], [17.000000, -7.000000, -89.000000, -106.000000, -63.000000, 6.000000], [-163.000000, -174.201750, 93.384627, 72.477344, -63.918193, 9.406723], [-163.000000, -77.934379, -82.429890, 114.109431, -69.775477, -78.591569]] - id: 1526 parameters: KukaKR6_R700_sixx - joints: [-28.000000, -151.000000, 175.000000, -43.000000, 10.000000, 103.000000] - pose: {translation: [0.1412522595185871, 0.08583537848443218, 0.3949041616686852], quaternion: [0.6277759668370937, -0.6034777267928748, 0.08689699430657198, -0.4839017267040285]} - solutions: [[-28.000000, -151.000000, 175.000000, -43.000000, 10.000000, 103.000000], [-28.000000, 97.688519, -164.045263, -6.862749, 97.650356, 59.519310], [152.000000, 92.838283, 165.741737, 172.769874, 109.782063, 57.978697], [152.000000, -59.803397, -154.786999, 64.629278, 7.531358, 176.000683], [-28.000000, -151.000000, 175.000000, 137.000000, -10.000000, -77.000000], [-28.000000, 97.688519, -164.045263, 173.137251, -97.650356, -120.480690], [152.000000, 92.838283, 165.741737, -7.230126, -109.782063, -122.021303], [152.000000, -59.803397, -154.786999, -115.370722, -7.531358, -3.999317]] + joints: [-28.000000, -150.000000, 175.000000, -43.000000, 10.000000, 103.000000] + pose: {translation: [0.1411549059840408, 0.08578361469190834, 0.3924613284247208], quaternion: [0.6304040885339919, -0.6068272417446494, 0.08452898947713233, -0.4766615505515236]} + solutions: [[-28.000000, -150.000000, 175.000000, -43.000000, 10.000000, 103.000000], [-28.000000, 98.688519, -164.045263, -6.862749, 97.650356, 59.519310], [152.000000, 92.286829, 165.696152, 172.751410, 110.181812, 57.924665], [152.000000, -60.499128, -154.741414, 67.067494, 7.388181, 173.541663], [-28.000000, -150.000000, 175.000000, 137.000000, -10.000000, -77.000000], [-28.000000, 98.688519, -164.045263, 173.137251, -97.650356, -120.480690], [152.000000, 92.286829, 165.696152, -7.248590, -110.181812, -122.075335], [152.000000, -60.499128, -154.741414, -112.932506, -7.388181, -6.458337]] - id: 1527 parameters: KukaKR6_R700_sixx - joints: [-111.000000, -163.000000, 66.000000, -107.000000, -9.000000, 35.000000] - pose: {translation: [0.1407069945739048, -0.3331586273933596, 0.9289830213980083], quaternion: [0.08326784570570743, -0.01078727809764848, 0.9959969223682286, -0.03066318861096176]} - solutions: [[69.000000, -91.882737, 75.709803, -170.822936, 69.719530, -75.404527], [69.000000, -15.547361, -64.755066, -121.638079, 10.120204, -130.158746], [-111.000000, -163.000000, 66.000000, 73.000000, 9.000000, -145.000000], [-111.000000, -97.412494, -55.045263, 10.104047, 58.509388, -77.517490], [69.000000, -91.882737, 75.709803, 9.177064, -69.719530, 104.595473], [69.000000, -15.547361, -64.755066, 58.361921, -10.120204, 49.841254], [-111.000000, -163.000000, 66.000000, -107.000000, -9.000000, 35.000000], [-111.000000, -97.412494, -55.045263, -169.895953, -58.509388, 102.482510]] + joints: [-111.000000, -162.000000, 66.000000, -107.000000, -9.000000, 35.000000] + pose: {translation: [0.1373774389181563, -0.3244848383642798, 0.9356470288246986], quaternion: [0.08039969398368957, -0.002576664067105015, 0.9963072853977626, -0.03001737951513559]} + solutions: [[69.000000, -92.818904, 75.501099, -170.814361, 69.576516, -75.429182], [69.000000, -16.715779, -64.546362, -121.829832, 10.141394, -129.963957], [-111.000000, -162.000000, 66.000000, 73.000000, 9.000000, -145.000000], [-111.000000, -96.412494, -55.045263, 10.104047, 58.509388, -77.517490], [69.000000, -92.818904, 75.501099, 9.185639, -69.576516, 104.570818], [69.000000, -16.715779, -64.546362, 58.170168, -10.141394, 50.036043], [-111.000000, -162.000000, 66.000000, -107.000000, -9.000000, 35.000000], [-111.000000, -96.412494, -55.045263, -169.895953, -58.509388, 102.482510]] - id: 1528 parameters: KukaKR6_R700_sixx - joints: [138.000000, -125.000000, -5.000000, 85.000000, 137.000000, -158.000000] - pose: {translation: [0.2429455741469299, 0.2918873467683947, 0.8733781816515871], quaternion: [0.2801215588698738, 0.8261676345476641, -0.067416951377304, -0.4841837528761364]} - solutions: [[-42.000000, -72.461851, 42.082378, -74.407903, 135.141311, -129.690027], [-42.000000, -32.984204, -31.127641, -109.152485, 134.010504, -177.737626], [138.000000, -136.273812, 15.954737, 75.036719, 135.311721, -171.780942], [138.000000, -125.000000, -5.000000, 85.000000, 137.000000, -158.000000], [-42.000000, -72.461851, 42.082378, 105.592097, -135.141311, 50.309973], [-42.000000, -32.984204, -31.127641, 70.847515, -134.010504, 2.262374], [138.000000, -136.273812, 15.954737, -104.963281, -135.311721, 8.219058], [138.000000, -125.000000, -5.000000, -95.000000, -137.000000, 22.000000]] + joints: [138.000000, -124.000000, -5.000000, 85.000000, 136.000000, -158.000000] + pose: {translation: [0.2364840394081501, 0.287427026619012, 0.8811044349676452], quaternion: [0.279772583441698, 0.8259495704980276, -0.05581203489567775, -0.4862300127607154]} + solutions: [[-42.000000, -73.302932, 41.703934, -75.277054, 134.315158, -130.452251], [-42.000000, -34.235501, -30.749197, -108.577524, 133.108939, -177.254208], [138.000000, -135.273812, 15.954737, 75.369770, 134.340018, -171.546147], [138.000000, -124.000000, -5.000000, 85.000000, 136.000000, -158.000000], [-42.000000, -73.302932, 41.703934, 104.722946, -134.315158, 49.547749], [-42.000000, -34.235501, -30.749197, 71.422476, -133.108939, 2.745792], [138.000000, -135.273812, 15.954737, -104.630230, -134.340018, 8.453853], [138.000000, -124.000000, -5.000000, -95.000000, -136.000000, 22.000000]] - id: 1529 parameters: KukaKR6_R700_sixx - joints: [-90.000000, -179.000000, 100.000000, 77.000000, 25.000000, -114.000000] - pose: {translation: [0.0329429266457367, -0.2333634179061813, 0.8401910608189831], quaternion: [0.1244888091428319, 0.2207811392115714, 0.8565030797133791, 0.4496228412882706]} - solutions: [[90.000000, -113.898924, 106.377320, -155.386737, 98.620027, -34.363362], [90.000000, -2.509406, -95.422582, -109.204925, 25.852368, -107.131308], [-90.000000, -179.000000, 100.000000, 77.000000, 25.000000, -114.000000], [-90.000000, -75.097538, -89.045263, 24.321304, 91.030667, -37.825497], [90.000000, -113.898924, 106.377320, 24.613263, -98.620027, 145.636638], [90.000000, -2.509406, -95.422582, 70.795075, -25.852368, 72.868692], [-90.000000, -179.000000, 100.000000, -103.000000, -25.000000, 66.000000], [-90.000000, -75.097538, -89.045263, -155.678696, -91.030667, 142.174503]] + joints: [-90.000000, -178.000000, 100.000000, 77.000000, 25.000000, -114.000000] + pose: {translation: [0.0329429266457367, -0.2256416746027509, 0.8446330809661317], quaternion: [0.1205604193050528, 0.2282470370718868, 0.8545438122518747, 0.4506920770403308]} + solutions: [[90.000000, -114.861029, 106.212978, -155.394666, 98.505066, -34.416612], [90.000000, -3.666270, -95.258240, -109.219498, 25.854829, -107.115114], [-90.000000, -178.000000, 100.000000, 77.000000, 25.000000, -114.000000], [-90.000000, -74.097538, -89.045263, 24.321304, 91.030667, -37.825497], [90.000000, -114.861029, 106.212978, 24.605334, -98.505066, 145.583388], [90.000000, -3.666270, -95.258240, 70.780502, -25.854829, 72.884886], [-90.000000, -178.000000, 100.000000, -103.000000, -25.000000, 66.000000], [-90.000000, -74.097538, -89.045263, -155.678696, -91.030667, 142.174503]] - id: 1530 parameters: KukaKR6_R700_sixx joints: [148.000000, 155.000000, 152.000000, 22.000000, -43.000000, 62.000000] @@ -7656,14 +7656,14 @@ cases: solutions: [[-32.000000, -166.836193, 155.232045, 164.668540, 75.073645, 82.501039], [-32.000000, 14.256552, -144.277308, 20.872604, 45.812016, -116.422421], [148.000000, 155.000000, 152.000000, -158.000000, 43.000000, -118.000000], [148.000000, -30.183630, -141.045263, -15.151798, 77.807078, 81.734977], [-32.000000, -166.836193, 155.232045, -15.331460, -75.073645, -97.498961], [-32.000000, 14.256552, -144.277308, -159.127396, -45.812016, 63.577579], [148.000000, 155.000000, 152.000000, 22.000000, -43.000000, 62.000000], [148.000000, -30.183630, -141.045263, 164.848202, -77.807078, -98.265023]] - id: 1531 parameters: KukaKR6_R700_sixx - joints: [-86.000000, -14.000000, -77.000000, -154.000000, 122.000000, 122.000000] - pose: {translation: [-0.01369062727863926, 0.230566524561864, 0.7970876805553864], quaternion: [-0.01718433879545982, 0.8782227893070216, -0.4079437738411124, -0.249020698389168]} - solutions: [[-86.000000, -104.081099, 87.954737, -49.935397, 150.937862, -118.596106], [-86.000000, -14.000000, -77.000000, -154.000000, 122.000000, 122.000000], [94.000000, -166.421696, 80.635990, 25.180330, 119.100791, 120.388011], [94.000000, -84.586055, -69.681252, 113.598670, 156.065842, -136.945528], [-86.000000, -104.081099, 87.954737, 130.064603, -150.937862, 61.403894], [-86.000000, -14.000000, -77.000000, 26.000000, -122.000000, -58.000000], [94.000000, -166.421696, 80.635990, -154.819670, -119.100791, -59.611989], [94.000000, -84.586055, -69.681252, -66.401330, -156.065842, 43.054472]] + joints: [-86.000000, -14.000000, -77.000000, -154.000000, 121.000000, 122.000000] + pose: {translation: [-0.01405683782472954, 0.229914100768011, 0.7982665507888467], quaternion: [-0.01714008900697173, 0.8740187913012789, -0.4145070140597129, -0.2529452610672627]} + solutions: [[-86.000000, -104.081099, 87.954737, -51.756504, 151.416704, -120.191652], [-86.000000, -14.000000, -77.000000, -154.000000, 121.000000, 122.000000], [94.000000, -166.421696, 80.635990, 25.212219, 118.101183, 120.403277], [94.000000, -84.586055, -69.681252, 111.162290, 156.238500, -139.173953], [-86.000000, -104.081099, 87.954737, 128.243496, -151.416704, 59.808348], [-86.000000, -14.000000, -77.000000, 26.000000, -121.000000, -58.000000], [94.000000, -166.421696, 80.635990, -154.787781, -118.101183, -59.596723], [94.000000, -84.586055, -69.681252, -68.837710, -156.238500, 40.826047]] - id: 1532 parameters: KukaKR6_R700_sixx - joints: [-113.000000, 176.000000, 103.000000, -62.000000, 83.000000, 152.000000] - pose: {translation: [0.0246910975266878, -0.2375996360995843, 0.7478061468706161], quaternion: [-0.2451968375855857, -0.6450899948248606, 0.1889731167255226, 0.6985889854341617]} - solutions: [[67.000000, -112.607170, 109.740258, 94.656989, 118.445686, 58.795229], [67.000000, 2.791605, -98.785521, 118.292269, 84.418294, 149.333401], [-113.000000, 176.000000, 103.000000, -62.000000, 83.000000, 152.000000], [-113.000000, -76.592841, -92.045263, -80.861888, 117.422859, 68.343250], [67.000000, -112.607170, 109.740258, -85.343011, -118.445686, -121.204771], [67.000000, 2.791605, -98.785521, -61.707731, -84.418294, -30.666599], [-113.000000, 176.000000, 103.000000, 118.000000, -83.000000, -28.000000], [-113.000000, -76.592841, -92.045263, 99.138112, -117.422859, -111.656750]] + joints: [-113.000000, 175.000000, 103.000000, -62.000000, 83.000000, 152.000000] + pose: {translation: [0.02704777920095319, -0.243151630197396, 0.7433314466010719], quaternion: [-0.2389315157406387, -0.6442014193142166, 0.1846200852888502, 0.7027315890490249]} + solutions: [[67.000000, -111.629345, 109.892820, 94.586569, 118.456193, 58.647415], [67.000000, 3.952445, -98.938083, 118.292981, 84.422217, 149.326077], [-113.000000, 175.000000, 103.000000, -62.000000, 83.000000, 152.000000], [-113.000000, -77.592841, -92.045263, -80.861888, 117.422859, 68.343250], [67.000000, -111.629345, 109.892820, -85.413431, -118.456193, -121.352585], [67.000000, 3.952445, -98.938083, -61.707019, -84.422217, -30.673923], [-113.000000, 175.000000, 103.000000, 118.000000, -83.000000, -28.000000], [-113.000000, -77.592841, -92.045263, 99.138112, -117.422859, -111.656750]] - id: 1533 parameters: KukaKR6_R700_sixx joints: [166.000000, -18.000000, -51.000000, -92.000000, -59.000000, -13.000000] @@ -7671,34 +7671,34 @@ cases: solutions: [[166.000000, -79.140062, 61.954737, 114.274671, 70.006496, 110.288668], [166.000000, -18.000000, -51.000000, 88.000000, 59.000000, 167.000000], [-14.000000, -157.844867, 48.148630, -92.781896, 59.054394, 168.519268], [-14.000000, -111.781608, -37.193893, -71.097644, 64.887414, 124.223098], [166.000000, -79.140062, 61.954737, -65.725329, -70.006496, -69.711332], [166.000000, -18.000000, -51.000000, -92.000000, -59.000000, -13.000000], [-14.000000, -157.844867, 48.148630, 87.218104, -59.054394, -11.480732], [-14.000000, -111.781608, -37.193893, 108.902356, -64.887414, -55.776902]] - id: 1534 parameters: KukaKR6_R700_sixx - joints: [145.000000, 74.000000, -79.000000, 1.000000, -76.000000, 64.000000] - pose: {translation: [-0.396431567339361, -0.2792381791349337, 0.2428845160920656], quaternion: [-0.0444084614941426, -0.0652481987829012, 0.9647657930845444, 0.2509930787835801]} - solutions: [[145.000000, -18.352171, 89.954737, -177.892296, 152.584672, -113.886884], [145.000000, 74.000000, -79.000000, -179.000000, 76.000000, -116.000000], [-35.000000, 115.174896, 77.975857, 1.047610, 67.850543, -116.153067], [-35.000000, -165.964059, -67.021120, 1.348362, 133.975201, -114.821734], [145.000000, -18.352171, 89.954737, 2.107704, -152.584672, 66.113116], [145.000000, 74.000000, -79.000000, 1.000000, -76.000000, 64.000000], [-35.000000, 115.174896, 77.975857, -178.952390, -67.850543, 63.846933], [-35.000000, -165.964059, -67.021120, -178.651638, -133.975201, 65.178266]] + joints: [145.000000, 73.000000, -79.000000, 1.000000, -75.000000, 64.000000] + pose: {translation: [-0.3997550094182599, -0.2815578301150276, 0.2507285198082739], quaternion: [-0.0444285722993932, -0.06523102253256734, 0.964728238339658, 0.251138292207408]} + solutions: [[145.000000, -19.352171, 89.954737, -177.969780, 151.585330, -113.955355], [145.000000, 73.000000, -79.000000, -179.000000, 75.000000, -116.000000], [-35.000000, 116.151413, 77.870429, 1.049509, 66.979436, -116.151618], [-35.000000, -165.105212, -66.915692, 1.321026, 133.011125, -114.839946], [145.000000, -19.352171, 89.954737, 2.030220, -151.585330, 66.044645], [145.000000, 73.000000, -79.000000, 1.000000, -75.000000, 64.000000], [-35.000000, 116.151413, 77.870429, -178.950491, -66.979436, 63.848382], [-35.000000, -165.105212, -66.915692, -178.678974, -133.011125, 65.160054]] - id: 1535 parameters: KukaKR6_R700_sixx - joints: [174.000000, -107.000000, 27.000000, -133.000000, -149.000000, -142.000000] - pose: {translation: [0.01914524682304752, 0.03231223322862666, 0.9943573289744696], quaternion: [0.975959722285584, -0.008516343803373969, -0.1221556014220147, -0.1803000316297654]} - solutions: [[-6.000000, -101.775329, 29.449484, -76.989881, 157.256964, 99.475819], [-6.000000, -75.959188, -18.494747, -125.306916, 152.511333, 46.808574], [174.000000, -107.000000, 27.000000, 47.000000, 149.000000, 38.000000], [174.000000, -83.826503, -16.045263, 84.092578, 157.747685, 79.031793], [-6.000000, -101.775329, 29.449484, 103.010119, -157.256964, -80.524181], [-6.000000, -75.959188, -18.494747, 54.693084, -152.511333, -133.191426], [174.000000, -107.000000, 27.000000, -133.000000, -149.000000, -142.000000], [174.000000, -83.826503, -16.045263, -95.907422, -157.747685, -100.968207]] + joints: [174.000000, -106.000000, 27.000000, -133.000000, -149.000000, -142.000000] + pose: {translation: [0.008821922924698491, 0.03122720816489079, 0.9950943622036426], quaternion: [0.9768182517663936, -0.006839817281828132, -0.1136886269463667, -0.1812573199036322]} + solutions: [[-6.000000, -102.387034, 28.728284, -77.766236, 157.329711, 98.634238], [-6.000000, -77.349137, -17.773547, -124.783582, 152.701547, 47.398001], [174.000000, -106.000000, 27.000000, 47.000000, 149.000000, 38.000000], [174.000000, -82.826503, -16.045263, 84.092578, 157.747685, 79.031793], [-6.000000, -102.387034, 28.728284, 102.233764, -157.329711, -81.365762], [-6.000000, -77.349137, -17.773547, 55.216418, -152.701547, -132.601999], [174.000000, -106.000000, 27.000000, -133.000000, -149.000000, -142.000000], [174.000000, -82.826503, -16.045263, -95.907422, -157.747685, -100.968207]] - id: 1536 parameters: KukaKR6_R700_sixx - joints: [11.000000, 163.000000, 155.000000, -174.000000, -5.000000, 97.000000] - pose: {translation: [0.03466705371434282, -0.007481054196620149, 0.6263192401345737], quaternion: [0.3127996589104624, 0.3179173716562997, 0.4859138040883554, 0.7516466544733849]} - solutions: [[-169.000000, 179.320589, 156.419195, -179.404837, 118.711229, -76.736745], [-169.000000, 2.871140, -145.464458, -126.012254, 0.645316, -131.008683], [11.000000, 163.000000, 155.000000, 6.000000, 5.000000, -83.000000], [11.000000, -16.377250, -144.045263, 0.625206, 123.393692, -76.678550], [-169.000000, 179.320589, 156.419195, 0.595163, -118.711229, 103.263255], [-169.000000, 2.871140, -145.464458, 53.987746, -0.645316, 48.991317], [11.000000, 163.000000, 155.000000, -174.000000, -5.000000, 97.000000], [11.000000, -16.377250, -144.045263, -179.374794, -123.393692, 103.321450]] + joints: [11.000000, 162.000000, 155.000000, -174.000000, -5.000000, 97.000000] + pose: {translation: [0.03078824410784703, -0.006727089986223139, 0.6264672804626644], quaternion: [0.3073737435104798, 0.3122756032013884, 0.4880454431302738, 0.7548622224521091]} + solutions: [[-169.000000, -179.839435, 156.577945, -179.404845, 118.709955, -76.736760], [-169.000000, 4.046871, -145.623208, -127.213020, 0.655444, -129.807841], [11.000000, 162.000000, 155.000000, 6.000000, 5.000000, -83.000000], [11.000000, -17.377250, -144.045263, 0.625206, 123.393692, -76.678550], [-169.000000, -179.839435, 156.577945, 0.595155, -118.709955, 103.263240], [-169.000000, 4.046871, -145.623208, 52.786980, -0.655444, 50.192159], [11.000000, 162.000000, 155.000000, -174.000000, -5.000000, 97.000000], [11.000000, -17.377250, -144.045263, -179.374794, -123.393692, 103.321450]] - id: 1537 parameters: KukaKR6_R700_sixx - joints: [4.000000, -64.000000, 70.000000, 158.000000, 134.000000, -160.000000] - pose: {translation: [0.4773818001480724, -0.05499198328441328, 0.7386489532496849], quaternion: [0.2157265703957674, -0.292408918209945, -0.2718497595926272, 0.8910986362833244]} - solutions: [[4.000000, -64.000000, 70.000000, 158.000000, 134.000000, -160.000000], [4.000000, 6.001688, -59.045263, 163.984377, 77.605883, -140.797206], [-176.000000, -179.573472, 54.217367, -16.119214, 76.068069, -140.342351], [-176.000000, -126.900085, -43.262630, -17.961950, 119.095836, -153.281201], [4.000000, -64.000000, 70.000000, -22.000000, -134.000000, 20.000000], [4.000000, 6.001688, -59.045263, -16.015623, -77.605883, 39.202794], [-176.000000, -179.573472, 54.217367, 163.880786, -76.068069, 39.657649], [-176.000000, -126.900085, -43.262630, 162.038050, -119.095836, 26.718799]] + joints: [4.000000, -64.000000, 70.000000, 158.000000, 133.000000, -160.000000] + pose: {translation: [0.478454405384697, -0.05542790525804452, 0.7394293326685981], quaternion: [0.2152879768076512, -0.2842791661330302, -0.2709431327494286, 0.8941064039367478]} + solutions: [[4.000000, -64.000000, 70.000000, 158.000000, 133.000000, -160.000000], [4.000000, 6.001688, -59.045263, 163.646361, 76.661737, -140.721936], [-176.000000, -179.573472, 54.217367, -16.467259, 75.126601, -140.255776], [-176.000000, -126.900085, -43.262630, -18.094577, 118.102638, -153.344689], [4.000000, -64.000000, 70.000000, -22.000000, -133.000000, 20.000000], [4.000000, 6.001688, -59.045263, -16.353639, -76.661737, 39.278064], [-176.000000, -179.573472, 54.217367, 163.532741, -75.126601, 39.744224], [-176.000000, -126.900085, -43.262630, 161.905423, -118.102638, 26.655311]] - id: 1538 parameters: KukaKR6_R700_sixx - joints: [144.000000, -166.000000, 174.000000, 23.000000, 133.000000, -114.000000] - pose: {translation: [-0.03297624654088865, 0.004299120048361194, 0.4143268275261339], quaternion: [0.6496304372099013, -0.6032029993675854, -0.07447410357386783, -0.456705643167774]} - solutions: [[144.000000, -166.000000, 174.000000, 23.000000, 133.000000, -114.000000], [144.000000, 76.578116, -163.045263, 158.684597, 128.173904, 36.296222], [-36.000000, 104.359130, 166.024382, -20.291618, 124.512545, 38.022810], [-36.000000, -47.379468, -155.069644, -160.832351, 119.501475, -120.431734], [144.000000, -166.000000, 174.000000, -157.000000, -133.000000, 66.000000], [144.000000, 76.578116, -163.045263, -21.315403, -128.173904, -143.703778], [-36.000000, 104.359130, 166.024382, 159.708382, -124.512545, -141.977190], [-36.000000, -47.379468, -155.069644, 19.167649, -119.501475, 59.568266]] + joints: [144.000000, -165.000000, 174.000000, 23.000000, 132.000000, -114.000000] + pose: {translation: [-0.03410795173224829, 0.003932469047227709, 0.4133208063610856], quaternion: [0.6517245269266758, -0.6006170139308112, -0.07545677037237515, -0.4569689479428632]} + solutions: [[144.000000, -165.000000, 174.000000, 23.000000, 132.000000, -114.000000], [144.000000, 77.578116, -163.045263, 158.046639, 129.040787, 35.898135], [-36.000000, 103.832729, 165.947144, -20.767673, 125.023848, 37.865516], [-36.000000, -48.154123, -154.992407, -160.650180, 118.793247, -120.255836], [144.000000, -165.000000, 174.000000, -157.000000, -132.000000, 66.000000], [144.000000, 77.578116, -163.045263, -21.953361, -129.040787, -144.101865], [-36.000000, 103.832729, 165.947144, 159.232327, -125.023848, -142.134484], [-36.000000, -48.154123, -154.992407, 19.349820, -118.793247, 59.744164]] - id: 1539 parameters: KukaKR6_R700_sixx - joints: [69.000000, -118.000000, 106.000000, 55.000000, 30.000000, -86.000000] - pose: {translation: [0.07670616716341375, -0.2912577928896262, 0.780214272801915], quaternion: [0.6599471494496577, 0.3386767790989648, -0.3401312564759938, 0.5779952660709983]} - solutions: [[69.000000, -118.000000, 106.000000, 55.000000, 30.000000, -86.000000], [69.000000, -7.057484, -95.045263, 25.324422, 106.758646, -27.186643], [-111.000000, -175.109345, 100.319849, -154.235887, 109.562777, -25.776434], [-111.000000, -70.834586, -89.365112, -134.441802, 35.006292, -74.825427], [69.000000, -118.000000, 106.000000, -125.000000, -30.000000, 94.000000], [69.000000, -7.057484, -95.045263, -154.675578, -106.758646, 152.813357], [-111.000000, -175.109345, 100.319849, 25.764113, -109.562777, 154.223566], [-111.000000, -70.834586, -89.365112, 45.558198, -35.006292, 105.174573]] + joints: [69.000000, -117.000000, 106.000000, 55.000000, 30.000000, -86.000000] + pose: {translation: [0.07906919572727789, -0.2974136927609078, 0.775367395965488], quaternion: [0.6635672073617233, 0.3432424771318848, -0.3394229915072001, 0.5715375718558093]} + solutions: [[69.000000, -117.000000, 106.000000, 55.000000, 30.000000, -86.000000], [69.000000, -6.057484, -95.045263, 25.324422, 106.758646, -27.186643], [-111.000000, -175.952129, 100.151971, -154.237534, 109.553174, -25.781352], [-111.000000, -71.872816, -89.197233, -134.573594, 35.097176, -74.664436], [69.000000, -117.000000, 106.000000, -125.000000, -30.000000, 94.000000], [69.000000, -6.057484, -95.045263, -154.675578, -106.758646, 152.813357], [-111.000000, -175.952129, 100.151971, 25.762466, -109.553174, 154.218648], [-111.000000, -71.872816, -89.197233, 45.426406, -35.097176, 105.335564]] - id: 1540 parameters: KukaKR6_R700_sixx joints: [113.000000, -102.000000, -129.000000, 132.000000, 85.000000, 20.000000] @@ -7716,14 +7716,14 @@ cases: solutions: [[-154.000000, -68.855974, 79.534353, 130.274237, 18.135059, -72.047649], [-154.000000, 11.746481, -68.579616, 16.511939, 56.673576, 50.421481], [26.000000, 173.462346, 65.954737, -163.942418, 59.153908, 51.276617], [26.000000, -121.000000, -55.000000, -101.000000, 14.000000, -19.000000], [-154.000000, -68.855974, 79.534353, -49.725763, -18.135059, 107.952351], [-154.000000, 11.746481, -68.579616, -163.488061, -56.673576, -129.578519], [26.000000, 173.462346, 65.954737, 16.057582, -59.153908, -128.723383], [26.000000, -121.000000, -55.000000, 79.000000, -14.000000, 161.000000]] - id: 1543 parameters: KukaKR6_R700_sixx - joints: [-86.000000, 81.000000, -143.000000, -86.000000, -165.000000, -148.000000] - pose: {translation: [0.03296405265258653, 0.1753051326619577, 0.3600346767296334], quaternion: [-0.2303638459417003, 0.9322689788601268, -0.273877263356065, 0.05289890504195491]} - solutions: [[-86.000000, -97.544889, 153.954737, 16.744115, 63.660842, -69.743745], [-86.000000, 81.000000, -143.000000, 94.000000, 165.000000, 32.000000], [94.000000, 105.268320, 144.895621, -59.015780, 162.472616, 60.058895], [94.000000, -92.140140, -133.940883, -164.385589, 73.583153, -66.656841], [-86.000000, -97.544889, 153.954737, -163.255885, -63.660842, 110.256255], [-86.000000, 81.000000, -143.000000, -86.000000, -165.000000, -148.000000], [94.000000, 105.268320, 144.895621, 120.984220, -162.472616, -119.941105], [94.000000, -92.140140, -133.940883, 15.614411, -73.583153, 113.343159]] + joints: [-86.000000, 80.000000, -143.000000, -86.000000, -164.000000, -148.000000] + pose: {translation: [0.03435599144603078, 0.1759697409144194, 0.3630716990406803], quaternion: [-0.2314303324027814, 0.9329097885753165, -0.2685030327298505, 0.06344642652797083]} + solutions: [[-86.000000, -98.544889, 153.954737, 17.834662, 63.868501, -70.225844], [-86.000000, 80.000000, -143.000000, 94.000000, 164.000000, 32.000000], [94.000000, 106.046985, 144.915082, -61.035468, 161.682911, 58.083329], [94.000000, -91.330236, -133.960344, -163.338133, 73.535404, -67.009170], [-86.000000, -98.544889, 153.954737, -162.165338, -63.868501, 109.774156], [-86.000000, 80.000000, -143.000000, -86.000000, -164.000000, -148.000000], [94.000000, 106.046985, 144.915082, 118.964532, -161.682911, -121.916671], [94.000000, -91.330236, -133.960344, 16.661867, -73.535404, 112.990830]] - id: 1544 parameters: KukaKR6_R700_sixx - joints: [-148.000000, 67.000000, -175.000000, 90.000000, 49.000000, 91.000000] - pose: {translation: [0.04405112698684216, 0.04366877985358975, 0.4962769419747446], quaternion: [-0.3566499653752538, 0.2466296715725498, -0.1930602458508718, 0.8801717723091598]} - solutions: [[-148.000000, 67.000000, -175.000000, 90.000000, 49.000000, 91.000000], [-148.000000, 60.231589, -174.045263, 84.967896, 49.255681, 98.683350], [32.000000, 76.647308, -176.955572, -67.597124, 54.718067, 55.484833], [32.000000, 42.916925, -172.089690, -53.853012, 69.166428, 26.960757], [-148.000000, 67.000000, -175.000000, -90.000000, -49.000000, -89.000000], [-148.000000, 60.231589, -174.045263, -95.032104, -49.255681, -81.316650], [32.000000, 76.647308, -176.955572, 112.402876, -54.718067, -124.515167], [32.000000, 42.916925, -172.089690, 126.146988, -69.166428, -153.039243]] + joints: [-148.000000, 67.000000, -175.000000, 90.000000, 48.000000, 91.000000] + pose: {translation: [0.04383490041800136, 0.04271294048665258, 0.4972714866814987], quaternion: [-0.3489273019614404, 0.24506983949652, -0.1952591069471643, 0.883212541163935]} + solutions: [[-148.000000, 67.000000, -175.000000, 90.000000, 48.000000, 91.000000], [-148.000000, 60.231589, -174.045263, 84.788740, 48.264797, 98.801456], [32.000000, 76.647308, -176.955572, -66.878231, 53.906224, 55.065439], [32.000000, 42.916925, -172.089690, -52.888208, 68.731383, 26.614190], [-148.000000, 67.000000, -175.000000, -90.000000, -48.000000, -89.000000], [-148.000000, 60.231589, -174.045263, -95.211260, -48.264797, -81.198544], [32.000000, 76.647308, -176.955572, 113.121769, -53.906224, -124.934561], [32.000000, 42.916925, -172.089690, 127.111792, -68.731383, -153.385810]] - id: 1545 parameters: KukaKR6_R700_sixx joints: [-58.000000, 65.000000, 25.000000, -129.000000, 17.000000, 85.000000] @@ -7731,54 +7731,54 @@ cases: solutions: [[-58.000000, 65.000000, 25.000000, -129.000000, 17.000000, 85.000000], [-58.000000, 86.016944, -14.045263, -61.962795, 14.917408, 15.882711], [-58.000000, 65.000000, 25.000000, 51.000000, -17.000000, -95.000000], [-58.000000, 86.016944, -14.045263, 118.037205, -14.917408, -164.117289]] - id: 1546 parameters: KukaKR6_R700_sixx - joints: [11.000000, -161.000000, 83.000000, -73.000000, -52.000000, -61.000000] - pose: {translation: [-0.2460866234095385, -0.01358024039099005, 0.9188634717063908], quaternion: [0.09340579341635066, -0.4077019256996775, 0.7764130777377342, 0.4714204389447449]} - solutions: [[-169.000000, -111.701285, 88.817468, -126.669918, 69.970995, -149.293811], [-169.000000, -20.641548, -77.862730, -75.675780, 51.055753, 123.299589], [11.000000, -161.000000, 83.000000, 107.000000, 52.000000, 119.000000], [11.000000, -76.511407, -72.045263, 56.232425, 65.027009, -156.861224], [-169.000000, -111.701285, 88.817468, 53.330082, -69.970995, 30.706189], [-169.000000, -20.641548, -77.862730, 104.324220, -51.055753, -56.700411], [11.000000, -161.000000, 83.000000, -73.000000, -52.000000, -61.000000], [11.000000, -76.511407, -72.045263, -123.767575, -65.027009, 23.138776]] + joints: [11.000000, -160.000000, 83.000000, -73.000000, -52.000000, -61.000000] + pose: {translation: [-0.237158114854845, -0.01531576664399013, 0.9233914293416378], quaternion: [0.1008381128478401, -0.4049409243500828, 0.7749045161059664, 0.4747394166301814]} + solutions: [[-169.000000, -112.623977, 88.612990, -126.632649, 69.895083, -149.402431], [-169.000000, -21.796327, -77.658253, -75.714708, 51.043473, 123.361513], [11.000000, -160.000000, 83.000000, 107.000000, 52.000000, 119.000000], [11.000000, -75.511407, -72.045263, 56.232425, 65.027009, -156.861224], [-169.000000, -112.623977, 88.612990, 53.367351, -69.895083, 30.597569], [-169.000000, -21.796327, -77.658253, 104.285292, -51.043473, -56.638487], [11.000000, -160.000000, 83.000000, -73.000000, -52.000000, -61.000000], [11.000000, -75.511407, -72.045263, -123.767575, -65.027009, 23.138776]] - id: 1547 parameters: KukaKR6_R700_sixx - joints: [-165.000000, -17.000000, 22.000000, 88.000000, 131.000000, -171.000000] - pose: {translation: [-0.602989642256336, 0.2240391384604916, 0.4976272997371499], quaternion: [0.2490216117821691, 0.650013814657494, 0.5877849604144587, 0.4122852385550532]} - solutions: [[-165.000000, -17.000000, 22.000000, 88.000000, 131.000000, -171.000000], [-165.000000, 0.783829, -11.045263, 101.048951, 129.781085, -150.982331], [-165.000000, -17.000000, 22.000000, -92.000000, -131.000000, 9.000000], [-165.000000, 0.783829, -11.045263, -78.951049, -129.781085, 29.017669]] + joints: [-165.000000, -17.000000, 22.000000, 88.000000, 130.000000, -171.000000] + pose: {translation: [-0.6037740608208134, 0.2251875279889084, 0.4975032392482019], quaternion: [0.2433831306745748, 0.6527401873173916, 0.5907962748341513, 0.4070069547390922]} + solutions: [[-165.000000, -17.000000, 22.000000, 88.000000, 130.000000, -171.000000], [-165.000000, 0.783829, -11.045263, 100.609486, 128.840664, -151.260754], [-165.000000, -17.000000, 22.000000, -92.000000, -130.000000, 9.000000], [-165.000000, 0.783829, -11.045263, -79.390514, -128.840664, 28.739246]] - id: 1548 parameters: KukaKR6_R700_sixx - joints: [9.000000, 68.000000, -86.000000, -162.000000, -127.000000, 17.000000] - pose: {translation: [0.4436521296829076, -0.09025705326283674, 0.1813477728592432], quaternion: [0.9768085733429196, -0.004104674475781949, -0.1900515147989572, 0.09853214913844029]} - solutions: [[9.000000, -32.372979, 96.954737, 19.553818, 47.507861, 172.444638], [9.000000, 68.000000, -86.000000, 18.000000, 127.000000, -163.000000], [-171.000000, 120.481258, 85.007877, -159.906526, 134.081377, -159.785844], [-171.000000, -152.769315, -74.053140, -164.124345, 64.446170, 178.941935], [9.000000, -32.372979, 96.954737, -160.446182, -47.507861, -7.555362], [9.000000, 68.000000, -86.000000, -162.000000, -127.000000, 17.000000], [-171.000000, 120.481258, 85.007877, 20.093474, -134.081377, 20.214156], [-171.000000, -152.769315, -74.053140, 15.875655, -64.446170, -1.058065]] + joints: [9.000000, 67.000000, -86.000000, -162.000000, -126.000000, 17.000000] + pose: {translation: [0.4486188855398106, -0.09130355362100016, 0.1884572258165317], quaternion: [0.9794986522154961, -0.003916565836346041, -0.1734619252031501, 0.1023621576799398]} + solutions: [[9.000000, -33.372979, 96.954737, 20.125762, 46.599710, 172.054952], [9.000000, 67.000000, -86.000000, 18.000000, 126.000000, -163.000000], [-171.000000, 121.424849, 84.945354, -160.021253, 132.971163, -159.894404], [-171.000000, -151.896233, -73.990617, -163.768990, 63.434007, 178.769821], [9.000000, -33.372979, 96.954737, -159.874238, -46.599710, -7.945048], [9.000000, 67.000000, -86.000000, -162.000000, -126.000000, 17.000000], [-171.000000, 121.424849, 84.945354, 19.978747, -132.971163, 20.105596], [-171.000000, -151.896233, -73.990617, 16.231010, -63.434007, -1.230179]] - id: 1549 parameters: KukaKR6_R700_sixx - joints: [-174.000000, -25.000000, 0.000000, -160.000000, -159.000000, 55.000000] - pose: {translation: [-0.5660457480889672, 0.06935334164637268, 0.6631209932231898], quaternion: [-0.2630920300248786, 0.8835489895329472, -0.08519793543103138, 0.3779749709054636]} - solutions: [[-174.000000, -30.892895, 10.954737, 16.349505, 154.187952, -128.974063], [-174.000000, -25.000000, 0.000000, 20.000000, 159.000000, -125.000000], [-174.000000, -30.892895, 10.954737, -163.650495, -154.187952, 51.025937], [-174.000000, -25.000000, 0.000000, -160.000000, -159.000000, 55.000000]] + joints: [-174.000000, -25.000000, 0.000000, -160.000000, -158.000000, 55.000000] + pose: {translation: [-0.566973628513799, 0.06989762868695779, 0.6622308856269649], quaternion: [-0.2653574690006865, 0.8860162635579889, -0.08019562941721629, 0.3716574435937838]} + solutions: [[-174.000000, -30.892895, 10.954737, 16.503156, 153.190273, -128.836324], [-174.000000, -25.000000, 0.000000, 20.000000, 158.000000, -125.000000], [-174.000000, -30.892895, 10.954737, -163.496844, -153.190273, 51.163676], [-174.000000, -25.000000, 0.000000, -160.000000, -158.000000, 55.000000]] - id: 1550 parameters: KukaKR6_R700_sixx - joints: [-67.000000, -27.000000, 50.000000, 26.000000, -174.000000, -172.000000] - pose: {translation: [0.2252137574884707, 0.5399522137724154, 0.4706135504991641], quaternion: [0.4737931159070907, 0.1948954563043301, -0.6416591596504748, 0.5707971331984977]} - solutions: [[-67.000000, -27.000000, 50.000000, -154.000000, 174.000000, 8.000000], [-67.000000, 21.077276, -39.045263, -176.373484, 133.578109, -15.374537], [113.000000, -179.776038, 10.162241, 4.188424, 141.142409, -14.612357], [113.000000, -174.735832, 0.792496, 4.635483, 145.459164, -14.055174], [-67.000000, -27.000000, 50.000000, 26.000000, -174.000000, -172.000000], [-67.000000, 21.077276, -39.045263, 3.626516, -133.578109, 164.625463], [113.000000, -179.776038, 10.162241, -175.811576, -141.142409, 165.387643], [113.000000, -174.735832, 0.792496, -175.364517, -145.459164, 165.944826]] + joints: [-67.000000, -27.000000, 50.000000, 26.000000, -173.000000, -172.000000] + pose: {translation: [0.2249011722536051, 0.5407722229086311, 0.4716995419750326], quaternion: [0.4689233400071058, 0.1891761349679859, -0.6459657626438061, 0.5718841881422851]} + solutions: [[-67.000000, -27.000000, 50.000000, -154.000000, 173.000000, 8.000000], [-67.000000, 21.077276, -39.045263, -175.834016, 132.658898, -15.005792], [113.000000, -179.776038, 10.162241, 4.789297, 140.217719, -14.147493], [113.000000, -174.735832, 0.792496, 5.282577, 144.530601, -13.525119], [-67.000000, -27.000000, 50.000000, 26.000000, -173.000000, -172.000000], [-67.000000, 21.077276, -39.045263, 4.165984, -132.658898, 164.994208], [113.000000, -179.776038, 10.162241, -175.210703, -140.217719, 165.852507], [113.000000, -174.735832, 0.792496, -174.717423, -144.530601, 166.474881]] - id: 1551 parameters: KukaKR6_R700_sixx - joints: [-157.000000, -5.000000, -36.000000, -163.000000, -101.000000, 23.000000] - pose: {translation: [-0.5700788923783755, 0.2669269684646531, 0.6266381143428528], quaternion: [0.0647953810631056, 0.9553159650308559, 0.2223071176797084, -0.183718564600837]} - solutions: [[-157.000000, -49.765563, 46.954737, 18.539522, 64.506341, -168.552192], [-157.000000, -5.000000, -36.000000, 17.000000, 101.000000, -157.000000], [-157.000000, -49.765563, 46.954737, -161.460478, -64.506341, 11.447808], [-157.000000, -5.000000, -36.000000, -163.000000, -101.000000, 23.000000]] + joints: [-157.000000, -5.000000, -36.000000, -163.000000, -100.000000, 23.000000] + pose: {translation: [-0.5711505202579941, 0.2674626647757811, 0.6273551534966374], quaternion: [0.06363359170399685, 0.9530458046419615, 0.2260765110377139, -0.1911645140140283]} + solutions: [[-157.000000, -49.765563, 46.954737, 18.763230, 63.526769, -168.650204], [-157.000000, -5.000000, -36.000000, 17.000000, 100.000000, -157.000000], [-157.000000, -49.765563, 46.954737, -161.236770, -63.526769, 11.349796], [-157.000000, -5.000000, -36.000000, -163.000000, -100.000000, 23.000000]] - id: 1552 parameters: KukaKR6_R700_sixx - joints: [-136.000000, -106.000000, 105.000000, -152.000000, 45.000000, 148.000000] - pose: {translation: [-0.2761129324382862, 0.2297201372464419, 0.7950889403443471], quaternion: [-0.4235273256378607, 0.0482977915121467, 0.8848334947124481, 0.188046840994596]} - solutions: [[-136.000000, -106.000000, 105.000000, -152.000000, 45.000000, 148.000000], [-136.000000, 3.760442, -94.045263, -25.395591, 50.719635, 5.333999], [44.000000, 175.945740, 97.453555, 155.623767, 53.545157, 3.673949], [44.000000, -83.104962, -86.498817, 33.554136, 36.912896, 140.668134], [-136.000000, -106.000000, 105.000000, 28.000000, -45.000000, -32.000000], [-136.000000, 3.760442, -94.045263, 154.604409, -50.719635, -174.666001], [44.000000, 175.945740, 97.453555, -24.376233, -53.545157, -176.326051], [44.000000, -83.104962, -86.498817, -146.445864, -36.912896, -39.331866]] + joints: [-136.000000, -105.000000, 105.000000, -152.000000, 44.000000, 148.000000] + pose: {translation: [-0.2814156569895304, 0.2354908675478698, 0.7883343901655426], quaternion: [-0.4358562010503978, 0.0579301646629541, 0.8783883899144481, 0.1873694331835951]} + solutions: [[-136.000000, -105.000000, 105.000000, -152.000000, 44.000000, 148.000000], [-136.000000, 4.760442, -94.045263, -24.620871, 51.517330, 4.847681], [44.000000, 175.104395, 97.305544, 156.344393, 54.369413, 3.246424], [44.000000, -84.117385, -86.350806, 33.876048, 35.808627, 140.364268], [-136.000000, -105.000000, 105.000000, 28.000000, -44.000000, -32.000000], [-136.000000, 4.760442, -94.045263, 155.379129, -51.517330, -175.152319], [44.000000, 175.104395, 97.305544, -23.655607, -54.369413, -176.753576], [44.000000, -84.117385, -86.350806, -146.123952, -35.808627, -39.635732]] - id: 1553 parameters: KukaKR6_R700_sixx - joints: [30.000000, -61.000000, 149.000000, 106.000000, -166.000000, 138.000000] - pose: {translation: [0.1975686857704156, -0.09258426185066669, 0.3893392346924761], quaternion: [-0.1162241663043592, -0.05294540146157104, -0.5125717524996655, 0.8490930020735958]} - solutions: [[30.000000, -61.000000, 149.000000, -74.000000, 166.000000, -42.000000], [30.000000, 108.432330, -138.045263, -165.367226, 67.005625, -154.287286], [-150.000000, 82.794244, 140.428559, 16.728054, 53.895594, -158.506639], [-150.000000, -121.537210, -129.473821, 46.622931, 161.340538, -103.386702], [30.000000, -61.000000, 149.000000, 106.000000, -166.000000, 138.000000], [30.000000, 108.432330, -138.045263, 14.632774, -67.005625, 25.712714], [-150.000000, 82.794244, 140.428559, -163.271946, -53.895594, 21.493361], [-150.000000, -121.537210, -129.473821, -133.377069, -161.340538, 76.613298]] + joints: [30.000000, -61.000000, 149.000000, 106.000000, -165.000000, 138.000000] + pose: {translation: [0.1979064715898223, -0.09127885707574054, 0.3889768521432274], quaternion: [-0.1245018265671433, -0.05545681638283518, -0.5121076707204846, 0.8480386608447549]} + solutions: [[30.000000, -61.000000, 149.000000, -74.000000, 165.000000, -42.000000], [30.000000, 108.432330, -138.045263, -164.364882, 67.388021, -154.675772], [-150.000000, 82.794244, 140.428559, 17.829376, 54.346946, -159.152111], [-150.000000, -121.537210, -129.473821, 49.298816, 160.842236, -100.855143], [30.000000, -61.000000, 149.000000, 106.000000, -165.000000, 138.000000], [30.000000, 108.432330, -138.045263, 15.635118, -67.388021, 25.324228], [-150.000000, 82.794244, 140.428559, -162.170624, -54.346946, 20.847889], [-150.000000, -121.537210, -129.473821, -130.701184, -160.842236, 79.144857]] - id: 1554 parameters: KukaKR6_R700_sixx - joints: [34.000000, -24.000000, -1.000000, 121.000000, 49.000000, -72.000000] - pose: {translation: [0.5208802643805998, -0.4137635598805263, 0.7644623320052554], quaternion: [0.2569234942085403, 0.3452770585436406, -0.7276135767312407, 0.5341840075512337]} - solutions: [[34.000000, -30.968906, 11.954737, 125.120312, 52.269586, -78.489449], [34.000000, -24.000000, -1.000000, 121.000000, 49.000000, -72.000000], [34.000000, -30.968906, 11.954737, -54.879688, -52.269586, 101.510551], [34.000000, -24.000000, -1.000000, -59.000000, -49.000000, 108.000000]] + joints: [34.000000, -24.000000, -1.000000, 121.000000, 48.000000, -72.000000] + pose: {translation: [0.5222763944477428, -0.4137486892121635, 0.764472416499989], quaternion: [0.2505181718692623, 0.3498621821575926, -0.7254131013607991, 0.5372270762287745]} + solutions: [[34.000000, -30.968906, 11.954737, 125.265171, 51.276082, -78.579088], [34.000000, -24.000000, -1.000000, 121.000000, 48.000000, -72.000000], [34.000000, -30.968906, 11.954737, -54.734829, -51.276082, 101.420912], [34.000000, -24.000000, -1.000000, -59.000000, -48.000000, 108.000000]] - id: 1555 parameters: KukaKR6_R700_sixx - joints: [65.000000, -2.000000, -27.000000, -172.000000, 175.000000, 102.000000] - pose: {translation: [0.2413599143073019, -0.5153018947156873, 0.5859622634011725], quaternion: [-0.8129369614683764, -0.2070573391067898, 0.09404286839292092, 0.5361125757758453]} - solutions: [[65.000000, -37.007010, 37.954737, -1.644376, 154.994816, -87.460270], [65.000000, -2.000000, -27.000000, -172.000000, 175.000000, 102.000000], [65.000000, -37.007010, 37.954737, 178.355624, -154.994816, 92.539730], [65.000000, -2.000000, -27.000000, 8.000000, -175.000000, -78.000000]] + joints: [65.000000, -2.000000, -27.000000, -172.000000, 174.000000, 102.000000] + pose: {translation: [0.2413026949335805, -0.5147215042850581, 0.5872308748032563], quaternion: [-0.8085004628402327, -0.205274024960602, 0.09433174463626406, 0.5434069361146235]} + solutions: [[65.000000, -37.007010, 37.954737, -2.048156, 155.980690, -87.827673], [65.000000, -2.000000, -27.000000, -172.000000, 174.000000, 102.000000], [65.000000, -37.007010, 37.954737, 177.951844, -155.980690, 92.172327], [65.000000, -2.000000, -27.000000, 8.000000, -174.000000, -78.000000]] - id: 1556 parameters: KukaKR6_R700_sixx joints: [-110.000000, -145.000000, -138.000000, -31.000000, -16.000000, -21.000000] @@ -7786,19 +7786,19 @@ cases: solutions: [[70.000000, -28.252148, 154.148113, -137.758250, 12.191148, -92.602153], [70.000000, 150.672457, -143.193376, -8.641896, 109.126414, 126.139083], [-110.000000, 45.646162, 148.954737, 169.174456, 130.900040, 121.853581], [-110.000000, -145.000000, -138.000000, 149.000000, 16.000000, 159.000000], [70.000000, -28.252148, 154.148113, 42.241750, -12.191148, 87.397847], [70.000000, 150.672457, -143.193376, 171.358104, -109.126414, -53.860917], [-110.000000, 45.646162, 148.954737, -10.825544, -130.900040, -58.146419], [-110.000000, -145.000000, -138.000000, -31.000000, -16.000000, -21.000000]] - id: 1557 parameters: KukaKR6_R700_sixx - joints: [-6.000000, -83.000000, 53.000000, -172.000000, -161.000000, -68.000000] - pose: {translation: [0.3080607567914098, 0.02873369733053761, 0.8653056741507825], quaternion: [0.7732066435903484, -0.5273844100720613, -0.2523038666987093, 0.2456825780749867]} - solutions: [[-6.000000, -83.000000, 53.000000, 8.000000, 161.000000, 112.000000], [-6.000000, -31.654544, -42.045263, 173.844895, 155.001737, -81.151672], [174.000000, -144.533194, 39.172578, -5.947123, 154.067393, -80.921316], [174.000000, -108.207930, -28.217841, -153.649693, 174.140874, 130.661789], [-6.000000, -83.000000, 53.000000, -172.000000, -161.000000, -68.000000], [-6.000000, -31.654544, -42.045263, -6.155105, -155.001737, 98.848328], [174.000000, -144.533194, 39.172578, 174.052877, -154.067393, 99.078684], [174.000000, -108.207930, -28.217841, 26.350307, -174.140874, -49.338211]] + joints: [-6.000000, -82.000000, 53.000000, -172.000000, -160.000000, -68.000000] + pose: {translation: [0.3171468684805991, 0.02950450323324934, 0.8593577712673481], quaternion: [0.7736096975635106, -0.5267136156142476, -0.2517425947142276, 0.2464274111555134]} + solutions: [[-6.000000, -82.000000, 53.000000, 8.000000, 160.000000, 112.000000], [-6.000000, -30.654544, -42.045263, 173.286070, 155.974500, -81.660152], [174.000000, -145.265385, 38.762672, -6.511675, 155.182324, -81.438028], [174.000000, -109.383896, -27.807934, -155.536504, 173.399584, 128.796947], [-6.000000, -82.000000, 53.000000, -172.000000, -160.000000, -68.000000], [-6.000000, -30.654544, -42.045263, -6.713930, -155.974500, 98.339848], [174.000000, -145.265385, 38.762672, 173.488325, -155.182324, 98.561972], [174.000000, -109.383896, -27.807934, 24.463496, -173.399584, -51.203053]] - id: 1558 parameters: KukaKR6_R700_sixx - joints: [-147.000000, 50.000000, -176.000000, -32.000000, 35.000000, 100.000000] - pose: {translation: [0.005556369110345799, -0.03260177810703538, 0.5093042127493718], quaternion: [0.09533996361964481, -0.1288447078533458, 0.5890764869645438, 0.7920216064607724]} - solutions: [[-147.000000, 50.000000, -176.000000, -32.000000, 35.000000, 100.000000], [-147.000000, 29.217201, -173.045263, -23.063603, 50.883981, 87.929894], [-147.000000, 50.000000, -176.000000, 148.000000, -35.000000, -80.000000], [-147.000000, 29.217201, -173.045263, 156.936397, -50.883981, -92.070106]] + joints: [-147.000000, 50.000000, -176.000000, -32.000000, 34.000000, 100.000000] + pose: {translation: [0.006940427509281347, -0.03277353009574937, 0.5093704366189422], quaternion: [0.1012502799456645, -0.1225771146296026, 0.5903058161052904, 0.7913673453284972]} + solutions: [[-147.000000, 50.000000, -176.000000, -32.000000, 34.000000, 100.000000], [-147.000000, 29.217201, -173.045263, -22.790269, 49.906405, 87.755640], [-147.000000, 50.000000, -176.000000, 148.000000, -34.000000, -80.000000], [-147.000000, 29.217201, -173.045263, 157.209731, -49.906405, -92.244360]] - id: 1559 parameters: KukaKR6_R700_sixx - joints: [-153.000000, -131.000000, -19.000000, 48.000000, -169.000000, -145.000000] - pose: {translation: [0.3979019347780635, -0.215472715867709, 0.7418118789289085], quaternion: [0.2723360676679117, 0.8523645064919334, -0.007339457348799567, -0.4463787032170852]} - solutions: [[27.000000, -63.667127, 52.078414, 18.204306, 153.006335, 3.861439], [27.000000, -13.326275, -41.123677, 153.948404, 161.163344, 142.700408], [-153.000000, -157.361448, 29.954737, -28.676697, 162.812715, 139.940363], [-153.000000, -131.000000, -19.000000, -132.000000, 169.000000, 35.000000], [27.000000, -63.667127, 52.078414, -161.795694, -153.006335, -176.138561], [27.000000, -13.326275, -41.123677, -26.051596, -161.163344, -37.299592], [-153.000000, -157.361448, 29.954737, 151.323303, -162.812715, -40.059637], [-153.000000, -131.000000, -19.000000, 48.000000, -169.000000, -145.000000]] + joints: [-153.000000, -130.000000, -19.000000, 48.000000, -168.000000, -145.000000] + pose: {translation: [0.3926930321353664, -0.2139598089385793, 0.7494494464352351], quaternion: [0.2718836913760928, 0.8588337888636847, -0.01484136159378717, -0.4338934379035941]} + solutions: [[27.000000, -64.600759, 51.842847, 19.417620, 152.305603, 4.964280], [27.000000, -14.516602, -40.888110, 150.888043, 161.483339, 139.794418], [-153.000000, -156.361448, 29.954737, -31.991343, 163.043810, 136.771685], [-153.000000, -130.000000, -19.000000, -132.000000, 168.000000, 35.000000], [27.000000, -64.600759, 51.842847, -160.582380, -152.305603, -175.035720], [27.000000, -14.516602, -40.888110, -29.111957, -161.483339, -40.205582], [-153.000000, -156.361448, 29.954737, 148.008657, -163.043810, -43.228315], [-153.000000, -130.000000, -19.000000, 48.000000, -168.000000, -145.000000]] - id: 1560 parameters: KukaKR6_R700_sixx joints: [-112.000000, -117.000000, -154.000000, -126.000000, -51.000000, -80.000000] @@ -7811,19 +7811,19 @@ cases: solutions: [[-161.000000, 25.523783, 103.644673, -172.932153, 70.888480, 109.681489], [-161.000000, 133.687955, -92.689935, -21.358358, 18.616228, -47.659373], [19.000000, 54.000000, 101.000000, 168.000000, 34.000000, -58.000000], [19.000000, 159.067493, -90.045263, 8.386359, 52.859072, 106.919528], [-161.000000, 25.523783, 103.644673, 7.067847, -70.888480, -70.318511], [-161.000000, 133.687955, -92.689935, 158.641642, -18.616228, 132.340627], [19.000000, 54.000000, 101.000000, -12.000000, -34.000000, 122.000000], [19.000000, 159.067493, -90.045263, -171.613641, -52.859072, -73.080472]] - id: 1562 parameters: KukaKR6_R700_sixx - joints: [-121.000000, -164.000000, 62.000000, -178.000000, 62.000000, -126.000000] - pose: {translation: [0.2372659420960955, -0.3996631924725931, 0.8586326669575156], quaternion: [0.6008289327349131, -0.03361549012700064, 0.4275395582730374, 0.674599524550561]} - solutions: [[59.000000, -86.878780, 72.915543, 139.261328, 2.706354, 95.646298], [59.000000, -13.648120, -61.960805, 2.047184, 59.610416, -126.096711], [-121.000000, -164.000000, 62.000000, -178.000000, 62.000000, -126.000000], [-121.000000, -102.810261, -51.045263, -170.058053, 10.281171, -134.846187], [59.000000, -86.878780, 72.915543, -40.738672, -2.706354, -84.353702], [59.000000, -13.648120, -61.960805, -177.952816, -59.610416, 53.903289], [-121.000000, -164.000000, 62.000000, 2.000000, -62.000000, 54.000000], [-121.000000, -102.810261, -51.045263, 9.941947, -10.281171, 45.153813]] + joints: [-121.000000, -163.000000, 62.000000, -178.000000, 61.000000, -126.000000] + pose: {translation: [0.232908924003725, -0.3923667521858815, 0.8684421866195028], quaternion: [0.5868146498767481, -0.03300361332322656, 0.4332686107405517, 0.6832551786445479]} + solutions: [[59.000000, -87.819908, 72.709057, 148.919239, 3.389674, 86.006342], [59.000000, -14.818273, -61.754320, 2.049954, 58.574108, -126.099248], [-121.000000, -163.000000, 62.000000, -178.000000, 61.000000, -126.000000], [-121.000000, -101.810261, -51.045263, -169.105880, 9.294325, -135.784535], [59.000000, -87.819908, 72.709057, -31.080761, -3.389674, -93.993658], [59.000000, -14.818273, -61.754320, -177.950046, -58.574108, 53.900752], [-121.000000, -163.000000, 62.000000, 2.000000, -61.000000, 54.000000], [-121.000000, -101.810261, -51.045263, 10.894120, -9.294325, 44.215465]] - id: 1563 parameters: KukaKR6_R700_sixx - joints: [-48.000000, 175.000000, -17.000000, 168.000000, -46.000000, -167.000000] - pose: {translation: [-0.4684000828898053, -0.5023299821075629, 0.2347360564417523], quaternion: [0.1865008895314797, -0.5187836133611281, 0.2698334204317693, 0.7894750825263774]} - solutions: [[132.000000, -7.932074, 54.315645, 170.841316, 69.988344, 7.758700], [132.000000, 44.848562, -43.360907, 160.207796, 26.211487, 22.494081], [-48.000000, 150.796673, 27.954737, -19.958114, 25.986661, 22.678829], [-48.000000, 175.000000, -17.000000, -12.000000, 46.000000, 13.000000], [132.000000, -7.932074, 54.315645, -9.158684, -69.988344, -172.241300], [132.000000, 44.848562, -43.360907, -19.792204, -26.211487, -157.505919], [-48.000000, 150.796673, 27.954737, 160.041886, -25.986661, -157.321171], [-48.000000, 175.000000, -17.000000, 168.000000, -46.000000, -167.000000]] + joints: [-48.000000, 174.000000, -17.000000, 168.000000, -46.000000, -167.000000] + pose: {translation: [-0.4663976074138979, -0.5001060077833815, 0.2223399171863142], quaternion: [0.1900379878333262, -0.5251236474857364, 0.2675478074224296, 0.7852062714822058]} + solutions: [[132.000000, -6.792473, 54.199274, 170.842662, 70.011278, 7.754766], [132.000000, 45.861169, -43.244536, 160.296081, 26.332880, 22.395626], [-48.000000, 149.796673, 27.954737, -19.958114, 25.986661, 22.678829], [-48.000000, 174.000000, -17.000000, -12.000000, 46.000000, 13.000000], [132.000000, -6.792473, 54.199274, -9.157338, -70.011278, -172.245234], [132.000000, 45.861169, -43.244536, -19.703919, -26.332880, -157.604374], [-48.000000, 149.796673, 27.954737, 160.041886, -25.986661, -157.321171], [-48.000000, 174.000000, -17.000000, 168.000000, -46.000000, -167.000000]] - id: 1564 parameters: KukaKR6_R700_sixx - joints: [-65.000000, 24.000000, -86.000000, 35.000000, 115.000000, 131.000000] - pose: {translation: [0.2446841310382746, 0.4263237213747653, 0.5528503507202335], quaternion: [0.9244382195199821, -0.07910512500859054, 0.347752441139852, -0.1349985080264758]} - solutions: [[-65.000000, -76.372979, 96.954737, 45.271483, 47.029224, 79.982972], [-65.000000, 24.000000, -86.000000, 35.000000, 115.000000, 131.000000], [115.000000, 160.020622, 85.665517, -143.931478, 118.000143, 133.393621], [115.000000, -112.487872, -74.710780, -141.720839, 57.048561, 91.284135], [-65.000000, -76.372979, 96.954737, -134.728517, -47.029224, -100.017028], [-65.000000, 24.000000, -86.000000, -145.000000, -115.000000, -49.000000], [115.000000, 160.020622, 85.665517, 36.068522, -118.000143, -46.606379], [115.000000, -112.487872, -74.710780, 38.279161, -57.048561, -88.715865]] + joints: [-65.000000, 24.000000, -86.000000, 35.000000, 114.000000, 131.000000] + pose: {translation: [0.2454141909242153, 0.4271035039927294, 0.5537494912152916], quaternion: [0.9215229942867404, -0.07758469835338769, 0.3535527081043341, -0.1406288312342304]} + solutions: [[-65.000000, -76.372979, 96.954737, 46.344809, 46.405117, 79.247077], [-65.000000, 24.000000, -86.000000, 35.000000, 114.000000, 131.000000], [115.000000, 160.020622, 85.665517, -143.978350, 117.001007, 133.371977], [115.000000, -112.487872, -74.710780, -140.952643, 56.281685, 90.861973], [-65.000000, -76.372979, 96.954737, -133.655191, -46.405117, -100.752923], [-65.000000, 24.000000, -86.000000, -145.000000, -114.000000, -49.000000], [115.000000, 160.020622, 85.665517, 36.021650, -117.001007, -46.628023], [115.000000, -112.487872, -74.710780, 39.047357, -56.281685, -89.138027]] - id: 1565 parameters: KukaKR6_R700_sixx joints: [144.000000, -59.000000, -128.000000, -71.000000, -7.000000, 171.000000] @@ -7831,14 +7831,14 @@ cases: solutions: [[-36.000000, -134.091525, 145.117837, -104.645277, 6.840124, 24.878053], [-36.000000, 28.857328, -134.163099, -7.270357, 114.420363, -82.886861], [144.000000, 147.520670, 138.954737, 172.660289, 115.580507, -83.050955], [144.000000, -59.000000, -128.000000, 109.000000, 7.000000, -9.000000], [-36.000000, -134.091525, 145.117837, 75.354723, -6.840124, -155.121947], [-36.000000, 28.857328, -134.163099, 172.729643, -114.420363, 97.113139], [144.000000, 147.520670, 138.954737, -7.339711, -115.580507, 96.949045], [144.000000, -59.000000, -128.000000, -71.000000, -7.000000, 171.000000]] - id: 1566 parameters: KukaKR6_R700_sixx - joints: [-93.000000, -3.000000, 134.000000, -50.000000, 115.000000, -20.000000] - pose: {translation: [-0.06140730994133319, 0.1104668807275731, 0.1741467666193323], quaternion: [-0.1592324824330351, -0.3522357116276121, 0.5988635462067203, 0.7013825439923027]} - solutions: [[-93.000000, -3.000000, 134.000000, -50.000000, 115.000000, -20.000000], [-93.000000, 143.394581, -123.045263, -130.877324, 113.333843, -148.677690], [87.000000, 47.728448, 130.091977, 44.991985, 100.891632, -162.570498], [87.000000, -171.219948, -119.137239, 119.710253, 126.931668, -39.745997], [-93.000000, -3.000000, 134.000000, 130.000000, -115.000000, 160.000000], [-93.000000, 143.394581, -123.045263, 49.122676, -113.333843, 31.322310], [87.000000, 47.728448, 130.091977, -135.008015, -100.891632, 17.429502], [87.000000, -171.219948, -119.137239, -60.289747, -126.931668, 140.254003]] + joints: [-93.000000, -3.000000, 134.000000, -50.000000, 114.000000, -20.000000] + pose: {translation: [-0.06179192738062018, 0.1093307621253743, 0.173432059724636], quaternion: [-0.1564089640145692, -0.3597612181368886, 0.5990951905941438, 0.6979921593453022]} + solutions: [[-93.000000, -3.000000, 134.000000, -50.000000, 114.000000, -20.000000], [-93.000000, 143.394581, -123.045263, -130.023071, 113.956458, -148.335063], [87.000000, 47.728448, 130.091977, 45.612613, 101.685097, -162.449008], [87.000000, -171.219948, -119.137239, 120.127788, 125.989734, -39.497859], [-93.000000, -3.000000, 134.000000, 130.000000, -114.000000, 160.000000], [-93.000000, 143.394581, -123.045263, 49.976929, -113.956458, 31.664937], [87.000000, 47.728448, 130.091977, -134.387387, -101.685097, 17.550992], [87.000000, -171.219948, -119.137239, -59.872212, -125.989734, 140.502141]] - id: 1567 parameters: KukaKR6_R700_sixx - joints: [-143.000000, -109.000000, 160.000000, 121.000000, -113.000000, -121.000000] - pose: {translation: [-0.1419711442354869, 0.02794545738683588, 0.4366300840869795], quaternion: [0.7050567779658677, 0.01569143015663493, -0.004585961792652647, 0.7089624022601375]} - solutions: [[-143.000000, -109.000000, 160.000000, -59.000000, 113.000000, 59.000000], [-143.000000, 82.596993, -149.045263, -125.618760, 103.923039, -69.399493], [37.000000, 103.486902, 151.077724, 53.045719, 99.114038, -76.074487], [37.000000, -83.392171, -140.122987, 117.978731, 116.689760, 51.820763], [-143.000000, -109.000000, 160.000000, 121.000000, -113.000000, -121.000000], [-143.000000, 82.596993, -149.045263, 54.381240, -103.923039, 110.600507], [37.000000, 103.486902, 151.077724, -126.954281, -99.114038, 103.925513], [37.000000, -83.392171, -140.122987, -62.021269, -116.689760, -128.179237]] + joints: [-143.000000, -109.000000, 160.000000, 121.000000, -112.000000, -121.000000] + pose: {translation: [-0.1427243071241091, 0.02793952606120273, 0.4354544087573197], quaternion: [0.7103124302552192, 0.01247009908819895, -0.007872036963042376, 0.7037320364227477]} + solutions: [[-143.000000, -109.000000, 160.000000, -59.000000, 112.000000, 59.000000], [-143.000000, 82.596993, -149.045263, -124.809134, 104.542828, -69.200429], [37.000000, 103.486902, 151.077724, 53.762392, 99.821346, -75.956597], [37.000000, -83.392171, -140.122987, 118.117415, 115.697532, 51.881982], [-143.000000, -109.000000, 160.000000, 121.000000, -112.000000, -121.000000], [-143.000000, 82.596993, -149.045263, 55.190866, -104.542828, 110.799571], [37.000000, 103.486902, 151.077724, -126.237608, -99.821346, 104.043403], [37.000000, -83.392171, -140.122987, -61.882585, -115.697532, -128.118018]] - id: 1568 parameters: KukaKR6_R700_sixx joints: [-35.000000, -30.000000, -1.000000, -77.000000, -59.000000, -34.000000] @@ -7851,29 +7851,29 @@ cases: solutions: [[17.000000, -127.000000, 91.000000, -143.000000, 122.000000, 145.000000], [17.000000, -33.457495, -80.045263, -142.449920, 56.868428, 100.442217], [-163.000000, -150.497710, 88.253472, 39.389682, 53.537580, 97.220571], [-163.000000, -60.077913, -77.298735, 34.816112, 116.632327, 140.546300], [17.000000, -127.000000, 91.000000, 37.000000, -122.000000, -35.000000], [17.000000, -33.457495, -80.045263, 37.550080, -56.868428, -79.557783], [-163.000000, -150.497710, 88.253472, -140.610318, -53.537580, -82.779429], [-163.000000, -60.077913, -77.298735, -145.183888, -116.632327, -39.453700]] - id: 1570 parameters: KukaKR6_R700_sixx - joints: [3.000000, -162.000000, 83.000000, 31.000000, -56.000000, 140.000000] - pose: {translation: [-0.2843835034570303, 0.04910965890563535, 0.9170735809809334], quaternion: [-0.2890473448487847, 0.2723883972553064, 0.9149822827511023, -0.07115908745996663]} - solutions: [[-177.000000, -110.775795, 89.019912, 134.304836, 36.630648, -162.000358], [-177.000000, -19.486192, -78.065175, 32.289481, 53.063688, -42.221370], [3.000000, -162.000000, 83.000000, -149.000000, 56.000000, -40.000000], [3.000000, -77.511407, -72.045263, -55.747253, 31.103133, -149.922183], [-177.000000, -110.775795, 89.019912, -45.695164, -36.630648, 17.999642], [-177.000000, -19.486192, -78.065175, -147.710519, -53.063688, 137.778630], [3.000000, -162.000000, 83.000000, 31.000000, -56.000000, 140.000000], [3.000000, -77.511407, -72.045263, 124.252747, -31.103133, 30.077817]] + joints: [3.000000, -161.000000, 83.000000, 31.000000, -56.000000, 140.000000] + pose: {translation: [-0.2753243048175432, 0.04863488642285588, 0.9224323691482613], quaternion: [-0.2810951552716062, 0.2713400212539686, 0.9175907710435031, -0.07339811608288772]} + solutions: [[-177.000000, -111.701285, 88.817468, 134.181365, 36.541387, -161.846589], [-177.000000, -20.641548, -77.862730, 32.308411, 53.023886, -42.252857], [3.000000, -161.000000, 83.000000, -149.000000, 56.000000, -40.000000], [3.000000, -76.511407, -72.045263, -55.747253, 31.103133, -149.922183], [-177.000000, -111.701285, 88.817468, -45.818635, -36.541387, 18.153411], [-177.000000, -20.641548, -77.862730, -147.691589, -53.023886, 137.747143], [3.000000, -161.000000, 83.000000, 31.000000, -56.000000, 140.000000], [3.000000, -76.511407, -72.045263, 124.252747, -31.103133, 30.077817]] - id: 1571 parameters: KukaKR6_R700_sixx - joints: [47.000000, 132.000000, 103.000000, -82.000000, -14.000000, 61.000000] - pose: {translation: [-0.3349183083817424, 0.331054083893963, 0.5068653385483736], quaternion: [-0.08052429068666513, -0.3252104750864071, -0.1764331215845955, 0.9255405658918459]} - solutions: [[-133.000000, -66.566379, 113.800638, -165.923186, 99.945433, -18.278618], [-133.000000, 53.740300, -102.845900, -105.436879, 14.390753, -94.846430], [47.000000, 132.000000, 103.000000, 98.000000, 14.000000, -119.000000], [47.000000, -120.592841, -92.045263, 13.899497, 85.777636, -21.802236], [-133.000000, -66.566379, 113.800638, 14.076814, -99.945433, 161.721382], [-133.000000, 53.740300, -102.845900, 74.563121, -14.390753, 85.153570], [47.000000, 132.000000, 103.000000, -82.000000, -14.000000, 61.000000], [47.000000, -120.592841, -92.045263, -166.100503, -85.777636, 158.197764]] + joints: [47.000000, 131.000000, 103.000000, -82.000000, -14.000000, 61.000000] + pose: {translation: [-0.3361388027545828, 0.3323629038701582, 0.4982008476245238], quaternion: [-0.08537815608962791, -0.3318324595707133, -0.1748300893874887, 0.9230559187193097]} + solutions: [[-133.000000, -65.453793, 113.819292, -165.917551, 100.072731, -18.246198], [-133.000000, 54.875622, -102.864555, -105.874206, 14.422236, -94.394905], [47.000000, 131.000000, 103.000000, 98.000000, 14.000000, -119.000000], [47.000000, -121.592841, -92.045263, 13.899497, 85.777636, -21.802236], [-133.000000, -65.453793, 113.819292, 14.082449, -100.072731, 161.753802], [-133.000000, 54.875622, -102.864555, 74.125794, -14.422236, 85.605095], [47.000000, 131.000000, 103.000000, -82.000000, -14.000000, 61.000000], [47.000000, -121.592841, -92.045263, -166.100503, -85.777636, 158.197764]] - id: 1572 parameters: KukaKR6_R700_sixx - joints: [138.000000, 99.000000, 157.000000, 130.000000, 112.000000, 153.000000] - pose: {translation: [0.09987049925780538, 0.1663841644992256, 0.3939560190299286], quaternion: [0.7589857952460156, 0.4216286684225012, 0.1820477198464627, -0.4615500582577643]} - solutions: [[-42.000000, -119.877036, 165.942963, -89.915142, 45.256466, -93.062711], [-42.000000, 88.122705, -154.988226, -47.629321, 105.976464, 160.267229], [138.000000, 99.000000, 157.000000, 130.000000, 112.000000, 153.000000], [138.000000, -76.212468, -146.045263, 93.850345, 45.387337, -98.416115], [-42.000000, -119.877036, 165.942963, 90.084858, -45.256466, 86.937289], [-42.000000, 88.122705, -154.988226, 132.370679, -105.976464, -19.732771], [138.000000, 99.000000, 157.000000, -50.000000, -112.000000, -27.000000], [138.000000, -76.212468, -146.045263, -86.149655, -45.387337, 81.583885]] + joints: [138.000000, 98.000000, 157.000000, 130.000000, 111.000000, 153.000000] + pose: {translation: [0.09999195885542128, 0.1670210215270346, 0.3914520106896398], quaternion: [0.7596237389493843, 0.4167830049139521, 0.178918729061994, -0.4661027680997992]} + solutions: [[-42.000000, -118.563607, 165.985822, -91.540831, 45.677858, -91.668585], [-42.000000, 89.573719, -155.031085, -47.680212, 104.709871, 160.544688], [138.000000, 98.000000, 157.000000, 130.000000, 111.000000, 153.000000], [138.000000, -77.212468, -146.045263, 92.526211, 45.713707, -97.488825], [-42.000000, -118.563607, 165.985822, 88.459169, -45.677858, 88.331415], [-42.000000, 89.573719, -155.031085, 132.319788, -104.709871, -19.455312], [138.000000, 98.000000, 157.000000, -50.000000, -111.000000, -27.000000], [138.000000, -77.212468, -146.045263, -87.473789, -45.713707, 82.511175]] - id: 1573 parameters: KukaKR6_R700_sixx - joints: [-57.000000, -102.000000, 134.000000, -84.000000, -161.000000, -174.000000] - pose: {translation: [0.144206474284185, 0.1744989744323409, 0.5867703301861277], quaternion: [0.006131679843266076, -0.4847763683245105, 0.8577227578316901, 0.1710729257188243]} - solutions: [[-57.000000, -102.000000, 134.000000, 96.000000, 161.000000, 6.000000], [-57.000000, 44.394581, -123.045263, 159.645797, 68.573945, 97.374816], [123.000000, 137.382606, 125.366768, -20.978759, 64.738740, 98.950035], [123.000000, -87.800850, -114.412031, -59.037305, 157.815497, 32.597835], [-57.000000, -102.000000, 134.000000, -84.000000, -161.000000, -174.000000], [-57.000000, 44.394581, -123.045263, -20.354203, -68.573945, -82.625184], [123.000000, 137.382606, 125.366768, 159.021241, -64.738740, -81.049965], [123.000000, -87.800850, -114.412031, 120.962695, -157.815497, -147.402165]] + joints: [-57.000000, -102.000000, 134.000000, -84.000000, -160.000000, -174.000000] + pose: {translation: [0.1455592292189919, 0.1741787012027569, 0.5866400184715367], quaternion: [0.01373143895364243, -0.4854602152432864, 0.8580790822917121, 0.1668535751298656]} + solutions: [[-57.000000, -102.000000, 134.000000, 96.000000, 160.000000, 6.000000], [-57.000000, 44.394581, -123.045263, 158.572058, 68.601358, 97.766824], [123.000000, 137.382606, 125.366768, -22.082542, 64.794308, 99.420598], [123.000000, -87.800850, -114.412031, -60.179301, 156.917202, 31.543753], [-57.000000, -102.000000, 134.000000, -84.000000, -160.000000, -174.000000], [-57.000000, 44.394581, -123.045263, -21.427942, -68.601358, -82.233176], [123.000000, 137.382606, 125.366768, 157.917458, -64.794308, -80.579402], [123.000000, -87.800850, -114.412031, 119.820699, -156.917202, -148.456247]] - id: 1574 parameters: KukaKR6_R700_sixx - joints: [-146.000000, -168.000000, -100.000000, 175.000000, 96.000000, 27.000000] - pose: {translation: [0.1542431031421062, -0.09567405357075745, 0.1050841323095271], quaternion: [-0.0701588931951096, -0.6783313755293736, -0.3992015754826948, 0.6128477598965338]} - solutions: [[34.000000, -10.740473, 117.797969, -5.103368, 77.015172, 28.673538], [34.000000, 114.481795, -106.843232, -54.063592, 173.854481, -26.382580], [-146.000000, 75.141424, 110.954737, 26.345460, 168.736750, -126.571097], [-146.000000, -168.000000, -100.000000, 175.000000, 96.000000, 27.000000], [34.000000, -10.740473, 117.797969, 174.896632, -77.015172, -151.326462], [34.000000, 114.481795, -106.843232, 125.936408, -173.854481, 153.617420], [-146.000000, 75.141424, 110.954737, -153.654540, -168.736750, 53.428903], [-146.000000, -168.000000, -100.000000, -5.000000, -96.000000, -153.000000]] + joints: [-146.000000, -167.000000, -100.000000, 175.000000, 96.000000, 27.000000] + pose: {translation: [0.1584840944972051, -0.09853463835962677, 0.1087307650139974], quaternion: [-0.07025873248663449, -0.6846873014919704, -0.3963838156594229, 0.6075745883167694]} + solutions: [[34.000000, -11.908952, 117.937488, -5.102775, 77.044017, 28.670894], [34.000000, 113.486570, -106.982750, -55.089952, 173.932583, -27.414796], [-146.000000, 76.141424, 110.954737, 26.345460, 168.736750, -126.571097], [-146.000000, -167.000000, -100.000000, 175.000000, 96.000000, 27.000000], [34.000000, -11.908952, 117.937488, 174.897225, -77.044017, -151.329106], [34.000000, 113.486570, -106.982750, 124.910048, -173.932583, 152.585204], [-146.000000, 76.141424, 110.954737, -153.654540, -168.736750, 53.428903], [-146.000000, -167.000000, -100.000000, -5.000000, -96.000000, -153.000000]] - id: 1575 parameters: KukaKR6_R700_sixx joints: [68.000000, 107.000000, -109.000000, -27.000000, -30.000000, -168.000000] @@ -7881,9 +7881,9 @@ cases: solutions: [[68.000000, -20.914415, 119.954737, 163.466557, 127.092376, -21.960170], [68.000000, 107.000000, -109.000000, 153.000000, 30.000000, 12.000000], [-112.000000, 82.620626, 112.095952, -42.939487, 19.464090, 29.452453], [-112.000000, -159.142848, -101.141214, -13.889038, 108.977418, -16.407405], [68.000000, -20.914415, 119.954737, -16.533443, -127.092376, 158.039830], [68.000000, 107.000000, -109.000000, -27.000000, -30.000000, -168.000000], [-112.000000, 82.620626, 112.095952, 137.060513, -19.464090, -150.547547], [-112.000000, -159.142848, -101.141214, 166.110962, -108.977418, 163.592595]] - id: 1576 parameters: KukaKR6_R700_sixx - joints: [110.000000, -72.000000, -120.000000, -97.000000, 152.000000, 160.000000] - pose: {translation: [0.08885087272080766, 0.1351228426516148, 0.5996687657130773], quaternion: [0.6604493726673154, -0.001012202631599152, 0.105928064249825, 0.7433605093045145]} - solutions: [[-70.000000, -119.315974, 138.229162, 70.711679, 150.417025, 145.995776], [-70.000000, 33.100549, -127.274425, 151.659436, 78.988956, -96.201441], [110.000000, 145.784792, 130.954737, -28.603690, 76.733528, -94.950420], [110.000000, -72.000000, -120.000000, -97.000000, 152.000000, 160.000000], [-70.000000, -119.315974, 138.229162, -109.288321, -150.417025, -34.004224], [-70.000000, 33.100549, -127.274425, -28.340564, -78.988956, 83.798559], [110.000000, 145.784792, 130.954737, 151.396310, -76.733528, 85.049580], [110.000000, -72.000000, -120.000000, 83.000000, -152.000000, -20.000000]] + joints: [110.000000, -72.000000, -120.000000, -97.000000, 151.000000, 160.000000] + pose: {translation: [0.0902075741184884, 0.135289452427796, 0.5993839771982031], quaternion: [0.6617742586328925, 0.005399744407533726, 0.1113429091468816, 0.7413692939108876]} + solutions: [[-70.000000, -119.315974, 138.229162, 71.187695, 149.445875, 146.407748], [-70.000000, 33.100549, -127.274425, 150.670881, 79.229054, -96.014657], [110.000000, 145.784792, 130.954737, -29.594812, 76.995088, -94.725174], [110.000000, -72.000000, -120.000000, -97.000000, 151.000000, 160.000000], [-70.000000, -119.315974, 138.229162, -108.812305, -149.445875, -33.592252], [-70.000000, 33.100549, -127.274425, -29.329119, -79.229054, 83.985343], [110.000000, 145.784792, 130.954737, 150.405188, -76.995088, 85.274826], [110.000000, -72.000000, -120.000000, 83.000000, -151.000000, -20.000000]] - id: 1577 parameters: KukaKR6_R700_sixx joints: [-123.000000, 94.000000, -172.000000, 163.000000, 59.000000, 133.000000] @@ -7891,24 +7891,24 @@ cases: solutions: [[-123.000000, 128.914700, -177.045263, 165.475363, 87.800226, 124.621264], [-123.000000, 94.000000, -172.000000, 163.000000, 59.000000, 133.000000], [57.000000, 94.671467, 173.910003, -19.411465, 48.943229, 137.082931], [57.000000, -23.273156, -162.955266, -22.845448, 139.797171, 106.214895], [-123.000000, 128.914700, -177.045263, -14.524637, -87.800226, -55.378736], [-123.000000, 94.000000, -172.000000, -17.000000, -59.000000, -47.000000], [57.000000, 94.671467, 173.910003, 160.588535, -48.943229, -42.917069], [57.000000, -23.273156, -162.955266, 157.154552, -139.797171, -73.785105]] - id: 1578 parameters: KukaKR6_R700_sixx - joints: [-72.000000, -136.000000, -11.000000, -96.000000, -42.000000, 86.000000] - pose: {translation: [-0.126614982081486, -0.5619600541104239, 0.8253295629063442], quaternion: [0.4809541687604545, -0.1923034012138347, 0.6783349987814088, 0.5211181429021229]} - solutions: [[108.000000, -60.963036, 48.515643, -116.126184, 47.833366, -65.897185], [108.000000, -14.500686, -37.560905, -75.138211, 43.511258, -122.147651], [-72.000000, -153.735064, 21.954737, 100.854528, 42.655457, -116.663072], [-72.000000, -136.000000, -11.000000, 84.000000, 42.000000, -94.000000], [108.000000, -60.963036, 48.515643, 63.873816, -47.833366, 114.102815], [108.000000, -14.500686, -37.560905, 104.861789, -43.511258, 57.852349], [-72.000000, -153.735064, 21.954737, -79.145472, -42.655457, 63.336928], [-72.000000, -136.000000, -11.000000, -96.000000, -42.000000, 86.000000]] + joints: [-72.000000, -135.000000, -11.000000, -96.000000, -42.000000, 86.000000] + pose: {translation: [-0.1242929692608184, -0.5548136334791456, 0.83571147867597], quaternion: [0.4784401033206722, -0.1852610140232801, 0.6786082141951868, 0.5256085195698317]} + solutions: [[108.000000, -61.889017, 48.265751, -115.982891, 47.756117, -66.110485], [108.000000, -15.698409, -37.311014, -75.191345, 43.497901, -122.074396], [-72.000000, -152.735064, 21.954737, 100.854528, 42.655457, -116.663072], [-72.000000, -135.000000, -11.000000, 84.000000, 42.000000, -94.000000], [108.000000, -61.889017, 48.265751, 64.017109, -47.756117, 113.889515], [108.000000, -15.698409, -37.311014, 104.808655, -43.497901, 57.925604], [-72.000000, -152.735064, 21.954737, -79.145472, -42.655457, 63.336928], [-72.000000, -135.000000, -11.000000, -96.000000, -42.000000, 86.000000]] - id: 1579 parameters: KukaKR6_R700_sixx - joints: [129.000000, 87.000000, 168.000000, 127.000000, -10.000000, 110.000000] - pose: {translation: [0.07099151576028431, 0.070037841332458, 0.5071998677126743], quaternion: [-0.02256167349825635, 0.10169329497286, -0.06112198488292702, 0.9926799824769774]} - solutions: [[-51.000000, -160.423435, 177.960563, 171.939089, 98.510804, -123.778288], [-51.000000, 110.236883, -167.005826, 161.199169, 25.487539, -105.494749], [129.000000, 87.000000, 168.000000, -53.000000, 10.000000, -70.000000], [129.000000, -57.976020, -157.045263, -8.861498, 115.807964, -126.460559], [-51.000000, -160.423435, 177.960563, -8.060911, -98.510804, 56.221712], [-51.000000, 110.236883, -167.005826, -18.800831, -25.487539, 74.505251], [129.000000, 87.000000, 168.000000, 127.000000, -10.000000, 110.000000], [129.000000, -57.976020, -157.045263, 171.138502, -115.807964, 53.539441]] + joints: [129.000000, 86.000000, 168.000000, 127.000000, -10.000000, 110.000000] + pose: {translation: [0.07215701316686725, 0.07147711076579624, 0.5050175917068972], quaternion: [-0.02962863230960884, 0.106726492983921, -0.06168541640185676, 0.991930697804108]} + solutions: [[-51.000000, -159.154178, 178.053656, 171.931319, 98.869570, -123.829713], [-51.000000, 112.307352, -167.098919, 161.835840, 26.414519, -106.202791], [129.000000, 86.000000, 168.000000, -53.000000, 10.000000, -70.000000], [129.000000, -58.976020, -157.045263, -8.861498, 115.807964, -126.460559], [-51.000000, -159.154178, 178.053656, -8.068681, -98.869570, 56.170287], [-51.000000, 112.307352, -167.098919, -18.164160, -26.414519, 73.797209], [129.000000, 86.000000, 168.000000, 127.000000, -10.000000, 110.000000], [129.000000, -58.976020, -157.045263, 171.138502, -115.807964, 53.539441]] - id: 1580 parameters: KukaKR6_R700_sixx - joints: [25.000000, 23.000000, -90.000000, -76.000000, -139.000000, -137.000000] - pose: {translation: [0.332009776799939, -0.2110089963350562, 0.57596364166726], quaternion: [0.5649185648378405, 0.70513578604644, -0.4000474780881436, -0.1536637680572099]} - solutions: [[25.000000, -82.014693, 100.954737, 40.642802, 102.224951, -54.979648], [25.000000, 23.000000, -90.000000, 104.000000, 139.000000, 43.000000], [-155.000000, 160.283851, 90.389616, -72.007426, 137.986749, 48.329503], [-155.000000, -106.869034, -79.434879, -136.775315, 111.644608, -46.161698], [25.000000, -82.014693, 100.954737, -139.357198, -102.224951, 125.020352], [25.000000, 23.000000, -90.000000, -76.000000, -139.000000, -137.000000], [-155.000000, 160.283851, 90.389616, 107.992574, -137.986749, -131.670497], [-155.000000, -106.869034, -79.434879, 43.224685, -111.644608, 133.838302]] + joints: [25.000000, 23.000000, -90.000000, -76.000000, -138.000000, -137.000000] + pose: {translation: [0.3316975340870397, -0.2119829526361658, 0.576914123445077], quaternion: [0.5614293505526078, 0.7037087713596417, -0.407834263325932, -0.1525197138306219]} + solutions: [[25.000000, -82.014693, 100.954737, 41.656626, 102.361911, -54.763781], [25.000000, 23.000000, -90.000000, 104.000000, 138.000000, 43.000000], [-155.000000, 160.283851, 90.389616, -72.143590, 136.990990, 48.229127], [-155.000000, -106.869034, -79.434879, -135.699697, 111.626516, -45.765106], [25.000000, -82.014693, 100.954737, -138.343374, -102.361911, 125.236219], [25.000000, 23.000000, -90.000000, -76.000000, -138.000000, -137.000000], [-155.000000, 160.283851, 90.389616, 107.856410, -136.990990, -131.770873], [-155.000000, -106.869034, -79.434879, 44.300303, -111.626516, 134.234894]] - id: 1581 parameters: KukaKR6_R700_sixx - joints: [-120.000000, -60.000000, 101.000000, 49.000000, 121.000000, 24.000000] - pose: {translation: [-0.1653405072656982, 0.389884138924373, 0.4528299059656622], quaternion: [0.7113119752879321, -0.1931163794615602, 0.6739078210370147, 0.05088798031737878]} - solutions: [[-120.000000, -60.000000, 101.000000, 49.000000, 121.000000, 24.000000], [-120.000000, 45.067493, -90.045263, 126.249328, 126.662039, 134.196197], [60.000000, 141.073915, 89.049514, -50.887559, 123.514381, 139.172963], [60.000000, -127.602864, -78.094776, -122.143359, 130.179935, 39.111366], [-120.000000, -60.000000, 101.000000, -131.000000, -121.000000, -156.000000], [-120.000000, 45.067493, -90.045263, -53.750672, -126.662039, -45.803803], [60.000000, 141.073915, 89.049514, 129.112441, -123.514381, -40.827037], [60.000000, -127.602864, -78.094776, 57.856641, -130.179935, -140.888634]] + joints: [-120.000000, -60.000000, 101.000000, 49.000000, 120.000000, 24.000000] + pose: {translation: [-0.1651788057235766, 0.3906737108791694, 0.4516897609145101], quaternion: [0.7168379642827505, -0.191122739978853, 0.6688969674527383, 0.0468217701338652]} + solutions: [[-120.000000, -60.000000, 101.000000, 49.000000, 120.000000, 24.000000], [-120.000000, 45.067493, -90.045263, 125.074133, 127.001513, 133.491687], [60.000000, 141.073915, 89.049514, -51.978396, 123.934959, 138.567311], [60.000000, -127.602864, -78.094776, -122.479817, 129.214024, 38.896453], [-120.000000, -60.000000, 101.000000, -131.000000, -120.000000, -156.000000], [-120.000000, 45.067493, -90.045263, -54.925867, -127.001513, -46.508313], [60.000000, 141.073915, 89.049514, 128.021604, -123.934959, -41.432689], [60.000000, -127.602864, -78.094776, 57.520183, -129.214024, -141.103547]] - id: 1582 parameters: KukaKR6_R700_sixx joints: [64.000000, -72.000000, 108.000000, 114.000000, 93.000000, -157.000000] @@ -7926,14 +7926,14 @@ cases: solutions: [[23.000000, -24.919383, 167.170913, 127.426492, 159.392666, 77.426667], [23.000000, -172.835000, -156.216175, 160.614800, 57.361505, 138.902503], [-157.000000, 19.000000, 164.000000, -38.000000, 27.000000, 163.000000], [-157.000000, -138.903534, -153.045263, -23.047365, 134.443041, 111.568218], [23.000000, -24.919383, 167.170913, -52.573508, -159.392666, -102.573333], [23.000000, -172.835000, -156.216175, -19.385200, -57.361505, -41.097497], [-157.000000, 19.000000, 164.000000, 142.000000, -27.000000, -17.000000], [-157.000000, -138.903534, -153.045263, 156.952635, -134.443041, -68.431782]] - id: 1585 parameters: KukaKR6_R700_sixx - joints: [154.000000, -158.000000, -35.000000, 133.000000, 106.000000, -9.000000] - pose: {translation: [0.4980398232756677, 0.305484970189188, 0.3556492664892253], quaternion: [-0.1415558997046402, 0.8765544467373472, 0.3111173163194121, -0.3388513607025946]} - solutions: [[-26.000000, -32.879734, 65.840206, -44.705288, 92.022000, 5.466806], [-26.000000, 32.531786, -54.885469, -61.911505, 127.167060, -41.076057], [154.000000, 158.320758, 45.954737, 116.774290, 128.052536, -43.229278], [154.000000, -158.000000, -35.000000, 133.000000, 106.000000, -9.000000], [-26.000000, -32.879734, 65.840206, 135.294712, -92.022000, -174.533194], [-26.000000, 32.531786, -54.885469, 118.088495, -127.167060, 138.923943], [154.000000, 158.320758, 45.954737, -63.225710, -128.052536, 136.770722], [154.000000, -158.000000, -35.000000, -47.000000, -106.000000, 171.000000]] + joints: [154.000000, -158.000000, -35.000000, 133.000000, 105.000000, -9.000000] + pose: {translation: [0.4990470468532386, 0.3062798442512302, 0.3550986505718474], quaternion: [-0.1384063827810859, 0.8790169472343948, 0.3135221655791359, -0.3314765924929685]} + solutions: [[-26.000000, -32.879734, 65.840206, -44.955138, 91.053691, 5.460100], [-26.000000, 32.531786, -54.885469, -61.252450, 126.317883, -40.681784], [154.000000, 158.320758, 45.954737, 117.480688, 127.223618, -42.797885], [154.000000, -158.000000, -35.000000, 133.000000, 105.000000, -9.000000], [-26.000000, -32.879734, 65.840206, 135.044862, -91.053691, -174.539900], [-26.000000, 32.531786, -54.885469, 118.747550, -126.317883, 139.318216], [154.000000, 158.320758, 45.954737, -62.519312, -127.223618, 137.202115], [154.000000, -158.000000, -35.000000, -47.000000, -105.000000, 171.000000]] - id: 1586 parameters: KukaKR6_R700_sixx - joints: [-68.000000, 20.000000, 178.000000, 75.000000, -160.000000, 32.000000] - pose: {translation: [-0.01238267085535477, 0.03990392836960029, 0.3418022978015616], quaternion: [-0.2744138049107032, 0.7822927525680803, 0.5239445870834419, 0.1954409952385845]} - solutions: [[-68.000000, 20.000000, 178.000000, -105.000000, 160.000000, -148.000000], [-68.000000, -69.001177, -167.045263, -160.401077, 99.972196, 141.443627], [-68.000000, 20.000000, 178.000000, 75.000000, -160.000000, 32.000000], [-68.000000, -69.001177, -167.045263, 19.598923, -99.972196, -38.556373]] + joints: [-68.000000, 20.000000, 178.000000, 75.000000, -159.000000, 32.000000] + pose: {translation: [-0.01376733832172215, 0.03984899110831187, 0.3416314765408884], quaternion: [-0.2791846087988419, 0.7812864225974737, 0.5255114342719869, 0.1883751908401916]} + solutions: [[-68.000000, 20.000000, 178.000000, -105.000000, 159.000000, -148.000000], [-68.000000, -69.001177, -167.045263, -159.444612, 99.637969, 141.606515], [-68.000000, 20.000000, 178.000000, 75.000000, -159.000000, 32.000000], [-68.000000, -69.001177, -167.045263, 20.555388, -99.637969, -38.393485]] - id: 1587 parameters: KukaKR6_R700_sixx joints: [6.000000, 31.000000, -105.000000, 167.000000, 47.000000, 52.000000] @@ -7941,24 +7941,24 @@ cases: solutions: [[6.000000, -91.944351, 115.954737, 164.060497, 143.196459, 30.171187], [6.000000, 31.000000, -105.000000, 167.000000, 47.000000, 52.000000], [-174.000000, 151.294174, 106.613640, -13.906361, 43.199217, 53.283289], [-174.000000, -97.036066, -95.658902, -12.837458, 132.229781, 34.344343], [6.000000, -91.944351, 115.954737, -15.939503, -143.196459, -149.828813], [6.000000, 31.000000, -105.000000, -13.000000, -47.000000, -128.000000], [-174.000000, 151.294174, 106.613640, 166.093639, -43.199217, -126.716711], [-174.000000, -97.036066, -95.658902, 167.162542, -132.229781, -145.655657]] - id: 1588 parameters: KukaKR6_R700_sixx - joints: [92.000000, -66.000000, -85.000000, -123.000000, -154.000000, 113.000000] - pose: {translation: [-0.02552245262069441, 0.1118931110386834, 0.8159566397452719], quaternion: [0.7097276146722641, -0.3312841975521209, 0.009150753433362033, 0.62165404940004]} - solutions: [[-88.000000, -122.234318, 100.502139, -108.516534, 157.187265, -51.118665], [-88.000000, -17.747237, -89.547401, -158.399270, 87.051260, -122.317534], [92.000000, -165.219646, 95.954737, 21.701725, 83.853410, -123.590753], [92.000000, -66.000000, -85.000000, 57.000000, 154.000000, -67.000000], [-88.000000, -122.234318, 100.502139, 71.483466, -157.187265, 128.881335], [-88.000000, -17.747237, -89.547401, 21.600730, -87.051260, 57.682466], [92.000000, -165.219646, 95.954737, -158.298275, -83.853410, 56.409247], [92.000000, -66.000000, -85.000000, -123.000000, -154.000000, 113.000000]] + joints: [92.000000, -66.000000, -85.000000, -123.000000, -153.000000, 113.000000] + pose: {translation: [-0.02656227187554526, 0.1121445044559539, 0.8168539018391925], quaternion: [0.70473815799745, -0.3334647614838673, 0.00406928036809356, 0.6262019023191759]} + solutions: [[-88.000000, -122.234318, 100.502139, -109.195264, 156.223944, -51.742090], [-88.000000, -17.747237, -89.547401, -157.575413, 86.482556, -122.363999], [92.000000, -165.219646, 95.954737, 22.542206, 83.303469, -123.684757], [92.000000, -66.000000, -85.000000, 57.000000, 153.000000, -67.000000], [-88.000000, -122.234318, 100.502139, 70.804736, -156.223944, 128.257910], [-88.000000, -17.747237, -89.547401, 22.424587, -86.482556, 57.636001], [92.000000, -165.219646, 95.954737, -157.457794, -83.303469, 56.315243], [92.000000, -66.000000, -85.000000, -123.000000, -153.000000, 113.000000]] - id: 1589 parameters: KukaKR6_R700_sixx - joints: [133.000000, -13.000000, 132.000000, 163.000000, 110.000000, 113.000000] - pose: {translation: [-0.1945704661416049, -0.176423691035034, 0.1237328015570215], quaternion: [0.7316394640726192, -0.1815702667812041, -0.4659425789668749, 0.4632854907486643]} - solutions: [[133.000000, -13.000000, 132.000000, 163.000000, 110.000000, 113.000000], [133.000000, 130.636616, -121.045263, 94.985245, 16.008669, -156.215797], [-47.000000, 60.315135, 126.461661, -132.058571, 21.718041, -106.867671], [-47.000000, -163.442779, -115.506924, -15.947919, 90.756291, 118.753388], [133.000000, -13.000000, 132.000000, -17.000000, -110.000000, -67.000000], [133.000000, 130.636616, -121.045263, -85.014755, -16.008669, 23.784203], [-47.000000, 60.315135, 126.461661, 47.941429, -21.718041, 73.132329], [-47.000000, -163.442779, -115.506924, 164.052081, -90.756291, -61.246612]] + joints: [133.000000, -13.000000, 132.000000, 163.000000, 109.000000, 113.000000] + pose: {translation: [-0.1945008137416975, -0.1761491917126067, 0.1223655778506127], quaternion: [0.7369218315959072, -0.1837265072052897, -0.4619716239987314, 0.4580098288109689]} + solutions: [[133.000000, -13.000000, 132.000000, 163.000000, 109.000000, 113.000000], [133.000000, 130.636616, -121.045263, 91.367008, 16.052711, -152.738172], [-47.000000, 60.315135, 126.461661, -133.734187, 22.494261, -105.315181], [-47.000000, -163.442779, -115.506924, -16.048162, 89.761328, 118.752935], [133.000000, -13.000000, 132.000000, -17.000000, -109.000000, -67.000000], [133.000000, 130.636616, -121.045263, -88.632992, -16.052711, 27.261828], [-47.000000, 60.315135, 126.461661, 46.265813, -22.494261, 74.684819], [-47.000000, -163.442779, -115.506924, 163.951838, -89.761328, -61.247065]] - id: 1590 parameters: KukaKR6_R700_sixx - joints: [-112.000000, 100.000000, -102.000000, 121.000000, -143.000000, -24.000000] - pose: {translation: [-0.1397333413842108, 0.2356872700975303, 0.1104912882032856], quaternion: [0.4071433725728898, 0.709263476727557, -0.5453442907886035, 0.1837911838325945]} - solutions: [[-112.000000, -19.277604, 112.954737, -34.025430, 67.204669, -136.297208], [-112.000000, 100.000000, -102.000000, -59.000000, 143.000000, 156.000000], [68.000000, 89.264643, 104.440868, 105.337290, 147.662422, 137.027774], [68.000000, -161.634243, -93.486130, 148.675958, 82.868869, -146.635811], [-112.000000, -19.277604, 112.954737, 145.974570, -67.204669, 43.702792], [-112.000000, 100.000000, -102.000000, 121.000000, -143.000000, -24.000000], [68.000000, 89.264643, 104.440868, -74.662710, -147.662422, -42.972226], [68.000000, -161.634243, -93.486130, -31.324042, -82.868869, 33.364189]] + joints: [-112.000000, 100.000000, -102.000000, 121.000000, -142.000000, -24.000000] + pose: {translation: [-0.1409393737035362, 0.2361376508831685, 0.109950783632664], quaternion: [0.412127750608907, 0.7087660234478765, -0.5445952044447272, 0.1766847601796276]} + solutions: [[-112.000000, -19.277604, 112.954737, -35.031846, 66.828423, -135.904227], [-112.000000, 100.000000, -102.000000, -59.000000, 142.000000, 156.000000], [68.000000, 89.264643, 104.440868, 105.929672, 146.715331, 137.525667], [68.000000, -161.634243, -93.486130, 147.826253, 82.330366, -146.526364], [-112.000000, -19.277604, 112.954737, 144.968154, -66.828423, 44.095773], [-112.000000, 100.000000, -102.000000, 121.000000, -142.000000, -24.000000], [68.000000, 89.264643, 104.440868, -74.070328, -146.715331, -42.474333], [68.000000, -161.634243, -93.486130, -32.173747, -82.330366, 33.473636]] - id: 1591 parameters: KukaKR6_R700_sixx - joints: [76.000000, -174.000000, 87.000000, -83.000000, -81.000000, -46.000000] - pose: {translation: [-0.1518386641005811, 0.2848121943289225, 0.8122595805890753], quaternion: [-0.197282647532586, -0.6162951459698682, 0.3249986795967785, 0.6896634746721496]} - solutions: [[-104.000000, -103.858119, 94.573998, -98.260218, 82.139086, -141.164010], [-104.000000, -6.226598, -83.619261, -83.506628, 80.629356, 137.172992], [76.000000, -174.000000, 87.000000, 97.000000, 81.000000, 134.000000], [76.000000, -85.000155, -76.045263, 83.175492, 80.866679, -150.857257], [-104.000000, -103.858119, 94.573998, 81.739782, -82.139086, 38.835990], [-104.000000, -6.226598, -83.619261, 96.493372, -80.629356, -42.827008], [76.000000, -174.000000, 87.000000, -83.000000, -81.000000, -46.000000], [76.000000, -85.000155, -76.045263, -96.824508, -80.866679, 29.142743]] + joints: [76.000000, -173.000000, 87.000000, -83.000000, -80.000000, -46.000000] + pose: {translation: [-0.1498336458436491, 0.2777159728316541, 0.8194689743486538], quaternion: [-0.1883353552118207, -0.6113355808504741, 0.3228926047786423, 0.6975234528979757]} + solutions: [[-104.000000, -104.816155, 94.399902, -99.247588, 82.029024, -141.157379], [-104.000000, -7.384532, -83.445165, -83.565834, 79.629082, 137.198963], [76.000000, -173.000000, 87.000000, 97.000000, 80.000000, 134.000000], [76.000000, -84.000155, -76.045263, 82.195803, 80.611591, -150.699592], [-104.000000, -104.816155, 94.399902, 80.752412, -82.029024, 38.842621], [-104.000000, -7.384532, -83.445165, 96.434166, -79.629082, -42.801037], [76.000000, -173.000000, 87.000000, -83.000000, -80.000000, -46.000000], [76.000000, -84.000155, -76.045263, -97.804197, -80.611591, 29.300408]] - id: 1592 parameters: KukaKR6_R700_sixx joints: [-23.000000, 38.000000, -134.000000, -64.000000, 58.000000, 44.000000] @@ -7966,14 +7966,14 @@ cases: solutions: [[-23.000000, -124.686465, 144.954737, -130.006521, 84.327627, 169.909630], [-23.000000, 38.000000, -134.000000, -64.000000, 58.000000, 44.000000], [157.000000, 140.384855, 137.811854, 117.204191, 58.983819, 41.696164], [157.000000, -67.805650, -126.857117, 50.558815, 80.743481, 165.562090], [-23.000000, -124.686465, 144.954737, 49.993479, -84.327627, -10.090370], [-23.000000, 38.000000, -134.000000, 116.000000, -58.000000, -136.000000], [157.000000, 140.384855, 137.811854, -62.795809, -58.983819, -138.303836], [157.000000, -67.805650, -126.857117, -129.441185, -80.743481, -14.437910]] - id: 1593 parameters: KukaKR6_R700_sixx - joints: [-147.000000, -69.000000, 66.000000, -93.000000, 114.000000, 62.000000] - pose: {translation: [-0.4321295664274059, 0.1936054014997077, 0.7502491961118509], quaternion: [0.6128712762811036, 0.3334057566744283, -0.4352776290405604, 0.5690015692269674]} - solutions: [[-147.000000, -69.000000, 66.000000, -93.000000, 114.000000, 62.000000], [-147.000000, -3.412494, -55.045263, -111.650990, 101.025316, 5.065486], [33.000000, -170.704312, 50.342826, 68.139676, 100.587655, 3.949034], [33.000000, -122.253861, -39.388088, 80.428987, 112.305754, 45.388597], [-147.000000, -69.000000, 66.000000, 87.000000, -114.000000, -118.000000], [-147.000000, -3.412494, -55.045263, 68.349010, -101.025316, -174.934514], [33.000000, -170.704312, 50.342826, -111.860324, -100.587655, -176.050966], [33.000000, -122.253861, -39.388088, -99.571013, -112.305754, -134.611403]] + joints: [-147.000000, -69.000000, 66.000000, -93.000000, 113.000000, 62.000000] + pose: {translation: [-0.4335034972248696, 0.1938347021274845, 0.7503453074227056], quaternion: [0.6154488673206775, 0.3277080955590364, -0.4403408188419523, 0.565623601947765]} + solutions: [[-147.000000, -69.000000, 66.000000, -93.000000, 113.000000, 62.000000], [-147.000000, -3.412494, -55.045263, -110.798741, 100.478546, 5.224484], [33.000000, -170.704312, 50.342826, 69.001426, 100.057337, 4.103455], [33.000000, -122.253861, -39.388088, 80.735910, 111.347202, 45.502714], [-147.000000, -69.000000, 66.000000, 87.000000, -113.000000, -118.000000], [-147.000000, -3.412494, -55.045263, 69.201259, -100.478546, -174.775516], [33.000000, -170.704312, 50.342826, -110.998574, -100.057337, -175.896545], [33.000000, -122.253861, -39.388088, -99.264090, -111.347202, -134.497286]] - id: 1594 parameters: KukaKR6_R700_sixx - joints: [-117.000000, -151.000000, -42.000000, -130.000000, -161.000000, -58.000000] - pose: {translation: [0.2576387961554862, -0.461696608921449, 0.4698331808424776], quaternion: [-0.5370765273673882, 0.0569852520549486, 0.2479416806819339, 0.8042551882206537]} - solutions: [[63.000000, -39.108364, 70.838825, -67.083824, 164.289905, -172.703690], [63.000000, 31.821279, -59.884088, -162.244914, 125.130746, 84.027500], [-117.000000, 157.703897, 52.954737, 17.230813, 122.654902, 83.087572], [-117.000000, -151.000000, -42.000000, 50.000000, 161.000000, 122.000000], [63.000000, -39.108364, 70.838825, 112.916176, -164.289905, 7.296310], [63.000000, 31.821279, -59.884088, 17.755086, -125.130746, -95.972500], [-117.000000, 157.703897, 52.954737, -162.769187, -122.654902, -96.912428], [-117.000000, -151.000000, -42.000000, -130.000000, -161.000000, -58.000000]] + joints: [-117.000000, -150.000000, -42.000000, -130.000000, -160.000000, -58.000000] + pose: {translation: [0.2582324018391467, -0.4606407942393875, 0.4802102846400439], quaternion: [-0.5394832359690512, 0.06123909510722884, 0.2424226512737454, 0.8040142221927525]} + solutions: [[63.000000, -40.184113, 70.818849, -70.662855, 163.878999, -176.170110], [63.000000, 30.723421, -59.864111, -161.516620, 124.266292, 84.422187], [-117.000000, 158.703897, 52.954737, 17.970466, 121.874623, 83.482436], [-117.000000, -150.000000, -42.000000, 50.000000, 160.000000, 122.000000], [63.000000, -40.184113, 70.818849, 109.337145, -163.878999, 3.829890], [63.000000, 30.723421, -59.864111, 18.483380, -124.266292, -95.577813], [-117.000000, 158.703897, 52.954737, -162.029534, -121.874623, -96.517564], [-117.000000, -150.000000, -42.000000, -130.000000, -160.000000, -58.000000]] - id: 1595 parameters: KukaKR6_R700_sixx joints: [-140.000000, -58.000000, 25.000000, -89.000000, -46.000000, -93.000000] @@ -7986,9 +7986,9 @@ cases: solutions: [[-63.000000, -79.675579, 156.892552, 135.740236, 79.970740, -17.509807], [-63.000000, 104.881316, -145.937815, 54.653727, 57.410953, 115.645188], [117.000000, 86.361628, 147.954737, -131.026664, 65.641235, 127.496388], [117.000000, -106.000000, -137.000000, -47.000000, 70.000000, -7.000000], [-63.000000, -79.675579, 156.892552, -44.259764, -79.970740, 162.490193], [-63.000000, 104.881316, -145.937815, -125.346273, -57.410953, -64.354812], [117.000000, 86.361628, 147.954737, 48.973336, -65.641235, -52.503612], [117.000000, -106.000000, -137.000000, 133.000000, -70.000000, 173.000000]] - id: 1597 parameters: KukaKR6_R700_sixx - joints: [146.000000, 2.000000, 108.000000, -89.000000, -73.000000, 104.000000] - pose: {translation: [-0.242667504776799, -0.07141439669897466, 0.01161232390854314], quaternion: [-0.6791790581283694, -0.4230126486502198, -0.03092287336023333, 0.5990157610488508]} - solutions: [[146.000000, 2.000000, 108.000000, 91.000000, 73.000000, -76.000000], [146.000000, 115.318239, -97.045263, 72.977276, 89.549030, 15.943968], [-34.000000, 73.728107, 101.765519, -106.663922, 93.555668, 29.122175], [-34.000000, 179.689584, -90.810781, -94.711866, 73.617772, -56.293124], [146.000000, 2.000000, 108.000000, -89.000000, -73.000000, 104.000000], [146.000000, 115.318239, -97.045263, -107.022724, -89.549030, -164.056032], [-34.000000, 73.728107, 101.765519, 73.336078, -93.555668, -150.877825], [-34.000000, 179.689584, -90.810781, 85.288134, -73.617772, 123.706876]] + joints: [146.000000, 2.000000, 108.000000, -89.000000, -72.000000, 104.000000] + pose: {translation: [-0.2420494713174295, -0.07150389240425278, 0.01036351361068818], quaternion: [-0.6842905377794325, -0.423999313897254, -0.03306963733070687, 0.5923490869470541]} + solutions: [[146.000000, 2.000000, 108.000000, 91.000000, 72.000000, -76.000000], [146.000000, 115.318239, -97.045263, 71.977825, 89.583019, 15.951538], [-34.000000, 73.728107, 101.765519, -107.631436, 93.816028, 29.059976], [-34.000000, 179.689584, -90.810781, -95.065081, 72.676640, -56.190718], [146.000000, 2.000000, 108.000000, -89.000000, -72.000000, 104.000000], [146.000000, 115.318239, -97.045263, -108.022175, -89.583019, -164.048462], [-34.000000, 73.728107, 101.765519, 72.368564, -93.816028, -150.940024], [-34.000000, 179.689584, -90.810781, 84.934919, -72.676640, 123.809282]] - id: 1598 parameters: KukaKR6_R700_sixx joints: [129.000000, -64.000000, 22.000000, -79.000000, -6.000000, 137.000000] @@ -7996,44 +7996,44 @@ cases: solutions: [[129.000000, -64.000000, 22.000000, 101.000000, 6.000000, -43.000000], [129.000000, -46.216171, -11.045263, 22.931066, 15.269034, 35.857663], [129.000000, -64.000000, 22.000000, -79.000000, -6.000000, 137.000000], [129.000000, -46.216171, -11.045263, -157.068934, -15.269034, -144.142337]] - id: 1599 parameters: KukaKR6_R700_sixx - joints: [19.000000, -58.000000, -178.000000, 63.000000, -137.000000, 76.000000] - pose: {translation: [0.08209630011271446, 0.02314630163113085, 0.37961924121256], quaternion: [-0.2892936963156507, 0.4468983989410543, -0.1400659935727723, 0.8348487861525717]} - solutions: [[19.000000, -58.000000, -178.000000, -117.000000, 137.000000, -104.000000], [19.000000, -105.123353, -171.045263, -139.374968, 111.047759, -142.011589], [-161.000000, -7.111258, 177.729495, 48.591050, 54.116611, 167.255139], [-161.000000, -98.407680, -166.774757, 40.973844, 112.070532, -141.062398], [19.000000, -58.000000, -178.000000, 63.000000, -137.000000, 76.000000], [19.000000, -105.123353, -171.045263, 40.625032, -111.047759, 37.988411], [-161.000000, -7.111258, 177.729495, -131.408950, -54.116611, -12.744861], [-161.000000, -98.407680, -166.774757, -139.026156, -112.070532, 38.937602]] + joints: [19.000000, -58.000000, -178.000000, 63.000000, -136.000000, 76.000000] + pose: {translation: [0.08224235573950441, 0.02405042039723959, 0.3785653251775529], quaternion: [-0.2960559138819379, 0.4498298486965652, -0.1368873679901094, 0.8314239902491968]} + solutions: [[19.000000, -58.000000, -178.000000, -117.000000, 136.000000, -104.000000], [19.000000, -105.123353, -171.045263, -138.718559, 110.258621, -141.780059], [-161.000000, -7.111258, 177.729495, 49.825275, 54.101019, 166.531559], [-161.000000, -98.407680, -166.774757, 41.620570, 111.271289, -140.823570], [19.000000, -58.000000, -178.000000, 63.000000, -136.000000, 76.000000], [19.000000, -105.123353, -171.045263, 41.281441, -110.258621, 38.219941], [-161.000000, -7.111258, 177.729495, -130.174725, -54.101019, -13.468441], [-161.000000, -98.407680, -166.774757, -138.379430, -111.271289, 39.176430]] - id: 1600 parameters: KukaKR6_R700_sixx - joints: [-35.000000, -27.000000, 176.000000, -151.000000, -180.000000, -134.000000] - pose: {translation: [0.06504125149069676, 0.04554237458837939, 0.3662203005440178], quaternion: [-0.2158642807485169, 0.4425873640784361, 0.1361536276890762, 0.8596401730504059]} - solutions: [[-35.000000, -27.000000, 176.000000, 15.255119, 179.999999, 35.394796], [-35.000000, -131.593301, -165.045263, 180.000000, 94.361437, -163.000000], [145.000000, -7.206668, 174.488327, -0.000000, 43.718341, -163.000000], [145.000000, -121.715684, -163.533590, -0.000000, 136.249274, -163.000000], [-35.000000, -27.000000, 176.000000, -164.744881, -179.999999, -144.605204], [-35.000000, -131.593301, -165.045263, -0.000000, -94.361437, 17.000000], [145.000000, -7.206668, 174.488327, 180.000000, -43.718341, 17.000000], [145.000000, -121.715684, -163.533590, 180.000000, -136.249274, 17.000000]] + joints: [-35.000000, -27.000000, 176.000000, -151.000000, -179.000000, -134.000000] + pose: {translation: [0.06490575179464375, 0.04462116954344388, 0.3672607442454006], quaternion: [-0.2096344459837816, 0.438214089764813, 0.1346787309435084, 0.8636454423084252]} + solutions: [[-35.000000, -27.000000, 176.000000, 29.000000, 179.000000, 46.000000], [-35.000000, -131.593301, -165.045263, 179.513178, 95.235889, -163.040726], [145.000000, -7.206668, 174.488327, -0.690503, 44.595062, -162.504590], [145.000000, -121.715684, -163.533590, -0.712473, 137.121706, -163.518413], [-35.000000, -27.000000, 176.000000, -151.000000, -179.000000, -134.000000], [-35.000000, -131.593301, -165.045263, -0.486822, -95.235889, 16.959274], [145.000000, -7.206668, 174.488327, 179.309497, -44.595062, 17.495410], [145.000000, -121.715684, -163.533590, 179.287527, -137.121706, 16.481587]] - id: 1601 parameters: KukaKR6_R700_sixx - joints: [123.000000, -33.000000, -180.000000, 163.000000, 63.000000, 58.000000] - pose: {translation: [-0.02226821236215882, 0.003974583648272462, 0.2664649666991651], quaternion: [0.7932754068027785, -0.5930001702460523, -0.1284535258511673, 0.0506420649899139]} - solutions: [[123.000000, -33.000000, 180.000000, 163.000000, 63.000000, 58.000000], [123.000000, -102.984040, -169.045263, 100.697569, 15.373642, 129.013003], [-57.000000, -26.701578, 179.472179, -162.317907, 59.056131, -139.211486], [-57.000000, -102.069361, -168.517441, -70.320194, 16.061280, 119.683546], [123.000000, -33.000000, 180.000000, -17.000000, -63.000000, -122.000000], [123.000000, -102.984040, -169.045263, -79.302431, -15.373642, -50.986997], [-57.000000, -26.701578, 179.472179, 17.682093, -59.056131, 40.788514], [-57.000000, -102.069361, -168.517441, 109.679806, -16.061280, -60.316454]] + joints: [123.000000, -33.000000, -180.000000, 163.000000, 62.000000, 58.000000] + pose: {translation: [-0.0213615335398529, 0.005024652642223732, 0.2663075163282024], quaternion: [0.7930259637596443, -0.5941624008396735, -0.1277285145196325, 0.04202723890681436]} + solutions: [[123.000000, -33.000000, 180.000000, 163.000000, 62.000000, 58.000000], [123.000000, -102.984040, -169.045263, 97.060111, 15.077254, 132.522879], [-57.000000, -26.701578, 179.472179, -162.659527, 60.011799, -139.038269], [-57.000000, -102.069361, -168.517441, -73.593152, 15.611127, 122.832369], [123.000000, -33.000000, 180.000000, -17.000000, -62.000000, -122.000000], [123.000000, -102.984040, -169.045263, -82.939889, -15.077254, -47.477121], [-57.000000, -26.701578, 179.472179, 17.340473, -60.011799, 40.961731], [-57.000000, -102.069361, -168.517441, 106.406848, -15.611127, -57.167631]] - id: 1602 parameters: KukaKR6_R700_sixx - joints: [-29.000000, 180.000000, -130.000000, 163.000000, 85.000000, 84.000000] - pose: {translation: [0.0412902653204104, -0.003753418191576338, 0.1865390688797116], quaternion: [0.3659306177749871, 0.3054447678883707, 0.7520275820687474, 0.4552502526657938]} - solutions: [[151.000000, 10.198035, 141.974647, -18.928404, 63.880422, 91.058970], [151.000000, 168.210512, -131.019909, -82.111218, 162.899909, 0.722390], [-29.000000, 23.539424, 140.954737, 42.697362, 154.563783, -57.723719], [-29.000000, 180.000000, -130.000000, 163.000000, 85.000000, 84.000000], [151.000000, 10.198035, 141.974647, 161.071596, -63.880422, -88.941030], [151.000000, 168.210512, -131.019909, 97.888782, -162.899909, -179.277610], [-29.000000, 23.539424, 140.954737, -137.302638, -154.563783, 122.276281], [-29.000000, 180.000000, -130.000000, -17.000000, -85.000000, -96.000000]] + joints: [-29.000000, 179.000000, -130.000000, 163.000000, 84.000000, 84.000000] + pose: {translation: [0.04524137776664465, -0.00151854545389633, 0.1856009064805035], quaternion: [0.3667364710015313, 0.3049113852732783, 0.7531320303975803, 0.4531286271659425]} + solutions: [[151.000000, 11.322834, 141.812919, -19.060288, 62.922970, 91.107274], [151.000000, 169.087713, -130.858182, -78.636546, 162.747456, 4.053515], [-29.000000, 22.539424, 140.954737, 44.182213, 155.341552, -56.378461], [-29.000000, 179.000000, -130.000000, 163.000000, 84.000000, 84.000000], [151.000000, 11.322834, 141.812919, 160.939712, -62.922970, -88.892726], [151.000000, 169.087713, -130.858182, 101.363454, -162.747456, -175.946485], [-29.000000, 22.539424, 140.954737, -135.817787, -155.341552, 123.621539], [-29.000000, 179.000000, -130.000000, -17.000000, -84.000000, -96.000000]] - id: 1603 parameters: KukaKR6_R700_sixx - joints: [-82.000000, -69.000000, -166.000000, 125.000000, 172.000000, -80.000000] - pose: {translation: [0.01012706809035079, 0.006525670123485955, 0.4362436480602465], quaternion: [-0.3231597970893074, -0.1134502681749567, -0.5725665166011166, 0.7448921843216584]} - solutions: [[-82.000000, 28.536599, 176.954737, 6.748188, 104.023432, 156.378660], [-82.000000, -69.000000, -166.000000, 125.000000, 172.000000, -80.000000], [-82.000000, 28.536599, 176.954737, -173.251812, -104.023432, -23.621340], [-82.000000, -69.000000, -166.000000, -55.000000, -172.000000, 100.000000]] + joints: [-82.000000, -68.000000, -166.000000, 125.000000, 171.000000, -80.000000] + pose: {translation: [0.01140792741635709, 0.00751163333238597, 0.435904537256968], quaternion: [-0.3375114026454068, -0.1137007763817625, -0.5716593049111284, 0.7391642751398637]} + solutions: [[-82.000000, 29.536599, 176.954737, 7.608583, 104.575599, 156.591175], [-82.000000, -68.000000, -166.000000, 125.000000, 171.000000, -80.000000], [-82.000000, 29.536599, 176.954737, -172.391417, -104.575599, -23.408825], [-82.000000, -68.000000, -166.000000, -55.000000, -171.000000, 100.000000]] - id: 1604 parameters: KukaKR6_R700_sixx - joints: [-28.000000, -89.000000, 60.000000, -170.000000, -159.000000, -33.000000] - pose: {translation: [0.2505613271867008, 0.1275874394463913, 0.8616166130349228], quaternion: [0.9323566664939683, -0.1065475102422982, -0.264552432908059, 0.2221951501447537]} - solutions: [[-28.000000, -89.000000, 60.000000, 10.000000, 159.000000, 147.000000], [-28.000000, -30.003579, -49.045263, 172.748295, 150.462413, -48.665332], [152.000000, -147.924055, 49.055698, -6.819777, 148.395276, -48.163756], [152.000000, -100.874300, -38.100961, -157.560075, 170.617337, 159.821026], [-28.000000, -89.000000, 60.000000, -170.000000, -159.000000, -33.000000], [-28.000000, -30.003579, -49.045263, -7.251705, -150.462413, 131.334668], [152.000000, -147.924055, 49.055698, 173.180223, -148.395276, 131.836244], [152.000000, -100.874300, -38.100961, 22.439925, -170.617337, -20.178974]] + joints: [-28.000000, -89.000000, 60.000000, -170.000000, -158.000000, -33.000000] + pose: {translation: [0.2516100524594373, 0.1278895658937694, 0.8607457531665682], quaternion: [0.935313393800481, -0.1061746440974493, -0.2572123312935838, 0.2185351618360903]} + solutions: [[-28.000000, -89.000000, 60.000000, 10.000000, 158.000000, 147.000000], [-28.000000, -30.003579, -49.045263, 172.183804, 151.424107, -49.158794], [152.000000, -147.924055, 49.055698, -7.333009, 149.359457, -48.603131], [152.000000, -100.874300, -38.100961, -158.794059, 169.639913, 158.605265], [-28.000000, -89.000000, 60.000000, -170.000000, -158.000000, -33.000000], [-28.000000, -30.003579, -49.045263, -7.816196, -151.424107, 130.841206], [152.000000, -147.924055, 49.055698, 172.666991, -149.359457, 131.396869], [152.000000, -100.874300, -38.100961, 21.205941, -169.639913, -21.394735]] - id: 1605 parameters: KukaKR6_R700_sixx - joints: [103.000000, -53.000000, -96.000000, 42.000000, -134.000000, -131.000000] - pose: {translation: [0.05792534282199331, 0.07972462253262055, 0.7442786624612581], quaternion: [0.7274363186288311, -0.6154946658765227, 0.3014344634821267, 0.03376363195102113]} - solutions: [[-77.000000, -135.234701, 109.915538, 38.704215, 129.667472, 44.063805], [-77.000000, -19.625649, -98.960801, 144.368205, 124.287988, 174.986561], [103.000000, -165.074639, 106.954737, -34.406862, 121.590227, 177.238492], [103.000000, -53.000000, -96.000000, -138.000000, 134.000000, 49.000000], [-77.000000, -135.234701, 109.915538, -141.295785, -129.667472, -135.936195], [-77.000000, -19.625649, -98.960801, -35.631795, -124.287988, -5.013439], [103.000000, -165.074639, 106.954737, 145.593138, -121.590227, -2.761508], [103.000000, -53.000000, -96.000000, 42.000000, -134.000000, -131.000000]] + joints: [103.000000, -53.000000, -96.000000, 42.000000, -133.000000, -131.000000] + pose: {translation: [0.05883000975282629, 0.08078427905574515, 0.7441880655769356], quaternion: [0.7293567365615804, -0.6136792832921572, 0.3013119716492795, 0.02544766848042627]} + solutions: [[-77.000000, -135.234701, 109.915538, 38.814420, 128.671128, 44.133415], [-77.000000, -19.625649, -98.960801, 143.381956, 124.871640, 174.426794], [103.000000, -165.074639, 106.954737, -35.335121, 122.205811, 176.747977], [103.000000, -53.000000, -96.000000, -138.000000, 133.000000, 49.000000], [-77.000000, -135.234701, 109.915538, -141.185580, -128.671128, -135.866585], [-77.000000, -19.625649, -98.960801, -36.618044, -124.871640, -5.573206], [103.000000, -165.074639, 106.954737, 144.664879, -122.205811, -3.252023], [103.000000, -53.000000, -96.000000, 42.000000, -133.000000, -131.000000]] - id: 1606 parameters: KukaKR6_R700_sixx - joints: [57.000000, -165.000000, 10.000000, -59.000000, -151.000000, -4.000000] - pose: {translation: [-0.3382652715969473, 0.4598423452263889, 0.5563883995590507], quaternion: [0.1307559679147316, 0.8836676161532158, -0.4423048958972426, 0.08000500035687746]} - solutions: [[-123.000000, -42.223760, 48.892814, -31.743965, 127.827859, -149.267013], [-123.000000, 4.648811, -37.938077, -73.766953, 154.353451, 159.410034], [57.000000, -165.000000, 10.000000, 121.000000, 151.000000, 176.000000], [57.000000, -160.134354, 0.954737, 126.967224, 148.659896, -177.101327], [-123.000000, -42.223760, 48.892814, 148.256035, -127.827859, 30.732987], [-123.000000, 4.648811, -37.938077, 106.233047, -154.353451, -20.589966], [57.000000, -165.000000, 10.000000, -59.000000, -151.000000, -4.000000], [57.000000, -160.134354, 0.954737, -53.032776, -148.659896, 2.898673]] + joints: [57.000000, -164.000000, 10.000000, -59.000000, -150.000000, -4.000000] + pose: {translation: [-0.338089017482641, 0.4576583760165394, 0.5664856738735988], quaternion: [0.1330743195593811, 0.8876033962379662, -0.4358406842088152, 0.06703979750139089]} + solutions: [[-123.000000, -43.226280, 48.760557, -32.512058, 127.117570, -149.791211], [-123.000000, 3.502435, -37.805819, -73.156425, 153.397744, 159.952251], [57.000000, -164.000000, 10.000000, 121.000000, 150.000000, 176.000000], [57.000000, -159.134354, 0.954737, 126.742655, 147.666935, -177.292118], [-123.000000, -43.226280, 48.760557, 147.487942, -127.117570, 30.208789], [-123.000000, 3.502435, -37.805819, 106.843575, -153.397744, -20.047749], [57.000000, -164.000000, 10.000000, -59.000000, -150.000000, -4.000000], [57.000000, -159.134354, 0.954737, -53.257345, -147.666935, 2.707882]] - id: 1607 parameters: KukaKR6_R700_sixx joints: [82.000000, 110.000000, 107.000000, 161.000000, -15.000000, 133.000000] @@ -8041,9 +8041,9 @@ cases: solutions: [[-98.000000, -46.540199, 117.247131, 174.310213, 121.796868, -68.402001], [-98.000000, 77.999208, -106.292394, 167.750777, 23.400762, -54.128263], [82.000000, 110.000000, 107.000000, -19.000000, 15.000000, -47.000000], [82.000000, -137.871601, -96.045263, -5.006449, 105.078562, -66.702357], [-98.000000, -46.540199, 117.247131, -5.689787, -121.796868, 111.597999], [-98.000000, 77.999208, -106.292394, -12.249223, -23.400762, 125.871737], [82.000000, 110.000000, 107.000000, 161.000000, -15.000000, 133.000000], [82.000000, -137.871601, -96.045263, 174.993551, -105.078562, 113.297643]] - id: 1608 parameters: KukaKR6_R700_sixx - joints: [11.000000, 178.000000, -51.000000, 112.000000, -27.000000, -40.000000] - pose: {translation: [-0.5190217633231301, 0.1351925011805074, 0.02770196579207734], quaternion: [-0.3947523146387988, 0.805475416225649, 0.413126768486373, -0.1571821780719282]} - solutions: [[-169.000000, -2.650024, 75.367519, 137.583066, 38.612284, 109.915973], [-169.000000, 73.304481, -64.412782, 40.203632, 40.699902, -138.258102], [11.000000, 116.859938, 61.954737, -144.731931, 46.803509, -131.438922], [11.000000, 178.000000, -51.000000, -68.000000, 27.000000, 140.000000], [-169.000000, -2.650024, 75.367519, -42.416934, -38.612284, -70.084027], [-169.000000, 73.304481, -64.412782, -139.796368, -40.699902, 41.741898], [11.000000, 116.859938, 61.954737, 35.268069, -46.803509, 48.561078], [11.000000, 178.000000, -51.000000, 112.000000, -27.000000, -40.000000]] + joints: [11.000000, 177.000000, -51.000000, 112.000000, -27.000000, -40.000000] + pose: {translation: [-0.5125598782122703, 0.1339364379550461, 0.0179804025960463], quaternion: [-0.3980144877720316, 0.8074790988552915, 0.4083883105448043, -0.1509336286113016]} + solutions: [[-169.000000, -1.493509, 75.216257, 137.587501, 38.616162, 109.910297], [-169.000000, 74.292731, -64.261519, 40.308643, 40.593431, -138.396504], [11.000000, 115.859938, 61.954737, -144.731931, 46.803509, -131.438922], [11.000000, 177.000000, -51.000000, -68.000000, 27.000000, 140.000000], [-169.000000, -1.493509, 75.216257, -42.412499, -38.616162, -70.089703], [-169.000000, 74.292731, -64.261519, -139.691357, -40.593431, 41.603496], [11.000000, 115.859938, 61.954737, 35.268069, -46.803509, 48.561078], [11.000000, 177.000000, -51.000000, 112.000000, -27.000000, -40.000000]] - id: 1609 parameters: KukaKR6_R700_sixx joints: [-108.000000, -33.000000, -139.000000, 28.000000, 142.000000, -75.000000] @@ -8051,9 +8051,9 @@ cases: solutions: [[72.000000, -163.204125, 153.394236, -153.038737, 140.394232, -76.332744], [72.000000, 14.251644, -142.439499, -144.672302, 29.989647, -129.277969], [-108.000000, 155.894041, 149.954737, 33.133671, 31.923987, -126.719978], [-108.000000, -33.000000, -139.000000, 28.000000, 142.000000, -75.000000], [72.000000, -163.204125, 153.394236, 26.961263, -140.394232, 103.667256], [72.000000, 14.251644, -142.439499, 35.327698, -29.989647, 50.722031], [-108.000000, 155.894041, 149.954737, -146.866329, -31.923987, 53.280022], [-108.000000, -33.000000, -139.000000, -152.000000, -142.000000, 105.000000]] - id: 1610 parameters: KukaKR6_R700_sixx - joints: [29.000000, 171.000000, 5.000000, 32.000000, 53.000000, 41.000000] - pose: {translation: [-0.6282970314185099, 0.3095602073036477, 0.3410393693720208], quaternion: [0.2980273073856876, -0.3071713214254049, -0.5805683357920455, 0.6926513631126864]} - solutions: [[-151.000000, -13.759657, 49.460690, -154.629731, 81.018087, 57.374992], [-151.000000, 33.730713, -38.505953, -143.766674, 45.725586, 34.516929], [29.000000, 170.486444, 5.954737, 32.177814, 52.626219, 40.705812], [29.000000, 171.000000, 5.000000, 32.000000, 53.000000, 41.000000], [-151.000000, -13.759657, 49.460690, 25.370269, -81.018087, -122.625008], [-151.000000, 33.730713, -38.505953, 36.233326, -45.725586, -145.483071], [29.000000, 170.486444, 5.954737, -147.822186, -52.626219, -139.294188], [29.000000, 171.000000, 5.000000, -148.000000, -53.000000, -139.000000]] + joints: [29.000000, 170.000000, 5.000000, 32.000000, 53.000000, 41.000000] + pose: {translation: [-0.6273005205229671, 0.309007832294377, 0.3284023577840151], quaternion: [0.2995166832266012, -0.3149024328048423, -0.5769720136533319, 0.6915414013226879]} + solutions: [[-151.000000, -12.642729, 49.388634, -154.632762, 81.058631, 57.394454], [-151.000000, 34.769239, -38.433896, -143.830254, 45.814820, 34.608078], [29.000000, 169.486444, 5.954737, 32.177814, 52.626219, 40.705812], [29.000000, 170.000000, 5.000000, 32.000000, 53.000000, 41.000000], [-151.000000, -12.642729, 49.388634, 25.367238, -81.058631, -122.605546], [-151.000000, 34.769239, -38.433896, 36.169746, -45.814820, -145.391922], [29.000000, 169.486444, 5.954737, -147.822186, -52.626219, -139.294188], [29.000000, 170.000000, 5.000000, -148.000000, -53.000000, -139.000000]] - id: 1611 parameters: KukaKR6_R700_sixx joints: [-43.000000, 6.000000, -177.000000, -132.000000, 7.000000, 39.000000] @@ -8061,24 +8061,24 @@ cases: solutions: [[-43.000000, 6.000000, -177.000000, -132.000000, 7.000000, 39.000000], [-43.000000, -28.317770, -172.045263, -12.293098, 25.174057, -82.056990], [-43.000000, 6.000000, -177.000000, 48.000000, -7.000000, -141.000000], [-43.000000, -28.317770, -172.045263, 167.706902, -25.174057, 97.943010]] - id: 1612 parameters: KukaKR6_R700_sixx - joints: [-128.000000, 61.000000, 67.000000, -61.000000, -16.000000, 26.000000] - pose: {translation: [0.05111650629427642, -0.03410011575254604, -0.2518577970253615], quaternion: [0.7223934783182323, -0.6308929117277257, 0.2727744119593377, -0.07560368109580003]} - solutions: [[52.000000, 56.900603, 67.546596, -164.616339, 65.335041, -40.580156], [52.000000, 124.192792, -56.591859, -118.300357, 15.890784, -94.788065], [-128.000000, 61.000000, 67.000000, 119.000000, 16.000000, -154.000000], [-128.000000, 127.689434, -56.045263, 18.364506, 49.922830, -46.094367], [52.000000, 56.900603, 67.546596, 15.383661, -65.335041, 139.419844], [52.000000, 124.192792, -56.591859, 61.699643, -15.890784, 85.211935], [-128.000000, 61.000000, 67.000000, -61.000000, -16.000000, 26.000000], [-128.000000, 127.689434, -56.045263, -161.635494, -49.922830, 133.905633]] + joints: [-128.000000, 60.000000, 67.000000, -61.000000, -16.000000, 26.000000] + pose: {translation: [0.04410462658741963, -0.02512531899581023, -0.2532130295239172], quaternion: [0.7233115807732654, -0.633150838531587, 0.2645444997224929, -0.07717888605443984]} + solutions: [[52.000000, 58.057323, 67.259567, -164.600411, 65.209405, -40.618233], [52.000000, 125.032953, -56.304829, -118.692219, 15.951467, -94.380571], [-128.000000, 60.000000, 67.000000, 119.000000, 16.000000, -154.000000], [-128.000000, 126.689434, -56.045263, 18.364506, 49.922830, -46.094367], [52.000000, 58.057323, 67.259567, 15.399589, -65.209405, 139.381767], [52.000000, 125.032953, -56.304829, 61.307781, -15.951467, 85.619429], [-128.000000, 60.000000, 67.000000, -61.000000, -16.000000, 26.000000], [-128.000000, 126.689434, -56.045263, -161.635494, -49.922830, 133.905633]] - id: 1613 parameters: KukaKR6_R700_sixx - joints: [83.000000, 32.000000, -94.000000, -13.000000, -171.000000, -127.000000] - pose: {translation: [0.04409221667298938, -0.3822025006648639, 0.5077413829156019], quaternion: [0.9390193912724387, -0.1360201775529876, -0.1007769103720676, -0.2993077153176188]} - solutions: [[83.000000, -77.707026, 104.954737, 2.044830, 99.519300, -113.816398], [83.000000, 32.000000, -94.000000, 167.000000, 171.000000, 53.000000], [-97.000000, 151.985780, 94.182023, -8.935775, 166.905689, 57.138251], [-97.000000, -110.832662, -83.227286, -177.813959, 112.698164, -113.310820], [83.000000, -77.707026, 104.954737, -177.955170, -99.519300, 66.183602], [83.000000, 32.000000, -94.000000, -13.000000, -171.000000, -127.000000], [-97.000000, 151.985780, 94.182023, 171.064225, -166.905689, -122.861749], [-97.000000, -110.832662, -83.227286, 2.186041, -112.698164, 66.689180]] + joints: [83.000000, 31.000000, -94.000000, -13.000000, -170.000000, -127.000000] + pose: {translation: [0.04341596134525216, -0.3792367408715492, 0.5148175723168606], quaternion: [0.9390993856168723, -0.1357216345952429, -0.1025862346023369, -0.2985767008775509]} + solutions: [[83.000000, -78.707026, 104.954737, 2.276769, 100.492865, -113.776096], [83.000000, 31.000000, -94.000000, 167.000000, 170.000000, 53.000000], [-97.000000, 152.846706, 94.257941, -9.272691, 165.970448, 56.808374], [-97.000000, -109.884617, -83.303203, -177.557962, 113.541794, -113.215046], [83.000000, -78.707026, 104.954737, -177.723231, -100.492865, 66.223904], [83.000000, 31.000000, -94.000000, -13.000000, -170.000000, -127.000000], [-97.000000, 152.846706, 94.257941, 170.727309, -165.970448, -123.191626], [-97.000000, -109.884617, -83.303203, 2.442038, -113.541794, 66.784954]] - id: 1614 parameters: KukaKR6_R700_sixx - joints: [62.000000, 6.000000, -86.000000, -123.000000, -131.000000, -65.000000] - pose: {translation: [0.138599709093373, -0.3685260412166622, 0.675208521227857], quaternion: [0.002029816239212519, 0.9266770934567642, -0.2994053008473681, -0.227204555704888]} - solutions: [[62.000000, -94.372979, 96.954737, 41.972732, 71.161649, 53.511522], [62.000000, 6.000000, -86.000000, 57.000000, 131.000000, 115.000000], [-118.000000, 175.333800, 87.824536, -120.596439, 132.664890, 118.602746], [-118.000000, -94.732664, -76.869798, -139.922563, 79.456732, 60.955617], [62.000000, -94.372979, 96.954737, -138.027268, -71.161649, -126.488478], [62.000000, 6.000000, -86.000000, -123.000000, -131.000000, -65.000000], [-118.000000, 175.333800, 87.824536, 59.403561, -132.664890, -61.397254], [-118.000000, -94.732664, -76.869798, 40.077437, -79.456732, -119.044383]] + joints: [62.000000, 6.000000, -86.000000, -123.000000, -130.000000, -65.000000] + pose: {translation: [0.1382431205324901, -0.3694752962857071, 0.6761683448628714], quaternion: [0.001336999420152297, 0.9234359048711246, -0.3067154360175001, -0.2306295369981753]} + solutions: [[62.000000, -94.372979, 96.954737, 42.903847, 70.686638, 53.207207], [62.000000, 6.000000, -86.000000, 57.000000, 130.000000, 115.000000], [-118.000000, 175.333800, 87.824536, -120.680553, 131.666836, 118.546280], [-118.000000, -94.732664, -76.869798, -139.097589, 78.870660, 60.800514], [62.000000, -94.372979, 96.954737, -137.096153, -70.686638, -126.792793], [62.000000, 6.000000, -86.000000, -123.000000, -130.000000, -65.000000], [-118.000000, 175.333800, 87.824536, 59.319447, -131.666836, -61.453720], [-118.000000, -94.732664, -76.869798, 40.902411, -78.870660, -119.199486]] - id: 1615 parameters: KukaKR6_R700_sixx - joints: [92.000000, -164.000000, 87.000000, 131.000000, 132.000000, -159.000000] - pose: {translation: [-0.03507510609824838, 0.2812344927153986, 0.8069595956922979], quaternion: [0.1333170009764282, 0.8679745974782581, 0.3162951316377722, -0.3588928323125878]} - solutions: [[-88.000000, -113.305060, 92.729372, -37.627527, 66.729286, -104.474624], [-88.000000, -17.787762, -81.774635, -46.794002, 129.694398, -155.628381], [92.000000, -164.000000, 87.000000, 131.000000, 132.000000, -159.000000], [92.000000, -75.000155, -76.045263, 144.190234, 73.450773, -109.799883], [-88.000000, -113.305060, 92.729372, 142.372473, -66.729286, 75.525376], [-88.000000, -17.787762, -81.774635, 133.205998, -129.694398, 24.371619], [92.000000, -164.000000, 87.000000, -49.000000, -132.000000, 21.000000], [92.000000, -75.000155, -76.045263, -35.809766, -73.450773, 70.200117]] + joints: [92.000000, -163.000000, 87.000000, 131.000000, 131.000000, -159.000000] + pose: {translation: [-0.03601068979954169, 0.2744501177125619, 0.8133792927969189], quaternion: [0.1285670608368666, 0.8613154270007349, 0.3276469896145351, -0.3664064632001513]} + solutions: [[-88.000000, -114.233862, 92.533227, -38.483609, 66.249247, -104.203734], [-88.000000, -18.940893, -81.578490, -46.844225, 128.666690, -155.635797], [92.000000, -163.000000, 87.000000, 131.000000, 131.000000, -159.000000], [92.000000, -74.000155, -76.045263, 143.397809, 72.798864, -109.569845], [-88.000000, -114.233862, 92.533227, 141.516391, -66.249247, 75.796266], [-88.000000, -18.940893, -81.578490, 133.155775, -128.666690, 24.364203], [92.000000, -163.000000, 87.000000, -49.000000, -131.000000, 21.000000], [92.000000, -74.000155, -76.045263, -36.602191, -72.798864, 70.430155]] - id: 1616 parameters: KukaKR6_R700_sixx joints: [-23.000000, 64.000000, -123.000000, -40.000000, 77.000000, 95.000000] @@ -8086,9 +8086,9 @@ cases: solutions: [[-23.000000, -82.331578, 133.954737, -127.086005, 51.731575, -135.018268], [-23.000000, 64.000000, -123.000000, -40.000000, 77.000000, 95.000000], [157.000000, 121.093599, 124.372949, 140.765661, 81.983587, 90.807530], [157.000000, -105.374691, -113.418212, 62.640994, 44.845118, -149.567012], [-23.000000, -82.331578, 133.954737, 52.913995, -51.731575, 44.981732], [-23.000000, 64.000000, -123.000000, 140.000000, -77.000000, -85.000000], [157.000000, 121.093599, 124.372949, -39.234339, -81.983587, -89.192470], [157.000000, -105.374691, -113.418212, -117.359006, -44.845118, 30.432988]] - id: 1617 parameters: KukaKR6_R700_sixx - joints: [120.000000, 142.000000, -11.000000, -74.000000, -176.000000, 135.000000] - pose: {translation: [0.186730512838314, 0.3341554117599853, -0.03314388534638685], quaternion: [0.229217043352569, -0.2780848043841361, 0.2379406738182679, 0.901949346887203]} - solutions: [[-60.000000, 28.743417, 45.116814, -8.726935, 153.771995, 21.122704], [-60.000000, 71.512830, -34.162076, -159.835439, 168.783358, -131.227447], [120.000000, 124.264936, 21.954737, 15.406686, 165.380542, -136.106570], [120.000000, 142.000000, -11.000000, 106.000000, 176.000000, -45.000000], [-60.000000, 28.743417, 45.116814, 171.273065, -153.771995, -158.877296], [-60.000000, 71.512830, -34.162076, 20.164561, -168.783358, 48.772553], [120.000000, 124.264936, 21.954737, -164.593314, -165.380542, 43.893430], [120.000000, 142.000000, -11.000000, -74.000000, -176.000000, 135.000000]] + joints: [120.000000, 142.000000, -11.000000, -74.000000, -175.000000, 135.000000] + pose: {translation: [0.1854629083842545, 0.3346358965745213, -0.03347827327864653], quaternion: [0.2251109885803072, -0.2851080124964511, 0.2348012608265688, 0.9016134603836469]} + solutions: [[-60.000000, 28.743417, 45.116814, -10.766098, 153.352635, 19.296748], [-60.000000, 71.512830, -34.162076, -154.748131, 168.674086, -126.238131], [120.000000, 124.264936, 21.954737, 19.367153, 165.366405, -132.274355], [120.000000, 142.000000, -11.000000, 106.000000, 175.000000, -45.000000], [-60.000000, 28.743417, 45.116814, 169.233902, -153.352635, -160.703252], [-60.000000, 71.512830, -34.162076, 25.251869, -168.674086, 53.761869], [120.000000, 124.264936, 21.954737, -160.632847, -165.366405, 47.725645], [120.000000, 142.000000, -11.000000, -74.000000, -175.000000, 135.000000]] - id: 1618 parameters: KukaKR6_R700_sixx joints: [-67.000000, -70.000000, 108.000000, -178.000000, 75.000000, -149.000000] @@ -8106,9 +8106,9 @@ cases: solutions: [[36.000000, -174.894811, 144.230986, -57.143022, 33.355987, -8.023887], [36.000000, -13.364024, -133.276249, -36.674947, 129.347674, -85.585893], [-144.000000, -178.093309, 143.954737, 143.700561, 128.721485, -84.989661], [-144.000000, -17.000000, -133.000000, 122.000000, 33.000000, -7.000000], [36.000000, -174.894811, 144.230986, 122.856978, -33.355987, 171.976113], [36.000000, -13.364024, -133.276249, 143.325053, -129.347674, 94.414107], [-144.000000, -178.093309, 143.954737, -36.299439, -128.721485, 95.010339], [-144.000000, -17.000000, -133.000000, -58.000000, -33.000000, 173.000000]] - id: 1621 parameters: KukaKR6_R700_sixx - joints: [129.000000, -171.000000, 140.000000, -5.000000, 63.000000, -125.000000] - pose: {translation: [-0.04326593080232785, -0.06330074599671257, 0.6251055696226189], quaternion: [0.698753676240685, -0.5246425433224641, 0.02666275202584913, 0.4855745044075858]} - solutions: [[129.000000, -171.000000, 140.000000, -5.000000, 63.000000, -125.000000], [129.000000, -15.972392, -129.045263, -55.481694, 174.591880, 177.363212], [-51.000000, -174.479049, 139.697506, 122.733627, 174.703092, 175.570719], [-51.000000, -19.901656, -128.742769, 175.015646, 63.354226, -125.034673], [129.000000, -171.000000, 140.000000, 175.000000, -63.000000, 55.000000], [129.000000, -15.972392, -129.045263, 124.518306, -174.591880, -2.636788], [-51.000000, -174.479049, 139.697506, -57.266373, -174.703092, -4.429281], [-51.000000, -19.901656, -128.742769, -4.984354, -63.354226, 54.965327]] + joints: [129.000000, -170.000000, 140.000000, -5.000000, 63.000000, -125.000000] + pose: {translation: [-0.0457333714909913, -0.06634778148706194, 0.6241738464096761], quaternion: [0.7018737088959983, -0.5274700593964698, 0.02694112644954232, 0.4779359882939238]} + solutions: [[129.000000, -170.000000, 140.000000, -5.000000, 63.000000, -125.000000], [129.000000, -14.972392, -129.045263, -55.481694, 174.591880, 177.363212], [-51.000000, -175.334621, 139.536211, 122.886410, 174.693952, 175.724158], [-51.000000, -20.996567, -128.581473, 175.018535, 63.420360, -125.041122], [129.000000, -170.000000, 140.000000, 175.000000, -63.000000, 55.000000], [129.000000, -14.972392, -129.045263, 124.518306, -174.591880, -2.636788], [-51.000000, -175.334621, 139.536211, -57.113590, -174.693952, -4.275842], [-51.000000, -20.996567, -128.581473, -4.981465, -63.420360, 54.958878]] - id: 1622 parameters: KukaKR6_R700_sixx joints: [38.000000, -31.000000, 14.000000, -117.000000, -26.000000, -60.000000] @@ -8116,24 +8116,24 @@ cases: solutions: [[38.000000, -31.000000, 14.000000, 63.000000, 26.000000, 120.000000], [38.000000, -21.830125, -3.045263, 50.647711, 30.339449, 133.986532], [38.000000, -31.000000, 14.000000, -117.000000, -26.000000, -60.000000], [38.000000, -21.830125, -3.045263, -129.352289, -30.339449, -46.013468]] - id: 1623 parameters: KukaKR6_R700_sixx - joints: [125.000000, -75.000000, -150.000000, -114.000000, -174.000000, -31.000000] - pose: {translation: [0.03559245268532153, 0.06415003872460834, 0.4800876199574364], quaternion: [-0.1711436404329357, -0.3225860306114001, 0.8986856707632508, 0.2429242111411476]} - solutions: [[-55.000000, -123.735586, 170.207380, -100.069623, 174.434394, 163.000826], [-55.000000, 99.970432, -159.252643, -174.279767, 73.348586, 81.473023], [125.000000, 91.064688, 160.954737, 6.287693, 60.680516, 80.028785], [125.000000, -75.000000, -150.000000, 66.000000, 174.000000, 149.000000], [-55.000000, -123.735586, 170.207380, 79.930377, -174.434394, -16.999174], [-55.000000, 99.970432, -159.252643, 5.720233, -73.348586, -98.526977], [125.000000, 91.064688, 160.954737, -173.712307, -60.680516, -99.971215], [125.000000, -75.000000, -150.000000, -114.000000, -174.000000, -31.000000]] + joints: [125.000000, -75.000000, -150.000000, -114.000000, -173.000000, -31.000000] + pose: {translation: [0.03484726860887671, 0.06529533598800072, 0.4803748426391158], quaternion: [-0.1767675608903588, -0.316717508929699, 0.8988211421551463, 0.2460971421393542]} + solutions: [[-55.000000, -123.735586, 170.207380, -102.194052, 173.459639, 160.888162], [-55.000000, 99.970432, -159.252643, -173.313327, 72.968587, 81.193015], [125.000000, 91.064688, 160.954737, 7.361988, 60.325980, 79.499816], [125.000000, -75.000000, -150.000000, 66.000000, 173.000000, 149.000000], [-55.000000, -123.735586, 170.207380, 77.805948, -173.459639, -19.111838], [-55.000000, 99.970432, -159.252643, 6.686673, -72.968587, -98.806985], [125.000000, 91.064688, 160.954737, -172.638012, -60.325980, -100.500184], [125.000000, -75.000000, -150.000000, -114.000000, -173.000000, -31.000000]] - id: 1624 parameters: KukaKR6_R700_sixx - joints: [-133.000000, 163.000000, 114.000000, 48.000000, -109.000000, 80.000000] - pose: {translation: [0.177062527474026, -0.2722996486635361, 0.6547646708969361], quaternion: [0.7786879454784059, -0.1290888224809686, 0.06363283832060196, 0.6106816039184088]} - solutions: [[47.000000, -113.357103, 121.138117, 77.686079, 45.988749, 167.562519], [47.000000, 16.047678, -110.183379, 47.310553, 107.070384, -102.226318], [-133.000000, 163.000000, 114.000000, -132.000000, 109.000000, -100.000000], [-133.000000, -76.450250, -103.045263, -109.723043, 48.283594, 178.434427], [47.000000, -113.357103, 121.138117, -102.313921, -45.988749, -12.437481], [47.000000, 16.047678, -110.183379, -132.689447, -107.070384, 77.773682], [-133.000000, 163.000000, 114.000000, 48.000000, -109.000000, 80.000000], [-133.000000, -76.450250, -103.045263, 70.276957, -48.283594, -1.565573]] + joints: [-133.000000, 162.000000, 114.000000, 48.000000, -108.000000, 80.000000] + pose: {translation: [0.1799249285910343, -0.275851954874322, 0.6500542958744846], quaternion: [0.7776046585969274, -0.1254317072586611, 0.0582748035138893, 0.6133530215283457]} + solutions: [[47.000000, -112.348270, 121.268766, 79.206283, 46.013406, 166.408182], [47.000000, 17.221657, -110.314028, 47.341806, 106.041776, -102.247950], [-133.000000, 162.000000, 114.000000, -132.000000, 108.000000, -100.000000], [-133.000000, -77.450250, -103.045263, -108.394925, 48.144553, 177.549414], [47.000000, -112.348270, 121.268766, -100.793717, -46.013406, -13.591818], [47.000000, 17.221657, -110.314028, -132.658194, -106.041776, 77.752050], [-133.000000, 162.000000, 114.000000, 48.000000, -108.000000, 80.000000], [-133.000000, -77.450250, -103.045263, 71.605075, -48.144553, -2.450586]] - id: 1625 parameters: KukaKR6_R700_sixx - joints: [-119.000000, -78.000000, 133.000000, 11.000000, -151.000000, -90.000000] - pose: {translation: [-0.1614041447959805, 0.275916065480569, 0.5083542027402518], quaternion: [-0.03612916375835407, -0.06315259109298563, 0.9420184369754516, -0.327578537396288]} - solutions: [[-119.000000, -78.000000, 133.000000, -169.000000, 151.000000, 90.000000], [-119.000000, 67.009081, -122.045263, -172.005029, 41.689894, 74.364010], [61.000000, 118.639869, 123.308172, 9.314898, 34.856103, 72.685756], [61.000000, -109.195853, -112.353435, 7.904242, 137.725466, 86.216861], [-119.000000, -78.000000, 133.000000, 11.000000, -151.000000, -90.000000], [-119.000000, 67.009081, -122.045263, 7.994971, -41.689894, -105.635990], [61.000000, 118.639869, 123.308172, -170.685102, -34.856103, -107.314244], [61.000000, -109.195853, -112.353435, -172.095758, -137.725466, -93.783139]] + joints: [-119.000000, -78.000000, 133.000000, 11.000000, -150.000000, -90.000000] + pose: {translation: [-0.1622718789897168, 0.2770032149849823, 0.5084752205995403], quaternion: [-0.03898641380559818, -0.05492962910543824, 0.9425336711278647, -0.3272507817792769]} + solutions: [[-119.000000, -78.000000, 133.000000, -169.000000, 150.000000, 90.000000], [-119.000000, 67.009081, -122.045263, -171.591958, 40.727630, 74.053240], [61.000000, 118.639869, 123.308172, 9.848442, 33.902558, 72.245397], [61.000000, -109.195853, -112.353435, 8.000493, 136.727604, 86.287516], [-119.000000, -78.000000, 133.000000, 11.000000, -150.000000, -90.000000], [-119.000000, 67.009081, -122.045263, 8.408042, -40.727630, -105.946760], [61.000000, 118.639869, 123.308172, -170.151558, -33.902558, -107.754603], [61.000000, -109.195853, -112.353435, -171.999507, -136.727604, -93.712484]] - id: 1626 parameters: KukaKR6_R700_sixx - joints: [144.000000, -102.000000, 161.000000, 173.000000, 171.000000, 115.000000] - pose: {translation: [-0.1201852840429454, -0.08543451218005034, 0.4874034261125712], quaternion: [-0.1896146095448068, 0.02747088910394758, -0.6674927365684057, 0.7195450623327423]} - solutions: [[144.000000, -102.000000, 161.000000, 173.000000, 171.000000, 115.000000], [144.000000, 92.048509, -150.045263, 178.651007, 54.076791, 122.706209], [-36.000000, 96.421666, 151.915341, -1.580099, 43.739876, 123.056396], [-36.000000, -88.919204, -140.960603, -3.520763, 161.913887, 118.567447], [144.000000, -102.000000, 161.000000, -7.000000, -171.000000, -65.000000], [144.000000, 92.048509, -150.045263, -1.348993, -54.076791, -57.293791], [-36.000000, 96.421666, 151.915341, 178.419901, -43.739876, -56.943604], [-36.000000, -88.919204, -140.960603, 176.479237, -161.913887, -61.432553]] + joints: [144.000000, -102.000000, 161.000000, 173.000000, 170.000000, 115.000000] + pose: {translation: [-0.1213277985758783, -0.08605715334588455, 0.4879098651699492], quaternion: [-0.1814548514597878, 0.02484436906192176, -0.6683838831515785, 0.720915999927064]} + solutions: [[144.000000, -102.000000, 161.000000, 173.000000, 170.000000, 115.000000], [144.000000, 92.048509, -150.045263, 178.483301, 53.085938, 122.805776], [-36.000000, 96.421666, 151.915341, -1.786553, 42.749929, 123.206789], [-36.000000, -88.919204, -140.960603, -3.711064, 160.915727, 118.387063], [144.000000, -102.000000, 161.000000, -7.000000, -170.000000, -65.000000], [144.000000, 92.048509, -150.045263, -1.516699, -53.085938, -57.194224], [-36.000000, 96.421666, 151.915341, 178.213447, -42.749929, -56.793211], [-36.000000, -88.919204, -140.960603, 176.288936, -160.915727, -61.612937]] - id: 1627 parameters: KukaKR6_R700_sixx joints: [-88.000000, 27.000000, -13.000000, -44.000000, 18.000000, -16.000000] @@ -8141,14 +8141,14 @@ cases: solutions: [[-88.000000, 7.109761, 23.954737, -107.232859, 12.988213, 49.092400], [-88.000000, 27.000000, -13.000000, -44.000000, 18.000000, -16.000000], [-88.000000, 7.109761, 23.954737, 72.767141, -12.988213, -130.907600], [-88.000000, 27.000000, -13.000000, 136.000000, -18.000000, 164.000000]] - id: 1628 parameters: KukaKR6_R700_sixx - joints: [-173.000000, -17.000000, -17.000000, -172.000000, -116.000000, 132.000000] - pose: {translation: [-0.6141645296695986, 0.08549210955790532, 0.6465774937506505], quaternion: [0.8665896914434773, -0.4904391343013703, -0.08633612208370435, -0.03221546605543619]} - solutions: [[-173.000000, -41.203327, 27.954737, 7.218362, 95.426933, -50.839194], [-173.000000, -17.000000, -17.000000, 8.000000, 116.000000, -48.000000], [-173.000000, -41.203327, 27.954737, -172.781638, -95.426933, 129.160806], [-173.000000, -17.000000, -17.000000, -172.000000, -116.000000, 132.000000]] + joints: [-173.000000, -16.000000, -17.000000, -172.000000, -115.000000, 132.000000] + pose: {translation: [-0.6197065016207525, 0.08625686324664945, 0.6363428135865816], quaternion: [0.8670789728920114, -0.4894992333836777, -0.08654607431420516, -0.03277700880383135]} + solutions: [[-173.000000, -40.203327, 27.954737, 7.268040, 94.428159, -50.834927], [-173.000000, -16.000000, -17.000000, 8.000000, 115.000000, -48.000000], [-173.000000, -40.203327, 27.954737, -172.731960, -94.428159, 129.165073], [-173.000000, -16.000000, -17.000000, -172.000000, -115.000000, 132.000000]] - id: 1629 parameters: KukaKR6_R700_sixx - joints: [160.000000, 112.000000, 44.000000, 64.000000, 53.000000, 127.000000] - pose: {translation: [0.4197448809644738, 0.2138847397855267, -0.06649180683430737], quaternion: [-0.3825859110038639, 0.5622299919618434, 0.3864165578427066, 0.6230631594508885]} - solutions: [[-20.000000, 22.083726, 58.326183, -134.075630, 87.632183, 175.534144], [-20.000000, 79.247180, -47.371446, -120.880042, 56.758705, 135.467724], [160.000000, 112.000000, 44.000000, 64.000000, 53.000000, 127.000000], [160.000000, 153.557343, -33.045263, 48.528107, 73.334882, 160.001095], [-20.000000, 22.083726, 58.326183, 45.924370, -87.632183, -4.465856], [-20.000000, 79.247180, -47.371446, 59.119958, -56.758705, -44.532276], [160.000000, 112.000000, 44.000000, -116.000000, -53.000000, -53.000000], [160.000000, 153.557343, -33.045263, -131.471893, -73.334882, -19.998905]] + joints: [160.000000, 111.000000, 44.000000, 64.000000, 53.000000, 127.000000] + pose: {translation: [0.4120239646262899, 0.2110745560571681, -0.07501753503313409], quaternion: [-0.3812622527039362, 0.5684711830371044, 0.3878610883504771, 0.6172871170396304]} + solutions: [[-20.000000, 23.276772, 58.067057, -134.073647, 87.586218, 175.486629], [-20.000000, 80.156668, -47.112319, -120.974685, 56.845365, 135.640577], [160.000000, 111.000000, 44.000000, 64.000000, 53.000000, 127.000000], [160.000000, 152.557343, -33.045263, 48.528107, 73.334882, 160.001095], [-20.000000, 23.276772, 58.067057, 45.926353, -87.586218, -4.513371], [-20.000000, 80.156668, -47.112319, 59.025315, -56.845365, -44.359423], [160.000000, 111.000000, 44.000000, -116.000000, -53.000000, -53.000000], [160.000000, 152.557343, -33.045263, -131.471893, -73.334882, -19.998905]] - id: 1630 parameters: KukaKR6_R700_sixx joints: [147.000000, 25.000000, 19.000000, 165.000000, 11.000000, -32.000000] @@ -8156,39 +8156,39 @@ cases: solutions: [[147.000000, 25.000000, 19.000000, 165.000000, 11.000000, -32.000000], [147.000000, 39.552470, -8.045263, 56.733216, 3.386094, 76.576211], [147.000000, 25.000000, 19.000000, -15.000000, -11.000000, 148.000000], [147.000000, 39.552470, -8.045263, -123.266784, -3.386094, -103.423789]] - id: 1631 parameters: KukaKR6_R700_sixx - joints: [21.000000, -126.000000, 108.000000, -64.000000, -77.000000, 176.000000] - pose: {translation: [0.1454796850442473, -0.1308895238281407, 0.8389780471339424], quaternion: [-0.1466385928407271, -0.4905355925268248, 0.8588667268244228, -0.01482906294918095]} - solutions: [[21.000000, -126.000000, 108.000000, 116.000000, 77.000000, -4.000000], [21.000000, -12.681761, -97.045263, 74.813187, 65.155172, 94.104581], [-159.000000, -170.677047, 103.557837, -106.564092, 66.018140, 97.435972], [-159.000000, -62.614925, -92.603100, -65.582604, 74.108405, 2.335937], [21.000000, -126.000000, 108.000000, -64.000000, -77.000000, 176.000000], [21.000000, -12.681761, -97.045263, -105.186813, -65.155172, -85.895419], [-159.000000, -170.677047, 103.557837, 73.435908, -66.018140, -82.564028], [-159.000000, -62.614925, -92.603100, 114.417396, -74.108405, -177.664063]] + joints: [21.000000, -125.000000, 108.000000, -64.000000, -77.000000, 176.000000] + pose: {translation: [0.1526096266238356, -0.1336264519724482, 0.8361585323370897], quaternion: [-0.1396822635177981, -0.4933236687118757, 0.8584946199221779, -0.01037355830346096]} + solutions: [[21.000000, -125.000000, 108.000000, 116.000000, 77.000000, -4.000000], [21.000000, -11.681761, -97.045263, 74.813187, 65.155172, 94.104581], [-159.000000, -171.523677, 103.383166, -106.555008, 66.012069, 97.413623], [-159.000000, -63.666755, -92.428428, -65.614507, 74.057655, 2.452266], [21.000000, -125.000000, 108.000000, -64.000000, -77.000000, 176.000000], [21.000000, -11.681761, -97.045263, -105.186813, -65.155172, -85.895419], [-159.000000, -171.523677, 103.383166, 73.444992, -66.012069, -82.586377], [-159.000000, -63.666755, -92.428428, 114.385493, -74.057655, -177.547734]] - id: 1632 parameters: KukaKR6_R700_sixx - joints: [-61.000000, -22.000000, -164.000000, 160.000000, -171.000000, 171.000000] - pose: {translation: [0.01326051845241722, 0.0327514330463008, 0.4649948473972109], quaternion: [-0.3760212324099322, 0.4836214903111531, 0.3502210811620497, 0.7085643804170657]} - solutions: [[-61.000000, 89.600591, 174.954737, -3.105336, 80.992356, 11.259617], [-61.000000, -22.000000, -164.000000, -20.000000, 171.000000, -9.000000], [-61.000000, 89.600591, 174.954737, 176.894664, -80.992356, -168.740383], [-61.000000, -22.000000, -164.000000, 160.000000, -171.000000, 171.000000]] + joints: [-61.000000, -22.000000, -164.000000, 160.000000, -170.000000, 171.000000] + pose: {translation: [0.01267188842548865, 0.03266102125751782, 0.4662577180944872], quaternion: [-0.3739556082146897, 0.4770177924780891, 0.3541089160763625, 0.7121924629616181]} + solutions: [[-61.000000, 89.600591, 174.954737, -3.456878, 80.054395, 11.317499], [-61.000000, -22.000000, -164.000000, -20.000000, 170.000000, -9.000000], [-61.000000, 89.600591, 174.954737, 176.543122, -80.054395, -168.682501], [-61.000000, -22.000000, -164.000000, 160.000000, -170.000000, 171.000000]] - id: 1633 parameters: KukaKR6_R700_sixx - joints: [-129.000000, 92.000000, 57.000000, -173.000000, -92.000000, -133.000000] - pose: {translation: [0.2085210719982816, -0.2420193320234648, -0.06333911104280243], quaternion: [0.2518035807741336, 0.04977704908737025, 0.6470629953014921, 0.7179322267491125]} - solutions: [[51.000000, 31.868251, 65.435334, -161.626456, 157.269787, 63.786765], [51.000000, 96.833989, -54.480597, -172.811458, 103.267051, 48.412429], [-129.000000, 92.000000, 57.000000, 7.000000, 92.000000, 47.000000], [-129.000000, 147.712796, -46.045263, 10.667057, 138.853206, 54.827319], [51.000000, 31.868251, 65.435334, 18.373544, -157.269787, -116.213235], [51.000000, 96.833989, -54.480597, 7.188542, -103.267051, -131.587571], [-129.000000, 92.000000, 57.000000, -173.000000, -92.000000, -133.000000], [-129.000000, 147.712796, -46.045263, -169.332943, -138.853206, -125.172681]] + joints: [-129.000000, 91.000000, 57.000000, -173.000000, -91.000000, -133.000000] + pose: {translation: [0.204159617041094, -0.2366263058131012, -0.06998647546124113], quaternion: [0.2686202580261016, 0.04918979777743712, 0.6441049814754602, 0.7145294210955224]} + solutions: [[51.000000, 33.051715, 65.167212, -162.403587, 156.230050, 63.062400], [51.000000, 97.722331, -54.212475, -172.832410, 102.422595, 48.426833], [-129.000000, 91.000000, 57.000000, 7.000000, 91.000000, 47.000000], [-129.000000, 146.712796, -46.045263, 10.464078, 137.862342, 54.675626], [51.000000, 33.051715, 65.167212, 17.596413, -156.230050, -116.937600], [51.000000, 97.722331, -54.212475, 7.167590, -102.422595, -131.573167], [-129.000000, 91.000000, 57.000000, -173.000000, -91.000000, -133.000000], [-129.000000, 146.712796, -46.045263, -169.535922, -137.862342, -125.324374]] - id: 1634 parameters: KukaKR6_R700_sixx - joints: [71.000000, 102.000000, -124.000000, 112.000000, 125.000000, 103.000000] - pose: {translation: [0.01843262173456796, -0.240160928421915, 0.2666383390544462], quaternion: [-0.227114688806985, -0.6431127191322462, -0.02508514645381365, 0.7308869160450374]} - solutions: [[71.000000, -45.730220, 134.954737, 49.627505, 94.496431, -16.892691], [71.000000, 102.000000, -124.000000, 112.000000, 125.000000, 103.000000], [-109.000000, 87.827221, 126.306385, -61.025080, 119.753090, 115.972261], [-109.000000, -136.133522, -115.351647, -127.895845, 105.749046, -2.936511], [71.000000, -45.730220, 134.954737, -130.372495, -94.496431, 163.107309], [71.000000, 102.000000, -124.000000, -68.000000, -125.000000, -77.000000], [-109.000000, 87.827221, 126.306385, 118.974920, -119.753090, -64.027739], [-109.000000, -136.133522, -115.351647, 52.104155, -105.749046, 177.063489]] + joints: [71.000000, 101.000000, -124.000000, 112.000000, 124.000000, 103.000000] + pose: {translation: [0.01879390898355024, -0.2434624183449811, 0.2710124185958645], quaternion: [-0.226833494743731, -0.6440933593699606, -0.01539227926932981, 0.7303789344010133]} + solutions: [[71.000000, -46.730220, 134.954737, 50.497759, 94.994273, -16.820695], [71.000000, 101.000000, -124.000000, 112.000000, 124.000000, 103.000000], [-109.000000, 88.737421, 126.237516, -61.357759, 118.854514, 115.688184], [-109.000000, -135.313210, -115.282779, -126.920810, 105.954776, -2.754855], [71.000000, -46.730220, 134.954737, -129.502241, -94.994273, 163.179305], [71.000000, 101.000000, -124.000000, -68.000000, -124.000000, -77.000000], [-109.000000, 88.737421, 126.237516, 118.642241, -118.854514, -64.311816], [-109.000000, -135.313210, -115.282779, 53.079190, -105.954776, 177.245145]] - id: 1635 parameters: KukaKR6_R700_sixx - joints: [125.000000, 156.000000, 55.000000, 141.000000, 80.000000, 13.000000] - pose: {translation: [0.3248120328646754, 0.550321088428288, 0.3845389226800718], quaternion: [-0.5441687489109143, 0.6979789404149459, 0.4247216143128857, 0.1905710412980318]} - solutions: [[-55.000000, -39.329536, 72.388549, -73.920711, 40.165085, 74.329777], [-55.000000, 33.316709, -61.433812, -39.357969, 77.765048, 14.855973], [125.000000, 156.000000, 55.000000, 141.000000, 80.000000, 13.000000], [125.000000, -150.472342, -44.045263, 123.638873, 48.108895, 50.096271], [-55.000000, -39.329536, 72.388549, 106.079289, -40.165085, -105.670223], [-55.000000, 33.316709, -61.433812, 140.642031, -77.765048, -165.144027], [125.000000, 156.000000, 55.000000, -39.000000, -80.000000, -167.000000], [125.000000, -150.472342, -44.045263, -56.361127, -48.108895, -129.903729]] + joints: [125.000000, 155.000000, 55.000000, 141.000000, 79.000000, 13.000000] + pose: {translation: [0.3253558278403269, 0.5508185338694301, 0.3738437004401835], quaternion: [-0.5394121910466746, 0.7011872792052293, 0.4256660862961634, 0.1902084924715535]} + solutions: [[-55.000000, -38.248192, 72.400062, -75.402819, 39.669888, 75.524006], [-55.000000, 34.410816, -61.445324, -39.403598, 76.701748, 14.917167], [125.000000, 155.000000, 55.000000, 141.000000, 79.000000, 13.000000], [125.000000, -151.472342, -44.045263, 122.818358, 47.314170, 50.648385], [-55.000000, -38.248192, 72.400062, 104.597181, -39.669888, -104.475994], [-55.000000, 34.410816, -61.445324, 140.596402, -76.701748, -165.082833], [125.000000, 155.000000, 55.000000, -39.000000, -79.000000, -167.000000], [125.000000, -151.472342, -44.045263, -57.181642, -47.314170, -129.351615]] - id: 1636 parameters: KukaKR6_R700_sixx - joints: [178.000000, 165.000000, -49.000000, -104.000000, -118.000000, -107.000000] - pose: {translation: [0.4040693104335069, 0.0826898100352613, 0.01631688229714189], quaternion: [-0.067163225062827, 0.4875356246638295, 0.8673087862129677, 0.07465644808453084]} - solutions: [[-2.000000, 12.088290, 71.618502, -92.858978, 120.930887, 95.422601], [-2.000000, 83.881203, -60.663764, -118.666722, 102.471663, 32.525874], [178.000000, 106.053176, 59.954737, 59.883283, 97.936264, 24.360701], [178.000000, 165.000000, -49.000000, 76.000000, 118.000000, 73.000000], [-2.000000, 12.088290, 71.618502, 87.141022, -120.930887, -84.577399], [-2.000000, 83.881203, -60.663764, 61.333278, -102.471663, -147.474126], [178.000000, 106.053176, 59.954737, -120.116717, -97.936264, -155.639299], [178.000000, 165.000000, -49.000000, -104.000000, -118.000000, -107.000000]] + joints: [178.000000, 164.000000, -49.000000, -104.000000, -117.000000, -107.000000] + pose: {translation: [0.3979540114534166, 0.08310220412819441, 0.007784425615420976], quaternion: [-0.05681592036620756, 0.4954753908103869, 0.863756021243428, 0.07212228545989069]} + solutions: [[-2.000000, 13.258627, 71.415427, -93.318302, 120.003855, 95.161516], [-2.000000, 84.826623, -60.460690, -117.976578, 101.779861, 32.798656], [178.000000, 105.053176, 59.954737, 60.639922, 97.274801, 24.460847], [178.000000, 164.000000, -49.000000, 76.000000, 117.000000, 73.000000], [-2.000000, 13.258627, 71.415427, 86.681698, -120.003855, -84.838484], [-2.000000, 84.826623, -60.460690, 62.023422, -101.779861, -147.201344], [178.000000, 105.053176, 59.954737, -119.360078, -97.274801, -155.539153], [178.000000, 164.000000, -49.000000, -104.000000, -117.000000, -107.000000]] - id: 1637 parameters: KukaKR6_R700_sixx - joints: [28.000000, 4.000000, 14.000000, 59.000000, -57.000000, 6.000000] - pose: {translation: [0.6885928926302286, -0.3009966895243648, 0.3179227701159369], quaternion: [-0.4077452926868617, 0.4609685454616935, -0.2911442078322489, 0.7324526105028014]} - solutions: [[28.000000, 4.000000, 14.000000, -121.000000, 57.000000, -174.000000], [28.000000, 13.169875, -3.045263, -116.168815, 53.224065, 177.568311], [28.000000, 4.000000, 14.000000, 59.000000, -57.000000, 6.000000], [28.000000, 13.169875, -3.045263, 63.831185, -53.224065, -2.431689]] + joints: [28.000000, 4.000000, 14.000000, 59.000000, -56.000000, 6.000000] + pose: {translation: [0.6891521894359556, -0.3020422114165223, 0.317185496045923], quaternion: [-0.4058711271261375, 0.4675733254969854, -0.2942513512130462, 0.7280521655474597]} + solutions: [[28.000000, 4.000000, 14.000000, -121.000000, 56.000000, -174.000000], [28.000000, 13.169875, -3.045263, -115.983340, 52.235017, 177.455988], [28.000000, 4.000000, 14.000000, 59.000000, -56.000000, 6.000000], [28.000000, 13.169875, -3.045263, 64.016660, -52.235017, -2.544012]] - id: 1638 parameters: KukaKR6_R700_sixx joints: [-170.000000, -115.000000, -36.000000, -36.000000, -98.000000, 25.000000] @@ -8196,29 +8196,29 @@ cases: solutions: [[10.000000, -76.237547, 61.637685, -35.681373, 86.305439, -146.576889], [10.000000, -15.445406, -50.682948, -46.377198, 126.479355, 178.816946], [-170.000000, -159.765563, 46.954737, 133.044636, 127.207360, 177.852773], [-170.000000, -115.000000, -36.000000, 144.000000, 98.000000, -155.000000], [10.000000, -76.237547, 61.637685, 144.318627, -86.305439, 33.423111], [10.000000, -15.445406, -50.682948, 133.622802, -126.479355, -1.183054], [-170.000000, -159.765563, 46.954737, -46.955364, -127.207360, -2.147227], [-170.000000, -115.000000, -36.000000, -36.000000, -98.000000, 25.000000]] - id: 1639 parameters: KukaKR6_R700_sixx - joints: [-34.000000, 141.000000, 165.000000, -140.000000, 110.000000, 41.000000] - pose: {translation: [-0.1068137144865704, -0.01376011127538977, 0.5293409585401621], quaternion: [-0.6477690250179127, -0.08478102281047045, 0.7429674425631816, 0.1456257109499511]} - solutions: [[146.000000, 167.498674, 167.530889, 71.852042, 39.467660, -42.007265], [146.000000, 20.840195, -156.576152, 42.828252, 117.311374, 48.027053], [-34.000000, 141.000000, 165.000000, -140.000000, 110.000000, 41.000000], [-34.000000, -13.943744, -154.045263, -91.879007, 37.181920, -62.654955], [146.000000, 167.498674, 167.530889, -108.147958, -39.467660, 137.992735], [146.000000, 20.840195, -156.576152, -137.171748, -117.311374, -131.972947], [-34.000000, 141.000000, 165.000000, 40.000000, -110.000000, -139.000000], [-34.000000, -13.943744, -154.045263, 88.120993, -37.181920, 117.345045]] + joints: [-34.000000, 140.000000, 165.000000, -140.000000, 110.000000, 41.000000] + pose: {translation: [-0.1086698006554438, -0.01501205720428825, 0.5272052049339011], quaternion: [-0.6524088246120578, -0.08945688708596687, 0.7378390702817079, 0.148167801114233]} + solutions: [[146.000000, 168.239996, 167.696155, 71.744326, 39.496839, -41.867704], [146.000000, 22.168408, -156.741417, 42.771227, 117.191813, 47.902517], [-34.000000, 140.000000, 165.000000, -140.000000, 110.000000, 41.000000], [-34.000000, -14.943744, -154.045263, -91.879007, 37.181920, -62.654955], [146.000000, 168.239996, 167.696155, -108.255674, -39.496839, 138.132296], [146.000000, 22.168408, -156.741417, -137.228773, -117.191813, -132.097483], [-34.000000, 140.000000, 165.000000, 40.000000, -110.000000, -139.000000], [-34.000000, -14.943744, -154.045263, 88.120993, -37.181920, 117.345045]] - id: 1640 parameters: KukaKR6_R700_sixx - joints: [-20.000000, 67.000000, 26.000000, 47.000000, 148.000000, -100.000000] - pose: {translation: [0.1408528421356189, 0.01827175784799853, -0.1870265432302867], quaternion: [-0.05573927041807865, -0.2529683420925327, 0.9590471355924539, 0.1145807285023313]} - solutions: [[-20.000000, 67.000000, 26.000000, 47.000000, 148.000000, -100.000000], [-20.000000, 89.095098, -15.045263, 80.275585, 156.845729, -62.841955], [-20.000000, 67.000000, 26.000000, -133.000000, -148.000000, 80.000000], [-20.000000, 89.095098, -15.045263, -99.724415, -156.845729, 117.158045]] + joints: [-20.000000, 67.000000, 26.000000, 47.000000, 147.000000, -100.000000] + pose: {translation: [0.1403568638492537, 0.01717473606699464, -0.187733685895984], quaternion: [-0.05817513940082674, -0.2610270928162186, 0.9567521539141535, 0.1144806793840584]} + solutions: [[-20.000000, 67.000000, 26.000000, 47.000000, 147.000000, -100.000000], [-20.000000, 89.095098, -15.045263, 78.788041, 156.041562, -64.205584], [-20.000000, 67.000000, 26.000000, -133.000000, -147.000000, 80.000000], [-20.000000, 89.095098, -15.045263, -101.211959, -156.041562, 115.794416]] - id: 1641 parameters: KukaKR6_R700_sixx - joints: [4.000000, 110.000000, 121.000000, 5.000000, 29.000000, 106.000000] - pose: {translation: [-0.3530192855386514, 0.02129694340309375, 0.4443206269529841], quaternion: [0.08301843083238031, -0.03584080837931779, -0.8359999737915778, 0.5412276973856085]} - solutions: [[-176.000000, -64.755107, 130.779933, -175.682491, 145.856697, 113.951165], [-176.000000, 77.223654, -119.825195, -176.008361, 37.373032, 107.201659], [4.000000, 110.000000, 121.000000, 5.000000, 29.000000, 106.000000], [4.000000, -120.769673, -110.045263, 3.193947, 130.678370, 112.458801], [-176.000000, -64.755107, 130.779933, 4.317509, -145.856697, -66.048835], [-176.000000, 77.223654, -119.825195, 3.991639, -37.373032, -72.798341], [4.000000, 110.000000, 121.000000, -175.000000, -29.000000, -74.000000], [4.000000, -120.769673, -110.045263, -176.806053, -130.678370, -67.541199]] + joints: [4.000000, 109.000000, 121.000000, 5.000000, 29.000000, 106.000000] + pose: {translation: [-0.3537333739431008, 0.02134687732866272, 0.4377056111793421], quaternion: [0.08996341920036723, -0.04105988151436304, -0.8352236254873836, 0.5409456208931877]} + solutions: [[-176.000000, -63.584819, 130.760017, -175.665718, 146.006641, 113.971413], [-176.000000, 78.367025, -119.805279, -176.023172, 37.535925, 107.220315], [4.000000, 109.000000, 121.000000, 5.000000, 29.000000, 106.000000], [4.000000, -121.769673, -110.045263, 3.193947, 130.678370, 112.458801], [-176.000000, -63.584819, 130.760017, 4.334282, -146.006641, -66.028587], [-176.000000, 78.367025, -119.805279, 3.976828, -37.535925, -72.779685], [4.000000, 109.000000, 121.000000, -175.000000, -29.000000, -74.000000], [4.000000, -121.769673, -110.045263, -176.806053, -130.678370, -67.541199]] - id: 1642 parameters: KukaKR6_R700_sixx - joints: [-57.000000, -56.000000, 12.000000, 55.000000, -10.000000, 38.000000] - pose: {translation: [0.2576178798301959, 0.4175904768956658, 1.000334157969072], quaternion: [-0.348541754173499, 0.02535484554022804, -0.2628747320737316, 0.8993178818651697]} - solutions: [[-57.000000, -56.000000, 12.000000, -125.000000, 10.000000, -142.000000], [-57.000000, -48.982390, -1.045263, -88.243031, 8.181606, -179.188207], [-57.000000, -56.000000, 12.000000, 55.000000, -10.000000, 38.000000], [-57.000000, -48.982390, -1.045263, 91.756969, -8.181606, 0.811793]] + joints: [-57.000000, -55.000000, 12.000000, 55.000000, -9.000000, 38.000000] + pose: {translation: [0.2646168451124769, 0.4262967466494539, 0.9916976022957941], quaternion: [-0.359365765734486, 0.03527322476148542, -0.2636854811333443, 0.8944730365262382]} + solutions: [[-57.000000, -55.000000, 12.000000, -125.000000, 9.000000, -142.000000], [-57.000000, -47.982390, -1.045263, -83.551016, 7.409478, 176.162987], [-57.000000, -55.000000, 12.000000, 55.000000, -9.000000, 38.000000], [-57.000000, -47.982390, -1.045263, 96.448984, -7.409478, -3.837013]] - id: 1643 parameters: KukaKR6_R700_sixx - joints: [0.000000, 123.000000, 129.000000, -138.000000, -169.000000, -41.000000] - pose: {translation: [-0.2575836309531858, -0.01021409110200257, 0.4009576274713127], quaternion: [0.7213362325007627, -0.6515799242012807, 0.211285222347876, -0.1023532944114043]} - solutions: [[-180.000000, -91.300161, 138.238817, -7.836425, 69.458279, -79.707369], [-180.000000, 61.130442, -127.284080, -107.832143, 172.292290, 169.543491], [-0.000000, 123.000000, 129.000000, 42.000000, 169.000000, 139.000000], [-0.000000, -97.409302, -118.045263, 172.569420, 80.841342, -81.282992], [-180.000000, -91.300161, 138.238817, 172.163575, -69.458279, 100.292631], [-180.000000, 61.130442, -127.284080, 72.167857, -172.292290, -10.456509], [-0.000000, 123.000000, 129.000000, -138.000000, -169.000000, -41.000000], [-0.000000, -97.409302, -118.045263, -7.430580, -80.841342, 98.717008]] + joints: [0.000000, 122.000000, 129.000000, -138.000000, -168.000000, -41.000000] + pose: {translation: [-0.2566865456893947, -0.01112960605967862, 0.3966199500069205], quaternion: [0.717386138330113, -0.6501030445083527, 0.2260271744874218, -0.1078650844620788]} + solutions: [[-180.000000, -90.155298, 138.279729, -8.510796, 70.056155, -79.449248], [-180.000000, 62.334987, -127.324991, -110.221420, 171.474004, 167.199912], [-0.000000, 122.000000, 129.000000, 42.000000, 168.000000, 139.000000], [-0.000000, -98.409302, -118.045263, 171.915872, 81.604773, -81.183265], [-180.000000, -90.155298, 138.279729, 171.489204, -70.056155, 100.550752], [-180.000000, 62.334987, -127.324991, 69.778580, -171.474004, -12.800088], [-0.000000, 122.000000, 129.000000, -138.000000, -168.000000, -41.000000], [-0.000000, -98.409302, -118.045263, -8.084128, -81.604773, 98.816735]] - id: 1644 parameters: KukaKR6_R700_sixx joints: [5.000000, -138.000000, 86.000000, 111.000000, 34.000000, -168.000000] @@ -8226,9 +8226,9 @@ cases: solutions: [[-175.000000, -135.541626, 86.300480, -146.003242, 69.012526, -66.734696], [-175.000000, -47.332860, -75.345743, -76.779187, 32.429726, -158.708652], [5.000000, -138.000000, 86.000000, 111.000000, 34.000000, -168.000000], [5.000000, -50.130755, -75.045263, 35.364887, 64.420064, -70.192159], [-175.000000, -135.541626, 86.300480, 33.996758, -69.012526, 113.265304], [-175.000000, -47.332860, -75.345743, 103.220813, -32.429726, 21.291348], [5.000000, -138.000000, 86.000000, -69.000000, -34.000000, 12.000000], [5.000000, -50.130755, -75.045263, -144.635113, -64.420064, 109.807841]] - id: 1645 parameters: KukaKR6_R700_sixx - joints: [-9.000000, 111.000000, 141.000000, 65.000000, 180.000000, 121.000000] - pose: {translation: [-0.2066666004037485, -0.03273277383872229, 0.366157677994377], quaternion: [-0.5306845585704919, 0.8330078975870632, -0.06237809728261109, 0.1434598021461911]} - solutions: [[171.000000, -97.062059, 150.045781, -0.000000, 55.016278, -124.000000], [171.000000, 74.205339, -139.091043, -0.000000, 172.885705, -124.000000], [-9.000000, 111.000000, 141.000000, 140.906141, 180.000000, -172.874984], [-9.000000, -92.471025, -130.045263, 180.000000, 65.483712, -124.000000], [171.000000, -97.062059, 150.045781, -180.000000, -55.016278, 56.000000], [171.000000, 74.205339, -139.091043, 180.000000, -172.885705, 56.000000], [-9.000000, 111.000000, 141.000000, -39.093859, -180.000000, 7.125016], [-9.000000, -92.471025, -130.045263, -0.000000, -65.483712, 56.000000]] + joints: [-9.000000, 111.000000, 141.000000, 65.000000, 179.000000, 121.000000] + pose: {translation: [-0.205918102149508, -0.03389537663289267, 0.3663516035073406], quaternion: [-0.5293108997004652, 0.8331543645386719, -0.07099186593193672, 0.1436799613027089]} + solutions: [[171.000000, -97.062059, 150.045781, -1.100473, 55.443869, -123.372402], [171.000000, 74.205339, -139.091043, -7.731055, 173.247540, -131.674727], [-9.000000, 111.000000, 141.000000, 65.000000, 179.000000, 121.000000], [-9.000000, -92.471025, -130.045263, 179.007224, 65.909571, -123.591394], [171.000000, -97.062059, 150.045781, 178.899527, -55.443869, 56.627598], [171.000000, 74.205339, -139.091043, 172.268945, -173.247540, 48.325273], [-9.000000, 111.000000, 141.000000, -115.000000, -179.000000, -59.000000], [-9.000000, -92.471025, -130.045263, -0.992776, -65.909571, 56.408606]] - id: 1646 parameters: KukaKR6_R700_sixx joints: [-113.000000, 67.000000, -47.000000, -169.000000, 99.000000, 114.000000] @@ -8236,109 +8236,109 @@ cases: solutions: [[-113.000000, 10.242997, 57.954737, -160.413297, 145.793601, 128.655955], [-113.000000, 67.000000, -47.000000, -169.000000, 99.000000, 114.000000], [67.000000, 125.674019, 39.702294, 10.886147, 93.721306, 112.973437], [67.000000, 162.572875, -28.747557, 13.237976, 124.615509, 119.869986], [-113.000000, 10.242997, 57.954737, 19.586703, -145.793601, -51.344045], [-113.000000, 67.000000, -47.000000, 11.000000, -99.000000, -66.000000], [67.000000, 125.674019, 39.702294, -169.113853, -93.721306, -67.026563], [67.000000, 162.572875, -28.747557, -166.762024, -124.615509, -60.130014]] - id: 1647 parameters: KukaKR6_R700_sixx - joints: [-163.000000, 50.000000, -174.000000, 102.000000, -91.000000, -134.000000] - pose: {translation: [-0.03140952001225335, -0.0722119539699119, 0.4498650694992072], quaternion: [-0.2192448230128637, -0.6332799859292005, 0.7341586630767389, 0.1090835662826675]} - solutions: [[-163.000000, 57.408805, -175.045263, -77.963372, 89.673651, 52.224029], [-163.000000, 50.000000, -174.000000, -78.000000, 91.000000, 46.000000], [-163.000000, 57.408805, -175.045263, 102.036628, -89.673651, -127.775971], [-163.000000, 50.000000, -174.000000, 102.000000, -91.000000, -134.000000]] + joints: [-163.000000, 50.000000, -174.000000, 102.000000, -90.000000, -134.000000] + pose: {translation: [-0.03066838666952294, -0.07245100386149089, 0.4510239821429477], quaternion: [-0.2141012786071493, -0.6293085661834235, 0.7394350786273453, 0.1066167694235728]} + solutions: [[-163.000000, 57.408805, -175.045263, -78.071812, 88.679547, 52.225587], [-163.000000, 50.000000, -174.000000, -78.000000, 90.000000, 46.000000], [-163.000000, 57.408805, -175.045263, 101.928188, -88.679547, -127.774413], [-163.000000, 50.000000, -174.000000, 102.000000, -90.000000, -134.000000]] - id: 1648 parameters: KukaKR6_R700_sixx - joints: [-33.000000, 152.000000, 178.000000, 50.000000, 66.000000, 2.000000] - pose: {translation: [0.1119593655303611, 0.005952429100361072, 0.4405133154085406], quaternion: [-0.2217333605946375, 0.7768024287675422, -0.2967331086267267, 0.5092757266009984]} - solutions: [[-33.000000, 152.000000, 178.000000, 50.000000, 66.000000, 2.000000], [-33.000000, 62.998823, -167.045263, 51.710570, 116.923734, 57.698010], [147.000000, 107.098189, 171.841214, -130.161540, 113.692463, 53.322138], [147.000000, -21.787147, -160.886476, -111.432735, 48.747054, -31.372310], [-33.000000, 152.000000, 178.000000, -130.000000, -66.000000, -178.000000], [-33.000000, 62.998823, -167.045263, -128.289430, -116.923734, -122.301990], [147.000000, 107.098189, 171.841214, 49.838460, -113.692463, -126.677862], [147.000000, -21.787147, -160.886476, 68.567265, -48.747054, 148.627690]] + joints: [-33.000000, 151.000000, 178.000000, 50.000000, 65.000000, 2.000000] + pose: {translation: [0.1118681862773843, 0.006422089563724431, 0.4427395372978351], quaternion: [-0.2195370438595261, 0.7698366020261201, -0.2929835917319531, 0.5227960477376834]} + solutions: [[-33.000000, 151.000000, 178.000000, 50.000000, 65.000000, 2.000000], [-33.000000, 61.998823, -167.045263, 50.788659, 116.357190, 57.284622], [147.000000, 107.423388, 171.961273, -131.186473, 112.700555, 52.531686], [147.000000, -20.878411, -161.006536, -110.512673, 47.839940, -32.131781], [-33.000000, 151.000000, 178.000000, -130.000000, -65.000000, -178.000000], [-33.000000, 61.998823, -167.045263, -129.211341, -116.357190, -122.715378], [147.000000, 107.423388, 171.961273, 48.813527, -112.700555, -127.468314], [147.000000, -20.878411, -161.006536, 69.487327, -47.839940, 147.868219]] - id: 1649 parameters: KukaKR6_R700_sixx - joints: [54.000000, -177.000000, 109.000000, 99.000000, -42.000000, 55.000000] - pose: {translation: [-0.04848164005573342, 0.1566794509048228, 0.8200047563420462], quaternion: [0.4019542874214578, 0.1162875663139881, 0.8951657933997343, 0.153584358159619]} - solutions: [[-126.000000, -126.605662, 113.780187, 137.329726, 102.816230, 145.474698], [-126.000000, -6.323904, -102.825450, 102.085166, 42.521865, -129.167763], [54.000000, -177.000000, 109.000000, -81.000000, 42.000000, -125.000000], [54.000000, -62.487807, -98.045263, -41.853035, 97.898397, 150.013823], [-126.000000, -126.605662, 113.780187, -42.670274, -102.816230, -34.525302], [-126.000000, -6.323904, -102.825450, -77.914834, -42.521865, 50.832237], [54.000000, -177.000000, 109.000000, 99.000000, -42.000000, 55.000000], [54.000000, -62.487807, -98.045263, 138.146965, -97.898397, -29.986177]] + joints: [54.000000, -176.000000, 109.000000, 99.000000, -41.000000, 55.000000] + pose: {translation: [-0.04486860493253069, 0.1499493426462223, 0.8240021902995286], quaternion: [0.402051844957737, 0.1051085799218174, 0.8966888341853444, 0.1524979837251189]} + solutions: [[-126.000000, -127.551643, 113.611640, 138.372439, 102.720363, 145.780112], [-126.000000, -7.475206, -102.656902, 102.213823, 41.528207, -129.274626], [54.000000, -176.000000, 109.000000, -81.000000, 41.000000, -125.000000], [54.000000, -61.487807, -98.045263, -40.847535, 97.809804, 150.151229], [-126.000000, -127.551643, 113.611640, -41.627561, -102.720363, -34.219888], [-126.000000, -7.475206, -102.656902, -77.786177, -41.528207, 50.725374], [54.000000, -176.000000, 109.000000, 99.000000, -41.000000, 55.000000], [54.000000, -61.487807, -98.045263, 139.152465, -97.809804, -29.848771]] - id: 1650 parameters: KukaKR6_R700_sixx - joints: [-63.000000, 124.000000, 87.000000, 154.000000, -2.000000, 15.000000] - pose: {translation: [-0.2504572090981737, -0.4888540462244466, 0.3401701255447187], quaternion: [0.4331681803697853, 0.2038616767636154, -0.7034271790786498, 0.5253531650192178]} - solutions: [[117.000000, -38.644686, 98.989018, 179.122082, 93.141692, 168.965635], [117.000000, 64.083050, -88.034280, 174.318201, 8.889479, 174.627743], [-63.000000, 124.000000, 87.000000, -26.000000, 2.000000, -165.000000], [-63.000000, -147.000155, -76.045263, -0.904050, 75.844837, 169.234855], [117.000000, -38.644686, 98.989018, -0.877918, -93.141692, -11.034365], [117.000000, 64.083050, -88.034280, -5.681799, -8.889479, -5.372257], [-63.000000, 124.000000, 87.000000, 154.000000, -2.000000, 15.000000], [-63.000000, -147.000155, -76.045263, 179.095950, -75.844837, -10.765145]] + joints: [-63.000000, 123.000000, 87.000000, 154.000000, -2.000000, 15.000000] + pose: {translation: [-0.2499434550592157, -0.487845747150342, 0.3301567164124325], quaternion: [0.440023330308715, 0.2072420167001004, -0.7000991784380962, 0.5227727571788775]} + solutions: [[117.000000, -37.513774, 98.942361, 179.122010, 93.225938, 168.964342], [117.000000, 65.159823, -87.987624, 174.395260, 9.012310, 174.549734], [-63.000000, 123.000000, 87.000000, -26.000000, 2.000000, -165.000000], [-63.000000, -148.000155, -76.045263, -0.904050, 75.844837, 169.234855], [117.000000, -37.513774, 98.942361, -0.877990, -93.225938, -11.035658], [117.000000, 65.159823, -87.987624, -5.604740, -9.012310, -5.450266], [-63.000000, 123.000000, 87.000000, 154.000000, -2.000000, 15.000000], [-63.000000, -148.000155, -76.045263, 179.095950, -75.844837, -10.765145]] - id: 1651 parameters: KukaKR6_R700_sixx - joints: [-90.000000, 125.000000, -128.000000, 136.000000, -104.000000, -33.000000] - pose: {translation: [-0.05392192384625701, 0.1905865402248833, 0.1392476037200435], quaternion: [0.784653283271431, 0.4890375502084862, -0.3679980826998343, -0.09868591929293631]} - solutions: [[-90.000000, -28.479330, 138.954737, -94.761454, 42.559712, -103.398485], [-90.000000, 125.000000, -128.000000, -44.000000, 104.000000, 147.000000], [90.000000, 66.695918, 132.237278, 131.899021, 115.102104, 134.843416], [90.000000, -149.342952, -121.282541, 106.315922, 44.612463, -132.202787], [-90.000000, -28.479330, 138.954737, 85.238546, -42.559712, 76.601515], [-90.000000, 125.000000, -128.000000, 136.000000, -104.000000, -33.000000], [90.000000, 66.695918, 132.237278, -48.100979, -115.102104, -45.156584], [90.000000, -149.342952, -121.282541, -73.684078, -44.612463, 47.797213]] + joints: [-90.000000, 124.000000, -128.000000, 136.000000, -103.000000, -33.000000] + pose: {translation: [-0.05414834571421911, 0.1964827930540596, 0.1420380116980625], quaternion: [0.785892742453759, 0.4897105216360003, -0.3603059840850833, -0.1128530025740828]} + solutions: [[-90.000000, -29.479330, 138.954737, -96.145324, 42.903553, -102.381949], [-90.000000, 124.000000, -128.000000, -44.000000, 103.000000, 147.000000], [90.000000, 67.648432, 132.128003, 132.181661, 114.019141, 135.066794], [90.000000, -148.539975, -121.173265, 104.820069, 44.438676, -131.077033], [-90.000000, -29.479330, 138.954737, 83.854676, -42.903553, 77.618051], [-90.000000, 124.000000, -128.000000, 136.000000, -103.000000, -33.000000], [90.000000, 67.648432, 132.128003, -47.818339, -114.019141, -44.933206], [90.000000, -148.539975, -121.173265, -75.179931, -44.438676, 48.922967]] - id: 1652 parameters: KukaKR6_R700_sixx - joints: [157.000000, -32.000000, 177.000000, -35.000000, -162.000000, 23.000000] - pose: {translation: [-0.08577148121235996, -0.02100368972672819, 0.355950854762769], quaternion: [-0.4849138205441394, -0.3094891609136941, 0.7666519139458949, 0.2851664229275948]} - solutions: [[157.000000, -32.000000, 177.000000, 145.000000, 162.000000, -157.000000], [157.000000, -129.185175, -166.045263, 169.750414, 84.946836, -122.426426], [-23.000000, -6.109210, 175.007756, -19.171855, 32.664446, -107.024232], [-23.000000, -117.371029, -164.053018, -11.929277, 120.965097, -129.542588], [157.000000, -32.000000, 177.000000, -35.000000, -162.000000, 23.000000], [157.000000, -129.185175, -166.045263, -10.249586, -84.946836, 57.573574], [-23.000000, -6.109210, 175.007756, 160.828145, -32.664446, 72.975768], [-23.000000, -117.371029, -164.053018, 168.070723, -120.965097, 50.457412]] + joints: [157.000000, -31.000000, 177.000000, -35.000000, -161.000000, 23.000000] + pose: {translation: [-0.0855720729618597, -0.02009398953231673, 0.3537257805643959], quaternion: [-0.497150569663275, -0.3146833527470422, 0.7566345285684773, 0.2851664229275948]} + solutions: [[157.000000, -31.000000, 177.000000, 145.000000, 161.000000, -157.000000], [157.000000, -128.185175, -166.045263, 169.179972, 84.123701, -122.372099], [-23.000000, -7.368483, 175.178257, -20.565995, 32.112577, -105.863097], [-23.000000, -117.529199, -164.223520, -12.379563, 119.421034, -129.646873], [157.000000, -31.000000, 177.000000, -35.000000, -161.000000, 23.000000], [157.000000, -128.185175, -166.045263, -10.820028, -84.123701, 57.627901], [-23.000000, -7.368483, 175.178257, 159.434005, -32.112577, 74.136903], [-23.000000, -117.529199, -164.223520, 167.620437, -119.421034, 50.353127]] - id: 1653 parameters: KukaKR6_R700_sixx - joints: [-124.000000, 41.000000, 135.000000, 144.000000, -64.000000, -20.000000] - pose: {translation: [0.04211799437341879, -0.1380225502831295, 0.1885486837400621], quaternion: [0.3905807935642681, 0.007215627147692222, -0.2278011210070301, 0.8919087552499485]} - solutions: [[56.000000, -1.706553, 138.259423, 72.278952, 146.315834, 31.325803], [56.000000, 150.754106, -127.304685, 147.573457, 80.140262, 148.541877], [-124.000000, 41.000000, 135.000000, -36.000000, 64.000000, 160.000000], [-124.000000, -171.206136, -124.045263, -74.651990, 146.781326, 70.497371], [56.000000, -1.706553, 138.259423, -107.721048, -146.315834, -148.674197], [56.000000, 150.754106, -127.304685, -32.426543, -80.140262, -31.458123], [-124.000000, 41.000000, 135.000000, 144.000000, -64.000000, -20.000000], [-124.000000, -171.206136, -124.045263, 105.348010, -146.781326, -109.502629]] + joints: [-124.000000, 41.000000, 135.000000, 144.000000, -63.000000, -20.000000] + pose: {translation: [0.04309895666052393, -0.1388220299235265, 0.1879587284078036], quaternion: [0.3950959863843316, 0.01384933016559324, -0.2246111187127497, 0.8906498767459431]} + solutions: [[56.000000, -1.706553, 138.259423, 73.709886, 146.932593, 32.520783], [56.000000, 150.754106, -127.304685, 147.775708, 79.160254, 148.505540], [-124.000000, 41.000000, 135.000000, -36.000000, 63.000000, 160.000000], [-124.000000, -171.206136, -124.045263, -72.827549, 146.759326, 72.023520], [56.000000, -1.706553, 138.259423, -106.290114, -146.932593, -147.479217], [56.000000, 150.754106, -127.304685, -32.224292, -79.160254, -31.494460], [-124.000000, 41.000000, 135.000000, 144.000000, -63.000000, -20.000000], [-124.000000, -171.206136, -124.045263, 107.172451, -146.759326, -107.976480]] - id: 1654 parameters: KukaKR6_R700_sixx - joints: [-60.000000, -77.000000, 109.000000, 7.000000, 8.000000, 84.000000] - pose: {translation: [0.2438110104677648, 0.4195793080654901, 0.4918350930771826], quaternion: [0.8761637668893465, -0.2308484056822393, 0.1202262252957935, -0.4056990534070353]} - solutions: [[-60.000000, -77.000000, 109.000000, 7.000000, 8.000000, 84.000000], [-60.000000, 37.512193, -98.045263, 0.988302, 100.472678, 91.112200], [120.000000, 146.689969, 98.360996, -178.993925, 104.989890, 91.192788], [120.000000, -111.310514, -87.406258, -177.317229, 21.245573, 88.431864], [-60.000000, -77.000000, 109.000000, -173.000000, -8.000000, -96.000000], [-60.000000, 37.512193, -98.045263, -179.011698, -100.472678, -88.887800], [120.000000, 146.689969, 98.360996, 1.006075, -104.989890, -88.807212], [120.000000, -111.310514, -87.406258, 2.682771, -21.245573, -91.568136]] + joints: [-60.000000, -76.000000, 109.000000, 7.000000, 8.000000, 84.000000] + pose: {translation: [0.2445773313368801, 0.420906614745698, 0.483788254838496], quaternion: [0.8797210150750663, -0.2317011914311088, 0.1181433244133508, -0.3980548309231551]} + solutions: [[-60.000000, -76.000000, 109.000000, 7.000000, 8.000000, 84.000000], [-60.000000, 38.512193, -98.045263, 0.988302, 100.472678, 91.112200], [120.000000, 145.826353, 98.300446, -178.993567, 105.065713, 91.194166], [120.000000, -112.244279, -87.345708, -177.332399, 21.372219, 88.448148], [-60.000000, -76.000000, 109.000000, -173.000000, -8.000000, -96.000000], [-60.000000, 38.512193, -98.045263, -179.011698, -100.472678, -88.887800], [120.000000, 145.826353, 98.300446, 1.006433, -105.065713, -88.805834], [120.000000, -112.244279, -87.345708, 2.667601, -21.372219, -91.551852]] - id: 1655 parameters: KukaKR6_R700_sixx - joints: [-145.000000, -79.000000, -76.000000, -98.000000, 116.000000, 24.000000] - pose: {translation: [0.1499678639932228, -0.1919323740281749, 0.8078569086291248], quaternion: [0.3534733445506069, 0.7241357016157057, -0.5121373494881369, -0.2973203921647546]} - solutions: [[35.000000, -109.559680, 93.446581, 77.869336, 114.442790, 14.326013], [35.000000, -13.221337, -82.491843, 112.707531, 105.239858, 99.640500], [-145.000000, -167.948629, 86.954737, -66.503643, 103.947486, 102.770299], [-145.000000, -79.000000, -76.000000, -98.000000, 116.000000, 24.000000], [35.000000, -109.559680, 93.446581, -102.130664, -114.442790, -165.673987], [35.000000, -13.221337, -82.491843, -67.292469, -105.239858, -80.359500], [-145.000000, -167.948629, 86.954737, 113.496357, -103.947486, -77.229701], [-145.000000, -79.000000, -76.000000, 82.000000, -116.000000, -156.000000]] + joints: [-145.000000, -79.000000, -76.000000, -98.000000, 115.000000, 24.000000] + pose: {translation: [0.150591004244513, -0.1930953668738308, 0.8083136863281944], quaternion: [0.3483217724100288, 0.7246606115335741, -0.5175060176041992, -0.2927908173088167]} + solutions: [[35.000000, -109.559680, 93.446581, 78.052506, 113.456901, 14.400371], [35.000000, -13.221337, -82.491843, 111.704647, 104.989636, 99.378988], [-145.000000, -167.948629, 86.954737, -67.513440, 103.750669, 102.528582], [-145.000000, -79.000000, -76.000000, -98.000000, 115.000000, 24.000000], [35.000000, -109.559680, 93.446581, -101.947494, -113.456901, -165.599629], [35.000000, -13.221337, -82.491843, -68.295353, -104.989636, -80.621012], [-145.000000, -167.948629, 86.954737, 112.486560, -103.750669, -77.471418], [-145.000000, -79.000000, -76.000000, 82.000000, -115.000000, -156.000000]] - id: 1656 parameters: KukaKR6_R700_sixx - joints: [-42.000000, 82.000000, 77.000000, 117.000000, 100.000000, 8.000000] - pose: {translation: [-0.1266178776846743, -0.2084674515655947, -0.1038274719263085], quaternion: [0.7658141056845411, 0.3018486235558617, 0.3699623562977065, 0.4307482082547379]} - solutions: [[138.000000, 21.136947, 83.668413, -75.870938, 64.802167, 86.225584], [138.000000, 106.377366, -72.713675, -61.608114, 94.094896, 19.293417], [-42.000000, 82.000000, 77.000000, 117.000000, 100.000000, 8.000000], [-42.000000, 159.772490, -66.045263, 111.449121, 70.520940, 67.142332], [138.000000, 21.136947, 83.668413, 104.129062, -64.802167, -93.774416], [138.000000, 106.377366, -72.713675, 118.391886, -94.094896, -160.706583], [-42.000000, 82.000000, 77.000000, -63.000000, -100.000000, -172.000000], [-42.000000, 159.772490, -66.045263, -68.550879, -70.520940, -112.857668]] + joints: [-42.000000, 82.000000, 77.000000, 117.000000, 99.000000, 8.000000] + pose: {translation: [-0.1274080326031059, -0.209455208730703, -0.1044186512441535], quaternion: [0.7695051592968157, 0.2985640912100705, 0.3629638079952647, 0.4324101841319925]} + solutions: [[138.000000, 21.136947, 83.668413, -76.954645, 64.602060, 86.688690], [138.000000, 106.377366, -72.713675, -61.804227, 93.114237, 19.281087], [-42.000000, 82.000000, 77.000000, 117.000000, 99.000000, 8.000000], [-42.000000, 159.772490, -66.045263, 110.535651, 70.010334, 67.450783], [138.000000, 21.136947, 83.668413, 103.045355, -64.602060, -93.311310], [138.000000, 106.377366, -72.713675, 118.195773, -93.114237, -160.718913], [-42.000000, 82.000000, 77.000000, -63.000000, -99.000000, -172.000000], [-42.000000, 159.772490, -66.045263, -69.464349, -70.010334, -112.549217]] - id: 1657 parameters: KukaKR6_R700_sixx - joints: [-3.000000, -156.000000, 69.000000, -150.000000, -137.000000, -26.000000] - pose: {translation: [-0.2327437531211636, -0.03951495515438133, 0.8335525825836828], quaternion: [0.8419533086703764, -0.4144223298924491, 0.3451637437498999, 0.01519040835769064]} - solutions: [[177.000000, -101.452025, 76.497635, -36.699123, 145.207775, -80.362733], [177.000000, -24.239384, -65.542897, -148.137851, 139.760671, 156.490039], [-3.000000, -156.000000, 69.000000, 30.000000, 137.000000, 154.000000], [-3.000000, -87.103507, -58.045263, 132.231764, 152.577991, -93.249816], [177.000000, -101.452025, 76.497635, 143.300877, -145.207775, 99.637267], [177.000000, -24.239384, -65.542897, 31.862149, -139.760671, -23.509961], [-3.000000, -156.000000, 69.000000, -150.000000, -137.000000, -26.000000], [-3.000000, -87.103507, -58.045263, -47.768236, -152.577991, 86.750184]] + joints: [-3.000000, -155.000000, 69.000000, -150.000000, -136.000000, -26.000000] + pose: {translation: [-0.2241808886718109, -0.03957328981673305, 0.8389129116105879], quaternion: [0.8423124150141653, -0.4126572658218733, 0.3462009509292709, 0.01920099094028784]} + solutions: [[177.000000, -102.365509, 76.269927, -38.273130, 145.892932, -81.709343], [177.000000, -25.406513, -65.315189, -148.167292, 138.813073, 156.488573], [-3.000000, -155.000000, 69.000000, 30.000000, 136.000000, 154.000000], [-3.000000, -86.103507, -58.045263, 130.203582, 152.950199, -95.053181], [177.000000, -102.365509, 76.269927, 141.726870, -145.892932, 98.290657], [177.000000, -25.406513, -65.315189, 31.832708, -138.813073, -23.511427], [-3.000000, -155.000000, 69.000000, -150.000000, -136.000000, -26.000000], [-3.000000, -86.103507, -58.045263, -49.796418, -152.950199, 84.946819]] - id: 1658 parameters: KukaKR6_R700_sixx - joints: [-59.000000, 156.000000, -33.000000, -20.000000, -34.000000, -109.000000] - pose: {translation: [-0.2099340830680975, -0.3790963421535257, -0.1318176127561312], quaternion: [0.5474177561686147, 0.8313086622107458, -0.001471424797307104, 0.0962161279295997]} - solutions: [[121.000000, 19.164358, 58.910865, -44.858246, 15.732556, 97.973871], [121.000000, 76.967822, -47.956128, -12.636517, 60.956213, 60.420814], [-59.000000, 114.491766, 43.954737, 168.116544, 68.244940, 58.668785], [-59.000000, 156.000000, -33.000000, 160.000000, 34.000000, 71.000000], [121.000000, 19.164358, 58.910865, 135.141754, -15.732556, -82.026129], [121.000000, 76.967822, -47.956128, 167.363483, -60.956213, -119.579186], [-59.000000, 114.491766, 43.954737, -11.883456, -68.244940, -121.331215], [-59.000000, 156.000000, -33.000000, -20.000000, -34.000000, -109.000000]] + joints: [-59.000000, 155.000000, -33.000000, -20.000000, -34.000000, -109.000000] + pose: {translation: [-0.2051178261264253, -0.3710807445437725, -0.13973109113055], quaternion: [0.548123231836682, 0.8308555717313252, 0.007207271918013311, 0.0958540394319589]} + solutions: [[121.000000, 20.353724, 58.664012, -44.714679, 15.773358, 97.824701], [121.000000, 77.886941, -47.709275, -12.656763, 60.794268, 60.462411], [-59.000000, 113.491766, 43.954737, 168.116544, 68.244940, 58.668785], [-59.000000, 155.000000, -33.000000, 160.000000, 34.000000, 71.000000], [121.000000, 20.353724, 58.664012, 135.285321, -15.773358, -82.175299], [121.000000, 77.886941, -47.709275, 167.343237, -60.794268, -119.537589], [-59.000000, 113.491766, 43.954737, -11.883456, -68.244940, -121.331215], [-59.000000, 155.000000, -33.000000, -20.000000, -34.000000, -109.000000]] - id: 1659 parameters: KukaKR6_R700_sixx - joints: [134.000000, -64.000000, 179.000000, 91.000000, -98.000000, 3.000000] - pose: {translation: [0.02641048999755476, -0.08667751753712644, 0.3482011504315186], quaternion: [0.3715660490611974, 0.5433413988519655, -0.1581776272263291, 0.7360017892122883]} - solutions: [[134.000000, -64.000000, 179.000000, -89.000000, 98.000000, -177.000000], [134.000000, -143.957750, -168.045263, -96.987986, 94.030159, 115.680887], [-46.000000, 18.101669, 172.915538, 82.933860, 86.108983, 57.153195], [-46.000000, -105.347044, -161.960801, 87.145225, 97.542605, 155.049699], [134.000000, -64.000000, 179.000000, 91.000000, -98.000000, 3.000000], [134.000000, -143.957750, -168.045263, 83.012014, -94.030159, -64.319113], [-46.000000, 18.101669, 172.915538, -97.066140, -86.108983, -122.846805], [-46.000000, -105.347044, -161.960801, -92.854775, -97.542605, -24.950301]] + joints: [134.000000, -63.000000, 179.000000, 91.000000, -97.000000, 3.000000] + pose: {translation: [0.02759508979150236, -0.08571314291384008, 0.3466345616870496], quaternion: [0.3781090238900055, 0.5463232042707422, -0.1489695447132623, 0.7323746290500645]} + solutions: [[134.000000, -63.000000, 179.000000, -89.000000, 97.000000, -177.000000], [134.000000, -142.957750, -168.045263, -96.063457, 93.644055, 115.742758], [-46.000000, 17.167315, 173.040762, 83.756773, 86.674198, 56.912187], [-46.000000, -105.614626, -162.086025, 87.546407, 96.633387, 154.497275], [134.000000, -63.000000, 179.000000, 91.000000, -97.000000, 3.000000], [134.000000, -142.957750, -168.045263, 83.936543, -93.644055, -64.257242], [-46.000000, 17.167315, 173.040762, -96.243227, -86.674198, -123.087813], [-46.000000, -105.614626, -162.086025, -92.453593, -96.633387, -25.502725]] - id: 1660 parameters: KukaKR6_R700_sixx - joints: [-74.000000, 41.000000, -80.000000, 73.000000, -121.000000, -34.000000] - pose: {translation: [0.06919413957932687, 0.4792192584887086, 0.4398944752653031], quaternion: [0.3998926334268468, 0.6362130296912273, -0.5083334912295618, -0.4206137471319929]} - solutions: [[-74.000000, -52.490910, 90.954737, -61.322453, 110.881035, -126.396031], [-74.000000, 41.000000, -80.000000, -107.000000, 121.000000, 146.000000], [106.000000, 145.966675, 77.668285, 70.429538, 119.544711, 140.903918], [106.000000, -135.515522, -66.713547, 111.978964, 117.876428, -142.505813], [-74.000000, -52.490910, 90.954737, 118.677547, -110.881035, 53.603969], [-74.000000, 41.000000, -80.000000, 73.000000, -121.000000, -34.000000], [106.000000, 145.966675, 77.668285, -109.570462, -119.544711, -39.096082], [106.000000, -135.515522, -66.713547, -68.021036, -117.876428, 37.494187]] + joints: [-74.000000, 41.000000, -80.000000, 73.000000, -120.000000, -34.000000] + pose: {translation: [0.06876447341743275, 0.4801794406246207, 0.4408125924982263], quaternion: [0.4015024913376057, 0.6306652473078525, -0.5085256648636708, -0.4271518974121302]} + solutions: [[-74.000000, -52.490910, 90.954737, -62.391498, 110.835908, -126.776686], [-74.000000, 41.000000, -80.000000, -107.000000, 120.000000, 146.000000], [106.000000, 145.966675, 77.668285, 70.530654, 118.548625, 140.953014], [106.000000, -135.515522, -66.713547, 110.909335, 117.554903, -143.003293], [-74.000000, -52.490910, 90.954737, 117.608502, -110.835908, 53.223314], [-74.000000, 41.000000, -80.000000, 73.000000, -120.000000, -34.000000], [106.000000, 145.966675, 77.668285, -109.469346, -118.548625, -39.046986], [106.000000, -135.515522, -66.713547, -69.090665, -117.554903, 36.996707]] - id: 1661 parameters: KukaKR6_R700_sixx - joints: [-38.000000, 110.000000, 27.000000, -116.000000, 115.000000, 95.000000] - pose: {translation: [-0.2602965491823112, -0.1206681934330131, -0.170717257918275], quaternion: [0.204323896944925, 0.6778070365763643, 0.6664973750456924, -0.2336891425847777]} - solutions: [[142.000000, 41.766219, 43.363557, 54.635036, 92.688855, 57.872805], [142.000000, 82.633124, -32.408820, 61.228646, 111.672533, 88.014123], [-38.000000, 110.000000, 27.000000, -116.000000, 115.000000, 95.000000], [-38.000000, 133.173497, -16.045263, -122.417362, 105.212836, 76.542006], [142.000000, 41.766219, 43.363557, -125.364964, -92.688855, -122.127195], [142.000000, 82.633124, -32.408820, -118.771354, -111.672533, -91.985877], [-38.000000, 110.000000, 27.000000, 64.000000, -115.000000, -85.000000], [-38.000000, 133.173497, -16.045263, 57.582638, -105.212836, -103.457994]] + joints: [-38.000000, 109.000000, 27.000000, -116.000000, 115.000000, 95.000000] + pose: {translation: [-0.2524111208063697, -0.1145074215840418, -0.1759429737534298], quaternion: [0.1984773621730858, 0.6758073971324429, 0.6715186318290958, -0.2301169828419139]} + solutions: [[142.000000, 43.021994, 42.957385, 54.640890, 92.775896, 57.995596], [142.000000, 83.448375, -32.002647, 61.151754, 111.565828, 87.805425], [-38.000000, 109.000000, 27.000000, -116.000000, 115.000000, 95.000000], [-38.000000, 132.173497, -16.045263, -122.417362, 105.212836, 76.542006], [142.000000, 43.021994, 42.957385, -125.359110, -92.775896, -122.004404], [142.000000, 83.448375, -32.002647, -118.848246, -111.565828, -92.194575], [-38.000000, 109.000000, 27.000000, 64.000000, -115.000000, -85.000000], [-38.000000, 132.173497, -16.045263, 57.582638, -105.212836, -103.457994]] - id: 1662 parameters: KukaKR6_R700_sixx - joints: [156.000000, -38.000000, 3.000000, 99.000000, -79.000000, 57.000000] - pose: {translation: [-0.4907161481774941, -0.3033845490734525, 0.8306514288121841], quaternion: [0.5572619320551667, -0.4445582005400677, 0.5247110227499409, 0.4653015022750634]} - solutions: [[156.000000, -40.665194, 7.954737, -81.447056, 78.650613, -120.693534], [156.000000, -38.000000, 3.000000, -81.000000, 79.000000, -123.000000], [156.000000, -40.665194, 7.954737, 98.552944, -78.650613, 59.306466], [156.000000, -38.000000, 3.000000, 99.000000, -79.000000, 57.000000]] + joints: [156.000000, -38.000000, 3.000000, 99.000000, -78.000000, 57.000000] + pose: {translation: [-0.491829038877518, -0.3035790812270767, 0.8314718759641683], quaternion: [0.5513414637039492, -0.446169979140424, 0.5240860215068174, 0.471475112997257]} + solutions: [[156.000000, -40.665194, 7.954737, -81.488251, 77.651426, -120.685075], [156.000000, -38.000000, 3.000000, -81.000000, 78.000000, -123.000000], [156.000000, -40.665194, 7.954737, 98.511749, -77.651426, 59.314925], [156.000000, -38.000000, 3.000000, 99.000000, -78.000000, 57.000000]] - id: 1663 parameters: KukaKR6_R700_sixx - joints: [154.000000, -153.000000, -90.000000, 53.000000, 28.000000, 151.000000] - pose: {translation: [0.3844736090672412, 0.2208927291121762, 0.1492244512375011], quaternion: [-0.4252482354411714, 0.8052241049914499, 0.1942643580910654, 0.3647457171377821]} - solutions: [[-26.000000, -29.861903, 110.806403, -145.267594, 41.153506, 172.956385], [-26.000000, 86.818015, -99.851665, -25.427006, 60.837790, 33.563922], [154.000000, 101.985307, 100.954737, 156.461867, 69.858550, 29.051319], [154.000000, -153.000000, -90.000000, 53.000000, 28.000000, 151.000000], [-26.000000, -29.861903, 110.806403, 34.732406, -41.153506, -7.043615], [-26.000000, 86.818015, -99.851665, 154.572994, -60.837790, -146.436078], [154.000000, 101.985307, 100.954737, -23.538133, -69.858550, -150.948681], [154.000000, -153.000000, -90.000000, -127.000000, -28.000000, -29.000000]] + joints: [154.000000, -152.000000, -90.000000, 53.000000, 28.000000, 151.000000] + pose: {translation: [0.3883433220640513, 0.2227801142491174, 0.1574198233678447], quaternion: [-0.4253604075756218, 0.8015894624332039, 0.1940019405970184, 0.3726742604845941]} + solutions: [[-26.000000, -31.020861, 110.893709, -145.220811, 41.094639, 172.894279], [-26.000000, 85.764200, -99.938972, -25.393304, 60.965261, 33.494620], [154.000000, 102.985307, 100.954737, 156.461867, 69.858550, 29.051319], [154.000000, -152.000000, -90.000000, 53.000000, 28.000000, 151.000000], [-26.000000, -31.020861, 110.893709, 34.779189, -41.094639, -7.105721], [-26.000000, 85.764200, -99.938972, 154.606696, -60.965261, -146.505380], [154.000000, 102.985307, 100.954737, -23.538133, -69.858550, -150.948681], [154.000000, -152.000000, -90.000000, -127.000000, -28.000000, -29.000000]] - id: 1664 parameters: KukaKR6_R700_sixx - joints: [32.000000, -124.000000, -3.000000, -161.000000, -111.000000, 137.000000] - pose: {translation: [-0.2885935213940613, 0.1516609052990851, 0.9511874598170648], quaternion: [0.4872059766051645, 0.3743215922868565, 0.0302121979532884, 0.788416707714183]} - solutions: [[-148.000000, -73.903411, 40.745969, -156.785712, 129.547523, -34.760279], [-148.000000, -35.874068, -29.791232, -162.078322, 98.981028, -47.144296], [32.000000, -133.121163, 13.954737, 18.220742, 103.574690, -45.616398], [32.000000, -124.000000, -3.000000, 19.000000, 111.000000, -43.000000], [-148.000000, -73.903411, 40.745969, 23.214288, -129.547523, 145.239721], [-148.000000, -35.874068, -29.791232, 17.921678, -98.981028, 132.855704], [32.000000, -133.121163, 13.954737, -161.779258, -103.574690, 134.383602], [32.000000, -124.000000, -3.000000, -161.000000, -111.000000, 137.000000]] + joints: [32.000000, -124.000000, -3.000000, -161.000000, -110.000000, 137.000000] + pose: {translation: [-0.2890322225319861, 0.1517473170479221, 0.9525101753267033], quaternion: [0.4826879965488377, 0.3690957113600587, 0.02932937791293901, 0.7936752745515774]} + solutions: [[-148.000000, -73.903411, 40.745969, -156.968974, 128.557701, -34.875745], [-148.000000, -35.874068, -29.791232, -162.005350, 97.983636, -47.133532], [32.000000, -133.121163, 13.954737, 18.267511, 102.575728, -45.605817], [32.000000, -124.000000, -3.000000, 19.000000, 110.000000, -43.000000], [-148.000000, -73.903411, 40.745969, 23.031026, -128.557701, 145.124255], [-148.000000, -35.874068, -29.791232, 17.994650, -97.983636, 132.866468], [32.000000, -133.121163, 13.954737, -161.732489, -102.575728, 134.394183], [32.000000, -124.000000, -3.000000, -161.000000, -110.000000, 137.000000]] - id: 1665 parameters: KukaKR6_R700_sixx - joints: [-104.000000, 87.000000, 161.000000, 98.000000, -168.000000, 101.000000] - pose: {translation: [0.007300051662051811, -0.09736313264944077, 0.339055920438993], quaternion: [0.794281958413135, -0.5631676013127658, -0.2220768932272311, -0.0513836244883704]} - solutions: [[76.000000, -118.156054, 170.362270, 13.465111, 62.152965, 176.442053], [76.000000, 106.212694, -159.407533, 42.846981, 162.376675, -135.699559], [-104.000000, 87.000000, 161.000000, -82.000000, 168.000000, -79.000000], [-104.000000, -78.951491, -150.045263, -166.899197, 65.276625, 177.264400], [76.000000, -118.156054, 170.362270, -166.534889, -62.152965, -3.557947], [76.000000, 106.212694, -159.407533, -137.153019, -162.376675, 44.300441], [-104.000000, 87.000000, 161.000000, 98.000000, -168.000000, 101.000000], [-104.000000, -78.951491, -150.045263, 13.100803, -65.276625, -2.735600]] + joints: [-104.000000, 87.000000, 161.000000, 98.000000, -167.000000, 101.000000] + pose: {translation: [0.005975099313339935, -0.09762886885861176, 0.3394071860635145], quaternion: [0.7943220966616548, -0.5611582425936131, -0.2282152060969228, -0.04551541750241865]} + solutions: [[76.000000, -118.156054, 170.362270, 14.557216, 62.408621, 175.934059], [76.000000, 106.212694, -159.407533, 45.525089, 161.809045, -133.151114], [-104.000000, 87.000000, 161.000000, -82.000000, 167.000000, -79.000000], [-104.000000, -78.951491, -150.045263, -165.831821, 65.517839, 176.820013], [76.000000, -118.156054, 170.362270, -165.442784, -62.408621, -4.065941], [76.000000, 106.212694, -159.407533, -134.474911, -161.809045, 46.848886], [-104.000000, 87.000000, 161.000000, 98.000000, -167.000000, 101.000000], [-104.000000, -78.951491, -150.045263, 14.168179, -65.517839, -3.179987]] - id: 1666 parameters: KukaKR6_R700_sixx - joints: [-165.000000, -136.000000, 160.000000, 4.000000, 2.000000, 57.000000] - pose: {translation: [-0.2105157507360219, 0.05660915296223429, 0.4672691243361709], quaternion: [0.7808701504507077, 0.3307393984964933, -0.416981576610649, -0.3270773963216724]} - solutions: [[-165.000000, -136.000000, 160.000000, 4.000000, 2.000000, 57.000000], [-165.000000, 55.596993, -149.045263, 0.160172, 119.443306, 61.076306], [15.000000, 122.946413, 152.566317, -179.836395, 121.507758, 61.083074], [15.000000, -61.176675, -141.611580, -177.508157, 3.209906, 58.509632], [-165.000000, -136.000000, 160.000000, -176.000000, -2.000000, -123.000000], [-165.000000, 55.596993, -149.045263, -179.839828, -119.443306, -118.923694], [15.000000, 122.946413, 152.566317, 0.163605, -121.507758, -118.916926], [15.000000, -61.176675, -141.611580, 2.491843, -3.209906, -121.490368]] + joints: [-165.000000, -135.000000, 160.000000, 4.000000, 2.000000, 57.000000] + pose: {translation: [-0.2116213631125686, 0.05690540090567185, 0.4638906669714847], quaternion: [0.7850939674899347, 0.3325420092536381, -0.4111306053642849, -0.3225134099929234]} + solutions: [[-165.000000, -135.000000, 160.000000, 4.000000, 2.000000, 57.000000], [-165.000000, 56.596993, -149.045263, 0.160172, 119.443306, 61.076306], [15.000000, 122.238227, 152.485720, -179.836023, 121.718973, 61.083783], [15.000000, -62.036736, -141.530982, -177.668138, 3.430248, 58.669882], [-165.000000, -135.000000, 160.000000, -176.000000, -2.000000, -123.000000], [-165.000000, 56.596993, -149.045263, -179.839828, -119.443306, -118.923694], [15.000000, 122.238227, 152.485720, 0.163977, -121.718973, -118.916217], [15.000000, -62.036736, -141.530982, 2.331862, -3.430248, -121.330118]] - id: 1667 parameters: KukaKR6_R700_sixx - joints: [-171.000000, 55.000000, 151.000000, -81.000000, 112.000000, -137.000000] - pose: {translation: [0.092942059042328, -0.08889528436937214, 0.2678065847302137], quaternion: [0.7111180920212952, -0.106006124478002, -0.2841497393917881, 0.6342970017087628]} - solutions: [[9.000000, -44.090115, 157.602448, 68.890596, 79.004554, 83.789611], [9.000000, 142.006261, -146.647711, 89.915471, 113.684731, -160.129167], [-171.000000, 55.000000, 151.000000, -81.000000, 112.000000, -137.000000], [-171.000000, -132.020235, -140.045263, -113.532054, 87.233990, 103.757856], [9.000000, -44.090115, 157.602448, -111.109404, -79.004554, -96.210389], [9.000000, 142.006261, -146.647711, -90.084529, -113.684731, 19.870833], [-171.000000, 55.000000, 151.000000, 99.000000, -112.000000, 43.000000], [-171.000000, -132.020235, -140.045263, 66.467946, -87.233990, -76.242144]] + joints: [-171.000000, 55.000000, 151.000000, -81.000000, 111.000000, -137.000000] + pose: {translation: [0.09398157324937992, -0.0895716529996986, 0.2684480188168037], quaternion: [0.7091295029962794, -0.1002627755745595, -0.2802313269406312, 0.6391816073819931]} + solutions: [[9.000000, -44.090115, 157.602448, 69.554430, 79.762373, 83.667305], [9.000000, 142.006261, -146.647711, 90.341442, 112.764530, -159.961185], [-171.000000, 55.000000, 151.000000, -81.000000, 111.000000, -137.000000], [-171.000000, -132.020235, -140.045263, -112.658812, 87.722793, 103.719436], [9.000000, -44.090115, 157.602448, -110.445570, -79.762373, -96.332695], [9.000000, 142.006261, -146.647711, -89.658558, -112.764530, 20.038815], [-171.000000, 55.000000, 151.000000, 99.000000, -111.000000, 43.000000], [-171.000000, -132.020235, -140.045263, 67.341188, -87.722793, -76.280564]] - id: 1668 parameters: KukaKR6_R700_sixx joints: [158.000000, 122.000000, -51.000000, 118.000000, -15.000000, -156.000000] @@ -8346,39 +8346,39 @@ cases: solutions: [[158.000000, 60.859938, 61.954737, -161.528483, 46.159794, 129.803757], [158.000000, 122.000000, -51.000000, -62.000000, 15.000000, 24.000000], [-22.000000, 62.927334, 61.656679, 148.746148, 26.133169, -8.584311], [-22.000000, 123.740315, -50.701942, 25.983602, 31.440166, 120.252576], [158.000000, 60.859938, 61.954737, 18.471517, -46.159794, -50.196243], [158.000000, 122.000000, -51.000000, 118.000000, -15.000000, -156.000000], [-22.000000, 62.927334, 61.656679, -31.253852, -26.133169, 171.415689], [-22.000000, 123.740315, -50.701942, -154.016398, -31.440166, -59.747424]] - id: 1669 parameters: KukaKR6_R700_sixx - joints: [55.000000, -143.000000, -122.000000, -127.000000, -117.000000, 140.000000] - pose: {translation: [-0.1975309154966306, 0.1828539155382936, 0.2628300307425533], quaternion: [-0.1513176213814268, -0.4770787549254935, 0.2645836750964993, 0.8243144533068909]} - solutions: [[-125.000000, -36.020330, 140.323545, -116.578376, 127.281062, -20.622066], [-125.000000, 119.490821, -129.368808, -119.752561, 55.048445, -116.131464], [55.000000, 72.053316, 132.954737, 71.136841, 48.761790, -133.669846], [55.000000, -143.000000, -122.000000, 53.000000, 117.000000, -40.000000], [-125.000000, -36.020330, 140.323545, 63.421624, -127.281062, 159.377934], [-125.000000, 119.490821, -129.368808, 60.247439, -55.048445, 63.868536], [55.000000, 72.053316, 132.954737, -108.863159, -48.761790, 46.330154], [55.000000, -143.000000, -122.000000, -127.000000, -117.000000, 140.000000]] + joints: [55.000000, -142.000000, -122.000000, -127.000000, -116.000000, 140.000000] + pose: {translation: [-0.1995752208644536, 0.1849060318930975, 0.2666751735581184], quaternion: [-0.1469817503691413, -0.4818105278207402, 0.2602105098730761, 0.8237387151828649]} + solutions: [[-125.000000, -37.242084, 140.430440, -117.065439, 126.284799, -20.995821], [-125.000000, 118.429283, -129.475702, -118.460146, 54.734126, -116.995184], [55.000000, 73.053316, 132.954737, 72.462545, 48.833404, -134.543137], [55.000000, -142.000000, -122.000000, 53.000000, 116.000000, -40.000000], [-125.000000, -37.242084, 140.430440, 62.934561, -126.284799, 159.004179], [-125.000000, 118.429283, -129.475702, 61.539854, -54.734126, 63.004816], [55.000000, 73.053316, 132.954737, -107.537455, -48.833404, 45.456863], [55.000000, -142.000000, -122.000000, -127.000000, -116.000000, 140.000000]] - id: 1670 parameters: KukaKR6_R700_sixx - joints: [30.000000, -87.000000, -22.000000, 169.000000, 177.000000, -18.000000] - pose: {translation: [-0.07688332743972233, 0.0434661268096101, 0.9714118066974962], quaternion: [0.9387577784866799, -0.3149732604808041, 0.1358618400014868, 0.03266862323783543]} - solutions: [[-150.000000, -100.237720, 38.402162, -2.725542, 167.877270, -9.679559], [-150.000000, -64.746468, -27.447424, -178.173374, 161.742425, 174.720019], [30.000000, -116.600905, 32.954737, 1.500638, 157.584220, 174.372590], [30.000000, -87.000000, -22.000000, 169.000000, 177.000000, -18.000000], [-150.000000, -100.237720, 38.402162, 177.274458, -167.877270, 170.320441], [-150.000000, -64.746468, -27.447424, 1.826626, -161.742425, -5.279981], [30.000000, -116.600905, 32.954737, -178.499362, -157.584220, -5.627410], [30.000000, -87.000000, -22.000000, -11.000000, -177.000000, 162.000000]] + joints: [30.000000, -87.000000, -22.000000, 169.000000, 176.000000, -18.000000] + pose: {translation: [-0.07816052726947312, 0.04389646129839025, 0.9710470124803777], quaternion: [0.9397615133171867, -0.3155987696933186, 0.1272161418433033, 0.03258478034849012]} + solutions: [[-150.000000, -100.237720, 38.402162, -3.363367, 166.887010, -10.302004], [-150.000000, -64.746468, -27.447424, -177.432269, 162.716527, 175.425790], [30.000000, -116.600905, 32.954737, 2.086808, 158.559979, 174.916373], [30.000000, -87.000000, -22.000000, 169.000000, 176.000000, -18.000000], [-150.000000, -100.237720, 38.402162, 176.636633, -166.887010, 169.697996], [-150.000000, -64.746468, -27.447424, 2.567731, -162.716527, -4.574210], [30.000000, -116.600905, 32.954737, -177.913192, -158.559979, -5.083627], [30.000000, -87.000000, -22.000000, -11.000000, -176.000000, 162.000000]] - id: 1671 parameters: KukaKR6_R700_sixx - joints: [107.000000, 86.000000, -37.000000, 162.000000, -92.000000, -133.000000] - pose: {translation: [-0.0505278465371602, -0.2497721863578286, -0.2145180175653986], quaternion: [0.4997574977590303, 0.7408491830169081, 0.4465840995419342, 0.04413132099917856]} - solutions: [[107.000000, 40.147548, 47.954737, -22.125018, 55.082970, 60.750072], [107.000000, 86.000000, -37.000000, -18.000000, 92.000000, 47.000000], [-73.000000, 105.072481, 34.671260, 161.705736, 100.310416, 44.263296], [-73.000000, 136.528274, -23.716522, 161.328296, 74.720601, 52.738655], [107.000000, 40.147548, 47.954737, 157.874982, -55.082970, -119.249928], [107.000000, 86.000000, -37.000000, 162.000000, -92.000000, -133.000000], [-73.000000, 105.072481, 34.671260, -18.294264, -100.310416, -135.736704], [-73.000000, 136.528274, -23.716522, -18.671704, -74.720601, -127.261345]] + joints: [107.000000, 85.000000, -37.000000, 162.000000, -91.000000, -133.000000] + pose: {translation: [-0.05390800629318623, -0.2608668210290178, -0.2114947746941388], quaternion: [0.503400085705426, 0.7471583304111031, 0.4313614087229228, 0.04764575609262745]} + solutions: [[107.000000, 39.147548, 47.954737, -22.418386, 54.111979, 60.920032], [107.000000, 85.000000, -37.000000, -18.000000, 91.000000, 47.000000], [-73.000000, 106.305907, 34.166550, 161.767843, 99.053899, 44.357550], [-73.000000, 137.216198, -23.211812, 161.242122, 73.908030, 52.702445], [107.000000, 39.147548, 47.954737, 157.581614, -54.111979, -119.079968], [107.000000, 85.000000, -37.000000, 162.000000, -91.000000, -133.000000], [-73.000000, 106.305907, 34.166550, -18.232157, -99.053899, -135.642450], [-73.000000, 137.216198, -23.211812, -18.757878, -73.908030, -127.297555]] - id: 1672 parameters: KukaKR6_R700_sixx - joints: [-179.000000, -67.000000, 111.000000, 7.000000, 27.000000, -121.000000] - pose: {translation: [-0.4610383958005831, 0.01247433129701691, 0.3861388688931505], quaternion: [-0.5201902205717179, 0.8372241681821787, 0.1138179139419406, -0.1245122849324972]} - solutions: [[-179.000000, -67.000000, 111.000000, 7.000000, 27.000000, -121.000000], [-179.000000, 49.913111, -100.045263, 3.697214, 120.906497, -112.855591], [1.000000, 135.659051, 100.027527, -176.055970, 126.448612, -112.411014], [1.000000, -120.406459, -89.072790, -175.205342, 41.447363, -118.354147], [-179.000000, -67.000000, 111.000000, -173.000000, -27.000000, 59.000000], [-179.000000, 49.913111, -100.045263, -176.302786, -120.906497, 67.144409], [1.000000, 135.659051, 100.027527, 3.944030, -126.448612, 67.588986], [1.000000, -120.406459, -89.072790, 4.794658, -41.447363, 61.645853]] + joints: [-179.000000, -67.000000, 111.000000, 7.000000, 26.000000, -121.000000] + pose: {translation: [-0.462350543110335, 0.01234493009366329, 0.3865982453882761], quaternion: [-0.5197506032618241, 0.8357812995522386, 0.1177381074110012, -0.1321615215976902]} + solutions: [[-179.000000, -67.000000, 111.000000, 7.000000, 26.000000, -121.000000], [-179.000000, 49.913111, -100.045263, 3.533775, 119.916481, -112.938329], [1.000000, 135.659051, 100.027527, -176.239314, 125.459686, -112.518667], [1.000000, -120.406459, -89.072790, -175.276492, 40.448450, -118.300404], [-179.000000, -67.000000, 111.000000, -173.000000, -26.000000, 59.000000], [-179.000000, 49.913111, -100.045263, -176.466225, -119.916481, 67.061671], [1.000000, 135.659051, 100.027527, 3.760686, -125.459686, 67.481333], [1.000000, -120.406459, -89.072790, 4.723508, -40.448450, 61.699596]] - id: 1673 parameters: KukaKR6_R700_sixx - joints: [88.000000, -151.000000, 41.000000, -2.000000, 6.000000, 174.000000] - pose: {translation: [-0.01463102619122866, 0.427340048862407, 0.9613540477744729], quaternion: [-0.08023078484930107, 0.09179350329598333, 0.7601263512843491, 0.6382357746148815]} - solutions: [[-92.000000, -78.865750, 55.896550, 179.738379, 53.027458, 172.168295], [-92.000000, -24.358924, -44.941812, 178.207920, 6.698882, 173.790800], [88.000000, -151.000000, 41.000000, -2.000000, 6.000000, 174.000000], [88.000000, -112.695421, -30.045263, -0.334022, 38.737530, 172.271493], [-92.000000, -78.865750, 55.896550, -0.261621, -53.027458, -7.831705], [-92.000000, -24.358924, -44.941812, -1.792080, -6.698882, -6.209200], [88.000000, -151.000000, 41.000000, 178.000000, -6.000000, -6.000000], [88.000000, -112.695421, -30.045263, 179.665978, -38.737530, -7.728507]] + joints: [88.000000, -150.000000, 41.000000, -2.000000, 6.000000, 174.000000] + pose: {translation: [-0.0142867108733576, 0.4174801482106635, 0.969167341402544], quaternion: [-0.07443003783524478, 0.08535515508967367, 0.7609223937172707, 0.6388832269726924]} + solutions: [[-92.000000, -79.765601, 55.622200, 179.737778, 52.853259, 172.169293], [-92.000000, -25.558470, -44.667462, 178.227617, 6.773650, 173.770967], [88.000000, -150.000000, 41.000000, -2.000000, 6.000000, 174.000000], [88.000000, -111.695421, -30.045263, -0.334022, 38.737530, 172.271493], [-92.000000, -79.765601, 55.622200, -0.262222, -52.853259, -7.830707], [-92.000000, -25.558470, -44.667462, -1.772383, -6.773650, -6.229033], [88.000000, -150.000000, 41.000000, 178.000000, -6.000000, -6.000000], [88.000000, -111.695421, -30.045263, 179.665978, -38.737530, -7.728507]] - id: 1674 parameters: KukaKR6_R700_sixx - joints: [23.000000, 133.000000, -111.000000, -8.000000, -94.000000, -155.000000] - pose: {translation: [0.1669977575256743, -0.0829522501150021, 0.1407080288660619], quaternion: [0.1572158468357521, -0.06523476055389768, 0.8937178171279441, 0.4150856139006213]} - solutions: [[23.000000, 2.560933, 121.954737, 26.197939, 161.670647, -129.403214], [23.000000, 133.000000, -111.000000, 172.000000, 94.000000, 25.000000], [-157.000000, 56.697313, 117.553860, -8.162687, 77.908070, 27.282761], [-157.000000, -178.383264, -106.599122, -69.663500, 171.485297, -43.894005], [23.000000, 2.560933, 121.954737, -153.802061, -161.670647, 50.596786], [23.000000, 133.000000, -111.000000, -8.000000, -94.000000, -155.000000], [-157.000000, 56.697313, 117.553860, 171.837313, -77.908070, -152.717239], [-157.000000, -178.383264, -106.599122, 110.336500, -171.485297, 136.105995]] + joints: [23.000000, 132.000000, -111.000000, -8.000000, -93.000000, -155.000000] + pose: {translation: [0.1723615556070999, -0.08524193475048425, 0.1431390674922128], quaternion: [0.1572204456772636, -0.06549822800762975, 0.8942012667075175, 0.4139997683665709]} + solutions: [[23.000000, 1.560933, 121.954737, 27.640131, 162.567333, -128.030637], [23.000000, 132.000000, -111.000000, 172.000000, 93.000000, 25.000000], [-157.000000, 57.729356, 117.398179, -8.199497, 77.031240, 27.273572], [-157.000000, -177.544171, -106.443441, -63.668099, 171.078983, -37.968435], [23.000000, 1.560933, 121.954737, -152.359869, -162.567333, 51.969363], [23.000000, 132.000000, -111.000000, -8.000000, -93.000000, -155.000000], [-157.000000, 57.729356, 117.398179, 171.800503, -77.031240, -152.726428], [-157.000000, -177.544171, -106.443441, 116.331901, -171.078983, 142.031565]] - id: 1675 parameters: KukaKR6_R700_sixx - joints: [-6.000000, -62.000000, -80.000000, -49.000000, 30.000000, 107.000000] - pose: {translation: [-0.1769254820381384, 0.0117590517745664, 0.9385980948830783], quaternion: [-0.005375176643395215, -0.3227018378209414, -0.4901727558483915, 0.8096698714704854]} - solutions: [[174.000000, -125.502259, 94.339703, 138.651366, 34.833708, 97.949674], [174.000000, -28.139741, -83.384965, 27.099290, 55.932601, -133.886928], [-6.000000, -155.490910, 90.954737, -154.014171, 59.456993, -131.804618], [-6.000000, -62.000000, -80.000000, -49.000000, 30.000000, 107.000000], [174.000000, -125.502259, 94.339703, -41.348634, -34.833708, -82.050326], [174.000000, -28.139741, -83.384965, -152.900710, -55.932601, 46.113072], [-6.000000, -155.490910, 90.954737, 25.985829, -59.456993, 48.195382], [-6.000000, -62.000000, -80.000000, 131.000000, -30.000000, -73.000000]] + joints: [-6.000000, -61.000000, -80.000000, -49.000000, 30.000000, 107.000000] + pose: {translation: [-0.1675468896822291, 0.01274478155200278, 0.9420017824868979], quaternion: [-0.0103676069361979, -0.3161097651571677, -0.489813082492144, 0.8124347809629034]} + solutions: [[174.000000, -126.406281, 94.133317, 138.546282, 34.750892, 98.077635], [174.000000, -29.280607, -83.178580, 27.119502, 55.874279, -133.922982], [-6.000000, -154.490910, 90.954737, -154.014171, 59.456993, -131.804618], [-6.000000, -61.000000, -80.000000, -49.000000, 30.000000, 107.000000], [174.000000, -126.406281, 94.133317, -41.453718, -34.750892, -81.922365], [174.000000, -29.280607, -83.178580, -152.880498, -55.874279, 46.077018], [-6.000000, -154.490910, 90.954737, 25.985829, -59.456993, 48.195382], [-6.000000, -61.000000, -80.000000, 131.000000, -30.000000, -73.000000]] - id: 1676 parameters: KukaKR6_R700_sixx joints: [30.000000, -148.000000, 33.000000, -38.000000, -6.000000, 139.000000] @@ -8386,9 +8386,9 @@ cases: solutions: [[-150.000000, -74.692586, 50.929693, -173.812795, 36.662678, 96.182554], [-150.000000, -25.603138, -39.974956, -34.856317, 6.465312, -44.162340], [30.000000, -148.000000, 33.000000, 142.000000, 6.000000, -41.000000], [30.000000, -118.350197, -22.045263, 10.357642, 20.973540, 91.467743], [-150.000000, -74.692586, 50.929693, 6.187205, -36.662678, -83.817446], [-150.000000, -25.603138, -39.974956, 145.143683, -6.465312, 135.837660], [30.000000, -148.000000, 33.000000, -38.000000, -6.000000, 139.000000], [30.000000, -118.350197, -22.045263, -169.642358, -20.973540, -88.532257]] - id: 1677 parameters: KukaKR6_R700_sixx - joints: [-149.000000, 157.000000, 149.000000, 76.000000, -57.000000, -39.000000] - pose: {translation: [0.02326146844565067, -0.08992552479680888, 0.637573750521752], quaternion: [-0.1385175199723428, -0.4481886757196474, 0.8024903619604321, 0.3687126612661887]} - solutions: [[31.000000, -162.231296, 152.425229, 125.398055, 93.345272, 21.707980], [31.000000, 13.379963, -141.470492, 74.699592, 57.528820, 143.404491], [-149.000000, 157.000000, 149.000000, -104.000000, 57.000000, 141.000000], [-149.000000, -33.567670, -138.045263, -54.677918, 94.166494, 20.548260], [31.000000, -162.231296, 152.425229, -54.601945, -93.345272, -158.292020], [31.000000, 13.379963, -141.470492, -105.300408, -57.528820, -36.595509], [-149.000000, 157.000000, 149.000000, 76.000000, -57.000000, -39.000000], [-149.000000, -33.567670, -138.045263, 125.322082, -94.166494, -159.451740]] + joints: [-149.000000, 156.000000, 149.000000, 76.000000, -57.000000, -39.000000] + pose: {translation: [0.0268035710724191, -0.09205383477378809, 0.6359449643060209], quaternion: [-0.1308523584540851, -0.449020393529008, 0.8014815474828897, 0.3726736850469737]} + solutions: [[31.000000, -161.305516, 152.577830, 125.394295, 93.390672, 21.643976], [31.000000, 14.593115, -141.623092, 74.736773, 57.512860, 143.335250], [-149.000000, 156.000000, 149.000000, -104.000000, 57.000000, 141.000000], [-149.000000, -34.567670, -138.045263, -54.677918, 94.166494, 20.548260], [31.000000, -161.305516, 152.577830, -54.605705, -93.390672, -158.356024], [31.000000, 14.593115, -141.623092, -105.263227, -57.512860, -36.664750], [-149.000000, 156.000000, 149.000000, 76.000000, -57.000000, -39.000000], [-149.000000, -34.567670, -138.045263, 125.322082, -94.166494, -159.451740]] - id: 1678 parameters: KukaKR6_R700_sixx joints: [-112.000000, 46.000000, -2.000000, 150.000000, 28.000000, -55.000000] @@ -8396,19 +8396,19 @@ cases: solutions: [[-112.000000, 37.955009, 12.954737, 155.278363, 34.144828, -61.152179], [-112.000000, 46.000000, -2.000000, 150.000000, 28.000000, -55.000000], [-112.000000, 37.955009, 12.954737, -24.721637, -34.144828, 118.847821], [-112.000000, 46.000000, -2.000000, -30.000000, -28.000000, 125.000000]] - id: 1679 parameters: KukaKR6_R700_sixx - joints: [39.000000, 7.000000, -46.000000, 151.000000, -165.000000, -30.000000] - pose: {translation: [0.4342352233591114, -0.3387199529943777, 0.5558093697918856], quaternion: [0.8777625752140259, -0.3484707328838779, -0.2875526102788343, -0.1594192780025158]} - solutions: [[39.000000, -48.663310, 56.954737, -8.269723, 119.263040, 174.101668], [39.000000, 7.000000, -46.000000, -29.000000, 165.000000, 150.000000], [-141.000000, -175.837622, 33.562545, 153.144407, 163.873213, 152.225898], [-141.000000, -145.580033, -22.607808, 168.952749, 139.093064, 169.771865], [39.000000, -48.663310, 56.954737, 171.730277, -119.263040, -5.898332], [39.000000, 7.000000, -46.000000, 151.000000, -165.000000, -30.000000], [-141.000000, -175.837622, 33.562545, -26.855593, -163.873213, -27.774102], [-141.000000, -145.580033, -22.607808, -11.047251, -139.093064, -10.228135]] + joints: [39.000000, 7.000000, -46.000000, 151.000000, -164.000000, -30.000000] + pose: {translation: [0.4354466071851131, -0.3388615663361376, 0.5551296662640669], quaternion: [0.8792067142181937, -0.3509169286960934, -0.2793875859063075, -0.1606095877262437]} + solutions: [[39.000000, -48.663310, 56.954737, -8.733710, 118.349417, 173.878088], [39.000000, 7.000000, -46.000000, -29.000000, 164.000000, 150.000000], [-141.000000, -175.837622, 33.562545, 153.012520, 162.873925, 152.099520], [-141.000000, -145.580033, -22.607808, 168.445738, 138.150891, 169.391408], [39.000000, -48.663310, 56.954737, 171.266290, -118.349417, -6.121912], [39.000000, 7.000000, -46.000000, 151.000000, -164.000000, -30.000000], [-141.000000, -175.837622, 33.562545, -26.987480, -162.873925, -27.900480], [-141.000000, -145.580033, -22.607808, -11.554262, -138.150891, -10.608592]] - id: 1680 parameters: KukaKR6_R700_sixx - joints: [2.000000, 142.000000, -163.000000, 154.000000, -89.000000, -118.000000] - pose: {translation: [0.1332013238232027, 0.03043423100889843, 0.3029291039837001], quaternion: [-0.5120630505005296, 0.8087945388434915, 0.08934926532801087, 0.2750627838046812]} - solutions: [[2.000000, -100.314677, 173.954737, -101.615286, 26.581338, 164.456522], [2.000000, 142.000000, -163.000000, -26.000000, 89.000000, 62.000000], [-178.000000, 64.875831, 164.608207, 151.228048, 114.408675, 48.727337], [-178.000000, -91.246359, -153.653470, 96.100699, 26.154986, 144.721833], [2.000000, -100.314677, 173.954737, 78.384714, -26.581338, -15.543478], [2.000000, 142.000000, -163.000000, 154.000000, -89.000000, -118.000000], [-178.000000, 64.875831, 164.608207, -28.771952, -114.408675, -131.272663], [-178.000000, -91.246359, -153.653470, -83.899301, -26.154986, -35.278167]] + joints: [2.000000, 142.000000, -163.000000, 154.000000, -88.000000, -118.000000] + pose: {translation: [0.1344912664544232, 0.03037315322861804, 0.3034599707382704], quaternion: [-0.5095581222846907, 0.808325291295899, 0.08521189256489455, 0.2823113119069252]} + solutions: [[2.000000, -100.314677, 173.954737, -103.780367, 26.813526, 166.390838], [2.000000, 142.000000, -163.000000, -26.000000, 88.000000, 62.000000], [-178.000000, 64.875831, 164.608207, 151.478262, 113.435182, 48.828801], [-178.000000, -91.246359, -153.653470, 93.841143, 26.045864, 146.751021], [2.000000, -100.314677, 173.954737, 76.219633, -26.813526, -13.609162], [2.000000, 142.000000, -163.000000, 154.000000, -88.000000, -118.000000], [-178.000000, 64.875831, 164.608207, -28.521738, -113.435182, -131.171199], [-178.000000, -91.246359, -153.653470, -86.158857, -26.045864, -33.248979]] - id: 1681 parameters: KukaKR6_R700_sixx - joints: [88.000000, 86.000000, 153.000000, 146.000000, 27.000000, -64.000000] - pose: {translation: [-0.0284474467665447, 0.2326869113335219, 0.4261985849532743], quaternion: [-0.1022606851544343, 0.4523225599114763, 0.8788760389840657, -0.1119105096340534]} - solutions: [[-92.000000, -90.817072, 162.060142, -164.625457, 106.757838, 89.527462], [-92.000000, 105.947816, -151.105405, -59.044871, 17.219430, -37.131896], [88.000000, 86.000000, 153.000000, 146.000000, 27.000000, -64.000000], [88.000000, -97.300374, -142.045263, 14.770303, 95.266755, 86.380882], [-92.000000, -90.817072, 162.060142, 15.374543, -106.757838, -90.472538], [-92.000000, 105.947816, -151.105405, 120.955129, -17.219430, 142.868104], [88.000000, 86.000000, 153.000000, -34.000000, -27.000000, 116.000000], [88.000000, -97.300374, -142.045263, -165.229697, -95.266755, -93.619118]] + joints: [88.000000, 85.000000, 153.000000, 146.000000, 27.000000, -64.000000] + pose: {translation: [-0.02846202958294965, 0.2331045085576724, 0.4216824851140522], quaternion: [-0.1015484584477903, 0.4600042902645149, 0.8748666260695575, -0.1126603307060053]} + solutions: [[-92.000000, -89.451149, 162.037167, -164.597768, 107.088491, 89.622586], [-92.000000, 107.253496, -151.082430, -59.963353, 17.052640, -36.170750], [88.000000, 85.000000, 153.000000, 146.000000, 27.000000, -64.000000], [88.000000, -98.300374, -142.045263, 14.770303, 95.266755, 86.380882], [-92.000000, -89.451149, 162.037167, 15.402232, -107.088491, -90.377414], [-92.000000, 107.253496, -151.082430, 120.036647, -17.052640, 143.829250], [88.000000, 85.000000, 153.000000, -34.000000, -27.000000, 116.000000], [88.000000, -98.300374, -142.045263, -165.229697, -95.266755, -93.619118]] - id: 1682 parameters: KukaKR6_R700_sixx joints: [-3.000000, -49.000000, -104.000000, -30.000000, 3.000000, -11.000000] @@ -8416,24 +8416,24 @@ cases: solutions: [[177.000000, -139.868962, 117.861469, 168.791780, 7.737005, -29.857253], [177.000000, -14.567855, -106.906732, 1.500290, 91.875274, 139.083119], [-3.000000, -170.716720, 114.954737, -178.495587, 94.637756, 139.155681], [-3.000000, -49.000000, -104.000000, -30.000000, 3.000000, -11.000000], [177.000000, -139.868962, 117.861469, -11.208220, -7.737005, 150.142747], [177.000000, -14.567855, -106.906732, -178.499710, -91.875274, -40.916881], [-3.000000, -170.716720, 114.954737, 1.504413, -94.637756, -40.844319], [-3.000000, -49.000000, -104.000000, 150.000000, -3.000000, 169.000000]] - id: 1683 parameters: KukaKR6_R700_sixx - joints: [-55.000000, 107.000000, 171.000000, -115.000000, -41.000000, -160.000000] - pose: {translation: [0.02715473457433641, -0.04415009856540315, 0.5217850905266798], quaternion: [-0.09184676115057382, 0.3703721318132574, -0.2605519351263567, 0.886849110922576]} - solutions: [[125.000000, 158.371170, 177.492947, -143.448443, 93.244316, 80.692080], [125.000000, 65.117956, -166.538209, -111.293456, 39.654501, 15.139625], [-55.000000, 107.000000, 171.000000, 65.000000, 41.000000, 20.000000], [-55.000000, -25.818458, -160.045263, 41.745536, 116.745218, 100.169917], [125.000000, 158.371170, 177.492947, 36.551557, -93.244316, -99.307920], [125.000000, 65.117956, -166.538209, 68.706544, -39.654501, -164.860375], [-55.000000, 107.000000, 171.000000, -115.000000, -41.000000, -160.000000], [-55.000000, -25.818458, -160.045263, -138.254464, -116.745218, -79.830083]] + joints: [-55.000000, 106.000000, 171.000000, -115.000000, -40.000000, -160.000000] + pose: {translation: [0.02495933373900158, -0.04560784295044162, 0.5219255938216668], quaternion: [-0.08366063679879121, 0.3597037668527811, -0.2587515884088163, 0.8925590812143784]} + solutions: [[125.000000, 158.804868, 177.696273, -144.331080, 92.459592, 80.434504], [125.000000, 67.230819, -166.741535, -112.208072, 38.994241, 16.382529], [-55.000000, 106.000000, 171.000000, 65.000000, 40.000000, 20.000000], [-55.000000, -26.818458, -160.045263, 40.643855, 116.570237, 99.675624], [125.000000, 158.804868, 177.696273, 35.668920, -92.459592, -99.565496], [125.000000, 67.230819, -166.741535, 67.791928, -38.994241, -163.617471], [-55.000000, 106.000000, 171.000000, -115.000000, -40.000000, -160.000000], [-55.000000, -26.818458, -160.045263, -139.356145, -116.570237, -80.324376]] - id: 1684 parameters: KukaKR6_R700_sixx - joints: [24.000000, -64.000000, 114.000000, -146.000000, 93.000000, -90.000000] - pose: {translation: [0.4498769360747057, -0.1513962000431476, 0.4717919838946122], quaternion: [-0.4271259005209008, 0.1772998820307876, -0.6644535673580252, 0.5870516789527757]} - solutions: [[24.000000, -64.000000, 114.000000, -146.000000, 93.000000, -90.000000], [24.000000, 56.549750, -103.045263, -85.733835, 34.054284, 172.833357], [-156.000000, 129.506699, 103.172956, 103.169538, 34.995336, 162.037352], [-156.000000, -122.883186, -92.218219, 34.466792, 80.660482, -98.378109], [24.000000, -64.000000, 114.000000, 34.000000, -93.000000, 90.000000], [24.000000, 56.549750, -103.045263, 94.266165, -34.054284, -7.166643], [-156.000000, 129.506699, 103.172956, -76.830462, -34.995336, -17.962648], [-156.000000, -122.883186, -92.218219, -145.533208, -80.660482, 81.621891]] + joints: [24.000000, -64.000000, 114.000000, -146.000000, 92.000000, -90.000000] + pose: {translation: [0.4507452397880468, -0.1517455140223502, 0.4707558707716744], quaternion: [-0.4322325641911572, 0.1830915086371281, -0.6628810532877806, 0.5833019964904975]} + solutions: [[24.000000, -64.000000, 114.000000, -146.000000, 92.000000, -90.000000], [24.000000, 56.549750, -103.045263, -83.968073, 34.191701, 171.371559], [-156.000000, 129.506699, 103.172956, 104.815256, 35.314911, 160.691784], [-156.000000, -122.883186, -92.218219, 34.614890, 79.671186, -98.403404], [24.000000, -64.000000, 114.000000, 34.000000, -92.000000, 90.000000], [24.000000, 56.549750, -103.045263, 96.031927, -34.191701, -8.628441], [-156.000000, 129.506699, 103.172956, -75.184744, -35.314911, -19.308216], [-156.000000, -122.883186, -92.218219, -145.385110, -79.671186, 81.596596]] - id: 1685 parameters: KukaKR6_R700_sixx - joints: [-113.000000, -75.000000, 17.000000, 37.000000, 97.000000, -11.000000] - pose: {translation: [-0.08060840307603437, 0.3122012867276554, 0.9904786569535554], quaternion: [-0.5579012613766412, 0.671156170730103, 0.2348393504101514, 0.4279556712373322]} - solutions: [[-113.000000, -75.000000, 17.000000, 37.000000, 97.000000, -11.000000], [-113.000000, -62.600958, -6.045263, 38.293617, 105.439167, -4.376521], [-113.000000, -75.000000, 17.000000, -143.000000, -97.000000, 169.000000], [-113.000000, -62.600958, -6.045263, -141.706383, -105.439167, 175.623479]] + joints: [-113.000000, -74.000000, 17.000000, 37.000000, 97.000000, -11.000000] + pose: {translation: [-0.08461750541389229, 0.3216461399551276, 0.9852598282334778], quaternion: [-0.5621184469033401, 0.671557824096587, 0.227536840745002, 0.4257463172470408]} + solutions: [[-113.000000, -74.000000, 17.000000, 37.000000, 97.000000, -11.000000], [-113.000000, -61.600958, -6.045263, 38.293617, 105.439167, -4.376521], [-113.000000, -74.000000, 17.000000, -143.000000, -97.000000, 169.000000], [-113.000000, -61.600958, -6.045263, -141.706383, -105.439167, 175.623479]] - id: 1686 parameters: KukaKR6_R700_sixx - joints: [107.000000, -17.000000, 145.000000, -159.000000, 174.000000, -123.000000] - pose: {translation: [-0.05099925304026542, -0.1770609107543038, 0.2408141443164823], quaternion: [-0.2011892506819934, -0.3125952618196099, 0.8784060901476543, -0.3003495105530536]} - solutions: [[107.000000, -17.000000, 145.000000, -159.000000, 174.000000, -123.000000], [107.000000, 145.759209, -134.045263, -177.472043, 58.134855, -145.230104], [-73.000000, 47.641075, 140.288833, 3.448587, 38.516572, -146.594450], [-73.000000, -156.899752, -129.334095, 4.661442, 152.552161, -139.756269], [107.000000, -17.000000, 145.000000, 21.000000, -174.000000, 57.000000], [107.000000, 145.759209, -134.045263, 2.527957, -58.134855, 34.769896], [-73.000000, 47.641075, 140.288833, -176.551413, -38.516572, 33.405550], [-73.000000, -156.899752, -129.334095, -175.338558, -152.552161, 40.243731]] + joints: [107.000000, -17.000000, 145.000000, -159.000000, 173.000000, -123.000000] + pose: {translation: [-0.05079375930247884, -0.1780891860936494, 0.2398922310079677], quaternion: [-0.2031583244026066, -0.3204396444046734, 0.8751286411335953, -0.3003248091440312]} + solutions: [[107.000000, -17.000000, 145.000000, -159.000000, 173.000000, -123.000000], [107.000000, 145.759209, -134.045263, -177.022025, 57.209974, -145.470764], [-73.000000, 47.641075, 140.288833, 4.104547, 37.601971, -147.110954], [-73.000000, -156.899752, -129.334095, 5.267444, 151.593273, -139.220821], [107.000000, -17.000000, 145.000000, 21.000000, -173.000000, 57.000000], [107.000000, 145.759209, -134.045263, 2.977975, -57.209974, 34.529236], [-73.000000, 47.641075, 140.288833, -175.895453, -37.601971, 32.889046], [-73.000000, -156.899752, -129.334095, -174.732556, -151.593273, 40.779179]] - id: 1687 parameters: KukaKR6_R700_sixx joints: [57.000000, -137.000000, 96.000000, -67.000000, 47.000000, -70.000000] @@ -8441,9 +8441,9 @@ cases: solutions: [[57.000000, -137.000000, 96.000000, -67.000000, 47.000000, -70.000000], [57.000000, -37.728209, -85.045263, -43.241155, 100.674948, -137.983669], [-123.000000, -147.497019, 94.831008, 136.071384, 103.979264, -141.201593], [-123.000000, -49.570256, -83.876270, 117.497871, 49.372190, -76.740570], [57.000000, -137.000000, 96.000000, 113.000000, -47.000000, 110.000000], [57.000000, -37.728209, -85.045263, 136.758845, -100.674948, 42.016331], [-123.000000, -147.497019, 94.831008, -43.928616, -103.979264, 38.798407], [-123.000000, -49.570256, -83.876270, -62.502129, -49.372190, 103.259430]] - id: 1688 parameters: KukaKR6_R700_sixx - joints: [162.000000, 1.000000, -84.000000, -55.000000, 161.000000, -147.000000] - pose: {translation: [-0.3313217679242009, -0.1300861098341426, 0.6841489853006231], quaternion: [0.7858618730401148, -0.6025241576079982, 0.09088009624100821, 0.1054825298704943]} - solutions: [[162.000000, -97.068958, 94.954737, -15.476889, 88.016742, -92.972927], [162.000000, 1.000000, -84.000000, -55.000000, 161.000000, -147.000000], [-18.000000, 179.866317, 86.241357, 116.883794, 162.602173, -155.541199], [-18.000000, -91.991736, -75.286620, 164.367256, 98.237768, -95.817884], [162.000000, -97.068958, 94.954737, 164.523111, -88.016742, 87.027073], [162.000000, 1.000000, -84.000000, 125.000000, -161.000000, 33.000000], [-18.000000, 179.866317, 86.241357, -63.116206, -162.602173, 24.458801], [-18.000000, -91.991736, -75.286620, -15.632744, -98.237768, 84.182116]] + joints: [162.000000, 1.000000, -84.000000, -55.000000, 160.000000, -147.000000] + pose: {translation: [-0.3317552443830799, -0.1313605724941722, 0.684519586280088], quaternion: [0.7846654880939989, -0.6021611575582541, 0.0937644300745987, 0.1136232536723699]} + solutions: [[162.000000, -97.068958, 94.954737, -16.286985, 87.429557, -92.940742], [162.000000, 1.000000, -84.000000, -55.000000, 160.000000, -147.000000], [-18.000000, 179.866317, 86.241357, 117.354613, 161.612682, -155.093134], [-18.000000, -91.991736, -75.286620, 163.581205, 97.610175, -95.926251], [162.000000, -97.068958, 94.954737, 163.713015, -87.429557, 87.059258], [162.000000, 1.000000, -84.000000, 125.000000, -160.000000, 33.000000], [-18.000000, 179.866317, 86.241357, -62.645387, -161.612682, 24.906866], [-18.000000, -91.991736, -75.286620, -16.418795, -97.610175, 84.073749]] - id: 1689 parameters: KukaKR6_R700_sixx joints: [-34.000000, 21.000000, 137.000000, 120.000000, -22.000000, -16.000000] @@ -8466,14 +8466,14 @@ cases: solutions: [[171.000000, -50.400850, 179.903617, 59.194843, 106.660380, -139.155581], [171.000000, -121.388174, -168.948879, 90.096668, 124.628016, -74.665675], [-9.000000, -1.000000, 176.000000, -58.000000, 104.000000, -6.000000], [-9.000000, -105.593301, -165.045263, -103.800391, 122.078934, -99.656600], [171.000000, -50.400850, 179.903617, -120.805157, -106.660380, 40.844419], [171.000000, -121.388174, -168.948879, -89.903332, -124.628016, 105.334325], [-9.000000, -1.000000, 176.000000, 122.000000, -104.000000, 174.000000], [-9.000000, -105.593301, -165.045263, 76.199609, -122.078934, 80.343400]] - id: 1693 parameters: KukaKR6_R700_sixx - joints: [-32.000000, -176.000000, 32.000000, -3.000000, 179.000000, -60.000000] - pose: {translation: [-0.4576160673292011, -0.2858640915872012, 0.5623116486048737], quaternion: [0.1917830295741535, 0.866035312642233, 0.3239266571073174, 0.3290495823417918]} - solutions: [[148.000000, -47.172929, 56.219107, 0.075272, 135.952427, 123.053647], [148.000000, 7.686327, -45.264370, 178.836066, 177.422796, -58.163213], [-32.000000, -176.000000, 32.000000, -3.000000, 179.000000, -60.000000], [-32.000000, -147.430353, -21.045263, -179.868635, 156.522959, 123.120034], [148.000000, -47.172929, 56.219107, -179.924728, -135.952427, -56.946353], [148.000000, 7.686327, -45.264370, -1.163934, -177.422796, 121.836787], [-32.000000, -176.000000, 32.000000, 177.000000, -179.000000, 120.000000], [-32.000000, -147.430353, -21.045263, 0.131365, -156.522959, -56.879966]] + joints: [-32.000000, -175.000000, 32.000000, -3.000000, 178.000000, -60.000000] + pose: {translation: [-0.4544929421677942, -0.283826408809906, 0.5732751288501687], quaternion: [0.1915887008717434, 0.8660837642294998, 0.3242119049252683, 0.3287541995793613]} + solutions: [[148.000000, -48.183680, 56.099538, 0.153681, 137.081300, 123.110720], [148.000000, 6.544925, -45.144801, 178.332480, 176.401343, -58.666058], [-32.000000, -175.000000, 32.000000, -3.000000, 178.000000, -60.000000], [-32.000000, -146.430353, -21.045263, -179.726287, 157.521415, 123.251093], [148.000000, -48.183680, 56.099538, -179.846319, -137.081300, -56.889280], [148.000000, 6.544925, -45.144801, -1.667520, -176.401343, 121.333942], [-32.000000, -175.000000, 32.000000, 177.000000, -178.000000, 120.000000], [-32.000000, -146.430353, -21.045263, 0.273713, -157.521415, -56.748907]] - id: 1694 parameters: KukaKR6_R700_sixx - joints: [10.000000, -114.000000, -125.000000, -127.000000, -103.000000, -36.000000] - pose: {translation: [-0.2984254465556471, -0.01059322258321847, 0.3964611533396457], quaternion: [-0.4629277057642706, -0.1956549692280936, 0.7436801282839516, -0.4408593188850023]} - solutions: [[-170.000000, -71.136560, 145.134127, -123.147689, 111.656023, 156.847961], [-170.000000, 91.838542, -134.179390, -97.702580, 51.743966, 49.700555], [10.000000, 96.856586, 135.954737, 90.664609, 51.097787, 36.320344], [10.000000, -114.000000, -125.000000, 53.000000, 103.000000, 144.000000], [-170.000000, -71.136560, 145.134127, 56.852311, -111.656023, -23.152039], [-170.000000, 91.838542, -134.179390, 82.297420, -51.743966, -130.299445], [10.000000, 96.856586, 135.954737, -89.335391, -51.097787, -143.679656], [10.000000, -114.000000, -125.000000, -127.000000, -103.000000, -36.000000]] + joints: [10.000000, -113.000000, -125.000000, -127.000000, -102.000000, -36.000000] + pose: {translation: [-0.2993439008907982, -0.01067634746327858, 0.4009353767285762], quaternion: [-0.464694684572543, -0.199817710433923, 0.7451063050562887, -0.4346818686031597]} + solutions: [[-170.000000, -72.363832, 145.161302, -123.448222, 110.570693, 156.583675], [-170.000000, 90.655070, -134.206564, -96.269413, 51.802462, 48.649467], [10.000000, 97.856586, 135.954737, 91.883629, 51.407832, 35.557357], [10.000000, -113.000000, -125.000000, 53.000000, 102.000000, 144.000000], [-170.000000, -72.363832, 145.161302, 56.551778, -110.570693, -23.416325], [-170.000000, 90.655070, -134.206564, 83.730587, -51.802462, -131.350533], [10.000000, 97.856586, 135.954737, -88.116371, -51.407832, -144.442643], [10.000000, -113.000000, -125.000000, -127.000000, -102.000000, -36.000000]] - id: 1695 parameters: KukaKR6_R700_sixx joints: [154.000000, -157.000000, 132.000000, -132.000000, 31.000000, 135.000000] @@ -8486,19 +8486,19 @@ cases: solutions: [[61.000000, -79.043003, 60.954737, -175.082387, 56.681646, -154.909447], [61.000000, -19.000000, -50.000000, -144.000000, 7.000000, 172.000000], [-119.000000, -156.766557, 46.976576, 42.705664, 6.062728, 165.250856], [-119.000000, -111.977264, -36.021838, 6.048310, 42.831381, -156.646805], [61.000000, -79.043003, 60.954737, 4.917613, -56.681646, 25.090553], [61.000000, -19.000000, -50.000000, 36.000000, -7.000000, -8.000000], [-119.000000, -156.766557, 46.976576, -137.294336, -6.062728, -14.749144], [-119.000000, -111.977264, -36.021838, -173.951690, -42.831381, 23.353195]] - id: 1697 parameters: KukaKR6_R700_sixx - joints: [3.000000, 162.000000, 153.000000, -18.000000, 164.000000, -35.000000] - pose: {translation: [-0.08031814329363965, 0.01103277704899877, 0.5162959292207924], quaternion: [0.1838724021204799, 0.9480143075920235, 0.008156402445109168, -0.259602167630423]} - solutions: [[-177.000000, -175.266209, 154.957713, 4.952888, 80.597358, 161.534172], [-177.000000, 5.271243, -144.002976, 165.277468, 160.417821, -31.559699], [3.000000, 162.000000, 153.000000, -18.000000, 164.000000, -35.000000], [3.000000, -21.300374, -142.045263, -174.984095, 76.957035, 161.210550], [-177.000000, -175.266209, 154.957713, -175.047112, -80.597358, -18.465828], [-177.000000, 5.271243, -144.002976, -14.722532, -160.417821, 148.440301], [3.000000, 162.000000, 153.000000, 162.000000, -164.000000, 145.000000], [3.000000, -21.300374, -142.045263, 5.015905, -76.957035, -18.789450]] + joints: [3.000000, 161.000000, 153.000000, -18.000000, 163.000000, -35.000000] + pose: {translation: [-0.08111754578674951, 0.01148893554840232, 0.5138328071625606], quaternion: [0.1852301179356321, 0.9519574006311807, 0.01276675328796285, -0.243523963509881]} + solutions: [[-177.000000, -174.399967, 155.115710, 5.240910, 81.531985, 161.487307], [-177.000000, 6.456737, -144.160972, 165.087919, 159.446111, -31.740159], [3.000000, 161.000000, 153.000000, -18.000000, 163.000000, -35.000000], [3.000000, -22.300374, -142.045263, -174.698616, 77.917430, 161.148453], [-177.000000, -174.399967, 155.115710, -174.759090, -81.531985, -18.512693], [-177.000000, 6.456737, -144.160972, -14.912081, -159.446111, 148.259841], [3.000000, 161.000000, 153.000000, 162.000000, -163.000000, 145.000000], [3.000000, -22.300374, -142.045263, 5.301384, -77.917430, -18.851547]] - id: 1698 parameters: KukaKR6_R700_sixx - joints: [22.000000, 33.000000, 1.000000, -129.000000, -151.000000, -157.000000] - pose: {translation: [0.4891057583697002, -0.2301201298836948, 0.07224091239543207], quaternion: [-0.09517574543496757, -0.6106315851455671, 0.1320919305226491, 0.774998301026725]} - solutions: [[22.000000, 28.183053, 9.954737, 45.720148, 148.247069, 16.883253], [22.000000, 33.000000, 1.000000, 51.000000, 151.000000, 23.000000], [22.000000, 28.183053, 9.954737, -134.279852, -148.247069, -163.116747], [22.000000, 33.000000, 1.000000, -129.000000, -151.000000, -157.000000]] + joints: [22.000000, 33.000000, 1.000000, -129.000000, -150.000000, -157.000000] + pose: {translation: [0.4888839570056792, -0.2310490968028783, 0.07122242007038825], quaternion: [-0.09146851672921359, -0.6163833569908999, 0.1349335185971434, 0.770388222411909]} + solutions: [[22.000000, 28.183053, 9.954737, 45.917120, 147.252607, 17.049844], [22.000000, 33.000000, 1.000000, 51.000000, 150.000000, 23.000000], [22.000000, 28.183053, 9.954737, -134.082880, -147.252607, -162.950156], [22.000000, 33.000000, 1.000000, -129.000000, -150.000000, -157.000000]] - id: 1699 parameters: KukaKR6_R700_sixx - joints: [99.000000, 146.000000, 46.000000, -109.000000, -37.000000, -56.000000] - pose: {translation: [0.05823548607416752, 0.6586828117131733, 0.2941225073767592], quaternion: [-0.5398595790652954, 0.1723475909206614, 0.5951460429611191, 0.5697798964012407]} - solutions: [[-81.000000, -19.342980, 65.462765, -143.945876, 75.201576, -179.856426], [-81.000000, 45.652956, -54.508028, -112.821754, 38.123344, 128.819912], [99.000000, 146.000000, 46.000000, 71.000000, 37.000000, 124.000000], [99.000000, -170.271600, -35.045263, 41.641597, 58.910752, 166.015781], [-81.000000, -19.342980, 65.462765, 36.054124, -75.201576, 0.143574], [-81.000000, 45.652956, -54.508028, 67.178246, -38.123344, -51.180088], [99.000000, 146.000000, 46.000000, -109.000000, -37.000000, -56.000000], [99.000000, -170.271600, -35.045263, -138.358403, -58.910752, -13.984219]] + joints: [99.000000, 145.000000, 46.000000, -109.000000, -37.000000, -56.000000] + pose: {translation: [0.05793011072610796, 0.6567547476468177, 0.2821892605708219], quaternion: [-0.5439375590101477, 0.178248474293304, 0.5943748799562786, 0.5648698216289759]} + solutions: [[-81.000000, -18.222270, 65.392778, -143.953751, 75.242585, -179.825555], [-81.000000, 46.696621, -54.438040, -112.955070, 38.167548, 128.989430], [99.000000, 145.000000, 46.000000, 71.000000, 37.000000, 124.000000], [99.000000, -171.271600, -35.045263, 41.641597, 58.910752, 166.015781], [-81.000000, -18.222270, 65.392778, 36.046249, -75.242585, 0.174445], [-81.000000, 46.696621, -54.438040, 67.044930, -38.167548, -51.010570], [99.000000, 145.000000, 46.000000, -109.000000, -37.000000, -56.000000], [99.000000, -171.271600, -35.045263, -138.358403, -58.910752, -13.984219]] - id: 1700 parameters: KukaKR6_R700_sixx joints: [-13.000000, -94.000000, 164.000000, 18.000000, 88.000000, -151.000000] @@ -8506,29 +8506,29 @@ cases: solutions: [[-13.000000, -94.000000, 164.000000, 18.000000, 88.000000, -151.000000], [-13.000000, 108.096466, -153.045263, 140.093978, 151.223521, -6.592779], [167.000000, 84.622788, 154.903435, -28.116084, 139.055602, 7.671185], [167.000000, -94.949089, -143.948698, -161.801836, 98.556082, -147.550202], [-13.000000, -94.000000, 164.000000, -162.000000, -88.000000, 29.000000], [-13.000000, 108.096466, -153.045263, -39.906022, -151.223521, 173.407221], [167.000000, 84.622788, 154.903435, 151.883916, -139.055602, -172.328815], [167.000000, -94.949089, -143.948698, 18.198164, -98.556082, 32.449798]] - id: 1701 parameters: KukaKR6_R700_sixx - joints: [46.000000, 162.000000, -71.000000, 100.000000, -6.000000, 107.000000] - pose: {translation: [-0.166906152207196, 0.184691466975571, -0.1424198876371288], quaternion: [0.9847439746740652, -0.1652456532433723, 0.01634602826969631, -0.05201909060240955]} - solutions: [[-134.000000, 19.325824, 88.160526, 162.800460, 20.372623, -136.764339], [-134.000000, 109.640221, -77.205788, 7.155796, 55.728748, 23.010097], [46.000000, 78.685573, 81.954737, -173.657174, 68.713982, 24.743166], [46.000000, 162.000000, -71.000000, -80.000000, 6.000000, -73.000000], [-134.000000, 19.325824, 88.160526, -17.199540, -20.372623, 43.235661], [-134.000000, 109.640221, -77.205788, -172.844204, -55.728748, -156.989903], [46.000000, 78.685573, 81.954737, 6.342826, -68.713982, -155.256834], [46.000000, 162.000000, -71.000000, 100.000000, -6.000000, 107.000000]] + joints: [46.000000, 161.000000, -71.000000, 100.000000, -6.000000, 107.000000] + pose: {translation: [-0.1603011784240065, 0.1778518164012863, -0.1471157202834661], quaternion: [0.9849339313982605, -0.1648214138530049, 0.02335218922261213, -0.04683724558911051]} + solutions: [[-134.000000, 20.482107, 87.957429, 162.763099, 20.327906, -136.724491], [-134.000000, 110.566257, -77.002691, 7.166792, 55.600623, 22.990602], [46.000000, 77.685573, 81.954737, -173.657174, 68.713982, 24.743166], [46.000000, 161.000000, -71.000000, -80.000000, 6.000000, -73.000000], [-134.000000, 20.482107, 87.957429, -17.236901, -20.327906, 43.275509], [-134.000000, 110.566257, -77.002691, -172.833208, -55.600623, -157.009398], [46.000000, 77.685573, 81.954737, 6.342826, -68.713982, -155.256834], [46.000000, 161.000000, -71.000000, 100.000000, -6.000000, 107.000000]] - id: 1702 parameters: KukaKR6_R700_sixx - joints: [89.000000, -144.000000, 136.000000, 82.000000, -2.000000, 166.000000] - pose: {translation: [0.006357042060663389, -0.2057759363616116, 0.682121768565508], quaternion: [0.6455495448126997, -0.1063800907635683, 0.1618704261816398, 0.7387469300166503]} - solutions: [[89.000000, -144.000000, 136.000000, -98.000000, 2.000000, -14.000000], [89.000000, 5.207737, -125.045263, -2.129378, 111.545546, -112.787119], [-91.000000, 168.913882, 131.981819, 177.854617, 112.602986, -112.829706], [-91.000000, -47.474337, -121.027082, 148.382865, 3.779888, -80.443353], [89.000000, -144.000000, 136.000000, 82.000000, -2.000000, 166.000000], [89.000000, 5.207737, -125.045263, 177.870622, -111.545546, 67.212881], [-91.000000, 168.913882, 131.981819, -2.145383, -112.602986, 67.170294], [-91.000000, -47.474337, -121.027082, -31.617135, -3.779888, 99.556647]] + joints: [89.000000, -143.000000, 136.000000, 82.000000, -2.000000, 166.000000] + pose: {translation: [0.006442491810442391, -0.2106713492478086, 0.6789224356392162], quaternion: [0.6519953364205869, -0.1076758825635122, 0.1608377578238136, 0.7331024493603761]} + solutions: [[89.000000, -143.000000, 136.000000, -98.000000, 2.000000, -14.000000], [89.000000, 6.207737, -125.045263, -2.129378, 111.545546, -112.787119], [-91.000000, 168.092777, 131.836704, 177.854090, 112.636742, -112.831076], [-91.000000, -48.493535, -120.881967, 149.354341, 3.887676, -81.417007], [89.000000, -143.000000, 136.000000, 82.000000, -2.000000, 166.000000], [89.000000, 6.207737, -125.045263, 177.870622, -111.545546, 67.212881], [-91.000000, 168.092777, 131.836704, -2.145910, -112.636742, 67.168924], [-91.000000, -48.493535, -120.881967, -30.645659, -3.887676, 98.582993]] - id: 1703 parameters: KukaKR6_R700_sixx - joints: [0.000000, -146.000000, 51.000000, 97.000000, -89.000000, 94.000000] - pose: {translation: [-0.2932362138385937, 0.07939159856439376, 0.9389468576151068], quaternion: [-0.01263811356841271, 0.6970202887970992, 0.7100913684398376, 0.09885971655775264]} - solutions: [[-180.000000, -92.546125, 60.759430, 95.007027, 94.998838, -138.933441], [-180.000000, -32.717283, -49.804692, 97.036435, 89.302824, -88.459725], [-0.000000, -146.000000, 51.000000, -83.000000, 89.000000, -86.000000], [-0.000000, -96.833986, -40.045263, -84.110229, 93.919154, -127.616391], [-180.000000, -92.546125, 60.759430, -84.992973, -94.998838, 41.066559], [-180.000000, -32.717283, -49.804692, -82.963565, -89.302824, 91.540275], [-0.000000, -146.000000, 51.000000, 97.000000, -89.000000, 94.000000], [-0.000000, -96.833986, -40.045263, 95.889771, -93.919154, 52.383609]] + joints: [0.000000, -145.000000, 51.000000, 97.000000, -89.000000, 94.000000] + pose: {translation: [-0.2837818253146189, 0.07939159856439376, 0.9444187611452176], quaternion: [-0.006440994813994259, 0.6978564512261919, 0.7101746172830562, 0.09277337998939453]} + solutions: [[-180.000000, -93.427438, 60.474788, 95.021466, 94.984333, -138.767492], [-180.000000, -33.910654, -49.520051, 97.037528, 89.314005, -88.550315], [-0.000000, -145.000000, 51.000000, -83.000000, 89.000000, -86.000000], [-0.000000, -95.833986, -40.045263, -84.110229, 93.919154, -127.616391], [-180.000000, -93.427438, 60.474788, -84.978534, -94.984333, 41.232508], [-180.000000, -33.910654, -49.520051, -82.962472, -89.314005, 91.449685], [-0.000000, -145.000000, 51.000000, 97.000000, -89.000000, 94.000000], [-0.000000, -95.833986, -40.045263, 95.889771, -93.919154, 52.383609]] - id: 1704 parameters: KukaKR6_R700_sixx - joints: [150.000000, 41.000000, 65.000000, -120.000000, -156.000000, 146.000000] - pose: {translation: [-0.1875333620420001, -0.07573350561092024, -0.0924294476162173], quaternion: [-0.06634224309808852, -0.1687975876982638, -0.4836615463179731, 0.8562578991059109]} - solutions: [[150.000000, 41.000000, 65.000000, 60.000000, 156.000000, -34.000000], [150.000000, 105.486602, -54.045263, 150.647533, 134.060930, 66.932400], [-30.000000, 82.218233, 59.182203, -24.716735, 122.603152, 74.363056], [-30.000000, 140.318808, -48.227466, -75.610602, 158.675331, 13.690801], [150.000000, 41.000000, 65.000000, -120.000000, -156.000000, 146.000000], [150.000000, 105.486602, -54.045263, -29.352467, -134.060930, -113.067600], [-30.000000, 82.218233, 59.182203, 155.283265, -122.603152, -105.636944], [-30.000000, 140.318808, -48.227466, 104.389398, -158.675331, -166.309199]] + joints: [150.000000, 40.000000, 65.000000, -120.000000, -155.000000, 146.000000] + pose: {translation: [-0.1948418975878439, -0.0786825610825032, -0.08969033618224603], quaternion: [-0.08140127291665529, -0.1682717147892003, -0.4826558513689287, 0.8556294711548831]} + solutions: [[150.000000, 40.000000, 65.000000, 60.000000, 155.000000, -34.000000], [150.000000, 104.486602, -54.045263, 149.276926, 134.242405, 65.977665], [-30.000000, 83.354464, 58.877798, -25.894922, 123.064449, 73.663818], [-30.000000, 141.121724, -47.923061, -77.325190, 157.967041, 12.135984], [150.000000, 40.000000, 65.000000, -120.000000, -155.000000, 146.000000], [150.000000, 104.486602, -54.045263, -30.723074, -134.242405, -114.022335], [-30.000000, 83.354464, 58.877798, 154.105078, -123.064449, -106.336182], [-30.000000, 141.121724, -47.923061, 102.674810, -157.967041, -167.864016]] - id: 1705 parameters: KukaKR6_R700_sixx - joints: [-125.000000, -70.000000, 120.000000, 149.000000, 58.000000, -57.000000] - pose: {translation: [-0.2386428000819173, 0.4017370443561368, 0.4437995506614857], quaternion: [-0.6717142522851625, -0.1346978937055772, -0.02910646834039113, 0.727879972391751]} - solutions: [[-125.000000, -70.000000, 120.000000, 149.000000, 58.000000, -57.000000], [-125.000000, 57.971241, -109.045263, 33.508858, 52.294829, 83.292929], [55.000000, 127.671008, 109.625035, -148.830666, 57.554370, 87.358688], [55.000000, -117.068373, -98.670298, -37.270044, 46.158865, -46.868411], [-125.000000, -70.000000, 120.000000, -31.000000, -58.000000, 123.000000], [-125.000000, 57.971241, -109.045263, -146.491142, -52.294829, -96.707071], [55.000000, 127.671008, 109.625035, 31.169334, -57.554370, -92.641312], [55.000000, -117.068373, -98.670298, 142.729956, -46.158865, 133.131589]] + joints: [-125.000000, -69.000000, 120.000000, 149.000000, 58.000000, -57.000000] + pose: {translation: [-0.2390427243401826, 0.4023081953884261, 0.4360970036672059], quaternion: [-0.6767461354737676, -0.138544111517191, -0.03150464604776698, 0.7223763939682956]} + solutions: [[-125.000000, -69.000000, 120.000000, 149.000000, 58.000000, -57.000000], [-125.000000, 58.971241, -109.045263, 33.508858, 52.294829, 83.292929], [55.000000, 126.798888, 109.609111, -148.867417, 57.650182, 87.427278], [55.000000, -117.959582, -98.654374, -37.342760, 46.059666, -46.763526], [-125.000000, -69.000000, 120.000000, -31.000000, -58.000000, 123.000000], [-125.000000, 58.971241, -109.045263, -146.491142, -52.294829, -96.707071], [55.000000, 126.798888, 109.609111, 31.132583, -57.650182, -92.572722], [55.000000, -117.959582, -98.654374, 142.657240, -46.059666, 133.236474]] - id: 1706 parameters: KukaKR6_R700_sixx joints: [-30.000000, -1.000000, -171.000000, -146.000000, -17.000000, -114.000000] @@ -8536,14 +8536,14 @@ cases: solutions: [[-30.000000, 46.682746, -178.045263, 159.568520, 27.926743, -62.958048], [-30.000000, -1.000000, -171.000000, 34.000000, 17.000000, 66.000000], [-30.000000, 46.682746, -178.045263, -20.431480, -27.926743, 117.041952], [-30.000000, -1.000000, -171.000000, -146.000000, -17.000000, -114.000000]] - id: 1707 parameters: KukaKR6_R700_sixx - joints: [51.000000, -27.000000, 54.000000, 141.000000, 134.000000, -72.000000] - pose: {translation: [0.3604996091011718, -0.5027271262381267, 0.4735632616372166], quaternion: [-0.3053081472040636, -0.007224681018265737, 0.9520011631649323, 0.02070083494987836]} - solutions: [[51.000000, -27.000000, 54.000000, 141.000000, 134.000000, -72.000000], [51.000000, 25.436201, -43.045263, 152.930803, 95.851398, -45.623685], [-129.000000, 170.196549, 25.034672, -27.200638, 97.967586, -46.716060], [-129.000000, -168.749130, -14.079934, -29.675276, 113.882030, -55.631739], [51.000000, -27.000000, 54.000000, -39.000000, -134.000000, 108.000000], [51.000000, 25.436201, -43.045263, -27.069197, -95.851398, 134.376315], [-129.000000, 170.196549, 25.034672, 152.799362, -97.967586, 133.283940], [-129.000000, -168.749130, -14.079934, 150.324724, -113.882030, 124.368261]] + joints: [51.000000, -26.000000, 54.000000, 141.000000, 133.000000, -72.000000] + pose: {translation: [0.3615641619926406, -0.5050028516792242, 0.463394436700365], quaternion: [-0.2975343343018026, -0.02154226329512136, 0.9542524966647913, 0.02028357494919214]} + solutions: [[51.000000, -26.000000, 54.000000, 141.000000, 133.000000, -72.000000], [51.000000, 26.436201, -43.045263, 152.484889, 94.955335, -45.665677], [-129.000000, 169.273103, 25.030715, -27.626838, 96.998850, -46.738427], [-129.000000, -169.676841, -14.075977, -29.965151, 112.856210, -55.711916], [51.000000, -26.000000, 54.000000, -39.000000, -133.000000, 108.000000], [51.000000, 26.436201, -43.045263, -27.515111, -94.955335, 134.334323], [-129.000000, 169.273103, 25.030715, 152.373162, -96.998850, 133.261573], [-129.000000, -169.676841, -14.075977, 150.034849, -112.856210, 124.288084]] - id: 1708 parameters: KukaKR6_R700_sixx - joints: [-159.000000, -174.000000, 87.000000, -53.000000, -122.000000, 31.000000] - pose: {translation: [0.3434779812308447, -0.0738115238777252, 0.7590594104589057], quaternion: [0.7336725686685439, 0.4614821505327689, 0.4985625510973484, 0.01393446684503826]} - solutions: [[21.000000, -103.858119, 94.573998, -49.297782, 63.301404, -86.305344], [21.000000, -6.226598, -83.619261, -51.499044, 120.068488, -146.089506], [-159.000000, -174.000000, 87.000000, 127.000000, 122.000000, -149.000000], [-159.000000, -85.000155, -76.045263, 133.813432, 69.815339, -94.103336], [21.000000, -103.858119, 94.573998, 130.702218, -63.301404, 93.694656], [21.000000, -6.226598, -83.619261, 128.500956, -120.068488, 33.910494], [-159.000000, -174.000000, 87.000000, -53.000000, -122.000000, 31.000000], [-159.000000, -85.000155, -76.045263, -46.186568, -69.815339, 85.896664]] + joints: [-159.000000, -173.000000, 87.000000, -53.000000, -121.000000, 31.000000] + pose: {translation: [0.3381149892345444, -0.07112877901724791, 0.7667172651832983], quaternion: [0.7256586191787254, 0.4607810208023403, 0.5105959640550404, 0.01980355449617527]} + solutions: [[21.000000, -104.816155, 94.399902, -50.244395, 62.930624, -85.967268], [21.000000, -7.384532, -83.445165, -51.550100, 119.059717, -146.103692], [-159.000000, -173.000000, 87.000000, 127.000000, 121.000000, -149.000000], [-159.000000, -84.000155, -76.045263, 132.938534, 69.242461, -93.797345], [21.000000, -104.816155, 94.399902, 129.755605, -62.930624, 94.032732], [21.000000, -7.384532, -83.445165, 128.449900, -119.059717, 33.896308], [-159.000000, -173.000000, 87.000000, -53.000000, -121.000000, 31.000000], [-159.000000, -84.000155, -76.045263, -47.061466, -69.242461, 86.202655]] - id: 1709 parameters: KukaKR6_R700_sixx joints: [-82.000000, -105.000000, 136.000000, 68.000000, -25.000000, 127.000000] @@ -8556,29 +8556,29 @@ cases: solutions: [[-107.000000, -39.000000, 169.000000, 122.000000, 106.000000, 25.000000], [-107.000000, 179.790823, -158.045263, 97.146193, 55.243091, 126.399812], [73.000000, 28.550115, 164.241101, -106.341057, 58.158756, 167.866205], [73.000000, -128.654059, -153.286364, -54.607292, 90.207782, 48.510396], [-107.000000, -39.000000, 169.000000, -58.000000, -106.000000, -155.000000], [-107.000000, 179.790823, -158.045263, -82.853807, -55.243091, -53.600188], [73.000000, 28.550115, 164.241101, 73.658943, -58.158756, -12.133795], [73.000000, -128.654059, -153.286364, 125.392708, -90.207782, -131.489604]] - id: 1711 parameters: KukaKR6_R700_sixx - joints: [-129.000000, 161.000000, -86.000000, -116.000000, 123.000000, 107.000000] - pose: {translation: [0.03332933771322213, -0.1369813063265169, 0.003640608730105035], quaternion: [0.4176980253595142, -0.1221090735953664, -0.6953725281367578, 0.5719045207629839]} - solutions: [[51.000000, 22.725560, 100.546735, 55.406838, 113.697423, 89.076236], [51.000000, 127.264600, -89.591998, 115.580108, 123.310584, -170.077879], [-129.000000, 60.627021, 96.954737, -56.834869, 115.778349, -154.797501], [-129.000000, 161.000000, -86.000000, -116.000000, 123.000000, 107.000000], [51.000000, 22.725560, 100.546735, -124.593162, -113.697423, -90.923764], [51.000000, 127.264600, -89.591998, -64.419892, -123.310584, 9.922121], [-129.000000, 60.627021, 96.954737, 123.165131, -115.778349, 25.202499], [-129.000000, 161.000000, -86.000000, 64.000000, -123.000000, -73.000000]] + joints: [-129.000000, 160.000000, -86.000000, -116.000000, 123.000000, 107.000000] + pose: {translation: [0.02896145086002878, -0.1315874152714415, 0.00104071807382234], quaternion: [0.4177418204753194, -0.1142477746734908, -0.6984680772718894, 0.5697206003298735]} + solutions: [[51.000000, 23.865886, 100.352278, 55.426413, 113.728148, 89.124911], [51.000000, 128.178410, -89.397541, 115.515861, 123.357276, -170.194795], [-129.000000, 59.627021, 96.954737, -56.834869, 115.778349, -154.797501], [-129.000000, 160.000000, -86.000000, -116.000000, 123.000000, 107.000000], [51.000000, 23.865886, 100.352278, -124.573587, -113.728148, -90.875089], [51.000000, 128.178410, -89.397541, -64.484139, -123.357276, 9.805205], [-129.000000, 59.627021, 96.954737, 123.165131, -115.778349, 25.202499], [-129.000000, 160.000000, -86.000000, 64.000000, -123.000000, -73.000000]] - id: 1712 parameters: KukaKR6_R700_sixx - joints: [180.000000, -54.000000, 164.000000, -140.000000, -139.000000, -107.000000] - pose: {translation: [-0.1010733804760266, 0.03373652920464641, 0.370368578789095], quaternion: [0.03440247008308515, 0.2414008342480886, 0.9180205005753241, 0.3126986853185357]} - solutions: [[180.000000, -54.000000, 164.000000, 40.000000, 139.000000, 73.000000], [180.000000, 148.096466, -153.045263, 154.802464, 97.893399, -143.042181], [0.000000, 52.597649, 157.046554, -25.817139, 75.541011, -132.457417], [0.000000, -122.514632, -146.091817, -114.551956, 152.378705, 103.380061], [180.000000, -54.000000, 164.000000, -140.000000, -139.000000, -107.000000], [180.000000, 148.096466, -153.045263, -25.197536, -97.893399, 36.957819], [0.000000, 52.597649, 157.046554, 154.182861, -75.541011, 47.542583], [0.000000, -122.514632, -146.091817, 65.448044, -152.378705, -76.619939]] + joints: [180.000000, -53.000000, 164.000000, -140.000000, -139.000000, -107.000000] + pose: {translation: [-0.1005446545254232, 0.03373652920464641, 0.3690454282429427], quaternion: [0.02639002165593386, 0.2386628662662869, 0.9182857595440461, 0.3147933716601641]} + solutions: [[180.000000, -53.000000, 164.000000, 40.000000, 139.000000, 73.000000], [180.000000, 149.096466, -153.045263, 154.802464, 97.893399, -143.042181], [0.000000, 51.732282, 157.138458, -25.842777, 75.337107, -132.355439], [0.000000, -123.181755, -146.183720, -114.131483, 152.478030, 103.854402], [180.000000, -53.000000, 164.000000, -140.000000, -139.000000, -107.000000], [180.000000, 149.096466, -153.045263, -25.197536, -97.893399, 36.957819], [0.000000, 51.732282, 157.138458, 154.157223, -75.337107, 47.644561], [0.000000, -123.181755, -146.183720, 65.868517, -152.478030, -76.145598]] - id: 1713 parameters: KukaKR6_R700_sixx - joints: [113.000000, -131.000000, -149.000000, 60.000000, -124.000000, 57.000000] - pose: {translation: [0.07589300130760168, 0.03179288072796767, 0.3341706092281156], quaternion: [0.08158262752471103, -0.4266207983438752, 0.7575995964512992, -0.4872184528149848]} - solutions: [[-67.000000, -39.959743, 165.310952, 49.461921, 109.138938, -146.109970], [-67.000000, 166.049957, -154.356215, 127.287469, 115.522518, -16.588026], [113.000000, 37.511605, 159.954737, -46.248136, 96.308392, 6.367829], [113.000000, -131.000000, -149.000000, -120.000000, 124.000000, -123.000000], [-67.000000, -39.959743, 165.310952, -130.538079, -109.138938, 33.890030], [-67.000000, 166.049957, -154.356215, -52.712531, -115.522518, 163.411974], [113.000000, 37.511605, 159.954737, 133.751864, -96.308392, -173.632171], [113.000000, -131.000000, -149.000000, 60.000000, -124.000000, 57.000000]] + joints: [113.000000, -130.000000, -149.000000, 60.000000, -123.000000, 57.000000] + pose: {translation: [0.0767313800024684, 0.03205991386722787, 0.3345555307847084], quaternion: [0.07507519663992446, -0.4388594958303054, 0.7515955174912125, -0.4866931639710625]} + solutions: [[-67.000000, -41.362862, 165.455460, 49.940552, 108.385279, -145.769253], [-67.000000, 165.095578, -154.500722, 126.260496, 115.742743, -16.960889], [113.000000, 38.511605, 159.954737, -47.026920, 96.942092, 6.277974], [113.000000, -130.000000, -149.000000, -120.000000, 123.000000, -123.000000], [-67.000000, -41.362862, 165.455460, -130.059448, -108.385279, 34.230747], [-67.000000, 165.095578, -154.500722, -53.739504, -115.742743, 163.039111], [113.000000, 38.511605, 159.954737, 132.973080, -96.942092, -173.722026], [113.000000, -130.000000, -149.000000, 60.000000, -123.000000, 57.000000]] - id: 1714 parameters: KukaKR6_R700_sixx - joints: [-83.000000, -157.000000, 6.000000, -178.000000, 8.000000, 170.000000] - pose: {translation: [-0.08275066351416735, -0.6707616914842376, 0.6980994951329602], quaternion: [0.3431198377649222, -0.4506081743761902, 0.5869577241857198, 0.5785340786299896]} - solutions: [[97.000000, -47.887320, 47.769816, 179.219491, 20.889077, -7.290234], [97.000000, -2.235901, -36.815078, 0.898274, 18.048243, 171.126470], [-83.000000, -157.000000, 6.000000, -178.000000, 8.000000, 170.000000], [-83.000000, -156.437750, 4.954737, -177.872330, 7.517300, 169.871151], [97.000000, -47.887320, 47.769816, -0.780509, -20.889077, 172.709766], [97.000000, -2.235901, -36.815078, -179.101726, -18.048243, -8.873530], [-83.000000, -157.000000, 6.000000, 2.000000, -8.000000, -10.000000], [-83.000000, -156.437750, 4.954737, 2.127670, -7.517300, -10.128849]] + joints: [-83.000000, -156.000000, 6.000000, -178.000000, 8.000000, 170.000000] + pose: {translation: [-0.08210362310943373, -0.66549197027519, 0.7102855546745338], quaternion: [0.3387200339915656, -0.4448918192488517, 0.5904734055116134, 0.5819631991128972]} + solutions: [[97.000000, -48.861921, 47.592685, 179.214034, 20.737360, -7.284397], [97.000000, -3.403047, -36.637948, 0.898754, 18.038260, 171.125964], [-83.000000, -156.000000, 6.000000, -178.000000, 8.000000, 170.000000], [-83.000000, -155.437750, 4.954737, -177.872330, 7.517300, 169.871151], [97.000000, -48.861921, 47.592685, -0.785966, -20.737360, 172.715603], [97.000000, -3.403047, -36.637948, -179.101246, -18.038260, -8.874036], [-83.000000, -156.000000, 6.000000, 2.000000, -8.000000, -10.000000], [-83.000000, -155.437750, 4.954737, 2.127670, -7.517300, -10.128849]] - id: 1715 parameters: KukaKR6_R700_sixx - joints: [41.000000, -118.000000, 40.000000, -38.000000, 172.000000, -73.000000] - pose: {translation: [-0.06276274625409664, 0.06364136477912521, 0.9631148760051119], quaternion: [0.6178722597529992, 0.783548891631636, 0.0452487579681759, -0.04730280068763998]} - solutions: [[-139.000000, -105.456162, 43.409617, 8.825671, 146.050731, 152.067715], [-139.000000, -64.539296, -32.454880, 104.928186, 174.912535, -110.286939], [41.000000, -118.000000, 40.000000, -38.000000, 172.000000, -73.000000], [41.000000, -80.778725, -29.045263, -168.704934, 154.057465, 154.910478], [-139.000000, -105.456162, 43.409617, -171.174329, -146.050731, -27.932285], [-139.000000, -64.539296, -32.454880, -75.071814, -174.912535, 69.713061], [41.000000, -118.000000, 40.000000, 142.000000, -172.000000, 107.000000], [41.000000, -80.778725, -29.045263, 11.295066, -154.057465, -25.089522]] + joints: [41.000000, -118.000000, 40.000000, -38.000000, 171.000000, -73.000000] + pose: {translation: [-0.06136929255056157, 0.06355654363029693, 0.9630905008741782], quaternion: [0.6183589330208218, 0.7832621333060401, 0.05020949433632615, -0.04014557460931716]} + solutions: [[-139.000000, -105.456162, 43.409617, 10.116901, 146.750366, 153.143249], [-139.000000, -64.539296, -32.454880, 110.817741, 174.085895, -104.424307], [41.000000, -118.000000, 40.000000, -38.000000, 171.000000, -73.000000], [41.000000, -80.778725, -29.045263, -166.967145, 154.717616, 156.477558], [-139.000000, -105.456162, 43.409617, -169.883099, -146.750366, -26.856751], [-139.000000, -64.539296, -32.454880, -69.182259, -174.085895, 75.575693], [41.000000, -118.000000, 40.000000, 142.000000, -171.000000, 107.000000], [41.000000, -80.778725, -29.045263, 13.032855, -154.717616, -23.522442]] - id: 1716 parameters: KukaKR6_R700_sixx joints: [106.000000, 109.000000, 83.000000, -120.000000, -86.000000, -37.000000] @@ -8586,24 +8586,24 @@ cases: solutions: [[-74.000000, -16.945779, 94.057502, -95.124880, 119.844030, -130.327058], [-74.000000, 80.092917, -83.102765, -120.236847, 90.518104, 150.777977], [106.000000, 109.000000, 83.000000, 60.000000, 86.000000, 143.000000], [106.000000, -166.511407, -72.045263, 74.979919, 116.558860, -151.079727], [-74.000000, -16.945779, 94.057502, 84.875120, -119.844030, 49.672942], [-74.000000, 80.092917, -83.102765, 59.763153, -90.518104, -29.222023], [106.000000, 109.000000, 83.000000, -120.000000, -86.000000, -37.000000], [106.000000, -166.511407, -72.045263, -105.020081, -116.558860, 28.920273]] - id: 1717 parameters: KukaKR6_R700_sixx - joints: [136.000000, 56.000000, 32.000000, -100.000000, -172.000000, 36.000000] - pose: {translation: [-0.1832548815507329, -0.1617244554451493, -0.1455972926217103], quaternion: [-0.06868625332339495, 0.02952113291704826, 0.6935762560116475, 0.7164933205638095]} - solutions: [[136.000000, 56.000000, 32.000000, 80.000000, 172.000000, -144.000000], [136.000000, 84.569647, -21.045263, 160.557435, 155.684634, -61.735579], [136.000000, 56.000000, 32.000000, -100.000000, -172.000000, 36.000000], [136.000000, 84.569647, -21.045263, -19.442565, -155.684634, 118.264421]] + joints: [136.000000, 55.000000, 32.000000, -100.000000, -171.000000, 36.000000] + pose: {translation: [-0.1908606138449525, -0.1671787005542144, -0.1419078704808198], quaternion: [-0.07724064825289791, 0.03971586380675309, 0.6934868671900801, 0.7152150008594925]} + solutions: [[136.000000, 55.000000, 32.000000, 80.000000, 171.000000, -144.000000], [136.000000, 83.569647, -21.045263, 158.164528, 155.531180, -63.914953], [136.000000, 55.000000, 32.000000, -100.000000, -171.000000, 36.000000], [136.000000, 83.569647, -21.045263, -21.835472, -155.531180, 116.085047]] - id: 1718 parameters: KukaKR6_R700_sixx - joints: [-87.000000, -118.000000, 71.000000, -76.000000, 74.000000, 105.000000] - pose: {translation: [-0.06775816649479736, 0.1328215523062335, 0.9723816962617239], quaternion: [0.6510110388560176, 0.2338586585424015, -0.5215565421842228, -0.4994732509526353]} - solutions: [[-87.000000, -118.000000, 71.000000, -76.000000, 74.000000, 105.000000], [-87.000000, -46.891961, -60.045263, -69.159698, 93.622749, 47.706431], [93.000000, -136.458118, 68.231032, 110.485872, 95.330024, 43.168129], [93.000000, -68.410720, -57.276294, 105.903149, 75.889424, 97.683461], [-87.000000, -118.000000, 71.000000, 104.000000, -74.000000, -75.000000], [-87.000000, -46.891961, -60.045263, 110.840302, -93.622749, -132.293569], [93.000000, -136.458118, 68.231032, -69.514128, -95.330024, -136.831871], [93.000000, -68.410720, -57.276294, -74.096851, -75.889424, -82.316539]] + joints: [-87.000000, -117.000000, 71.000000, -76.000000, 73.000000, 105.000000] + pose: {translation: [-0.06680688165736171, 0.1436211127103622, 0.9715074975145537], quaternion: [0.6520959450227413, 0.2235364658735587, -0.5243033608609874, -0.4999083042914275]} + solutions: [[-87.000000, -117.000000, 71.000000, -76.000000, 73.000000, 105.000000], [-87.000000, -45.891961, -60.045263, -68.317041, 93.082042, 47.755708], [93.000000, -137.286063, 67.953993, 111.378881, 94.819087, 43.344795], [93.000000, -69.544412, -56.999255, 106.072174, 74.937243, 97.507526], [-87.000000, -117.000000, 71.000000, 104.000000, -73.000000, -75.000000], [-87.000000, -45.891961, -60.045263, 111.682959, -93.082042, -132.244292], [93.000000, -137.286063, 67.953993, -68.621119, -94.819087, -136.655205], [93.000000, -69.544412, -56.999255, -73.927826, -74.937243, -82.492474]] - id: 1719 parameters: KukaKR6_R700_sixx - joints: [94.000000, 172.000000, -4.000000, 167.000000, 60.000000, -64.000000] - pose: {translation: [0.03061577614666576, 0.6612470698777416, 0.1716899095450174], quaternion: [-0.1474253253290898, 0.971050186108622, 0.1774858818026964, -0.0618552444885796]} - solutions: [[-86.000000, -10.009871, 50.182477, -20.989073, 32.948351, -52.739288], [-86.000000, 38.266027, -39.227740, -11.775945, 72.663125, -67.029945], [94.000000, 161.802567, 14.954737, 167.917984, 68.549420, -66.108818], [94.000000, 172.000000, -4.000000, 167.000000, 60.000000, -64.000000], [-86.000000, -10.009871, 50.182477, 159.010927, -32.948351, 127.260712], [-86.000000, 38.266027, -39.227740, 168.224055, -72.663125, 112.970055], [94.000000, 161.802567, 14.954737, -12.082016, -68.549420, 113.891182], [94.000000, 172.000000, -4.000000, -13.000000, -60.000000, 116.000000]] + joints: [94.000000, 171.000000, -4.000000, 167.000000, 60.000000, -64.000000] + pose: {translation: [0.03033053082117594, 0.6571678716766246, 0.1597388590095897], quaternion: [-0.1467732033225158, 0.9725206221643039, 0.1691156043323438, -0.06372737734215071]} + solutions: [[-86.000000, -8.879656, 50.084099, -21.006685, 32.918629, -52.718305], [-86.000000, 39.289157, -39.129361, -11.783717, 72.544176, -67.003950], [94.000000, 160.802567, 14.954737, 167.917984, 68.549420, -66.108818], [94.000000, 171.000000, -4.000000, 167.000000, 60.000000, -64.000000], [-86.000000, -8.879656, 50.084099, 158.993315, -32.918629, 127.281695], [-86.000000, 39.289157, -39.129361, 168.216283, -72.544176, 112.996050], [94.000000, 160.802567, 14.954737, -12.082016, -68.549420, 113.891182], [94.000000, 171.000000, -4.000000, -13.000000, -60.000000, 116.000000]] - id: 1720 parameters: KukaKR6_R700_sixx - joints: [95.000000, -177.000000, -71.000000, -163.000000, -103.000000, 137.000000] - pose: {translation: [0.01705886921134491, 0.4564726632958019, 0.1095626832587392], quaternion: [-0.3860656091985852, -0.26858821333053, -0.2982895696842937, 0.8305642959287366]} - solutions: [[-85.000000, -5.003093, 91.846061, -160.605503, 120.920098, -36.680546], [-85.000000, 89.504681, -80.891323, -156.906794, 46.577740, -63.269713], [95.000000, 99.685573, 81.954737, 28.030941, 37.314564, -69.883542], [95.000000, -177.000000, -71.000000, 17.000000, 103.000000, -43.000000], [-85.000000, -5.003093, 91.846061, 19.394497, -120.920098, 143.319454], [-85.000000, 89.504681, -80.891323, 23.093206, -46.577740, 116.730287], [95.000000, 99.685573, 81.954737, -151.969059, -37.314564, 110.116458], [95.000000, -177.000000, -71.000000, -163.000000, -103.000000, 137.000000]] + joints: [95.000000, -176.000000, -71.000000, -163.000000, -103.000000, 137.000000] + pose: {translation: [0.01749425900043205, 0.4614491913571561, 0.118005407623933], quaternion: [-0.3786036714176292, -0.266616557490059, -0.3009067662991828, 0.8336845861934902]} + solutions: [[-85.000000, -6.160108, 91.989788, -160.608145, 120.907564, -36.685689], [-85.000000, 88.511806, -81.035050, -156.855923, 46.452108, -63.343636], [95.000000, 100.685573, 81.954737, 28.030941, 37.314564, -69.883542], [95.000000, -176.000000, -71.000000, 17.000000, 103.000000, -43.000000], [-85.000000, -6.160108, 91.989788, 19.391855, -120.907564, 143.314311], [-85.000000, 88.511806, -81.035050, 23.144077, -46.452108, 116.656364], [95.000000, 100.685573, 81.954737, -151.969059, -37.314564, 110.116458], [95.000000, -176.000000, -71.000000, -163.000000, -103.000000, 137.000000]] - id: 1721 parameters: KukaKR6_R700_sixx joints: [-79.000000, 48.000000, -67.000000, -95.000000, -111.000000, -50.000000] @@ -8611,9 +8611,9 @@ cases: solutions: [[-79.000000, -30.837472, 77.954737, 68.805799, 94.053682, 64.051279], [-79.000000, 48.000000, -67.000000, 85.000000, 111.000000, 130.000000], [101.000000, 141.385758, 62.274011, -93.199262, 111.333356, 134.984302], [101.000000, -157.123728, -51.319274, -108.932318, 100.511761, 81.726783], [-79.000000, -30.837472, 77.954737, -111.194201, -94.053682, -115.948721], [-79.000000, 48.000000, -67.000000, -95.000000, -111.000000, -50.000000], [101.000000, 141.385758, 62.274011, 86.800738, -111.333356, -45.015698], [101.000000, -157.123728, -51.319274, 71.067682, -100.511761, -98.273217]] - id: 1722 parameters: KukaKR6_R700_sixx - joints: [-39.000000, 80.000000, 123.000000, -22.000000, -161.000000, -15.000000] - pose: {translation: [-0.1568802532201575, -0.139593777573514, 0.1484000658805704], quaternion: [-0.3229464946625264, 0.8481508334384108, 0.06531400133487425, 0.4148250312511818]} - solutions: [[141.000000, -31.835874, 130.854981, -10.762292, 40.777147, -165.901657], [141.000000, 110.244355, -119.900243, -13.399950, 148.246671, 174.455881], [-39.000000, 80.000000, 123.000000, 158.000000, 161.000000, 165.000000], [-39.000000, -148.229791, -112.045263, 171.843677, 59.275462, -169.904368], [141.000000, -31.835874, 130.854981, 169.237708, -40.777147, 14.098343], [141.000000, 110.244355, -119.900243, 166.600050, -148.246671, -5.544119], [-39.000000, 80.000000, 123.000000, -22.000000, -161.000000, -15.000000], [-39.000000, -148.229791, -112.045263, -8.156323, -59.275462, 10.095632]] + joints: [-39.000000, 80.000000, 123.000000, -22.000000, -160.000000, -15.000000] + pose: {translation: [-0.1572739442663327, -0.1405470086527041, 0.147458864590718], quaternion: [-0.3225478205616323, 0.8517626935887735, 0.06067371027113472, 0.4083894197249395]} + solutions: [[141.000000, -31.835874, 130.854981, -11.520326, 39.905808, -165.323863], [141.000000, 110.244355, -119.900243, -13.703707, 147.259889, 174.198966], [-39.000000, 80.000000, 123.000000, 158.000000, 160.000000, 165.000000], [-39.000000, -148.229791, -112.045263, 171.345574, 58.370811, -169.646500], [141.000000, -31.835874, 130.854981, 168.479674, -39.905808, 14.676137], [141.000000, 110.244355, -119.900243, 166.296293, -147.259889, -5.801034], [-39.000000, 80.000000, 123.000000, -22.000000, -160.000000, -15.000000], [-39.000000, -148.229791, -112.045263, -8.654426, -58.370811, 10.353500]] - id: 1723 parameters: KukaKR6_R700_sixx joints: [105.000000, 42.000000, -139.000000, -24.000000, 47.000000, -37.000000] @@ -8621,24 +8621,24 @@ cases: solutions: [[105.000000, -129.105959, 149.954737, -161.992748, 74.207361, 121.053706], [105.000000, 42.000000, -139.000000, -24.000000, 47.000000, -37.000000], [-75.000000, 136.006692, 142.871033, 156.681878, 48.719957, -38.016167], [-75.000000, -64.597719, -131.916296, 18.444085, 70.089842, 119.629692], [105.000000, -129.105959, 149.954737, 18.007252, -74.207361, -58.946294], [105.000000, 42.000000, -139.000000, 156.000000, -47.000000, 143.000000], [-75.000000, 136.006692, 142.871033, -23.318122, -48.719957, 141.983833], [-75.000000, -64.597719, -131.916296, -161.555915, -70.089842, -60.370308]] - id: 1724 parameters: KukaKR6_R700_sixx - joints: [176.000000, -14.000000, 130.000000, -143.000000, -129.000000, 104.000000] - pose: {translation: [-0.1817108212974395, 0.02480075644429815, 0.1998191610018327], quaternion: [-0.2821579618771729, -0.03915678446484512, -0.5496177398710148, 0.7853495850885586]} - solutions: [[176.000000, -14.000000, 130.000000, 37.000000, 129.000000, -76.000000], [176.000000, 126.928051, -119.045263, 149.409088, 113.215528, 65.510376], [-4.000000, 63.762890, 124.113557, -28.304558, 99.468715, 73.565482], [-4.000000, -163.039377, -113.158820, -128.405322, 143.356730, -56.025827], [176.000000, -14.000000, 130.000000, -143.000000, -129.000000, 104.000000], [176.000000, 126.928051, -119.045263, -30.590912, -113.215528, -114.489624], [-4.000000, 63.762890, 124.113557, 151.695442, -99.468715, -106.434518], [-4.000000, -163.039377, -113.158820, 51.594678, -143.356730, 123.974173]] + joints: [176.000000, -14.000000, 130.000000, -143.000000, -128.000000, 104.000000] + pose: {translation: [-0.180647075232562, 0.02539950575309796, 0.1991413368558615], quaternion: [-0.289957344494066, -0.0361594870894998, -0.549332690177327, 0.7828478941466949]} + solutions: [[176.000000, -14.000000, 130.000000, 37.000000, 128.000000, -76.000000], [176.000000, 126.928051, -119.045263, 148.727851, 113.996775, 65.237568], [-4.000000, 63.762890, 124.113557, -28.819439, 100.330538, 73.476959], [-4.000000, -163.039377, -113.158820, -128.965361, 142.415549, -56.472440], [176.000000, -14.000000, 130.000000, -143.000000, -128.000000, 104.000000], [176.000000, 126.928051, -119.045263, -31.272149, -113.996775, -114.762432], [-4.000000, 63.762890, 124.113557, 151.180561, -100.330538, -106.523041], [-4.000000, -163.039377, -113.158820, 51.034639, -142.415549, 123.527560]] - id: 1725 parameters: KukaKR6_R700_sixx - joints: [-34.000000, -153.000000, 162.000000, 143.000000, 41.000000, 55.000000] - pose: {translation: [0.1639919602896612, 0.07251425994756246, 0.5524326179006316], quaternion: [0.5369107862208093, 0.1095784798908887, 0.8353108347997021, 0.04444292576754217]} - solutions: [[-34.000000, -153.000000, 162.000000, 143.000000, 41.000000, 55.000000], [-34.000000, 43.607321, -151.045263, 23.476485, 82.349059, -157.936955], [146.000000, 130.475436, 155.873705, -156.461316, 81.350616, -158.375671], [146.000000, -47.114731, -144.918967, -35.033961, 43.454344, 52.345758], [-34.000000, -153.000000, 162.000000, -37.000000, -41.000000, -125.000000], [-34.000000, 43.607321, -151.045263, -156.523515, -82.349059, 22.063045], [146.000000, 130.475436, 155.873705, 23.538684, -81.350616, 21.624329], [146.000000, -47.114731, -144.918967, 144.966039, -43.454344, -127.654242]] + joints: [-34.000000, -152.000000, 162.000000, 143.000000, 41.000000, 55.000000] + pose: {translation: [0.1661783322189678, 0.07398898643486501, 0.5497652756010346], quaternion: [0.5427166302926928, 0.1139719991960156, 0.8308599571943217, 0.04626850045179819]} + solutions: [[-34.000000, -152.000000, 162.000000, 143.000000, 41.000000, 55.000000], [-34.000000, 44.607321, -151.045263, 23.476485, 82.349059, -157.936955], [146.000000, 129.790886, 155.768956, -156.473968, 81.543794, -158.290599], [146.000000, -48.016081, -144.814219, -35.157750, 43.287925, 52.516049], [-34.000000, -152.000000, 162.000000, -37.000000, -41.000000, -125.000000], [-34.000000, 44.607321, -151.045263, -156.523515, -82.349059, 22.063045], [146.000000, 129.790886, 155.768956, 23.526032, -81.543794, 21.709401], [146.000000, -48.016081, -144.814219, 144.842250, -43.287925, -127.483951]] - id: 1726 parameters: KukaKR6_R700_sixx - joints: [98.000000, -119.000000, 152.000000, 2.000000, 81.000000, 146.000000] - pose: {translation: [-0.02568726577711795, -0.1629603194658276, 0.4330221616734348], quaternion: [-0.4035015405859716, 0.8909023138518034, 0.1849263531395441, 0.09634219134293646]} - solutions: [[98.000000, -119.000000, 152.000000, 2.000000, 81.000000, 146.000000], [98.000000, 55.816370, -141.045263, 174.019907, 160.679095, -39.332543], [-82.000000, 124.948976, 143.948703, -5.066829, 157.027217, -38.353839], [-82.000000, -73.967250, -132.993965, -178.021984, 87.035153, 146.210643], [98.000000, -119.000000, 152.000000, -178.000000, -81.000000, -34.000000], [98.000000, 55.816370, -141.045263, -5.980093, -160.679095, 140.667457], [-82.000000, 124.948976, 143.948703, 174.933171, -157.027217, 141.646161], [-82.000000, -73.967250, -132.993965, 1.978016, -87.035153, -33.789357]] + joints: [98.000000, -118.000000, 152.000000, 2.000000, 81.000000, 146.000000] + pose: {translation: [-0.02576450701779498, -0.1635099194510604, 0.4305746788254642], quaternion: [-0.402878217764162, 0.8891533222042239, 0.1921280893493896, 0.1009074256302136]} + solutions: [[98.000000, -118.000000, 152.000000, 2.000000, 81.000000, 146.000000], [98.000000, 56.816370, -141.045263, 174.019907, 160.679095, -39.332543], [-82.000000, 124.186445, 143.880481, -5.031833, 156.858626, -38.315804], [-82.000000, -74.837507, -132.925744, -178.022326, 87.233000, 146.217484], [98.000000, -118.000000, 152.000000, -178.000000, -81.000000, -34.000000], [98.000000, 56.816370, -141.045263, -5.980093, -160.679095, 140.667457], [-82.000000, 124.186445, 143.880481, 174.968167, -156.858626, 141.684196], [-82.000000, -74.837507, -132.925744, 1.977674, -87.233000, -33.782516]] - id: 1727 parameters: KukaKR6_R700_sixx - joints: [-54.000000, -112.000000, -169.000000, 173.000000, -67.000000, -53.000000] - pose: {translation: [-0.03946118398521437, -0.039045319026574, 0.2958166106662747], quaternion: [0.8816811788704921, -0.03975111744744685, -0.3096149709874558, 0.3538314813970849]} - solutions: [[-54.000000, -41.543678, 179.954737, -41.104935, 9.824655, 164.939328], [-54.000000, -112.000000, -169.000000, -7.000000, 67.000000, 127.000000], [126.000000, -12.715090, 177.613506, 171.524812, 130.432996, 118.733343], [126.000000, -104.976795, -166.658769, 172.076746, 54.470176, 128.877224], [-54.000000, -41.543678, 179.954737, 138.895065, -9.824655, -15.060672], [-54.000000, -112.000000, -169.000000, 173.000000, -67.000000, -53.000000], [126.000000, -12.715090, 177.613506, -8.475188, -130.432996, -61.266657], [126.000000, -104.976795, -166.658769, -7.923254, -54.470176, -51.122776]] + joints: [-54.000000, -111.000000, -169.000000, 173.000000, -66.000000, -53.000000] + pose: {translation: [-0.04001732167037637, -0.03992621182937286, 0.2960598540370965], quaternion: [0.8816869670042792, -0.04041437188488061, -0.3089446694325125, 0.3543274784562739]} + solutions: [[-54.000000, -40.543678, 179.954737, -45.013624, 9.056681, 168.795205], [-54.000000, -111.000000, -169.000000, -7.000000, 66.000000, 127.000000], [126.000000, -14.139653, 177.803821, 171.738608, 129.211427, 118.896448], [126.000000, -104.811597, -166.849083, 172.133688, 54.436316, 128.735167], [-54.000000, -40.543678, 179.954737, 134.986376, -9.056681, -11.204795], [-54.000000, -111.000000, -169.000000, 173.000000, -66.000000, -53.000000], [126.000000, -14.139653, 177.803821, -8.261392, -129.211427, -61.103552], [126.000000, -104.811597, -166.849083, -7.866312, -54.436316, -51.264833]] - id: 1728 parameters: KukaKR6_R700_sixx joints: [27.000000, -129.000000, 165.000000, 45.000000, -70.000000, -95.000000] @@ -8646,14 +8646,14 @@ cases: solutions: [[27.000000, -129.000000, 165.000000, -135.000000, 70.000000, 85.000000], [27.000000, 76.056256, -154.045263, -48.754671, 62.094357, -48.026821], [-153.000000, 107.368398, 156.530405, 133.370985, 66.074960, -52.885256], [-153.000000, -68.846026, -145.575668, 45.420069, 68.888024, 83.803733], [27.000000, -129.000000, 165.000000, 45.000000, -70.000000, -95.000000], [27.000000, 76.056256, -154.045263, 131.245329, -62.094357, 131.973179], [-153.000000, 107.368398, 156.530405, -46.629015, -66.074960, 127.114744], [-153.000000, -68.846026, -145.575668, -134.579931, -68.888024, -96.196267]] - id: 1729 parameters: KukaKR6_R700_sixx - joints: [-77.000000, 94.000000, -107.000000, -92.000000, 150.000000, -72.000000] - pose: {translation: [0.02470516897038048, 0.284717981686181, 0.1877525460520784], quaternion: [0.4552599033045708, -0.6177732820884263, 0.1123906339887312, 0.6312392080443179]} - solutions: [[-77.000000, -31.416951, 117.954737, -30.246990, 82.744732, 24.520825], [-77.000000, 94.000000, -107.000000, -92.000000, 150.000000, -72.000000], [103.000000, 95.076069, 108.801571, 70.132593, 147.905406, -92.791036], [103.000000, -150.648988, -97.846833, 149.664846, 98.356219, 15.448240], [-77.000000, -31.416951, 117.954737, 149.753010, -82.744732, -155.479175], [-77.000000, 94.000000, -107.000000, 88.000000, -150.000000, 108.000000], [103.000000, 95.076069, 108.801571, -109.867407, -147.905406, 87.208964], [103.000000, -150.648988, -97.846833, -30.335154, -98.356219, -164.551760]] + joints: [-77.000000, 93.000000, -107.000000, -92.000000, 150.000000, -72.000000] + pose: {translation: [0.02552960052792589, 0.2882889870876875, 0.1922872115801526], quaternion: [0.4603892887696993, -0.6199445526188007, 0.1080272004579952, 0.6261314386178144]} + solutions: [[-77.000000, -32.416951, 117.954737, -30.246990, 82.744732, 24.520825], [-77.000000, 93.000000, -107.000000, -92.000000, 150.000000, -72.000000], [103.000000, 96.023428, 108.714762, 70.342036, 147.952557, -92.543874], [103.000000, -149.805368, -97.760025, 149.669988, 98.296171, 15.483750], [-77.000000, -32.416951, 117.954737, 149.753010, -82.744732, -155.479175], [-77.000000, 93.000000, -107.000000, 88.000000, -150.000000, 108.000000], [103.000000, 96.023428, 108.714762, -109.657964, -147.952557, 87.456126], [103.000000, -149.805368, -97.760025, -30.330012, -98.296171, -164.516250]] - id: 1730 parameters: KukaKR6_R700_sixx - joints: [-16.000000, 128.000000, -3.000000, 163.000000, 55.000000, 136.000000] - pose: {translation: [-0.3067467364443764, -0.1078900887723998, -0.2408220645513597], quaternion: [0.3370420599178948, 0.9197738502713657, -0.004644007933959366, 0.2009904161735054]} - solutions: [[164.000000, 42.380659, 38.576466, -27.850278, 30.841353, 150.455002], [164.000000, 78.060581, -27.621728, -16.160302, 59.371807, 134.451693], [-16.000000, 118.878837, 13.954737, 164.338234, 62.518957, 133.425553], [-16.000000, 128.000000, -3.000000, 163.000000, 55.000000, 136.000000], [164.000000, 42.380659, 38.576466, 152.149722, -30.841353, -29.544998], [164.000000, 78.060581, -27.621728, 163.839698, -59.371807, -45.548307], [-16.000000, 118.878837, 13.954737, -15.661766, -62.518957, -46.574447], [-16.000000, 128.000000, -3.000000, -17.000000, -55.000000, -44.000000]] + joints: [-16.000000, 127.000000, -3.000000, 163.000000, 54.000000, 136.000000] + pose: {translation: [-0.2972391802092206, -0.1049172315175231, -0.2473346546774445], quaternion: [0.3387965053334384, 0.9193364178998109, -0.003050527894778547, 0.200070420043936]} + solutions: [[164.000000, 43.664288, 38.121423, -28.210454, 30.024902, 150.724759], [164.000000, 78.851690, -27.166686, -16.170933, 58.135738, 134.515802], [-16.000000, 117.878837, 13.954737, 164.389333, 61.519975, 133.401578], [-16.000000, 127.000000, -3.000000, 163.000000, 54.000000, 136.000000], [164.000000, 43.664288, 38.121423, 151.789546, -30.024902, -29.275241], [164.000000, 78.851690, -27.166686, 163.829067, -58.135738, -45.484198], [-16.000000, 117.878837, 13.954737, -15.610667, -61.519975, -46.598422], [-16.000000, 127.000000, -3.000000, -17.000000, -54.000000, -44.000000]] - id: 1731 parameters: KukaKR6_R700_sixx joints: [4.000000, 114.000000, 169.000000, -99.000000, 83.000000, -77.000000] @@ -8666,34 +8666,34 @@ cases: solutions: [[-89.000000, -100.765563, 46.954737, -165.302464, 45.208690, -84.021125], [-89.000000, -56.000000, -36.000000, -120.000000, 12.000000, -133.000000], [91.000000, -124.999133, 40.827131, 77.954622, 10.609273, -151.302575], [91.000000, -86.881856, -29.872394, 17.774240, 36.145191, -88.064589], [-89.000000, -100.765563, 46.954737, 14.697536, -45.208690, 95.978875], [-89.000000, -56.000000, -36.000000, 60.000000, -12.000000, 47.000000], [91.000000, -124.999133, 40.827131, -102.045378, -10.609273, 28.697425], [91.000000, -86.881856, -29.872394, -162.225760, -36.145191, 91.935411]] - id: 1733 parameters: KukaKR6_R700_sixx - joints: [-11.000000, 175.000000, -167.000000, -178.000000, 14.000000, -71.000000] - pose: {translation: [0.1540628457506205, 0.03063486170862571, 0.3647577436062015], quaternion: [0.5866301956546955, -0.3219840849250023, 0.5671757496503873, -0.4801072084541784]} - solutions: [[-11.000000, -95.610426, 177.954737, -179.516045, 88.336177, -69.073414], [-11.000000, 175.000000, -167.000000, -178.000000, 14.000000, -71.000000], [169.000000, 47.993395, 168.780167, 179.054811, 30.785184, 111.752662], [169.000000, -94.066048, -157.825430, 0.494773, 77.883723, -69.163216], [-11.000000, -95.610426, 177.954737, 0.483955, -88.336177, 110.926586], [-11.000000, 175.000000, -167.000000, 2.000000, -14.000000, 109.000000], [169.000000, 47.993395, 168.780167, -0.945189, -30.785184, -68.247338], [169.000000, -94.066048, -157.825430, -179.505227, -77.883723, 110.836784]] + joints: [-11.000000, 174.000000, -167.000000, -178.000000, 14.000000, -71.000000] + pose: {translation: [0.1546468610261241, 0.03074838277841925, 0.3670681846043369], quaternion: [0.5809498879173841, -0.3188035334214895, 0.5716432113620052, -0.4838239077500056]} + solutions: [[-11.000000, -96.610426, 177.954737, -179.516045, 88.336177, -69.073414], [-11.000000, 174.000000, -167.000000, -178.000000, 14.000000, -71.000000], [169.000000, 48.704303, 168.715303, 179.044889, 30.431276, 111.764189], [169.000000, -93.603560, -157.760565, 0.493915, 78.356353, -69.159049], [-11.000000, -96.610426, 177.954737, 0.483955, -88.336177, 110.926586], [-11.000000, 174.000000, -167.000000, 2.000000, -14.000000, 109.000000], [169.000000, 48.704303, 168.715303, -0.955111, -30.431276, -68.235811], [169.000000, -93.603560, -157.760565, -179.506085, -78.356353, 110.840951]] - id: 1734 parameters: KukaKR6_R700_sixx - joints: [16.000000, 155.000000, 102.000000, 133.000000, 142.000000, -19.000000] - pose: {translation: [-0.3898631009913081, 0.07431850314624909, 0.5456657091799563], quaternion: [0.9621093859021237, 0.07401899442647975, -0.1939264221689717, 0.1768028868765242]} - solutions: [[-164.000000, -90.177865, 111.538607, -32.071377, 57.994644, 39.570338], [-164.000000, 27.384929, -100.583869, -43.698858, 139.327082, -14.733807], [16.000000, 155.000000, 102.000000, 133.000000, 142.000000, -19.000000], [16.000000, -98.764314, -91.045263, 150.935739, 67.952638, 32.983293], [-164.000000, -90.177865, 111.538607, 147.928623, -57.994644, -140.429662], [-164.000000, 27.384929, -100.583869, 136.301142, -139.327082, 165.266193], [16.000000, 155.000000, 102.000000, -47.000000, -142.000000, 161.000000], [16.000000, -98.764314, -91.045263, -29.064261, -67.952638, -147.016707]] + joints: [16.000000, 154.000000, 102.000000, 133.000000, 141.000000, -19.000000] + pose: {translation: [-0.3933627989578714, 0.07449065981114301, 0.5389723074738351], quaternion: [0.9611919931535449, 0.07110939635336111, -0.193762683694553, 0.1830558069422028]} + solutions: [[-164.000000, -89.131068, 111.633739, -33.132906, 57.358320, 40.202577], [-164.000000, 28.546619, -100.679001, -43.759043, 138.281747, -14.748792], [16.000000, 154.000000, 102.000000, 133.000000, 141.000000, -19.000000], [16.000000, -99.764314, -91.045263, 150.082011, 67.338970, 33.308002], [-164.000000, -89.131068, 111.633739, 146.867094, -57.358320, -139.797423], [-164.000000, 28.546619, -100.679001, 136.240957, -138.281747, 165.251208], [16.000000, 154.000000, 102.000000, -47.000000, -141.000000, 161.000000], [16.000000, -99.764314, -91.045263, -29.917989, -67.338970, -146.691998]] - id: 1735 parameters: KukaKR6_R700_sixx - joints: [97.000000, -83.000000, -112.000000, -113.000000, 133.000000, -115.000000] - pose: {translation: [0.08044951456356136, 0.2132832162769258, 0.5764147730704398], quaternion: [0.3293844971498729, 0.664275196172543, -0.3155213203132528, 0.5921913653668354]} - solutions: [[-83.000000, -107.072388, 131.115065, 59.954052, 128.947559, -125.720911], [-83.000000, 35.359996, -120.160327, 136.950581, 99.526632, -1.890497], [97.000000, 145.287607, 122.954737, -42.709083, 97.003998, 0.476036], [97.000000, -83.000000, -112.000000, -113.000000, 133.000000, -115.000000], [-83.000000, -107.072388, 131.115065, -120.045948, -128.947559, 54.279089], [-83.000000, 35.359996, -120.160327, -43.049419, -99.526632, 178.109503], [97.000000, 145.287607, 122.954737, 137.290917, -97.003998, -179.523964], [97.000000, -83.000000, -112.000000, 67.000000, -133.000000, 65.000000]] + joints: [97.000000, -82.000000, -112.000000, -113.000000, 132.000000, -115.000000] + pose: {translation: [0.0810424127113632, 0.2109871165655646, 0.5800832195727443], quaternion: [0.3312986623741204, 0.6709506836234816, -0.3028886001053711, 0.5901905390469336]} + solutions: [[-83.000000, -108.132656, 131.015506, 60.298420, 128.044098, -125.398077], [-83.000000, 34.164833, -120.060769, 136.028443, 99.849065, -1.980792], [97.000000, 146.287607, 122.954737, -43.619492, 97.433239, 0.361635], [97.000000, -82.000000, -112.000000, -113.000000, 132.000000, -115.000000], [-83.000000, -108.132656, 131.015506, -119.701580, -128.044098, 54.601923], [-83.000000, 34.164833, -120.060769, -43.971557, -99.849065, 178.019208], [97.000000, 146.287607, 122.954737, 136.380508, -97.433239, -179.638365], [97.000000, -82.000000, -112.000000, 67.000000, -132.000000, 65.000000]] - id: 1736 parameters: KukaKR6_R700_sixx - joints: [91.000000, 41.000000, 53.000000, -16.000000, -110.000000, -107.000000] - pose: {translation: [-0.02675972177286722, -0.3457686490043123, -0.150956818030446], quaternion: [0.5767633741376933, -0.168094292978014, -0.005517578749510649, 0.7994109551702854]} - solutions: [[91.000000, 41.000000, 53.000000, 164.000000, 110.000000, 73.000000], [91.000000, 92.345456, -42.045263, 163.762259, 67.864689, 84.863724], [-89.000000, 97.169345, 42.998719, -17.813483, 57.851888, 88.303842], [-89.000000, 137.640552, -32.043982, -15.014435, 91.103024, 78.305408], [91.000000, 41.000000, 53.000000, -16.000000, -110.000000, -107.000000], [91.000000, 92.345456, -42.045263, -16.237741, -67.864689, -95.136276], [-89.000000, 97.169345, 42.998719, 162.186517, -57.851888, -91.696158], [-89.000000, 137.640552, -32.043982, 164.985565, -91.103024, -101.694592]] + joints: [91.000000, 40.000000, 53.000000, -16.000000, -109.000000, -107.000000] + pose: {translation: [-0.02706173671145386, -0.3557100217589504, -0.1466052912230681], quaternion: [0.5764465150330956, -0.1700948626296066, -0.004189972060509516, 0.7992243722180566]} + solutions: [[91.000000, 40.000000, 53.000000, 164.000000, 109.000000, 73.000000], [91.000000, 91.345456, -42.045263, 163.538742, 66.886203, 84.949712], [-89.000000, 98.354229, 42.590967, -18.083589, 57.099570, 88.391161], [-89.000000, 138.383272, -31.636229, -15.106872, 89.962034, 78.343648], [91.000000, 40.000000, 53.000000, -16.000000, -109.000000, -107.000000], [91.000000, 91.345456, -42.045263, -16.461258, -66.886203, -95.050288], [-89.000000, 98.354229, 42.590967, 161.916411, -57.099570, -91.608839], [-89.000000, 138.383272, -31.636229, 164.893128, -89.962034, -101.656352]] - id: 1737 parameters: KukaKR6_R700_sixx - joints: [-128.000000, -173.000000, -171.000000, -176.000000, -67.000000, -140.000000] - pose: {translation: [-0.0468394369644913, 0.06829544403433394, 0.2921941107676757], quaternion: [0.9932799300358028, -0.09268406631108954, -0.01871741051830149, -0.06674056475339095]} - solutions: [[-128.000000, -125.317254, -178.045263, 8.259366, 26.550324, 34.166521], [-128.000000, -173.000000, -171.000000, 4.000000, 67.000000, 40.000000], [52.000000, 50.974981, 170.621078, -175.533224, 124.464393, 44.096286], [52.000000, -83.531390, -159.666340, -169.220166, 20.078663, 31.426405], [-128.000000, -125.317254, -178.045263, -171.740634, -26.550324, -145.833479], [-128.000000, -173.000000, -171.000000, -176.000000, -67.000000, -140.000000], [52.000000, 50.974981, 170.621078, 4.466776, -124.464393, -135.903714], [52.000000, -83.531390, -159.666340, 10.779834, -20.078663, -148.573595]] + joints: [-128.000000, -172.000000, -171.000000, -176.000000, -67.000000, -140.000000] + pose: {translation: [-0.04567568083052272, 0.06680590410874748, 0.2912043154524582], quaternion: [0.9938016184065681, -0.09245067959686819, -0.01274285868556173, -0.06040558456867371]} + solutions: [[-128.000000, -124.317254, -178.045263, 8.259366, 26.550324, 34.166521], [-128.000000, -172.000000, -171.000000, 4.000000, 67.000000, 40.000000], [52.000000, 50.337916, 170.670104, -175.510978, 124.875097, 44.135394], [52.000000, -83.952846, -159.715367, -169.484115, 20.599065, 31.707901], [-128.000000, -124.317254, -178.045263, -171.740634, -26.550324, -145.833479], [-128.000000, -172.000000, -171.000000, -176.000000, -67.000000, -140.000000], [52.000000, 50.337916, 170.670104, 4.489022, -124.875097, -135.864606], [52.000000, -83.952846, -159.715367, 10.515885, -20.599065, -148.292099]] - id: 1738 parameters: KukaKR6_R700_sixx - joints: [151.000000, 5.000000, 163.000000, -73.000000, -86.000000, 55.000000] - pose: {translation: [-0.02689518337014891, 0.07235027463779141, 0.2384398695835277], quaternion: [-0.6513197346756625, -0.4750549625590629, -0.07786678074064747, 0.5865510636143456]} - solutions: [[-29.000000, -4.816191, 163.721082, -106.491775, 84.213872, 23.342155], [-29.000000, -163.518021, -152.766345, -77.503272, 77.721362, -94.035805], [151.000000, 5.000000, 163.000000, 107.000000, 86.000000, -125.000000], [151.000000, -155.714596, -152.045263, 78.760277, 76.563992, -7.313952], [-29.000000, -4.816191, 163.721082, 73.508225, -84.213872, -156.657845], [-29.000000, -163.518021, -152.766345, 102.496728, -77.721362, 85.964195], [151.000000, 5.000000, 163.000000, -73.000000, -86.000000, 55.000000], [151.000000, -155.714596, -152.045263, -101.239723, -76.563992, 172.686048]] + joints: [151.000000, 5.000000, 163.000000, -73.000000, -85.000000, 55.000000] + pose: {translation: [-0.02564775383661031, 0.07292195670153145, 0.2381817975489216], quaternion: [-0.6550980628876915, -0.4715443695423058, -0.08451975296674932, 0.584250671298017]} + solutions: [[-29.000000, -4.816191, 163.721082, -107.018553, 85.065301, 23.391369], [-29.000000, -163.518021, -152.766345, -78.031578, 76.864389, -93.919591], [151.000000, 5.000000, 163.000000, 107.000000, 85.000000, -125.000000], [151.000000, -155.714596, -152.045263, 77.851596, 77.030231, -7.106404], [-29.000000, -4.816191, 163.721082, 72.981447, -85.065301, -156.608631], [-29.000000, -163.518021, -152.766345, 101.968422, -76.864389, 86.080409], [151.000000, 5.000000, 163.000000, -73.000000, -85.000000, 55.000000], [151.000000, -155.714596, -152.045263, -102.148404, -77.030231, 172.893596]] - id: 1739 parameters: KukaKR6_R700_sixx joints: [73.000000, 64.000000, 83.000000, 22.000000, 77.000000, 162.000000] @@ -8706,9 +8706,9 @@ cases: solutions: [[-92.000000, 1.578458, 138.713342, 67.607425, 112.016972, -123.702046], [-92.000000, 154.703139, -127.758604, 119.458759, 100.118512, -3.277993], [88.000000, 37.000000, 136.000000, -59.000000, 90.000000, 14.000000], [88.000000, -173.792263, -125.045263, -102.598863, 118.560090, -101.056400], [-92.000000, 1.578458, 138.713342, -112.392575, -112.016972, 56.297954], [-92.000000, 154.703139, -127.758604, -60.541241, -100.118512, 176.722007], [88.000000, 37.000000, 136.000000, 121.000000, -90.000000, -166.000000], [88.000000, -173.792263, -125.045263, 77.401137, -118.560090, 78.943600]] - id: 1741 parameters: KukaKR6_R700_sixx - joints: [24.000000, 153.000000, 55.000000, -126.000000, 132.000000, 110.000000] - pose: {translation: [-0.4952340040973995, 0.2731414816017018, 0.341461527350768], quaternion: [0.8243748685267738, 0.4126923194152686, 0.3847520936578209, -0.04535363340498556]} - solutions: [[-156.000000, -36.076901, 72.407832, 37.191821, 84.038957, 62.849702], [-156.000000, 36.590722, -61.453094, 51.819523, 130.107141, 106.680951], [24.000000, 153.000000, 55.000000, -126.000000, 132.000000, 110.000000], [24.000000, -153.472342, -44.045263, -142.498197, 99.044672, 74.234215], [-156.000000, -36.076901, 72.407832, -142.808179, -84.038957, -117.150298], [-156.000000, 36.590722, -61.453094, -128.180477, -130.107141, -73.319049], [24.000000, 153.000000, 55.000000, 54.000000, -132.000000, -70.000000], [24.000000, -153.472342, -44.045263, 37.501803, -99.044672, -105.765785]] + joints: [24.000000, 152.000000, 55.000000, -126.000000, 131.000000, 110.000000] + pose: {translation: [-0.4949911047379795, 0.2738526564802938, 0.331189646494829], quaternion: [0.8199214279103481, 0.4174680497842768, 0.3888832604520412, -0.0471072096706936]} + solutions: [[-156.000000, -34.987021, 72.404087, 37.936092, 83.291451, 62.715385], [-156.000000, 37.676450, -61.449350, 51.836977, 129.053544, 106.637858], [24.000000, 152.000000, 55.000000, -126.000000, 131.000000, 110.000000], [24.000000, -154.472342, -44.045263, -141.907657, 98.232800, 74.322919], [-156.000000, -34.987021, 72.404087, -142.063908, -83.291451, -117.284615], [-156.000000, 37.676450, -61.449350, -128.163023, -129.053544, -73.362142], [24.000000, 152.000000, 55.000000, 54.000000, -131.000000, -70.000000], [24.000000, -154.472342, -44.045263, 38.092343, -98.232800, -105.677081]] - id: 1742 parameters: KukaKR6_R700_sixx joints: [-28.000000, 28.000000, -63.000000, -120.000000, -147.000000, 151.000000] @@ -8716,24 +8716,24 @@ cases: solutions: [[-28.000000, -46.384117, 73.954737, 28.469010, 98.316005, -79.971633], [-28.000000, 28.000000, -63.000000, 60.000000, 147.000000, -29.000000], [152.000000, 160.455131, 57.246586, -116.238510, 148.274211, -24.547735], [152.000000, -143.562448, -46.291848, -148.986297, 113.732501, -70.854295], [-28.000000, -46.384117, 73.954737, -151.530990, -98.316005, 100.028367], [-28.000000, 28.000000, -63.000000, -120.000000, -147.000000, 151.000000], [152.000000, 160.455131, 57.246586, 63.761490, -148.274211, 155.452265], [152.000000, -143.562448, -46.291848, 31.013703, -113.732501, 109.145705]] - id: 1743 parameters: KukaKR6_R700_sixx - joints: [-32.000000, -6.000000, 125.000000, 106.000000, -154.000000, -142.000000] - pose: {translation: [0.1672948751439348, 0.1442889018463415, 0.1642965954440654], quaternion: [-0.2396230083280911, -0.142264517965471, -0.574867898418714, 0.769329916339862]} - solutions: [[-32.000000, -6.000000, 125.000000, -74.000000, 154.000000, 38.000000], [-32.000000, 128.341392, -114.045263, -154.911223, 83.612014, -72.676362], [148.000000, 61.801850, 119.662241, 26.751294, 69.418666, -79.742874], [148.000000, -170.650624, -108.707503, 65.920004, 152.512475, -6.432152], [-32.000000, -6.000000, 125.000000, 106.000000, -154.000000, -142.000000], [-32.000000, 128.341392, -114.045263, 25.088777, -83.612014, 107.323638], [148.000000, 61.801850, 119.662241, -153.248706, -69.418666, 100.257126], [148.000000, -170.650624, -108.707503, -114.079996, -152.512475, 173.567848]] + joints: [-32.000000, -6.000000, 125.000000, 106.000000, -153.000000, -142.000000] + pose: {translation: [0.1661467596217949, 0.144987841359878, 0.1639186850017234], quaternion: [-0.2394337274632282, -0.150638008516622, -0.5724338875463498, 0.7696097224774281]} + solutions: [[-32.000000, -6.000000, 125.000000, -74.000000, 153.000000, 38.000000], [-32.000000, 128.341392, -114.045263, -153.970426, 83.965942, -72.778150], [148.000000, 61.801850, 119.662241, 27.693815, 69.886711, -80.070607], [148.000000, -170.650624, -108.707503, 67.401088, 151.790385, -5.122557], [-32.000000, -6.000000, 125.000000, 106.000000, -153.000000, -142.000000], [-32.000000, 128.341392, -114.045263, 26.029574, -83.965942, 107.221850], [148.000000, 61.801850, 119.662241, -152.306185, -69.886711, 99.929393], [148.000000, -170.650624, -108.707503, -112.598912, -151.790385, 174.877443]] - id: 1744 parameters: KukaKR6_R700_sixx - joints: [17.000000, 139.000000, 176.000000, 15.000000, -11.000000, 93.000000] - pose: {translation: [0.06399861342866597, -0.01543502053876094, 0.5421393347818387], quaternion: [0.2267500403468357, -0.1906943010619989, 0.8427606661014567, -0.4494158012547103]} - solutions: [[17.000000, 139.000000, 176.000000, -165.000000, 11.000000, -87.000000], [17.000000, 34.406699, -165.045263, -2.930325, 75.023412, 108.494390], [-163.000000, 119.832851, 173.280673, 176.644015, 57.524208, 109.539948], [-163.000000, -1.651084, -162.325935, 4.434568, 39.695297, -75.678461], [17.000000, 139.000000, 176.000000, 15.000000, -11.000000, 93.000000], [17.000000, 34.406699, -165.045263, 177.069675, -75.023412, -71.505610], [-163.000000, 119.832851, 173.280673, -3.355985, -57.524208, -70.460052], [-163.000000, -1.651084, -162.325935, -175.565432, -39.695297, 104.321539]] + joints: [17.000000, 138.000000, 176.000000, 15.000000, -11.000000, 93.000000] + pose: {translation: [0.06162040349372806, -0.01470792879470061, 0.5428282599826784], quaternion: [0.2208550129045125, -0.1847863500766745, 0.8451073929329614, -0.4504115479318236]} + solutions: [[17.000000, 138.000000, 176.000000, -165.000000, 11.000000, -87.000000], [17.000000, 33.406699, -165.045263, -2.930325, 75.023412, 108.494390], [-163.000000, 120.113159, 173.437684, 176.622755, 56.962499, 109.579239], [-163.000000, -0.506301, -162.482946, 4.433429, 39.707489, -75.676981], [17.000000, 138.000000, 176.000000, 15.000000, -11.000000, 93.000000], [17.000000, 33.406699, -165.045263, 177.069675, -75.023412, -71.505610], [-163.000000, 120.113159, 173.437684, -3.377245, -56.962499, -70.420761], [-163.000000, -0.506301, -162.482946, -175.566571, -39.707489, 104.323019]] - id: 1745 parameters: KukaKR6_R700_sixx - joints: [-81.000000, 8.000000, 87.000000, 91.000000, -156.000000, 73.000000] - pose: {translation: [0.02196056885808374, 0.3466254920820669, 0.062353982942205], quaternion: [-0.1974770740684576, -0.07522563104159566, 0.749090636608613, 0.6278591623899882]} - solutions: [[-81.000000, 8.000000, 87.000000, -89.000000, 156.000000, -107.000000], [-81.000000, 96.999845, -76.045263, -155.107459, 104.947637, 168.730602], [99.000000, 92.005282, 78.343979, 24.080533, 94.654491, 163.982345], [99.000000, 171.277325, -67.389242, 54.599199, 150.071818, -147.447547], [-81.000000, 8.000000, 87.000000, 91.000000, -156.000000, 73.000000], [-81.000000, 96.999845, -76.045263, 24.892541, -104.947637, -11.269398], [99.000000, 92.005282, 78.343979, -155.919467, -94.654491, -16.017655], [99.000000, 171.277325, -67.389242, -125.400801, -150.071818, 32.552453]] + joints: [-81.000000, 8.000000, 87.000000, 91.000000, -155.000000, 73.000000] + pose: {translation: [0.02069452290432862, 0.34675255588613, 0.06177910518922668], quaternion: [-0.2046204061344595, -0.07987218350420126, 0.7479304970963422, 0.6263791944252767]} + solutions: [[-81.000000, 8.000000, 87.000000, -89.000000, 155.000000, -107.000000], [-81.000000, 96.999845, -76.045263, -154.078094, 104.845486, 168.995233], [99.000000, 92.005282, 78.343979, 25.083669, 94.636638, 164.063593], [99.000000, 171.277325, -67.389242, 55.870120, 149.304598, -146.350336], [-81.000000, 8.000000, 87.000000, 91.000000, -155.000000, 73.000000], [-81.000000, 96.999845, -76.045263, 25.921906, -104.845486, -11.004767], [99.000000, 92.005282, 78.343979, -154.916331, -94.636638, -15.936407], [99.000000, 171.277325, -67.389242, -124.129880, -149.304598, 33.649664]] - id: 1746 parameters: KukaKR6_R700_sixx - joints: [175.000000, 44.000000, -133.000000, -149.000000, 135.000000, -76.000000] - pose: {translation: [-0.1702994248637797, -0.04414551309577913, 0.4910241740159941], quaternion: [0.7168197322741949, 0.5782559861038281, 0.1684067715459775, 0.3513241313301745]} - solutions: [[175.000000, -117.093309, 143.954737, -22.015923, 103.707822, 75.507374], [175.000000, 44.000000, -133.000000, -149.000000, 135.000000, -76.000000], [-5.000000, 135.881377, 136.183022, 29.525018, 132.352821, -78.135146], [-5.000000, -74.650470, -125.228284, 157.172051, 110.163930, 72.724719], [175.000000, -117.093309, 143.954737, 157.984077, -103.707822, -104.492626], [175.000000, 44.000000, -133.000000, 31.000000, -135.000000, 104.000000], [-5.000000, 135.881377, 136.183022, -150.474982, -132.352821, 101.864854], [-5.000000, -74.650470, -125.228284, -22.827949, -110.163930, -107.275281]] + joints: [175.000000, 43.000000, -133.000000, -149.000000, 135.000000, -76.000000] + pose: {translation: [-0.1686943480114025, -0.04400508706710825, 0.4936019740853892], quaternion: [0.7179892475639008, 0.581416228682944, 0.1617290069830987, 0.346828974722394]} + solutions: [[175.000000, -118.093309, 143.954737, -22.015923, 103.707822, 75.507374], [175.000000, 43.000000, -133.000000, -149.000000, 135.000000, -76.000000], [-5.000000, 136.672141, 136.267852, 29.581061, 132.461041, -78.052044], [-5.000000, -73.738826, -125.313115, 157.196606, 110.004294, 72.796223], [175.000000, -118.093309, 143.954737, 157.984077, -103.707822, -104.492626], [175.000000, 43.000000, -133.000000, 31.000000, -135.000000, 104.000000], [-5.000000, 136.672141, 136.267852, -150.418939, -132.461041, 101.947956], [-5.000000, -73.738826, -125.313115, -22.803394, -110.004294, -107.203777]] - id: 1747 parameters: KukaKR6_R700_sixx joints: [-16.000000, 63.000000, 109.000000, 72.000000, 2.000000, 116.000000] @@ -8741,9 +8741,9 @@ cases: solutions: [[164.000000, 5.733691, 113.865935, -177.945499, 112.204993, -171.233538], [164.000000, 126.119961, -102.911197, -173.057509, 15.938008, -178.688339], [-16.000000, 63.000000, 109.000000, 72.000000, 2.000000, 116.000000], [-16.000000, 177.512193, -98.045263, 1.904955, 93.149592, -171.905561], [164.000000, 5.733691, 113.865935, 2.054501, -112.204993, 8.766462], [164.000000, 126.119961, -102.911197, 6.942491, -15.938008, 1.311661], [-16.000000, 63.000000, 109.000000, -108.000000, -2.000000, -64.000000], [-16.000000, 177.512193, -98.045263, -178.095045, -93.149592, 8.094439]] - id: 1748 parameters: KukaKR6_R700_sixx - joints: [74.000000, 147.000000, -37.000000, 4.000000, 26.000000, 130.000000] - pose: {translation: [-0.1094632131720386, 0.3728683857116699, -0.1821216953687318], quaternion: [-0.4626597939842798, 0.7959005675201019, 0.3823396447859242, 0.07940149668977864]} - solutions: [[-106.000000, 30.863016, 59.021670, -177.557663, 45.855693, 131.894758], [-106.000000, 88.787802, -48.066933, -27.745825, 3.766132, -18.708881], [74.000000, 101.147548, 47.954737, 172.345145, 13.271440, -38.950953], [74.000000, 147.000000, -37.000000, 4.000000, 26.000000, 130.000000], [-106.000000, 30.863016, 59.021670, 2.442337, -45.855693, -48.105242], [-106.000000, 88.787802, -48.066933, 152.254175, -3.766132, 161.291119], [74.000000, 101.147548, 47.954737, -7.654855, -13.271440, 141.049047], [74.000000, 147.000000, -37.000000, -176.000000, -26.000000, -50.000000]] + joints: [74.000000, 146.000000, -37.000000, 4.000000, 25.000000, 130.000000] + pose: {translation: [-0.1062873296473435, 0.3621116944885912, -0.1902289273102442], quaternion: [-0.4657934849518175, 0.8017941830569668, 0.3665770774740069, 0.07605105957886518]} + solutions: [[-106.000000, 32.059932, 58.736107, -177.600806, 44.767679, 131.922437], [-106.000000, 89.672070, -47.781369, -22.111724, 4.491949, -24.323394], [74.000000, 100.147548, 47.954737, 173.123484, 14.254168, -39.706973], [74.000000, 146.000000, -37.000000, 4.000000, 25.000000, 130.000000], [-106.000000, 32.059932, 58.736107, 2.399194, -44.767679, -48.077563], [-106.000000, 89.672070, -47.781369, 157.888276, -4.491949, 155.676606], [74.000000, 100.147548, 47.954737, -6.876516, -14.254168, 140.293027], [74.000000, 146.000000, -37.000000, -176.000000, -25.000000, -50.000000]] - id: 1749 parameters: KukaKR6_R700_sixx joints: [-154.000000, -50.000000, -21.000000, -7.000000, 14.000000, 42.000000] @@ -8751,9 +8751,9 @@ cases: solutions: [[-154.000000, -78.520764, 31.954737, -170.835204, 10.667375, -153.803076], [-154.000000, -50.000000, -21.000000, -7.000000, 14.000000, 42.000000], [-154.000000, -78.520764, 31.954737, 9.164796, -10.667375, 26.196924], [-154.000000, -50.000000, -21.000000, 173.000000, -14.000000, -138.000000]] - id: 1750 parameters: KukaKR6_R700_sixx - joints: [-155.000000, -171.000000, -82.000000, -86.000000, 98.000000, 100.000000] - pose: {translation: [0.2941374537699296, -0.2243568116408621, 0.1022556698171741], quaternion: [0.6274540123948291, -0.1722130775274427, -0.1080624543848515, 0.7516426173458225]} - solutions: [[25.000000, -10.213893, 101.882207, 91.211759, 98.856591, 81.145711], [25.000000, 95.884020, -90.927469, 98.912047, 89.310718, 167.709913], [-155.000000, 93.224841, 92.954737, -81.384830, 87.608796, 178.719618], [-155.000000, -171.000000, -82.000000, -86.000000, 98.000000, 100.000000], [25.000000, -10.213893, 101.882207, -88.788241, -98.856591, -98.854289], [25.000000, 95.884020, -90.927469, -81.087953, -89.310718, -12.290087], [-155.000000, 93.224841, 92.954737, 98.615170, -87.608796, -1.280382], [-155.000000, -171.000000, -82.000000, 94.000000, -98.000000, -80.000000]] + joints: [-155.000000, -170.000000, -82.000000, -86.000000, 97.000000, 100.000000] + pose: {translation: [0.2991154327837282, -0.2268786784490583, 0.1077319442629962], quaternion: [0.6321116941397673, -0.1782830865560652, -0.09997451149077501, 0.747432300768422]} + solutions: [[25.000000, -11.373185, 102.015799, 91.541581, 97.909421, 81.219216], [25.000000, 94.880984, -91.061061, 97.984072, 88.912548, 167.859435], [-155.000000, 94.224841, 92.954737, -82.366510, 87.413545, 178.762248], [-155.000000, -170.000000, -82.000000, -86.000000, 97.000000, 100.000000], [25.000000, -11.373185, 102.015799, -88.458419, -97.909421, -98.780784], [25.000000, 94.880984, -91.061061, -82.015928, -88.912548, -12.140565], [-155.000000, 94.224841, 92.954737, 97.633490, -87.413545, -1.237752], [-155.000000, -170.000000, -82.000000, 94.000000, -97.000000, -80.000000]] - id: 1751 parameters: KukaKR6_R700_sixx joints: [74.000000, -77.000000, -38.000000, 2.000000, 74.000000, -151.000000] @@ -8761,44 +8761,44 @@ cases: solutions: [[-106.000000, -109.221710, 52.113011, -178.058062, 81.886648, -150.722691], [-106.000000, -58.843155, -41.158274, -176.946172, 39.029142, -152.821702], [74.000000, -123.939928, 48.954737, 3.437284, 34.023765, -153.298428], [74.000000, -77.000000, -38.000000, 2.000000, 74.000000, -151.000000], [-106.000000, -109.221710, 52.113011, 1.941938, -81.886648, 29.277309], [-106.000000, -58.843155, -41.158274, 3.053828, -39.029142, 27.178298], [74.000000, -123.939928, 48.954737, -176.562716, -34.023765, 26.701572], [74.000000, -77.000000, -38.000000, -178.000000, -74.000000, 29.000000]] - id: 1752 parameters: KukaKR6_R700_sixx - joints: [-136.000000, -117.000000, -127.000000, 80.000000, 81.000000, -63.000000] - pose: {translation: [0.2442286097653066, -0.1276737325052347, 0.332030861483451], quaternion: [0.7293640462787071, -0.0271420658783984, 0.5583577234606871, -0.3943704462907984]} - solutions: [[44.000000, -67.142964, 146.924220, -102.047340, 84.036602, -47.377921], [44.000000, 98.763126, -135.969482, -79.129855, 82.077227, -165.750373], [-136.000000, 90.983005, 137.954737, 102.234114, 84.434624, -177.323658], [-136.000000, -117.000000, -127.000000, 80.000000, 81.000000, -63.000000], [44.000000, -67.142964, 146.924220, 77.952660, -84.036602, 132.622079], [44.000000, 98.763126, -135.969482, 100.870145, -82.077227, 14.249627], [-136.000000, 90.983005, 137.954737, -77.765886, -84.434624, 2.676342], [-136.000000, -117.000000, -127.000000, -100.000000, -81.000000, 117.000000]] + joints: [-136.000000, -116.000000, -127.000000, 80.000000, 81.000000, -63.000000] + pose: {translation: [0.2450502052455304, -0.128467138037919, 0.3370914684823544], quaternion: [0.7282219288932802, -0.02128069061332984, 0.5630794662931261, -0.3901044336136396]} + solutions: [[44.000000, -68.387525, 146.966166, -102.026567, 83.994348, -47.577167], [44.000000, 97.588406, -136.011429, -79.100322, 82.118142, -165.965181], [-136.000000, 91.983005, 137.954737, 102.234114, 84.434624, -177.323658], [-136.000000, -116.000000, -127.000000, 80.000000, 81.000000, -63.000000], [44.000000, -68.387525, 146.966166, 77.973433, -83.994348, 132.422833], [44.000000, 97.588406, -136.011429, 100.899678, -82.118142, 14.034819], [-136.000000, 91.983005, 137.954737, -77.765886, -84.434624, 2.676342], [-136.000000, -116.000000, -127.000000, -100.000000, -81.000000, 117.000000]] - id: 1753 parameters: KukaKR6_R700_sixx - joints: [68.000000, 155.000000, -143.000000, -126.000000, -75.000000, -64.000000] - pose: {translation: [-0.01502516575177614, -0.1296959062082039, 0.1764897177003633], quaternion: [-0.4591001695085624, 0.7705892802981649, -0.007903355613934003, -0.4419917786755826]} - solutions: [[68.000000, -23.544889, 153.954737, 122.496590, 67.899000, -13.823870], [68.000000, 155.000000, -143.000000, 54.000000, 75.000000, 116.000000], [-112.000000, 41.388143, 149.329135, -128.592811, 88.883721, 134.209288], [-112.000000, -148.606473, -138.374398, -68.543515, 57.102250, 9.716997], [68.000000, -23.544889, 153.954737, -57.503410, -67.899000, 166.176130], [68.000000, 155.000000, -143.000000, -126.000000, -75.000000, -64.000000], [-112.000000, 41.388143, 149.329135, 51.407189, -88.883721, -45.790712], [-112.000000, -148.606473, -138.374398, 111.456485, -57.102250, -170.283003]] + joints: [68.000000, 154.000000, -143.000000, -126.000000, -75.000000, -64.000000] + pose: {translation: [-0.01356901665110776, -0.1333000017038822, 0.1780879038223318], quaternion: [-0.4554806512441641, 0.771940870720068, -0.01563877837399168, -0.4431705056353646]} + solutions: [[68.000000, -24.544889, 153.954737, 122.496590, 67.899000, -13.823870], [68.000000, 154.000000, -143.000000, 54.000000, 75.000000, 116.000000], [-112.000000, 42.361632, 149.201577, -128.590364, 88.787618, 134.088840], [-112.000000, -147.855554, -138.246840, -68.470434, 57.146775, 9.582364], [68.000000, -24.544889, 153.954737, -57.503410, -67.899000, 166.176130], [68.000000, 154.000000, -143.000000, -126.000000, -75.000000, -64.000000], [-112.000000, 42.361632, 149.201577, 51.409636, -88.787618, -45.911160], [-112.000000, -147.855554, -138.246840, 111.529566, -57.146775, -170.417636]] - id: 1754 parameters: KukaKR6_R700_sixx - joints: [118.000000, 156.000000, 75.000000, -101.000000, 143.000000, 11.000000] - pose: {translation: [0.2701736904578809, 0.4074550748458852, 0.4780762353380987], quaternion: [-0.05598759875498924, 0.9183281226765369, -0.3592579565165717, 0.1564371073836857]} - solutions: [[-62.000000, -60.342500, 88.303708, 36.244779, 92.304514, -63.632254], [-62.000000, 30.134270, -77.348970, 74.187628, 142.121290, 4.941322], [118.000000, 156.000000, 75.000000, -101.000000, 143.000000, 11.000000], [118.000000, -128.454271, -64.045263, -142.358333, 104.689981, -54.254307], [-62.000000, -60.342500, 88.303708, -143.755221, -92.304514, 116.367746], [-62.000000, 30.134270, -77.348970, -105.812372, -142.121290, -175.058678], [118.000000, 156.000000, 75.000000, 79.000000, -143.000000, -169.000000], [118.000000, -128.454271, -64.045263, 37.641667, -104.689981, 125.745693]] + joints: [118.000000, 155.000000, 75.000000, -101.000000, 142.000000, 11.000000] + pose: {translation: [0.2720694183202357, 0.408704275205259, 0.4696509486840009], quaternion: [-0.0615429390931484, 0.9142173870677636, -0.3670997427501366, 0.160177447549746]} + solutions: [[-62.000000, -59.279883, 88.359879, 37.207133, 91.944579, -63.667564], [-62.000000, 31.260598, -77.405141, 74.272036, 141.107786, 4.965562], [118.000000, 155.000000, 75.000000, -101.000000, 142.000000, 11.000000], [118.000000, -129.454271, -64.045263, -141.421252, 104.269524, -54.019995], [-62.000000, -59.279883, 88.359879, -142.792867, -91.944579, 116.332436], [-62.000000, 31.260598, -77.405141, -105.727964, -141.107786, -175.034438], [118.000000, 155.000000, 75.000000, 79.000000, -142.000000, -169.000000], [118.000000, -129.454271, -64.045263, 38.578748, -104.269524, 125.980005]] - id: 1755 parameters: KukaKR6_R700_sixx - joints: [13.000000, -31.000000, 86.000000, -89.000000, 20.000000, -80.000000] - pose: {translation: [0.5671584640189627, -0.1028617913493735, 0.2214676845571225], quaternion: [0.9409071458369441, 0.03579341877578669, 0.3212661986655145, -0.1009980380023635]} - solutions: [[13.000000, -31.000000, 86.000000, -89.000000, 20.000000, -80.000000], [13.000000, 56.869245, -75.045263, -20.779679, 74.557928, -163.166470], [-167.000000, 131.979274, 72.186218, 159.692013, 80.167171, -165.319649], [-167.000000, -155.598767, -61.231480, 131.136250, 27.003955, -123.367432], [13.000000, -31.000000, 86.000000, 91.000000, -20.000000, 100.000000], [13.000000, 56.869245, -75.045263, 159.220321, -74.557928, 16.833530], [-167.000000, 131.979274, 72.186218, -20.307987, -80.167171, 14.680351], [-167.000000, -155.598767, -61.231480, -48.863750, -27.003955, 56.632568]] + joints: [13.000000, -31.000000, 86.000000, -89.000000, 19.000000, -80.000000] + pose: {translation: [0.5671412502893605, -0.1042083910170671, 0.2210990722666699], quaternion: [0.9422261218220482, 0.0331841541431348, 0.3201357722275604, -0.09285383465560781]} + solutions: [[13.000000, -31.000000, 86.000000, -89.000000, 19.000000, -80.000000], [13.000000, 56.869245, -75.045263, -19.749013, 74.441327, -163.441917], [-167.000000, 131.979274, 72.186218, 160.703785, 80.087082, -165.493135], [-167.000000, -155.598767, -61.231480, 132.686973, 26.285287, -124.753520], [13.000000, -31.000000, 86.000000, 91.000000, -19.000000, 100.000000], [13.000000, 56.869245, -75.045263, 160.250987, -74.441327, 16.558083], [-167.000000, 131.979274, 72.186218, -19.296215, -80.087082, 14.506865], [-167.000000, -155.598767, -61.231480, -47.313027, -26.285287, 55.246480]] - id: 1756 parameters: KukaKR6_R700_sixx - joints: [-35.000000, 104.000000, -52.000000, 31.000000, 22.000000, -111.000000] - pose: {translation: [0.1944037280707361, 0.1172803822345758, -0.2459845327575161], quaternion: [0.4051230380751606, 0.8944469569021484, 0.08918493653496445, 0.1669910548637048]} - solutions: [[-35.000000, 41.761971, 62.954737, 160.445885, 35.201358, 114.306864], [-35.000000, 104.000000, -52.000000, 31.000000, 22.000000, -111.000000], [145.000000, 83.819632, 56.818411, -159.505386, 33.439744, -99.200399], [145.000000, 139.333903, -45.863673, -36.469769, 18.940821, 133.080838], [-35.000000, 41.761971, 62.954737, -19.554115, -35.201358, -65.693136], [-35.000000, 104.000000, -52.000000, -149.000000, -22.000000, 69.000000], [145.000000, 83.819632, 56.818411, 20.494614, -33.439744, 80.799601], [145.000000, 139.333903, -45.863673, 143.530231, -18.940821, -46.919162]] + joints: [-35.000000, 103.000000, -52.000000, 31.000000, 22.000000, -111.000000] + pose: {translation: [0.2036136943810529, 0.123729270071717, -0.2423692162118324], quaternion: [0.4053059324462193, 0.8927727865310179, 0.09655451249827747, 0.1713507480863805]} + solutions: [[-35.000000, 40.761971, 62.954737, 160.445885, 35.201358, 114.306864], [-35.000000, 103.000000, -52.000000, 31.000000, 22.000000, -111.000000], [145.000000, 84.962234, 56.501635, -159.412555, 33.276645, -99.311540], [145.000000, 140.130248, -45.546898, -36.666665, 18.849969, 133.288949], [-35.000000, 40.761971, 62.954737, -19.554115, -35.201358, -65.693136], [-35.000000, 103.000000, -52.000000, -149.000000, -22.000000, 69.000000], [145.000000, 84.962234, 56.501635, 20.587445, -33.276645, 80.688460], [145.000000, 140.130248, -45.546898, 143.333335, -18.849969, -46.711051]] - id: 1757 parameters: KukaKR6_R700_sixx - joints: [179.000000, -160.000000, 38.000000, 67.000000, 18.000000, 156.000000] - pose: {translation: [0.5257551071295326, 0.03193668737799255, 0.8683687640743962], quaternion: [-0.2083151232552309, 0.1460892584566886, -0.3092268522568927, 0.9163195358771015]} - solutions: [[-1.000000, -67.935791, 56.479968, -159.807341, 55.494567, -149.820960], [-1.000000, -12.791459, -45.525231, -112.096569, 17.878558, 155.050406], [179.000000, -160.000000, 38.000000, 67.000000, 18.000000, 156.000000], [179.000000, -124.944007, -27.045263, 26.126794, 40.237230, -158.578881], [-1.000000, -67.935791, 56.479968, 20.192659, -55.494567, 30.179040], [-1.000000, -12.791459, -45.525231, 67.903431, -17.878558, -24.949594], [179.000000, -160.000000, 38.000000, -113.000000, -18.000000, -24.000000], [179.000000, -124.944007, -27.045263, -153.873206, -40.237230, 21.421119]] + joints: [179.000000, -159.000000, 38.000000, 67.000000, 18.000000, 156.000000] + pose: {translation: [0.5174982474825541, 0.03179256335675136, 0.877917761201285], quaternion: [-0.2054695685522243, 0.1381357136962099, -0.3110104210390691, 0.9175910303646733]} + solutions: [[-1.000000, -68.874227, 56.255004, -159.768422, 55.341229, -149.889529], [-1.000000, -13.975745, -45.300267, -112.213306, 17.893898, 155.173071], [179.000000, -159.000000, 38.000000, 67.000000, 18.000000, 156.000000], [179.000000, -123.944007, -27.045263, 26.126794, 40.237230, -158.578881], [-1.000000, -68.874227, 56.255004, 20.231578, -55.341229, 30.110471], [-1.000000, -13.975745, -45.300267, 67.786694, -17.893898, -24.826929], [179.000000, -159.000000, 38.000000, -113.000000, -18.000000, -24.000000], [179.000000, -123.944007, -27.045263, -153.873206, -40.237230, 21.421119]] - id: 1758 parameters: KukaKR6_R700_sixx - joints: [-15.000000, 146.000000, -20.000000, 157.000000, 95.000000, -66.000000] - pose: {translation: [-0.3386353521528284, -0.1229750955359964, -0.1294886359273422], quaternion: [0.7342065227785157, -0.4417982405923643, 0.4847457635749089, -0.1754327256105628]} - solutions: [[165.000000, 27.345325, 49.430017, -23.879160, 74.060120, -56.949334], [165.000000, 74.802321, -38.475280, -24.674650, 111.187984, -73.308952], [-15.000000, 118.559050, 30.954737, 154.224933, 116.472918, -76.029221], [-15.000000, 146.000000, -20.000000, 157.000000, 95.000000, -66.000000], [165.000000, 27.345325, 49.430017, 156.120840, -74.060120, 123.050666], [165.000000, 74.802321, -38.475280, 155.325350, -111.187984, 106.691048], [-15.000000, 118.559050, 30.954737, -25.775067, -116.472918, 103.970779], [-15.000000, 146.000000, -20.000000, -23.000000, -95.000000, 114.000000]] + joints: [-15.000000, 145.000000, -20.000000, 157.000000, 94.000000, -66.000000] + pose: {translation: [-0.3303332081829865, -0.1207948566027087, -0.1373064571229754], quaternion: [0.7328488746465078, -0.4446446090933396, 0.4837907273604928, -0.176550929347833]} + solutions: [[165.000000, 28.563130, 49.119857, -24.032165, 73.156980, -56.942132], [165.000000, 75.682680, -38.165119, -24.510149, 110.022724, -73.176840], [-15.000000, 117.559050, 30.954737, 154.417850, 115.488069, -75.944707], [-15.000000, 145.000000, -20.000000, 157.000000, 94.000000, -66.000000], [165.000000, 28.563130, 49.119857, 155.967835, -73.156980, 123.057868], [165.000000, 75.682680, -38.165119, 155.489851, -110.022724, 106.823160], [-15.000000, 117.559050, 30.954737, -25.582150, -115.488069, 104.055293], [-15.000000, 145.000000, -20.000000, -23.000000, -94.000000, 114.000000]] - id: 1759 parameters: KukaKR6_R700_sixx - joints: [-178.000000, 103.000000, -94.000000, 136.000000, 156.000000, -103.000000] - pose: {translation: [-0.2506574871926276, 0.03137037122508745, 0.105095116367586], quaternion: [0.170069452588677, 0.5051054742180121, 0.4836839079391907, 0.6942583945562757]} - solutions: [[-178.000000, -6.707026, 104.954737, 17.255565, 107.731157, 123.822745], [-178.000000, 103.000000, -94.000000, 136.000000, 156.000000, -103.000000], [2.000000, 86.134001, 96.971811, -30.604837, 146.291355, -87.781269], [2.000000, -173.473305, -86.017074, -159.689486, 125.512161, 130.552289], [-178.000000, -6.707026, 104.954737, -162.744435, -107.731157, -56.177255], [-178.000000, 103.000000, -94.000000, -44.000000, -156.000000, 77.000000], [2.000000, 86.134001, 96.971811, 149.395163, -146.291355, 92.218731], [2.000000, -173.473305, -86.017074, 20.310514, -125.512161, -49.447711]] + joints: [-178.000000, 103.000000, -94.000000, 136.000000, 155.000000, -103.000000] + pose: {translation: [-0.2513411071104872, 0.03227736568003314, 0.1059072289612548], quaternion: [0.1632102920626003, 0.5023363968927853, 0.4882941931362338, 0.6946864946657948]} + solutions: [[-178.000000, -6.707026, 104.954737, 18.024142, 108.413907, 124.061181], [-178.000000, 103.000000, -94.000000, 136.000000, 155.000000, -103.000000], [2.000000, 86.134001, 96.971811, -31.066233, 145.325548, -88.162933], [2.000000, -173.473305, -86.017074, -158.693903, 126.102171, 131.134782], [-178.000000, -6.707026, 104.954737, -161.975858, -108.413907, -55.938819], [-178.000000, 103.000000, -94.000000, -44.000000, -155.000000, 77.000000], [2.000000, 86.134001, 96.971811, 148.933767, -145.325548, 91.837067], [2.000000, -173.473305, -86.017074, 21.306097, -126.102171, -48.865218]] - id: 1760 parameters: KukaKR6_R700_sixx joints: [-39.000000, 78.000000, -136.000000, 144.000000, -122.000000, 73.000000] @@ -8811,9 +8811,9 @@ cases: solutions: [[-104.000000, -39.108875, 132.325996, 173.637662, 17.870168, -57.949932], [-104.000000, 104.973772, -121.371259, 1.949733, 91.846494, 116.055193], [76.000000, 85.006478, 123.954737, -177.988021, 104.402776, 116.492992], [76.000000, -142.000000, -113.000000, -103.000000, 2.000000, 39.000000], [-104.000000, -39.108875, 132.325996, -6.362338, -17.870168, 122.050068], [-104.000000, 104.973772, -121.371259, -178.050267, -91.846494, -63.944807], [76.000000, 85.006478, 123.954737, 2.011979, -104.402776, -63.507008], [76.000000, -142.000000, -113.000000, 77.000000, -2.000000, -141.000000]] - id: 1762 parameters: KukaKR6_R700_sixx - joints: [25.000000, 8.000000, 155.000000, -51.000000, 116.000000, 111.000000] - pose: {translation: [0.04031316813129683, 0.04285790387736944, 0.2695006484836097], quaternion: [0.3412438591495617, 0.2213863507295953, 0.8933892293125782, -0.190778398283517]} - solutions: [[-155.000000, 6.755050, 155.092247, 44.336349, 88.122896, -42.404560], [-155.000000, -172.435752, -144.137509, 114.029799, 130.113088, 84.111690], [25.000000, 8.000000, 155.000000, -51.000000, 116.000000, 111.000000], [25.000000, -171.377250, -144.045263, -133.148672, 106.786004, -23.447794], [-155.000000, 6.755050, 155.092247, -135.663651, -88.122896, 137.595440], [-155.000000, -172.435752, -144.137509, -65.970201, -130.113088, -95.888310], [25.000000, 8.000000, 155.000000, 129.000000, -116.000000, -69.000000], [25.000000, -171.377250, -144.045263, 46.851328, -106.786004, 156.552206]] + joints: [25.000000, 8.000000, 155.000000, -51.000000, 115.000000, 111.000000] + pose: {translation: [0.0393181034222778, 0.04383734418661929, 0.2694939474632696], quaternion: [0.3368827031228017, 0.2280596707233723, 0.8926187698440463, -0.1942435652687697]} + solutions: [[-155.000000, 6.755050, 155.092247, 44.784085, 89.017134, -42.415734], [-155.000000, -172.435752, -144.137509, 114.613538, 129.219723, 84.484313], [25.000000, 8.000000, 155.000000, -51.000000, 115.000000, 111.000000], [25.000000, -171.377250, -144.045263, -132.400218, 107.484899, -23.227268], [-155.000000, 6.755050, 155.092247, -135.215915, -89.017134, 137.584266], [-155.000000, -172.435752, -144.137509, -65.386462, -129.219723, -95.515687], [25.000000, 8.000000, 155.000000, 129.000000, -115.000000, -69.000000], [25.000000, -171.377250, -144.045263, 47.599782, -107.484899, 156.772732]] - id: 1763 parameters: KukaKR6_R700_sixx joints: [113.000000, -36.000000, 39.000000, -22.000000, -22.000000, -49.000000] @@ -8821,19 +8821,19 @@ cases: solutions: [[113.000000, -36.000000, 39.000000, 158.000000, 22.000000, 131.000000], [113.000000, 0.138418, -28.045263, 38.214874, 13.111487, -107.017893], [113.000000, -36.000000, 39.000000, -22.000000, -22.000000, -49.000000], [113.000000, 0.138418, -28.045263, -141.785126, -13.111487, 72.982107]] - id: 1764 parameters: KukaKR6_R700_sixx - joints: [53.000000, 141.000000, 113.000000, 54.000000, 56.000000, 146.000000] - pose: {translation: [-0.2407949199459519, 0.2303879590240997, 0.5967251056535333], quaternion: [0.03736549109525079, -0.403336041205817, 0.7651698906660621, 0.5004387038966079]} - solutions: [[-127.000000, -89.051988, 122.500419, -120.007463, 129.238263, -128.812367], [-127.000000, 42.080965, -111.545681, -128.315571, 58.740834, 150.291760], [53.000000, 141.000000, 113.000000, 54.000000, 56.000000, 146.000000], [53.000000, -99.667424, -102.045263, 52.864170, 122.720273, -140.896942], [-127.000000, -89.051988, 122.500419, 59.992537, -129.238263, 51.187633], [-127.000000, 42.080965, -111.545681, 51.684429, -58.740834, -29.708240], [53.000000, 141.000000, 113.000000, -126.000000, -56.000000, -34.000000], [53.000000, -99.667424, -102.045263, -127.135830, -122.720273, 39.103058]] + joints: [53.000000, 140.000000, 113.000000, 54.000000, 56.000000, 146.000000] + pose: {translation: [-0.2428287082546304, 0.2330868872674037, 0.5905185622091177], quaternion: [0.0298578615494432, -0.4006161527683456, 0.7681479683327795, 0.4985618366772642]} + solutions: [[-127.000000, -87.966811, 122.568308, -119.899004, 129.314688, -128.641045], [-127.000000, 43.252626, -111.613570, -128.364917, 58.805207, 150.386944], [53.000000, 140.000000, 113.000000, 54.000000, 56.000000, 146.000000], [53.000000, -100.667424, -102.045263, 52.864170, 122.720273, -140.896942], [-127.000000, -87.966811, 122.568308, 60.100996, -129.314688, 51.358955], [-127.000000, 43.252626, -111.613570, 51.635083, -58.805207, -29.613056], [53.000000, 140.000000, 113.000000, -126.000000, -56.000000, -34.000000], [53.000000, -100.667424, -102.045263, -127.135830, -122.720273, 39.103058]] - id: 1765 parameters: KukaKR6_R700_sixx - joints: [-31.000000, -108.000000, -134.000000, 143.000000, 158.000000, 3.000000] - pose: {translation: [-0.1251482755189299, -0.09623749866469912, 0.4151315071182893], quaternion: [0.3784115091844714, 0.1330572287200724, 0.9106008317405201, 0.09953204928834845]} - solutions: [[149.000000, -77.485971, 153.936388, -23.395561, 145.405905, 18.337867], [149.000000, 101.022993, -142.981650, -166.941442, 93.823472, -141.172542], [-31.000000, 89.313535, 144.954737, 13.164879, 81.832400, -143.961897], [-31.000000, -108.000000, -134.000000, 143.000000, 158.000000, 3.000000], [149.000000, -77.485971, 153.936388, 156.604439, -145.405905, -161.662133], [149.000000, 101.022993, -142.981650, 13.058558, -93.823472, 38.827458], [-31.000000, 89.313535, 144.954737, -166.835121, -81.832400, 36.038103], [-31.000000, -108.000000, -134.000000, -37.000000, -158.000000, -177.000000]] + joints: [-31.000000, -107.000000, -134.000000, 143.000000, 157.000000, 3.000000] + pose: {translation: [-0.1239480405302108, -0.09642200439388428, 0.4173359477497136], quaternion: [0.3926975867369096, 0.1374249209455506, 0.9036870302173089, 0.1012558536141848]} + solutions: [[149.000000, -78.771850, 153.967059, -23.995777, 144.673945, 17.787170], [149.000000, 99.797172, -143.012322, -166.358967, 94.384787, -141.189927], [-31.000000, 90.313535, 144.954737, 13.714547, 82.671067, -144.036006], [-31.000000, -107.000000, -134.000000, 143.000000, 157.000000, 3.000000], [149.000000, -78.771850, 153.967059, 156.004223, -144.673945, -162.212830], [149.000000, 99.797172, -143.012322, 13.641033, -94.384787, 38.810073], [-31.000000, 90.313535, 144.954737, -166.285453, -82.671067, 35.963994], [-31.000000, -107.000000, -134.000000, -37.000000, -157.000000, -177.000000]] - id: 1766 parameters: KukaKR6_R700_sixx - joints: [17.000000, 104.000000, 152.000000, -77.000000, -165.000000, -13.000000] - pose: {translation: [-0.1582305617845774, 0.02727927111727749, 0.3639420171584686], quaternion: [-0.3796038632813369, 0.9118992814671348, -0.15553192372413, -0.01226491517617195]} - solutions: [[-163.000000, -111.960014, 160.871884, -18.384788, 53.090109, -105.154207], [-163.000000, 81.768659, -149.917147, -53.059185, 161.607486, -168.048400], [17.000000, 104.000000, 152.000000, 103.000000, 165.000000, 167.000000], [17.000000, -81.183630, -141.045263, 162.973611, 59.457640, -107.596754], [-163.000000, -111.960014, 160.871884, 161.615212, -53.090109, 74.845793], [-163.000000, 81.768659, -149.917147, 126.940815, -161.607486, 11.951600], [17.000000, 104.000000, 152.000000, -77.000000, -165.000000, -13.000000], [17.000000, -81.183630, -141.045263, -17.026389, -59.457640, 72.403246]] + joints: [17.000000, 103.000000, 152.000000, -77.000000, -164.000000, -13.000000] + pose: {translation: [-0.1583571419289164, 0.02594708886103831, 0.3610132455685649], quaternion: [-0.3768876652438991, 0.9111714783965204, -0.1660201140422238, -0.01263117085265569]} + solutions: [[-163.000000, -110.694577, 160.911749, -19.712797, 52.771591, -104.274185], [-163.000000, 83.133428, -149.957011, -53.589249, 160.505219, -168.465172], [17.000000, 103.000000, 152.000000, 103.000000, 164.000000, 167.000000], [17.000000, -82.183630, -141.045263, 161.815331, 59.382622, -107.007477], [-163.000000, -110.694577, 160.911749, 160.287203, -52.771591, 75.725815], [-163.000000, 83.133428, -149.957011, 126.410751, -160.505219, 11.534828], [17.000000, 103.000000, 152.000000, -77.000000, -164.000000, -13.000000], [17.000000, -82.183630, -141.045263, -18.184669, -59.382622, 72.992523]] - id: 1767 parameters: KukaKR6_R700_sixx joints: [-61.000000, 20.000000, 96.000000, 145.000000, 84.000000, -76.000000] @@ -8841,9 +8841,9 @@ cases: solutions: [[-61.000000, 20.000000, 96.000000, 145.000000, 84.000000, -76.000000], [-61.000000, 119.271791, -85.045263, 91.317090, 34.791035, 8.210245], [119.000000, 68.836551, 91.222638, -108.416171, 36.957677, 32.434937], [119.000000, 162.632906, -80.267900, -37.618148, 69.152575, -64.850102], [-61.000000, 20.000000, 96.000000, -35.000000, -84.000000, 104.000000], [-61.000000, 119.271791, -85.045263, -88.682910, -34.791035, -171.789755], [119.000000, 68.836551, 91.222638, 71.583829, -36.957677, -147.565063], [119.000000, 162.632906, -80.267900, 142.381852, -69.152575, 115.149898]] - id: 1768 parameters: KukaKR6_R700_sixx - joints: [-29.000000, -121.000000, 176.000000, -93.000000, -104.000000, -132.000000] - pose: {translation: [0.1131133316620633, -0.02592995106721346, 0.4046158849793511], quaternion: [0.5608001453235816, -0.317775523851222, 0.568109163481563, 0.511638438562243]} - solutions: [[-29.000000, -121.000000, 176.000000, 87.000000, 104.000000, 48.000000], [-29.000000, 134.406699, -165.045263, 103.764228, 93.958388, 134.484951], [151.000000, 71.872631, 165.990872, -75.941287, 87.294404, 160.898265], [151.000000, -79.973810, -155.036134, -93.002476, 103.999479, 47.989765], [-29.000000, -121.000000, 176.000000, -93.000000, -104.000000, -132.000000], [-29.000000, 134.406699, -165.045263, -76.235772, -93.958388, -45.515049], [151.000000, 71.872631, 165.990872, 104.058713, -87.294404, -19.101735], [151.000000, -79.973810, -155.036134, 86.997524, -103.999479, -132.010235]] + joints: [-29.000000, -120.000000, 176.000000, -93.000000, -103.000000, -132.000000] + pose: {translation: [0.1139850618421406, -0.02581890532336081, 0.4024092049278457], quaternion: [0.5695778338658481, -0.3107934351193791, 0.5638628122459253, 0.5109278430673955]} + solutions: [[-29.000000, -120.000000, 176.000000, 87.000000, 103.000000, 48.000000], [-29.000000, 135.406699, -165.045263, 102.763797, 93.896479, 134.416427], [151.000000, 71.248111, 166.003293, -76.878801, 87.595724, 161.316739], [151.000000, -80.558381, -155.048555, -92.909301, 103.020261, 48.402883], [-29.000000, -120.000000, 176.000000, -93.000000, -103.000000, -132.000000], [-29.000000, 135.406699, -165.045263, -77.236203, -93.896479, -45.583573], [151.000000, 71.248111, 166.003293, 103.121199, -87.595724, -18.683261], [151.000000, -80.558381, -155.048555, 87.090699, -103.020261, -131.597117]] - id: 1769 parameters: KukaKR6_R700_sixx joints: [105.000000, -92.000000, 23.000000, -116.000000, 40.000000, -59.000000] @@ -8851,19 +8851,19 @@ cases: solutions: [[105.000000, -92.000000, 23.000000, -116.000000, 40.000000, -59.000000], [105.000000, -73.138678, -12.045263, -95.644443, 35.489132, -84.563549], [105.000000, -92.000000, 23.000000, 64.000000, -40.000000, 121.000000], [105.000000, -73.138678, -12.045263, 84.355557, -35.489132, 95.436451]] - id: 1770 parameters: KukaKR6_R700_sixx - joints: [1.000000, -105.000000, 18.000000, -110.000000, 131.000000, -77.000000] - pose: {translation: [-0.0947412617603903, 0.05839795916840319, 1.019266121279424], quaternion: [-0.2399044087250398, 0.8736539382223982, 0.4209473063942573, -0.04447511823708056]} - solutions: [[-179.000000, -96.246082, 24.589628, 55.953220, 121.138986, -100.552153], [-179.000000, -75.671514, -13.634891, 67.080956, 129.647877, -81.509237], [1.000000, -105.000000, 18.000000, -110.000000, 131.000000, -77.000000], [1.000000, -91.524317, -7.045263, -118.462394, 126.225161, -90.510380], [-179.000000, -96.246082, 24.589628, -124.046780, -121.138986, 79.447847], [-179.000000, -75.671514, -13.634891, -112.919044, -129.647877, 98.490763], [1.000000, -105.000000, 18.000000, 70.000000, -131.000000, 103.000000], [1.000000, -91.524317, -7.045263, 61.537606, -126.225161, 89.489620]] + joints: [1.000000, -104.000000, 18.000000, -110.000000, 131.000000, -77.000000] + pose: {translation: [-0.08391683637927168, 0.05820901812056511, 1.021279112616234], quaternion: [-0.2362291952844535, 0.8731685076984944, 0.4231575501540661, -0.05205969848599643]} + solutions: [[-179.000000, -96.761051, 23.681108, 56.166477, 121.375432, -100.141161], [-179.000000, -77.165721, -12.726371, 66.766004, 129.485482, -82.003684], [1.000000, -104.000000, 18.000000, -110.000000, 131.000000, -77.000000], [1.000000, -90.524317, -7.045263, -118.462394, 126.225161, -90.510380], [-179.000000, -96.761051, 23.681108, -123.833523, -121.375432, 79.858839], [-179.000000, -77.165721, -12.726371, -113.233996, -129.485482, 97.996316], [1.000000, -104.000000, 18.000000, 70.000000, -131.000000, 103.000000], [1.000000, -90.524317, -7.045263, 61.537606, -126.225161, 89.489620]] - id: 1771 parameters: KukaKR6_R700_sixx - joints: [52.000000, 175.000000, 67.000000, 10.000000, -21.000000, 154.000000] - pose: {translation: [-0.3353395737637901, 0.4373013357757564, 0.7310795098687513], quaternion: [-0.3243992612024361, 0.2558468408387709, 0.8636958857934912, 0.2886813645310879]} - solutions: [[-128.000000, -71.499901, 80.155855, 175.343222, 50.041033, 166.342569], [-128.000000, 9.798036, -69.201118, 11.341481, 18.447799, -27.424730], [52.000000, 175.000000, 67.000000, -170.000000, 21.000000, -26.000000], [52.000000, -118.310566, -56.045263, -6.106570, 35.802166, 168.307034], [-128.000000, -71.499901, 80.155855, -4.656778, -50.041033, -13.657431], [-128.000000, 9.798036, -69.201118, -168.658519, -18.447799, 152.575270], [52.000000, 175.000000, 67.000000, 10.000000, -21.000000, 154.000000], [52.000000, -118.310566, -56.045263, 173.893430, -35.802166, -11.692966]] + joints: [52.000000, 174.000000, 67.000000, 10.000000, -21.000000, 154.000000] + pose: {translation: [-0.3388429328278023, 0.4417854308943066, 0.7209755596011653], quaternion: [-0.3310123418091827, 0.2602254262891744, 0.8601607767545264, 0.2878141678508342]} + solutions: [[-128.000000, -70.489154, 80.278745, 175.352283, 50.174231, 166.328442], [-128.000000, 10.946374, -69.324008, 11.356504, 18.422849, -27.440565], [52.000000, 174.000000, 67.000000, -170.000000, 21.000000, -26.000000], [52.000000, -119.310566, -56.045263, -6.106570, 35.802166, 168.307034], [-128.000000, -70.489154, 80.278745, -4.647717, -50.174231, -13.671558], [-128.000000, 10.946374, -69.324008, -168.643496, -18.422849, 152.559435], [52.000000, 174.000000, 67.000000, 10.000000, -21.000000, 154.000000], [52.000000, -119.310566, -56.045263, 173.893430, -35.802166, -11.692966]] - id: 1772 parameters: KukaKR6_R700_sixx - joints: [-132.000000, 31.000000, -177.000000, 9.000000, 172.000000, -105.000000] - pose: {translation: [-0.02859177180742276, 0.03435733565193023, 0.3776687681127759], quaternion: [-0.1276670737104613, 0.8388068607566432, 0.449039332885568, -0.280121127656371]} - solutions: [[-132.000000, 31.000000, -177.000000, 9.000000, 172.000000, -105.000000], [-132.000000, -3.317770, -172.045263, 176.593636, 158.505206, 62.916219], [-132.000000, 31.000000, -177.000000, -171.000000, -172.000000, 75.000000], [-132.000000, -3.317770, -172.045263, -3.406364, -158.505206, -117.083781]] + joints: [-132.000000, 31.000000, -177.000000, 9.000000, 171.000000, -105.000000] + pose: {translation: [-0.02882708882826593, 0.03494152116538789, 0.3789149042143956], quaternion: [-0.1263152168051597, 0.8343572057162026, 0.4558043458674221, -0.2830811148086133]} + solutions: [[-132.000000, 31.000000, -177.000000, 9.000000, 171.000000, -105.000000], [-132.000000, -3.317770, -172.045263, 175.996392, 159.482031, 62.358646], [-132.000000, 31.000000, -177.000000, -171.000000, -171.000000, 75.000000], [-132.000000, -3.317770, -172.045263, -4.003608, -159.482031, -117.641354]] - id: 1773 parameters: KukaKR6_R700_sixx joints: [179.000000, -67.000000, -139.000000, 126.000000, 70.000000, 84.000000] @@ -8876,24 +8876,24 @@ cases: solutions: [[-134.000000, -27.277604, 112.954737, -175.590313, 147.562160, 48.571807], [-134.000000, 92.000000, -102.000000, -177.000000, 52.000000, 43.000000], [46.000000, 97.004943, 103.599970, 3.574577, 41.412305, 42.165689], [46.000000, -154.883424, -92.645232, 3.061581, 129.450371, 46.794495], [-134.000000, -27.277604, 112.954737, 4.409687, -147.562160, -131.428193], [-134.000000, 92.000000, -102.000000, 3.000000, -52.000000, -137.000000], [46.000000, 97.004943, 103.599970, -176.425423, -41.412305, -137.834311], [46.000000, -154.883424, -92.645232, -176.938419, -129.450371, -133.205505]] - id: 1775 parameters: KukaKR6_R700_sixx - joints: [-104.000000, -168.000000, 55.000000, 174.000000, 40.000000, -60.000000] - pose: {translation: [0.1331854699172577, -0.511959134049972, 0.824230173801918], quaternion: [0.4808904465065368, 0.2026356239054977, -0.06724459442991665, 0.8503889386058179]} - solutions: [[76.000000, -76.120416, 68.675635, -168.708125, 20.068407, 104.774428], [76.000000, -7.582166, -57.720898, -6.221854, 38.312702, -59.713925], [-104.000000, -168.000000, 55.000000, 174.000000, 40.000000, -60.000000], [-104.000000, -114.472342, -44.045263, 34.266820, 6.853553, 81.320906], [76.000000, -76.120416, 68.675635, 11.291875, -20.068407, -75.225572], [76.000000, -7.582166, -57.720898, 173.778146, -38.312702, 120.286075], [-104.000000, -168.000000, 55.000000, -6.000000, -40.000000, 120.000000], [-104.000000, -114.472342, -44.045263, -145.733180, -6.853553, -98.679094]] + joints: [-104.000000, -167.000000, 55.000000, 174.000000, 39.000000, -60.000000] + pose: {translation: [0.1311047845427788, -0.5040794689689343, 0.8350585438728173], quaternion: [0.4670385985061792, 0.197039114037071, -0.06849390640163806, 0.859278255183217]} + solutions: [[76.000000, -77.078877, 68.485360, -169.368378, 20.888678, 105.383082], [76.000000, -8.750722, -57.530623, -6.233185, 37.291124, -59.703528], [-104.000000, -167.000000, 55.000000, 174.000000, 39.000000, -60.000000], [-104.000000, -113.472342, -44.045263, 29.573027, 7.659627, 85.977261], [76.000000, -77.078877, 68.485360, 10.631622, -20.888678, -74.616918], [76.000000, -8.750722, -57.530623, 173.766815, -37.291124, 120.296472], [-104.000000, -167.000000, 55.000000, -6.000000, -39.000000, 120.000000], [-104.000000, -113.472342, -44.045263, -150.426973, -7.659627, -94.022739]] - id: 1776 parameters: KukaKR6_R700_sixx - joints: [12.000000, 20.000000, 5.000000, -24.000000, 153.000000, -146.000000] - pose: {translation: [0.5781956256800427, -0.1077968849806292, 0.1697825752908096], quaternion: [0.6777772581765776, 0.2007029007686916, -0.5486515508741741, -0.4464502319912458]} - solutions: [[12.000000, 19.486444, 5.954737, -23.653237, 152.596417, -145.610120], [12.000000, 20.000000, 5.000000, -24.000000, 153.000000, -146.000000], [12.000000, 19.486444, 5.954737, 156.346763, -152.596417, 34.389880], [12.000000, 20.000000, 5.000000, 156.000000, -153.000000, 34.000000]] + joints: [12.000000, 20.000000, 5.000000, -24.000000, 152.000000, -146.000000] + pose: {translation: [0.5784041930600015, -0.1073262263068103, 0.1684846993109995], quaternion: [0.6838993344719496, 0.2001426772604101, -0.5427478016898519, -0.4445778141210975]} + solutions: [[12.000000, 19.486444, 5.954737, -23.667542, 151.596440, -145.622762], [12.000000, 20.000000, 5.000000, -24.000000, 152.000000, -146.000000], [12.000000, 19.486444, 5.954737, 156.332458, -151.596440, 34.377238], [12.000000, 20.000000, 5.000000, 156.000000, -152.000000, 34.000000]] - id: 1777 parameters: KukaKR6_R700_sixx - joints: [-153.000000, -77.000000, 68.000000, -40.000000, -78.000000, -100.000000] - pose: {translation: [-0.3851933848457535, 0.2527180484377596, 0.8604025545484004], quaternion: [-0.2899844462703553, -0.1720670448340348, -0.7180452649525922, 0.6088620126781761]} - solutions: [[-153.000000, -77.000000, 68.000000, 140.000000, 78.000000, 80.000000], [-153.000000, -9.207581, -57.045263, 110.129676, 42.039727, 133.836117], [27.000000, -166.508064, 54.437432, -71.643123, 41.487077, 136.212658], [27.000000, -113.594514, -43.482694, -42.872228, 67.536382, 89.634528], [-153.000000, -77.000000, 68.000000, -40.000000, -78.000000, -100.000000], [-153.000000, -9.207581, -57.045263, -69.870324, -42.039727, -46.163883], [27.000000, -166.508064, 54.437432, 108.356877, -41.487077, -43.787342], [27.000000, -113.594514, -43.482694, 137.127772, -67.536382, -90.365472]] + joints: [-153.000000, -77.000000, 68.000000, -40.000000, -77.000000, -100.000000] + pose: {translation: [-0.3865134623655741, 0.2531726471165474, 0.8603871473714776], quaternion: [-0.2858289566094355, -0.1791539824172821, -0.7160997596633729, 0.6110702024789372]} + solutions: [[-153.000000, -77.000000, 68.000000, 140.000000, 77.000000, 80.000000], [-153.000000, -9.207581, -57.045263, 108.910194, 41.456030, 134.745978], [27.000000, -166.508064, 54.437432, -72.911563, 40.937876, 137.166897], [27.000000, -113.594514, -43.482694, -43.054648, 66.550590, 89.705681], [-153.000000, -77.000000, 68.000000, -40.000000, -77.000000, -100.000000], [-153.000000, -9.207581, -57.045263, -71.089806, -41.456030, -45.254022], [27.000000, -166.508064, 54.437432, 107.088437, -40.937876, -42.833103], [27.000000, -113.594514, -43.482694, 136.945352, -66.550590, -90.294319]] - id: 1778 parameters: KukaKR6_R700_sixx - joints: [-84.000000, -135.000000, -174.000000, 6.000000, 123.000000, 133.000000] - pose: {translation: [0.004872427070093885, -0.02073559851414078, 0.3529756009659291], quaternion: [0.701178173110331, 0.2432442187309994, -0.2300662922499007, 0.6294846469755937]} - solutions: [[-84.000000, -127.591195, -175.045263, 5.629864, 116.669103, 132.257147], [-84.000000, -135.000000, -174.000000, 6.000000, 123.000000, 133.000000], [96.000000, 38.075375, 172.471510, -11.896857, 154.833683, -61.071703], [96.000000, -87.680389, -161.516773, -174.795543, 104.887882, 131.064361], [-84.000000, -127.591195, -175.045263, -174.370136, -116.669103, -47.742853], [-84.000000, -135.000000, -174.000000, -174.000000, -123.000000, -47.000000], [96.000000, 38.075375, 172.471510, 168.103143, -154.833683, 118.928297], [96.000000, -87.680389, -161.516773, 5.204457, -104.887882, -48.935639]] + joints: [-84.000000, -134.000000, -174.000000, 6.000000, 123.000000, 133.000000] + pose: {translation: [0.004787359920806981, -0.02154495837553812, 0.353770088175463], quaternion: [0.695478486831775, 0.2418124712177039, -0.2328081777180855, 0.6353241342065922]} + solutions: [[-84.000000, -126.591195, -175.045263, 5.629864, 116.669103, 132.257147], [-84.000000, -134.000000, -174.000000, 6.000000, 123.000000, 133.000000], [96.000000, 37.371562, 172.547109, -11.736146, 154.469776, -60.893871], [96.000000, -87.997580, -161.592371, -174.780567, 105.492582, 131.121517], [-84.000000, -126.591195, -175.045263, -174.370136, -116.669103, -47.742853], [-84.000000, -134.000000, -174.000000, -174.000000, -123.000000, -47.000000], [96.000000, 37.371562, 172.547109, 168.263854, -154.469776, 119.106129], [96.000000, -87.997580, -161.592371, 5.219433, -105.492582, -48.878483]] - id: 1779 parameters: KukaKR6_R700_sixx joints: [81.000000, -54.000000, 55.000000, -14.000000, 103.000000, 123.000000] @@ -8911,9 +8911,9 @@ cases: solutions: [[-3.000000, -4.000000, 13.000000, -34.000000, 74.000000, 122.000000], [-3.000000, 4.093699, -2.045263, -33.104650, 79.795651, 118.056830], [-3.000000, -4.000000, 13.000000, 146.000000, -74.000000, -58.000000], [-3.000000, 4.093699, -2.045263, 146.895350, -79.795651, -61.943170]] - id: 1782 parameters: KukaKR6_R700_sixx - joints: [-114.000000, -164.000000, -89.000000, 143.000000, -173.000000, 70.000000] - pose: {translation: [0.1310077193865734, -0.3086737652898281, 0.2057521539011293], quaternion: [-0.06881566771003778, 0.08029913643064705, 0.9921914364733746, -0.06612568302116556]} - solutions: [[66.000000, -17.238333, 108.776124, 18.184184, 166.407296, 124.501270], [66.000000, 97.006198, -97.821387, 175.721458, 100.555453, -73.991004], [-114.000000, 92.150197, 99.954737, -4.206327, 89.296440, -73.154077], [-114.000000, -164.000000, -89.000000, -37.000000, 173.000000, -110.000000], [66.000000, -17.238333, 108.776124, -161.815816, -166.407296, -55.498730], [66.000000, 97.006198, -97.821387, -4.278542, -100.555453, 106.008996], [-114.000000, 92.150197, 99.954737, 175.793673, -89.296440, 106.845923], [-114.000000, -164.000000, -89.000000, 143.000000, -173.000000, 70.000000]] + joints: [-114.000000, -163.000000, -89.000000, 143.000000, -172.000000, 70.000000] + pose: {translation: [0.1320537740812185, -0.3130714792540645, 0.212237679730536], quaternion: [-0.07421904350214165, 0.08011044639013369, 0.9917424218673765, -0.06723703316946331]} + solutions: [[66.000000, -18.400981, 108.895883, 21.864423, 167.002829, 128.086359], [66.000000, 95.986705, -97.941146, 175.126973, 99.607234, -74.084132], [-114.000000, 93.150197, 99.954737, -4.806180, 88.496242, -73.142522], [-114.000000, -163.000000, -89.000000, -37.000000, 172.000000, -110.000000], [66.000000, -18.400981, 108.895883, -158.135577, -167.002829, -51.913641], [66.000000, 95.986705, -97.941146, -4.873027, -99.607234, 105.915868], [-114.000000, 93.150197, 99.954737, 175.193820, -88.496242, 106.857478], [-114.000000, -163.000000, -89.000000, 143.000000, -172.000000, 70.000000]] - id: 1783 parameters: KukaKR6_R700_sixx joints: [78.000000, -23.000000, 96.000000, -73.000000, 87.000000, -8.000000] @@ -8926,19 +8926,19 @@ cases: solutions: [[143.000000, 88.386722, 178.954737, -45.056558, 115.925879, -179.375247], [143.000000, 8.000000, -168.000000, -104.000000, 139.000000, 96.000000], [143.000000, 88.386722, 178.954737, 134.943442, -115.925879, 0.624753], [143.000000, 8.000000, -168.000000, 76.000000, -139.000000, -84.000000]] - id: 1785 parameters: KukaKR6_R700_sixx - joints: [121.000000, -145.000000, -162.000000, 37.000000, -143.000000, 106.000000] - pose: {translation: [0.02131351263714297, -0.02078537528226312, 0.3844037055181712], quaternion: [0.1893250309121065, -0.02492511317538963, 0.9707170688259523, 0.1457502785358409]} - solutions: [[121.000000, -21.759228, 172.954737, -22.861957, 111.215439, 66.284600], [121.000000, -145.000000, -162.000000, -143.000000, 143.000000, -74.000000], [-59.000000, -0.675066, 171.383502, 21.936916, 104.193384, -99.400402], [-59.000000, -131.733338, -160.428765, 140.499204, 145.292450, 40.835108], [121.000000, -21.759228, 172.954737, 157.138043, -111.215439, -113.715400], [121.000000, -145.000000, -162.000000, 37.000000, -143.000000, 106.000000], [-59.000000, -0.675066, 171.383502, -158.063084, -104.193384, 80.599598], [-59.000000, -131.733338, -160.428765, -39.500796, -145.292450, -139.164892]] + joints: [121.000000, -144.000000, -162.000000, 37.000000, -142.000000, 106.000000] + pose: {translation: [0.0213977679178268, -0.02193950231146374, 0.384555371573833], quaternion: [0.1871647532696366, -0.0413340509628089, 0.9705846139088925, 0.1456926854987789]} + solutions: [[121.000000, -20.759228, 172.954737, -23.551014, 111.983261, 66.030941], [121.000000, -144.000000, -162.000000, -143.000000, 142.000000, -74.000000], [-59.000000, -1.847757, 171.543796, 22.378758, 103.301118, -99.290858], [-59.000000, -132.154203, -160.589059, 138.480765, 146.016543, 39.015037], [121.000000, -20.759228, 172.954737, 156.448986, -111.983261, -113.969059], [121.000000, -144.000000, -162.000000, 37.000000, -142.000000, 106.000000], [-59.000000, -1.847757, 171.543796, -157.621242, -103.301118, 80.709142], [-59.000000, -132.154203, -160.589059, -41.519235, -146.016543, -140.984963]] - id: 1786 parameters: KukaKR6_R700_sixx - joints: [-24.000000, -74.000000, 164.000000, 141.000000, 5.000000, -56.000000] - pose: {translation: [0.1408668912093252, 0.05791481433105432, 0.2581018583732309], quaternion: [0.8133406607760731, -0.5801502551703427, 0.04085706705716319, -0.01527583142135667]} - solutions: [[-24.000000, -74.000000, 164.000000, 141.000000, 5.000000, -56.000000], [-24.000000, 128.096466, -153.045263, 3.368717, 111.025952, 86.316672], [156.000000, 69.187594, 155.589541, -175.844125, 130.812861, 87.825763], [156.000000, -108.989072, -144.634804, -165.744674, 12.870169, 71.195521], [-24.000000, -74.000000, 164.000000, -39.000000, -5.000000, 124.000000], [-24.000000, 128.096466, -153.045263, -176.631283, -111.025952, -93.683328], [156.000000, 69.187594, 155.589541, 4.155875, -130.812861, -92.174237], [156.000000, -108.989072, -144.634804, 14.255326, -12.870169, -108.804479]] + joints: [-24.000000, -73.000000, 164.000000, 141.000000, 5.000000, -56.000000] + pose: {translation: [0.138586824281482, 0.0568996631303552, 0.2559027494103208], quaternion: [0.8136896274064201, -0.5801049269358515, 0.03643067527974925, -0.007763368767051681]} + solutions: [[-24.000000, -73.000000, 164.000000, 141.000000, 5.000000, -56.000000], [-24.000000, 129.096466, -153.045263, 3.368717, 111.025952, 86.316672], [156.000000, 68.387909, 155.644545, -175.828044, 131.067507, 87.850305], [156.000000, -109.675635, -144.689808, -166.017830, 13.120796, 71.475856], [-24.000000, -73.000000, 164.000000, -39.000000, -5.000000, 124.000000], [-24.000000, 129.096466, -153.045263, -176.631283, -111.025952, -93.683328], [156.000000, 68.387909, 155.644545, 4.171956, -131.067507, -92.149695], [156.000000, -109.675635, -144.689808, 13.982170, -13.120796, -108.524144]] - id: 1787 parameters: KukaKR6_R700_sixx - joints: [-43.000000, -103.000000, 69.000000, 49.000000, -180.000000, 47.000000] - pose: {translation: [0.1249476656463304, 0.1165155831928876, 0.8953128629359385], quaternion: [-0.3092147642844753, 0.8270324547947739, -0.1796589890447074, -0.4337351679539719]} - solutions: [[-43.000000, -34.103507, -58.045263, -180.000000, 121.851230, 178.000000], [137.000000, -146.605762, 62.212377, 0.000000, 118.393385, 178.000000], [137.000000, -85.182908, -51.257640, 0.000000, 170.440548, 178.000000], [-43.000000, -34.103507, -58.045263, 0.000000, -121.851230, -2.000000], [137.000000, -146.605762, 62.212377, -180.000000, -118.393385, -2.000000], [137.000000, -85.182908, -51.257640, -180.000000, -170.440548, -2.000000]] + joints: [-43.000000, -102.000000, 69.000000, 49.000000, -179.000000, 47.000000] + pose: {translation: [0.1301775149581703, 0.1228332766847125, 0.8934669345948936], quaternion: [-0.3038562712854809, 0.8216739617957796, -0.1791718954339939, -0.4476837039628559]} + solutions: [[-43.000000, -102.000000, 69.000000, -131.000000, 179.000000, -133.000000], [-43.000000, -33.103507, -58.045263, -179.117758, 121.192124, 178.461269], [137.000000, -147.415629, 61.933307, 0.853357, 117.823602, 178.402649], [137.000000, -86.299087, -50.978569, 4.182070, 169.594456, -177.882149], [-43.000000, -102.000000, 69.000000, 49.000000, -179.000000, 47.000000], [-43.000000, -33.103507, -58.045263, 0.882242, -121.192124, -1.538731], [137.000000, -147.415629, 61.933307, -179.146643, -117.823602, -1.597351], [137.000000, -86.299087, -50.978569, -175.817930, -169.594456, 2.117851]] - id: 1788 parameters: KukaKR6_R700_sixx joints: [176.000000, 51.000000, 7.000000, 175.000000, -113.000000, 58.000000] @@ -8946,9 +8946,9 @@ cases: solutions: [[176.000000, 51.000000, 7.000000, -5.000000, 113.000000, -122.000000], [176.000000, 52.638061, 3.954737, -5.054133, 114.401789, -122.134663], [176.000000, 51.000000, 7.000000, 175.000000, -113.000000, 58.000000], [176.000000, 52.638061, 3.954737, 174.945867, -114.401789, 57.865337]] - id: 1789 parameters: KukaKR6_R700_sixx - joints: [26.000000, -37.000000, -101.000000, -17.000000, 161.000000, 98.000000] - pose: {translation: [0.05257557783900886, -0.01717041085014261, 0.7756900992617951], quaternion: [0.6005333699953704, -0.5831047445779742, 0.4993529657179887, -0.2235959391431518]} - solutions: [[-154.000000, -150.286280, 112.423396, 158.554197, 164.909575, 93.352860], [-154.000000, -31.653232, -101.468659, 174.213148, 70.743642, 116.037490], [26.000000, -155.065681, 111.954737, -5.935582, 66.996153, 116.449846], [26.000000, -37.000000, -101.000000, -17.000000, 161.000000, 98.000000], [-154.000000, -150.286280, 112.423396, -21.445803, -164.909575, -86.647140], [-154.000000, -31.653232, -101.468659, -5.786852, -70.743642, -63.962510], [26.000000, -155.065681, 111.954737, 174.064418, -66.996153, -63.550154], [26.000000, -37.000000, -101.000000, 163.000000, -161.000000, -82.000000]] + joints: [26.000000, -37.000000, -101.000000, -17.000000, 160.000000, 98.000000] + pose: {translation: [0.05318992307919232, -0.01704190927012297, 0.7769373238879105], quaternion: [0.5979718110625473, -0.5790388854720359, 0.5051022625419264, -0.2280688200103354]} + solutions: [[-154.000000, -150.286280, 112.423396, 158.846563, 163.912663, 93.634482], [-154.000000, -31.653232, -101.468659, 173.883216, 69.793086, 116.148884], [26.000000, -155.065681, 111.954737, -6.281862, 66.047931, 116.587808], [26.000000, -37.000000, -101.000000, -17.000000, 160.000000, 98.000000], [-154.000000, -150.286280, 112.423396, -21.153437, -163.912663, -86.365518], [-154.000000, -31.653232, -101.468659, -6.116784, -69.793086, -63.851116], [26.000000, -155.065681, 111.954737, 173.718138, -66.047931, -63.412192], [26.000000, -37.000000, -101.000000, 163.000000, -160.000000, -82.000000]] - id: 1790 parameters: KukaKR6_R700_sixx joints: [-42.000000, 63.000000, 2.000000, 28.000000, -50.000000, 75.000000] @@ -8956,44 +8956,44 @@ cases: solutions: [[-42.000000, 59.258949, 8.954737, -153.180220, 52.853215, -103.107848], [-42.000000, 63.000000, 2.000000, -152.000000, 50.000000, -105.000000], [-42.000000, 59.258949, 8.954737, 26.819780, -52.853215, 76.892152], [-42.000000, 63.000000, 2.000000, 28.000000, -50.000000, 75.000000]] - id: 1791 parameters: KukaKR6_R700_sixx - joints: [-139.000000, -95.000000, -48.000000, 71.000000, 88.000000, -150.000000] - pose: {translation: [0.2772036160966975, -0.1408045302396717, 0.9279799656387971], quaternion: [-0.5683385309803194, -0.191216747623055, -0.6086888394321921, 0.5195434210749709]} - solutions: [[41.000000, -94.146225, 68.169540, -109.036302, 91.602077, -139.580038], [41.000000, -26.166699, -57.214802, -101.903562, 74.952084, 164.861558], [-139.000000, -152.851499, 58.954737, 78.827126, 74.407569, 162.096559], [-139.000000, -95.000000, -48.000000, 71.000000, 88.000000, -150.000000], [41.000000, -94.146225, 68.169540, 70.963698, -91.602077, 40.419962], [41.000000, -26.166699, -57.214802, 78.096438, -74.952084, -15.138442], [-139.000000, -152.851499, 58.954737, -101.172874, -74.407569, -17.903441], [-139.000000, -95.000000, -48.000000, -109.000000, -88.000000, 30.000000]] + joints: [-139.000000, -95.000000, -48.000000, 71.000000, 87.000000, -150.000000] + pose: {translation: [0.2780156117955557, -0.1415866885737005, 0.9288036119972165], quaternion: [-0.565983691539316, -0.1846271961001806, -0.613795154720291, 0.5184889269922822]} + solutions: [[41.000000, -94.146225, 68.169540, -109.217165, 90.618562, -139.583543], [41.000000, -26.166699, -57.214802, -101.167108, 74.247889, 164.665982], [-139.000000, -152.851499, 58.954737, 79.600048, 73.738551, 161.884454], [-139.000000, -95.000000, -48.000000, 71.000000, 87.000000, -150.000000], [41.000000, -94.146225, 68.169540, 70.782835, -90.618562, 40.416457], [41.000000, -26.166699, -57.214802, 78.832892, -74.247889, -15.334018], [-139.000000, -152.851499, 58.954737, -100.399952, -73.738551, -18.115546], [-139.000000, -95.000000, -48.000000, -109.000000, -87.000000, 30.000000]] - id: 1792 parameters: KukaKR6_R700_sixx - joints: [-116.000000, 86.000000, 83.000000, 41.000000, 86.000000, 3.000000] - pose: {translation: [0.1880437612397111, -0.266111813532608, 0.03982337899463421], quaternion: [0.282755153386735, 0.2391343001031654, 0.7861956499967546, 0.4947329680480105]} - solutions: [[64.000000, 9.661248, 90.648673, -96.867246, 138.761871, 87.371100], [64.000000, 102.803398, -79.693936, -138.920029, 95.148249, 10.942865], [-116.000000, 86.000000, 83.000000, 41.000000, 86.000000, 3.000000], [-116.000000, 170.488593, -72.045263, 64.199213, 133.370684, 61.325198], [64.000000, 9.661248, 90.648673, 83.132754, -138.761871, -92.628900], [64.000000, 102.803398, -79.693936, 41.079971, -95.148249, -169.057135], [-116.000000, 86.000000, 83.000000, -139.000000, -86.000000, -177.000000], [-116.000000, 170.488593, -72.045263, -115.800787, -133.370684, -118.674802]] + joints: [-116.000000, 85.000000, 83.000000, 41.000000, 86.000000, 3.000000] + pose: {translation: [0.1852650407061186, -0.260414592147908, 0.03382901039455705], quaternion: [0.2896323158856963, 0.2348513624019457, 0.7869596611197234, 0.491581581167326]} + solutions: [[64.000000, 10.819877, 90.465713, -96.894801, 138.758956, 87.334455], [64.000000, 103.753641, -79.510975, -138.912064, 95.248651, 11.030764], [-116.000000, 85.000000, 83.000000, 41.000000, 86.000000, 3.000000], [-116.000000, 169.488593, -72.045263, 64.199213, 133.370684, 61.325198], [64.000000, 10.819877, 90.465713, 83.105199, -138.758956, -92.665545], [64.000000, 103.753641, -79.510975, 41.087936, -95.248651, -168.969236], [-116.000000, 85.000000, 83.000000, -139.000000, -86.000000, -177.000000], [-116.000000, 169.488593, -72.045263, -115.800787, -133.370684, -118.674802]] - id: 1793 parameters: KukaKR6_R700_sixx - joints: [26.000000, 113.000000, 153.000000, -76.000000, 78.000000, 48.000000] - pose: {translation: [-0.09320443836763112, 0.129935808928254, 0.4896233388460187], quaternion: [-0.4869779305920511, 0.3884539330704103, -0.007659790104257032, 0.782238687750722]} - solutions: [[-154.000000, -125.637885, 161.288247, 93.185253, 108.091657, -71.664387], [-154.000000, 69.136691, -150.333510, 104.938298, 79.200816, 43.255603], [26.000000, 113.000000, 153.000000, -76.000000, 78.000000, 48.000000], [26.000000, -70.300374, -142.045263, -85.743919, 107.877137, -68.197174], [-154.000000, -125.637885, 161.288247, -86.814747, -108.091657, 108.335613], [-154.000000, 69.136691, -150.333510, -75.061702, -79.200816, -136.744397], [26.000000, 113.000000, 153.000000, 104.000000, -78.000000, -132.000000], [26.000000, -70.300374, -142.045263, 94.256081, -107.877137, 111.802826]] + joints: [26.000000, 112.000000, 153.000000, -76.000000, 78.000000, 48.000000] + pose: {translation: [-0.09458759359915273, 0.1306104188097125, 0.4867172717220632], quaternion: [-0.4898917333726652, 0.3822744615163453, -0.01296505628057584, 0.7833927705571166]} + solutions: [[-154.000000, -124.439189, 161.362420, 93.096205, 108.106607, -71.951027], [-154.000000, 70.523692, -150.407682, 104.995724, 79.281608, 42.947979], [26.000000, 112.000000, 153.000000, -76.000000, 78.000000, 48.000000], [26.000000, -71.300374, -142.045263, -85.743919, 107.877137, -68.197174], [-154.000000, -124.439189, 161.362420, -86.903795, -108.106607, 108.048973], [-154.000000, 70.523692, -150.407682, -75.004276, -79.281608, -137.052021], [26.000000, 112.000000, 153.000000, 104.000000, -78.000000, -132.000000], [26.000000, -71.300374, -142.045263, 94.256081, -107.877137, 111.802826]] - id: 1794 parameters: KukaKR6_R700_sixx - joints: [-92.000000, -128.000000, -165.000000, -141.000000, 31.000000, -69.000000] - pose: {translation: [-0.02808383014283332, 0.06122739344607251, 0.2753040883461093], quaternion: [0.756650212966267, 0.4937578471647849, 0.04766632236227586, -0.425924365696253]} - solutions: [[-92.000000, -23.088349, 175.954737, -159.859817, 109.720479, -27.180158], [-92.000000, -128.000000, -165.000000, -141.000000, 31.000000, -69.000000], [88.000000, -12.048423, 175.107341, 140.997768, 30.998344, -179.466790], [88.000000, -122.669291, -164.152603, 20.731440, 66.296097, -42.886410], [-92.000000, -23.088349, 175.954737, 20.140183, -109.720479, 152.819842], [-92.000000, -128.000000, -165.000000, 39.000000, -31.000000, 111.000000], [88.000000, -12.048423, 175.107341, -39.002232, -30.998344, 0.533210], [88.000000, -122.669291, -164.152603, -159.268560, -66.296097, 137.113590]] + joints: [-92.000000, -127.000000, -165.000000, -141.000000, 30.000000, -69.000000] + pose: {translation: [-0.02723005406282019, 0.05847220735068141, 0.2736670878032208], quaternion: [0.7638436848601746, 0.49522137556244, 0.04523625216416339, -0.4114028388033016]} + solutions: [[-92.000000, -22.088349, 175.954737, -160.564899, 108.973866, -27.413754], [-92.000000, -127.000000, -165.000000, -141.000000, 30.000000, -69.000000], [88.000000, -13.395980, 175.286631, 142.630499, 31.226735, 179.189059], [88.000000, -122.847449, -164.331894, 20.350850, 64.796284, -42.934099], [-92.000000, -22.088349, 175.954737, 19.435101, -108.973866, 152.586246], [-92.000000, -127.000000, -165.000000, 39.000000, -30.000000, 111.000000], [88.000000, -13.395980, 175.286631, -37.369501, -31.226735, -0.810941], [88.000000, -122.847449, -164.331894, -159.649150, -64.796284, 137.065901]] - id: 1795 parameters: KukaKR6_R700_sixx - joints: [-161.000000, 62.000000, -93.000000, -51.000000, -100.000000, -171.000000] - pose: {translation: [-0.3869037897643025, 0.1979767580056151, 0.3752054403545864], quaternion: [-0.3941421206770045, 0.3517824163715468, -0.1284032052515403, 0.839293594114217]} - solutions: [[-161.000000, -46.528782, 103.954737, 78.439013, 128.630509, -87.039178], [-161.000000, 62.000000, -93.000000, 129.000000, 100.000000, 9.000000], [19.000000, 125.515865, 92.321372, -50.272189, 95.660361, 14.334607], [19.000000, -139.433360, -81.366635, -87.859033, 130.015191, -65.569414], [-161.000000, -46.528782, 103.954737, -101.560987, -128.630509, 92.960822], [-161.000000, 62.000000, -93.000000, -51.000000, -100.000000, -171.000000], [19.000000, 125.515865, 92.321372, 129.727811, -95.660361, -165.665393], [19.000000, -139.433360, -81.366635, 92.140967, -130.015191, 114.430586]] + joints: [-161.000000, 62.000000, -93.000000, -51.000000, -99.000000, -171.000000] + pose: {translation: [-0.3878909519724243, 0.1985060755163436, 0.3760390084357196], quaternion: [-0.3940880870510212, 0.3443597811843812, -0.1254813957879682, 0.842831738876874]} + solutions: [[-161.000000, -46.528782, 103.954737, 79.713800, 128.728805, -86.242459], [-161.000000, 62.000000, -93.000000, 129.000000, 99.000000, 9.000000], [19.000000, 125.515865, 92.321372, -50.365466, 94.664685, 14.326214], [19.000000, -139.433360, -81.366635, -86.605362, 129.742351, -64.765583], [-161.000000, -46.528782, 103.954737, -100.286200, -128.728805, 93.757541], [-161.000000, 62.000000, -93.000000, -51.000000, -99.000000, -171.000000], [19.000000, 125.515865, 92.321372, 129.634534, -94.664685, -165.673786], [19.000000, -139.433360, -81.366635, 93.394638, -129.742351, 115.234417]] - id: 1796 parameters: KukaKR6_R700_sixx - joints: [102.000000, 2.000000, 180.000000, 71.000000, 144.000000, 166.000000] - pose: {translation: [-0.0516031648382651, -0.02892844501766323, 0.3798073598896863], quaternion: [-0.2400864362476222, -0.6007094581646609, 0.6939114081701108, 0.3162176586037062]} - solutions: [[102.000000, 2.000000, 180.000000, 71.000000, 144.000000, 166.000000], [102.000000, -67.984040, -169.045263, 136.962493, 125.478775, -109.400000], [102.000000, 2.000000, 180.000000, -109.000000, -144.000000, -14.000000], [102.000000, -67.984040, -169.045263, -43.037507, -125.478775, 70.600000]] + joints: [102.000000, 2.000000, 180.000000, 71.000000, 143.000000, 166.000000] + pose: {translation: [-0.05247128913823565, -0.0279084012926501, 0.3802015337054759], quaternion: [-0.2452852847544274, -0.5965441247156984, 0.6931202792141371, 0.3217988733545185]} + solutions: [[102.000000, 2.000000, 180.000000, 71.000000, 143.000000, 166.000000], [102.000000, -67.984040, -169.045263, 135.741431, 125.378514, -110.107854], [102.000000, 2.000000, 180.000000, -109.000000, -143.000000, -14.000000], [102.000000, -67.984040, -169.045263, -44.258569, -125.378514, 69.892146]] - id: 1797 parameters: KukaKR6_R700_sixx - joints: [110.000000, 69.000000, 105.000000, -56.000000, -96.000000, 86.000000] - pose: {translation: [0.009325650793706675, 0.2184752218024716, -0.01041153782047517], quaternion: [0.1825694831816389, 0.8589218876482587, -0.02605715118158666, -0.4777474223916247]} - solutions: [[-70.000000, 3.611605, 110.624797, -95.180766, 55.881380, 13.991264], [-70.000000, 120.072933, -99.670060, -55.594945, 87.874549, -82.091140], [110.000000, 69.000000, 105.000000, 124.000000, 96.000000, -94.000000], [110.000000, 178.760442, -94.045263, 97.699021, 56.304330, -8.885763], [-70.000000, 3.611605, 110.624797, 84.819234, -55.881380, -166.008736], [-70.000000, 120.072933, -99.670060, 124.405055, -87.874549, 97.908860], [110.000000, 69.000000, 105.000000, -56.000000, -96.000000, 86.000000], [110.000000, 178.760442, -94.045263, -82.300979, -56.304330, 171.114237]] + joints: [110.000000, 69.000000, 105.000000, -56.000000, -95.000000, 86.000000] + pose: {translation: [0.009691462583040489, 0.2198046638036084, -0.01063123692969062], quaternion: [0.1867373174976722, 0.8588251969736499, -0.01846786916046203, -0.476662766644949]} + solutions: [[-70.000000, 3.611605, 110.624797, -96.325394, 56.195566, 14.630712], [-70.000000, 120.072933, -99.670060, -55.801593, 86.896088, -82.081713], [110.000000, 69.000000, 105.000000, 124.000000, 95.000000, -94.000000], [110.000000, 178.760442, -94.045263, 96.500324, 56.224948, -8.220041], [-70.000000, 3.611605, 110.624797, 83.674606, -56.195566, -165.369288], [-70.000000, 120.072933, -99.670060, 124.198407, -86.896088, 97.918287], [110.000000, 69.000000, 105.000000, -56.000000, -95.000000, 86.000000], [110.000000, 178.760442, -94.045263, -83.499676, -56.224948, 171.779959]] - id: 1798 parameters: KukaKR6_R700_sixx - joints: [-176.000000, -157.000000, 80.000000, -72.000000, -38.000000, -93.000000] - pose: {translation: [0.2203411223922485, 0.03154894054985763, 0.9514475456497304], quaternion: [-0.3055487766681488, -0.03653008907844107, -0.1915029664864911, 0.9320043516504593]} - solutions: [[4.000000, -112.134429, 85.518578, -140.922735, 68.259128, -177.332442], [4.000000, -24.808799, -74.563840, -76.551774, 37.015885, 92.736009], [-176.000000, -157.000000, 80.000000, 108.000000, 38.000000, 87.000000], [-176.000000, -75.876527, -69.045263, 41.633640, 61.803935, 176.625720], [4.000000, -112.134429, 85.518578, 39.077265, -68.259128, 2.667558], [4.000000, -24.808799, -74.563840, 103.448226, -37.015885, -87.263991], [-176.000000, -157.000000, 80.000000, -72.000000, -38.000000, -93.000000], [-176.000000, -75.876527, -69.045263, -138.366360, -61.803935, -3.374280]] + joints: [-176.000000, -157.000000, 80.000000, -72.000000, -37.000000, -93.000000] + pose: {translation: [0.2197441781959331, 0.03053460972772952, 0.9521987397710854], quaternion: [-0.2975025810955992, -0.03862322247649214, -0.1910377827351102, 0.9346149081277491]} + solutions: [[4.000000, -112.134429, 85.518578, -141.993299, 68.361323, -176.936772], [4.000000, -24.808799, -74.563840, -76.721717, 36.021011, 92.872591], [-176.000000, -157.000000, 80.000000, 108.000000, 37.000000, 87.000000], [-176.000000, -75.876527, -69.045263, 40.498986, 61.802081, 177.161862], [4.000000, -112.134429, 85.518578, 38.006701, -68.361323, 3.063228], [4.000000, -24.808799, -74.563840, 103.278283, -36.021011, -87.127409], [-176.000000, -157.000000, 80.000000, -72.000000, -37.000000, -93.000000], [-176.000000, -75.876527, -69.045263, -139.501014, -61.802081, -2.838138]] - id: 1799 parameters: KukaKR6_R700_sixx joints: [-100.000000, 6.000000, -159.000000, 151.000000, 70.000000, -52.000000] @@ -9001,24 +9001,24 @@ cases: solutions: [[80.000000, 145.812604, 170.219470, -27.214125, 84.992922, -60.165160], [80.000000, 9.570071, -159.264732, -108.915403, 151.211480, -174.090691], [-100.000000, 143.358607, 169.954737, 102.067279, 152.233694, -139.152432], [-100.000000, 6.000000, -159.000000, 151.000000, 70.000000, -52.000000], [80.000000, 145.812604, 170.219470, 152.785875, -84.992922, 119.834840], [80.000000, 9.570071, -159.264732, 71.084597, -151.211480, 5.909309], [-100.000000, 143.358607, 169.954737, -77.932721, -152.233694, 40.847568], [-100.000000, 6.000000, -159.000000, -29.000000, -70.000000, 128.000000]] - id: 1800 parameters: KukaKR6_R700_sixx - joints: [28.000000, 86.000000, -73.000000, -45.000000, 12.000000, 2.000000] - pose: {translation: [0.4329495859477528, -0.216882925956146, 0.00870049392139698], quaternion: [0.4412335447340063, 0.6978212571952309, 0.1306089686386216, 0.5489077785193855]} - solutions: [[28.000000, 0.437284, 83.954737, -170.516649, 63.163328, 133.320302], [28.000000, 86.000000, -73.000000, -45.000000, 12.000000, 2.000000], [-152.000000, 103.417352, 73.301344, 154.629615, 20.067043, -18.358239], [-152.000000, 177.076072, -62.346607, 12.136162, 44.370099, 128.893820], [28.000000, 0.437284, 83.954737, 9.483351, -63.163328, -46.679698], [28.000000, 86.000000, -73.000000, 135.000000, -12.000000, -178.000000], [-152.000000, 103.417352, 73.301344, -25.370385, -20.067043, 161.641761], [-152.000000, 177.076072, -62.346607, -167.863838, -44.370099, -51.106180]] + joints: [28.000000, 85.000000, -73.000000, -45.000000, 12.000000, 2.000000] + pose: {translation: [0.4389176018377254, -0.22005617629315, 0.01677235371623117], quaternion: [0.4379615937447199, 0.6941003982080134, 0.1311448561716865, 0.5560713140522267]} + solutions: [[28.000000, -0.562716, 83.954737, -170.516649, 63.163328, 133.320302], [28.000000, 85.000000, -73.000000, -45.000000, 12.000000, 2.000000], [-152.000000, 104.442200, 73.133490, 154.460767, 19.937919, -18.178551], [-152.000000, 177.914656, -62.178752, 12.137546, 44.363804, 128.891884], [28.000000, -0.562716, 83.954737, 9.483351, -63.163328, -46.679698], [28.000000, 85.000000, -73.000000, 135.000000, -12.000000, -178.000000], [-152.000000, 104.442200, 73.133490, -25.539233, -19.937919, 161.821449], [-152.000000, 177.914656, -62.178752, -167.862454, -44.363804, -51.108116]] - id: 1801 parameters: KukaKR6_R700_sixx - joints: [-80.000000, 151.000000, 148.000000, -33.000000, 37.000000, 134.000000] - pose: {translation: [-0.03239964141387275, -0.03274242124634662, 0.6197940626225152], quaternion: [-0.4936000915470456, -0.171625842211142, -0.1126260624882373, 0.8451147199986875]} - solutions: [[100.000000, -154.519596, 152.478814, 145.840029, 144.286126, 77.733649], [100.000000, 21.192445, -141.524077, 146.004734, 35.889483, 135.237156], [-80.000000, 151.000000, 148.000000, -33.000000, 37.000000, 134.000000], [-80.000000, -41.284735, -137.045263, -34.452290, 144.592405, 77.374315], [100.000000, -154.519596, 152.478814, -34.159971, -144.286126, -102.266351], [100.000000, 21.192445, -141.524077, -33.995266, -35.889483, -44.762844], [-80.000000, 151.000000, 148.000000, 147.000000, -37.000000, -46.000000], [-80.000000, -41.284735, -137.045263, 145.547710, -144.592405, -102.625685]] + joints: [-80.000000, 150.000000, 148.000000, -33.000000, 37.000000, 134.000000] + pose: {translation: [-0.03306408180911374, -0.03651064998009651, 0.6186633344259753], quaternion: [-0.486147747260272, -0.1719320454140471, -0.1148446950355176, 0.8490644472687003]} + solutions: [[100.000000, -153.554998, 152.624042, 145.754015, 144.376958, 77.627773], [100.000000, 22.430883, -141.669305, 146.076589, 35.966796, 135.148419], [-80.000000, 150.000000, 148.000000, -33.000000, 37.000000, 134.000000], [-80.000000, -42.284735, -137.045263, -34.452290, 144.592405, 77.374315], [100.000000, -153.554998, 152.624042, -34.245985, -144.376958, -102.372227], [100.000000, 22.430883, -141.669305, -33.923411, -35.966796, -44.851581], [-80.000000, 150.000000, 148.000000, 147.000000, -37.000000, -46.000000], [-80.000000, -42.284735, -137.045263, 145.547710, -144.592405, -102.625685]] - id: 1802 parameters: KukaKR6_R700_sixx - joints: [-99.000000, -112.000000, 26.000000, -155.000000, 169.000000, 7.000000] - pose: {translation: [0.0126715943870364, -0.1212439682265086, 0.9812414383236107], quaternion: [0.7550569853287442, 0.6430205217167, -0.09802671324229331, 0.08248830855560568]} - solutions: [[81.000000, -97.754984, 32.328637, 7.394336, 141.201721, -11.820084], [81.000000, -68.830395, -21.373899, 18.751521, 165.472189, 0.596556], [-99.000000, -112.000000, 26.000000, -155.000000, 169.000000, 7.000000], [-99.000000, -89.904902, -15.045263, -170.508824, 150.722988, -9.298570], [81.000000, -97.754984, 32.328637, -172.605664, -141.201721, 168.179916], [81.000000, -68.830395, -21.373899, -161.248479, -165.472189, -179.403444], [-99.000000, -112.000000, 26.000000, 25.000000, -169.000000, -173.000000], [-99.000000, -89.904902, -15.045263, 9.491176, -150.722988, 170.701430]] + joints: [-99.000000, -112.000000, 26.000000, -155.000000, 168.000000, 7.000000] + pose: {translation: [0.01229095289068063, -0.1225370192528692, 0.9816056265890338], quaternion: [0.7542669038329233, 0.6421773147394335, -0.1052467491220493, 0.08725168202153367]} + solutions: [[81.000000, -97.754984, 32.328637, 7.898861, 140.254083, -11.429492], [81.000000, -68.830395, -21.373899, 19.168265, 164.478036, 0.999068], [-99.000000, -112.000000, 26.000000, -155.000000, 168.000000, 7.000000], [-99.000000, -89.904902, -15.045263, -169.951563, 149.761989, -8.814775], [81.000000, -97.754984, 32.328637, -172.101139, -140.254083, 168.570508], [81.000000, -68.830395, -21.373899, -160.831735, -164.478036, -179.000932], [-99.000000, -112.000000, 26.000000, 25.000000, -168.000000, -173.000000], [-99.000000, -89.904902, -15.045263, 10.048437, -149.761989, 171.185225]] - id: 1803 parameters: KukaKR6_R700_sixx - joints: [129.000000, -146.000000, 51.000000, -37.000000, 4.000000, -114.000000] - pose: {translation: [0.1947673973256124, 0.2351810919383638, 1.01659625552394], quaternion: [0.005951737866758311, 0.02555082768747445, 0.1898439323806015, 0.9814637096495825]} - solutions: [[-51.000000, -92.546125, 60.759430, 177.112431, 56.443267, -149.335781], [-51.000000, -32.717283, -49.804692, 156.976838, 6.161923, -128.028955], [129.000000, -146.000000, 51.000000, -37.000000, 4.000000, -114.000000], [129.000000, -96.833986, -40.045263, -3.396146, 45.126025, -148.535300], [-51.000000, -92.546125, 60.759430, -2.887569, -56.443267, 30.664219], [-51.000000, -32.717283, -49.804692, -23.023162, -6.161923, 51.971045], [129.000000, -146.000000, 51.000000, 143.000000, -4.000000, 66.000000], [129.000000, -96.833986, -40.045263, 176.603854, -45.126025, 31.464700]] + joints: [129.000000, -145.000000, 51.000000, -37.000000, 4.000000, -114.000000] + pose: {translation: [0.1879635622121114, 0.2267790553031681, 1.022267592599406], quaternion: [0.01156501141155235, 0.01887238338360556, 0.1900426697746289, 0.9815262947682065]} + solutions: [[-51.000000, -93.427438, 60.474788, 177.106863, 56.277523, -149.325729], [-51.000000, -33.910654, -49.520051, 157.303015, 6.246026, -128.357054], [129.000000, -145.000000, 51.000000, -37.000000, 4.000000, -114.000000], [129.000000, -95.833986, -40.045263, -3.396146, 45.126025, -148.535300], [-51.000000, -93.427438, 60.474788, -2.893137, -56.277523, 30.674271], [-51.000000, -33.910654, -49.520051, -22.696985, -6.246026, 51.642946], [129.000000, -145.000000, 51.000000, 143.000000, -4.000000, 66.000000], [129.000000, -95.833986, -40.045263, 176.603854, -45.126025, 31.464700]] - id: 1804 parameters: KukaKR6_R700_sixx joints: [-162.000000, 20.000000, 166.000000, 50.000000, 113.000000, -38.000000] @@ -9026,24 +9026,24 @@ cases: solutions: [[18.000000, -32.078104, 169.744696, -44.878031, 92.051593, 114.989137], [18.000000, -170.306786, -158.789958, -108.688669, 131.892672, 0.164951], [-162.000000, 20.000000, 166.000000, 50.000000, 113.000000, -38.000000], [-162.000000, -131.817085, -155.045263, 129.915437, 113.166241, 91.845741], [18.000000, -32.078104, 169.744696, 135.121969, -92.051593, -65.010863], [18.000000, -170.306786, -158.789958, 71.311331, -131.892672, -179.835049], [-162.000000, 20.000000, 166.000000, -130.000000, -113.000000, 142.000000], [-162.000000, -131.817085, -155.045263, -50.084563, -113.166241, -88.154259]] - id: 1805 parameters: KukaKR6_R700_sixx - joints: [-14.000000, -22.000000, 74.000000, -8.000000, 164.000000, 151.000000] - pose: {translation: [0.4890701009815508, 0.1251017262751591, 0.2990802438340164], quaternion: [-0.4507474360024011, 0.04591701018565642, 0.8520848180047297, -0.2620493084110671]} - solutions: [[-14.000000, -22.000000, 74.000000, -8.000000, 164.000000, 151.000000], [-14.000000, 52.434388, -63.045263, -176.983388, 133.201628, -19.240031], [166.000000, 137.771739, 57.699292, 2.803686, 128.347724, -19.565769], [166.000000, -165.750713, -46.744554, 31.073215, 175.737592, 9.696986], [-14.000000, -22.000000, 74.000000, 172.000000, -164.000000, -29.000000], [-14.000000, 52.434388, -63.045263, 3.016612, -133.201628, 160.759969], [166.000000, 137.771739, 57.699292, -177.196314, -128.347724, 160.434231], [166.000000, -165.750713, -46.744554, -148.926785, -175.737592, -170.303014]] + joints: [-14.000000, -22.000000, 74.000000, -8.000000, 163.000000, 151.000000] + pose: {translation: [0.488248268716154, 0.125088842037096, 0.2979515597674352], quaternion: [-0.4583423792197195, 0.04752011904938961, 0.8484178270515332, -0.2604828064151135]} + solutions: [[-14.000000, -22.000000, 74.000000, -8.000000, 163.000000, 151.000000], [-14.000000, 52.434388, -63.045263, -176.746992, 134.186913, -19.076720], [166.000000, 137.771739, 57.699292, 3.015599, 129.334009, -19.432860], [166.000000, -165.750713, -46.744554, 41.258818, 176.462473, 19.859328], [-14.000000, -22.000000, 74.000000, 172.000000, -163.000000, -29.000000], [-14.000000, 52.434388, -63.045263, 3.253008, -134.186913, 160.923280], [166.000000, 137.771739, 57.699292, -176.984401, -129.334009, 160.567140], [166.000000, -165.750713, -46.744554, -138.741182, -176.462473, -160.140672]] - id: 1806 parameters: KukaKR6_R700_sixx - joints: [-37.000000, 55.000000, -47.000000, -97.000000, -140.000000, 22.000000] - pose: {translation: [0.4383688994896782, 0.2664260194460307, 0.1281514296652383], quaternion: [0.6870595250378529, 0.1158865390161353, -0.2792498684742901, 0.6607110034551518]} - solutions: [[-37.000000, -1.757003, 57.954737, 45.669249, 116.886235, 145.946035], [-37.000000, 55.000000, -47.000000, 83.000000, 140.000000, -158.000000], [143.000000, 138.599710, 36.530789, -93.264072, 140.280245, -153.134281], [143.000000, 172.066143, -25.576052, -122.125450, 131.119115, 167.429991], [-37.000000, -1.757003, 57.954737, -134.330751, -116.886235, -34.053965], [-37.000000, 55.000000, -47.000000, -97.000000, -140.000000, 22.000000], [143.000000, 138.599710, 36.530789, 86.735928, -140.280245, 26.865719], [143.000000, 172.066143, -25.576052, 57.874550, -131.119115, -12.570009]] + joints: [-37.000000, 55.000000, -47.000000, -97.000000, -139.000000, 22.000000] + pose: {translation: [0.439705856539644, 0.2661139886742403, 0.1278970979090719], quaternion: [0.6871329273265671, 0.1221408798479905, -0.27330133108282, 0.6619942054745951]} + solutions: [[-37.000000, -1.757003, 57.954737, 46.594791, 116.324813, 146.360546], [-37.000000, 55.000000, -47.000000, 83.000000, 139.000000, -158.000000], [143.000000, 138.599710, 36.530789, -93.394096, 139.283775, -153.233570], [143.000000, 172.066143, -25.576052, -121.381558, 130.293272, 167.915159], [-37.000000, -1.757003, 57.954737, -133.405209, -116.324813, -33.639454], [-37.000000, 55.000000, -47.000000, -97.000000, -139.000000, 22.000000], [143.000000, 138.599710, 36.530789, 86.605904, -139.283775, 26.766430], [143.000000, 172.066143, -25.576052, 58.618442, -130.293272, -12.084841]] - id: 1807 parameters: KukaKR6_R700_sixx - joints: [63.000000, -1.000000, -113.000000, -139.000000, 85.000000, 154.000000] - pose: {translation: [0.09277348794532395, -0.06691060923780706, 0.7066114813844743], quaternion: [0.6612606837170856, 0.4193136168368516, 0.4587465972582252, -0.4200737535352694]} - solutions: [[63.000000, -133.993522, 123.954737, -81.574150, 138.647189, -100.504498], [63.000000, -1.000000, -113.000000, -139.000000, 85.000000, 154.000000], [-117.000000, 176.693880, 119.541389, 41.150305, 83.314852, 152.523704], [-117.000000, -55.910015, -108.586652, 92.180647, 139.153393, -108.785710], [63.000000, -133.993522, 123.954737, 98.425850, -138.647189, 79.495502], [63.000000, -1.000000, -113.000000, 41.000000, -85.000000, -26.000000], [-117.000000, 176.693880, 119.541389, -138.849695, -83.314852, -27.476296], [-117.000000, -55.910015, -108.586652, -87.819353, -139.153393, 71.214290]] + joints: [63.000000, -1.000000, -113.000000, -139.000000, 84.000000, 154.000000] + pose: {translation: [0.09248051261370734, -0.06652900137253294, 0.7079222227359304], quaternion: [0.6560304151553826, 0.4177577791486888, 0.46231156592212, -0.4258762124919035]} + solutions: [[63.000000, -133.993522, 123.954737, -83.040292, 138.905084, -101.607272], [63.000000, -1.000000, -113.000000, -139.000000, 84.000000, 154.000000], [-117.000000, 176.693880, 119.541389, 41.176300, 82.315185, 152.520452], [-117.000000, -55.910015, -108.586652, 90.660131, 139.269009, -109.936957], [63.000000, -133.993522, 123.954737, 96.959708, -138.905084, 78.392728], [63.000000, -1.000000, -113.000000, 41.000000, -84.000000, -26.000000], [-117.000000, 176.693880, 119.541389, -138.823700, -82.315185, -27.479548], [-117.000000, -55.910015, -108.586652, -89.339869, -139.269009, 70.063043]] - id: 1808 parameters: KukaKR6_R700_sixx - joints: [-28.000000, 63.000000, -130.000000, 75.000000, -157.000000, -32.000000] - pose: {translation: [0.1996621287515572, 0.140358358375842, 0.4043676002290835], quaternion: [0.6338771878918392, 0.7085952625004777, -0.1549939229713645, -0.2684573494508204]} - solutions: [[-28.000000, -93.460576, 140.954737, -23.223343, 73.165131, -98.686534], [-28.000000, 63.000000, -130.000000, -105.000000, 157.000000, 148.000000], [152.000000, 121.123135, 131.808705, 62.590133, 154.840107, 134.420216], [152.000000, -95.501368, -120.853967, 157.672254, 83.440600, -103.084215], [-28.000000, -93.460576, 140.954737, 156.776657, -73.165131, 81.313466], [-28.000000, 63.000000, -130.000000, 75.000000, -157.000000, -32.000000], [152.000000, 121.123135, 131.808705, -117.409867, -154.840107, -45.579784], [152.000000, -95.501368, -120.853967, -22.327746, -83.440600, 76.915785]] + joints: [-28.000000, 62.000000, -130.000000, 75.000000, -157.000000, -32.000000] + pose: {translation: [0.1995656194620297, 0.1403070434763572, 0.4081573438347993], quaternion: [0.6339474591153171, 0.7112717534198441, -0.1472009351772011, -0.2655842550891361]} + solutions: [[-28.000000, -94.460576, 140.954737, -23.223343, 73.165131, -98.686534], [-28.000000, 62.000000, -130.000000, -105.000000, 157.000000, 148.000000], [152.000000, 121.940559, 131.846974, 62.863616, 154.906234, 134.722283], [152.000000, -94.631743, -120.892236, 157.664798, 83.284605, -103.019705], [-28.000000, -94.460576, 140.954737, 156.776657, -73.165131, 81.313466], [-28.000000, 62.000000, -130.000000, 75.000000, -157.000000, -32.000000], [152.000000, 121.940559, 131.846974, -117.136384, -154.906234, -45.277717], [152.000000, -94.631743, -120.892236, -22.335202, -83.284605, 76.980295]] - id: 1809 parameters: KukaKR6_R700_sixx joints: [-83.000000, -12.000000, 165.000000, -147.000000, 141.000000, 114.000000] @@ -9056,14 +9056,14 @@ cases: solutions: [[-47.000000, -7.000000, 35.000000, -59.000000, 92.000000, -9.000000], [-47.000000, 24.811153, -24.045263, -62.724004, 105.461013, -33.015977], [-47.000000, -7.000000, 35.000000, 121.000000, -92.000000, 171.000000], [-47.000000, 24.811153, -24.045263, 117.275996, -105.461013, 146.984023]] - id: 1811 parameters: KukaKR6_R700_sixx - joints: [57.000000, 92.000000, 155.000000, -55.000000, 140.000000, 175.000000] - pose: {translation: [-0.0244368801637518, 0.1149711109588195, 0.3626133861144175], quaternion: [0.8834824304965061, 0.001924493799153739, 0.4464759622726399, 0.141824914737586]} - solutions: [[-123.000000, -104.410669, 164.139444, 32.252024, 80.640904, 36.712062], [-123.000000, 98.089212, -153.184707, 111.058568, 145.651633, 157.573409], [57.000000, 92.000000, 155.000000, -55.000000, 140.000000, 175.000000], [57.000000, -87.377250, -144.045263, -148.199021, 87.686500, 41.137143], [-123.000000, -104.410669, 164.139444, -147.747976, -80.640904, -143.287938], [-123.000000, 98.089212, -153.184707, -68.941432, -145.651633, -22.426591], [57.000000, 92.000000, 155.000000, 125.000000, -140.000000, -5.000000], [57.000000, -87.377250, -144.045263, 31.800979, -87.686500, -138.862857]] + joints: [57.000000, 91.000000, 155.000000, -55.000000, 139.000000, 175.000000] + pose: {translation: [-0.02323881822883037, 0.1147231036467588, 0.3613437647488728], quaternion: [0.8764504755064912, 0.006149718627428123, 0.4582759471237559, 0.1475801518940589]} + solutions: [[-123.000000, -103.053570, 164.146439, 32.955505, 81.082459, 36.406632], [-123.000000, 99.466625, -153.191701, 111.088297, 144.831170, 157.400768], [57.000000, 91.000000, 155.000000, -55.000000, 139.000000, 175.000000], [57.000000, -88.377250, -144.045263, -147.477750, 88.379599, 41.112386], [-123.000000, -103.053570, 164.146439, -147.044495, -81.082459, -143.593368], [-123.000000, 99.466625, -153.191701, -68.911703, -144.831170, -22.599232], [57.000000, 91.000000, 155.000000, 125.000000, -139.000000, -5.000000], [57.000000, -88.377250, -144.045263, 32.522250, -88.379599, -138.887614]] - id: 1812 parameters: KukaKR6_R700_sixx - joints: [93.000000, 133.000000, -1.000000, 69.000000, 72.000000, 65.000000] - pose: {translation: [-0.04765167458415942, 0.4479644953724759, -0.1251707139604978], quaternion: [-0.4222680583587066, 0.5678755108463754, 0.6504996589644017, -0.2757848523000009]} - solutions: [[-87.000000, 34.900229, 40.694330, -116.629783, 83.339276, 90.809745], [-87.000000, 72.873626, -29.739593, -109.440909, 70.317114, 60.175427], [93.000000, 126.031094, 11.954737, 70.941146, 69.947894, 59.051265], [93.000000, 133.000000, -1.000000, 69.000000, 72.000000, 65.000000], [-87.000000, 34.900229, 40.694330, 63.370217, -83.339276, -89.190255], [-87.000000, 72.873626, -29.739593, 70.559091, -70.317114, -119.824573], [93.000000, 126.031094, 11.954737, -109.058854, -69.947894, -120.948735], [93.000000, 133.000000, -1.000000, -111.000000, -72.000000, -115.000000]] + joints: [93.000000, 132.000000, -1.000000, 69.000000, 72.000000, 65.000000] + pose: {translation: [-0.04813510464843299, 0.4387401002371146, -0.1332908576574675], quaternion: [-0.4195515408795211, 0.5733967625225135, 0.6457189502968025, -0.2797135937024077]} + solutions: [[-87.000000, 36.161054, 40.295409, -116.615298, 83.277393, 90.685442], [-87.000000, 73.702299, -29.340671, -109.517503, 70.393009, 60.403255], [93.000000, 125.031094, 11.954737, 70.941146, 69.947894, 59.051265], [93.000000, 132.000000, -1.000000, 69.000000, 72.000000, 65.000000], [-87.000000, 36.161054, 40.295409, 63.384702, -83.277393, -89.314558], [-87.000000, 73.702299, -29.340671, 70.482497, -70.393009, -119.596745], [93.000000, 125.031094, 11.954737, -109.058854, -69.947894, -120.948735], [93.000000, 132.000000, -1.000000, -111.000000, -72.000000, -115.000000]] - id: 1813 parameters: KukaKR6_R700_sixx joints: [-13.000000, -28.000000, -64.000000, 72.000000, -38.000000, 75.000000] @@ -9076,44 +9076,44 @@ cases: solutions: [[-123.000000, -102.887653, 126.954737, -143.422579, 128.296693, 151.494310], [-123.000000, 34.000000, -116.000000, -132.000000, 39.000000, 86.000000], [57.000000, 147.103439, 118.513085, 51.557716, 36.663090, 81.497328], [57.000000, -86.784980, -107.558347, 32.793843, 120.290412, 144.800661], [-123.000000, -102.887653, 126.954737, 36.577421, -128.296693, -28.505690], [-123.000000, 34.000000, -116.000000, 48.000000, -39.000000, -94.000000], [57.000000, 147.103439, 118.513085, -128.442284, -36.663090, -98.502672], [57.000000, -86.784980, -107.558347, -147.206157, -120.290412, -35.199339]] - id: 1815 parameters: KukaKR6_R700_sixx - joints: [-66.000000, 91.000000, 3.000000, 10.000000, -43.000000, -81.000000] - pose: {translation: [0.02326347869221002, 0.07554388718855282, -0.3436182355822739], quaternion: [0.04332793746227038, 0.941453288325332, 0.3287131393594709, 0.06112338136201192]} - solutions: [[-66.000000, 88.334806, 7.954737, -170.401765, 45.256162, 99.559619], [-66.000000, 91.000000, 3.000000, -170.000000, 43.000000, 99.000000], [-66.000000, 88.334806, 7.954737, 9.598235, -45.256162, -80.440381], [-66.000000, 91.000000, 3.000000, 10.000000, -43.000000, -81.000000]] + joints: [-66.000000, 90.000000, 3.000000, 10.000000, -42.000000, -81.000000] + pose: {translation: [0.02827021079606354, 0.08634970094402838, -0.3434606534694605], quaternion: [0.04273866731303694, 0.9415308672122323, 0.3283154575272843, 0.06246593272766603]} + solutions: [[-66.000000, 87.334806, 7.954737, -170.415760, 44.256211, 99.569557], [-66.000000, 90.000000, 3.000000, -170.000000, 42.000000, 99.000000], [-66.000000, 87.334806, 7.954737, 9.584240, -44.256211, -80.430443], [-66.000000, 90.000000, 3.000000, 10.000000, -42.000000, -81.000000]] - id: 1816 parameters: KukaKR6_R700_sixx - joints: [-106.000000, -68.000000, 84.000000, -111.000000, -41.000000, 163.000000] - pose: {translation: [-0.1062536663391578, 0.5483156972836776, 0.5903771267578253], quaternion: [-0.7709138094010477, 0.3502946587456023, -0.02223990403105829, 0.5314987650011583]} - solutions: [[-106.000000, -68.000000, 84.000000, 69.000000, 41.000000, -17.000000], [-106.000000, 17.613678, -73.045263, 37.776086, 88.999813, 45.265912], [74.000000, 167.606878, 70.835470, -142.217805, 91.379660, 47.110241], [74.000000, -121.467192, -59.880733, -124.335695, 47.879253, 1.564581], [-106.000000, -68.000000, 84.000000, -111.000000, -41.000000, 163.000000], [-106.000000, 17.613678, -73.045263, -142.223914, -88.999813, -134.734088], [74.000000, 167.606878, 70.835470, 37.782195, -91.379660, -132.889759], [74.000000, -121.467192, -59.880733, 55.664305, -47.879253, -178.435419]] + joints: [-106.000000, -67.000000, 84.000000, -111.000000, -40.000000, 163.000000] + pose: {translation: [-0.1083696590940361, 0.5520990299075692, 0.5811733188894275], quaternion: [-0.7768271560448516, 0.3444836291828818, -0.01967085999626118, 0.526767174492931]} + solutions: [[-106.000000, -67.000000, 84.000000, 69.000000, 40.000000, -17.000000], [-106.000000, 18.613678, -73.045263, 36.890689, 88.534582, 45.284961], [74.000000, 166.745447, 70.730213, -143.117220, 90.969512, 47.112002], [74.000000, -122.445109, -59.775476, -124.869071, 47.004816, 2.002545], [-106.000000, -67.000000, 84.000000, -111.000000, -40.000000, 163.000000], [-106.000000, 18.613678, -73.045263, -143.109311, -88.534582, -134.715039], [74.000000, 166.745447, 70.730213, 36.882780, -90.969512, -132.887998], [74.000000, -122.445109, -59.775476, 55.130929, -47.004816, -177.997455]] - id: 1817 parameters: KukaKR6_R700_sixx - joints: [82.000000, -121.000000, -29.000000, -2.000000, -122.000000, 58.000000] - pose: {translation: [-0.06748097525707983, 0.4631393456145776, 0.7422813360784037], quaternion: [0.1990561335635321, 0.9797185164015996, -0.02151389528086078, -0.008089290477551674]} - solutions: [[-98.000000, -71.363455, 57.122605, -1.766589, 106.249223, -121.434316], [-98.000000, -15.516604, -46.167868, -3.823282, 153.649424, -124.366877], [82.000000, -158.172252, 39.954737, 176.163473, 153.747218, -124.381652], [82.000000, -121.000000, -29.000000, 178.000000, 122.000000, -122.000000], [-98.000000, -71.363455, 57.122605, 178.233411, -106.249223, 58.565684], [-98.000000, -15.516604, -46.167868, 176.176718, -153.649424, 55.633123], [82.000000, -158.172252, 39.954737, -3.836527, -153.747218, 55.618348], [82.000000, -121.000000, -29.000000, -2.000000, -122.000000, 58.000000]] + joints: [82.000000, -120.000000, -29.000000, -2.000000, -121.000000, 58.000000] + pose: {translation: [-0.06685864899582879, 0.4585283232809005, 0.7508218505045844], quaternion: [0.1990877946982078, 0.9798674703290952, -0.005116495520619608, -0.01405745590964325]} + solutions: [[-98.000000, -72.293113, 56.886780, -1.778229, 105.414676, -121.442416], [-98.000000, -16.704099, -45.932042, -3.727322, 152.602020, -124.279839], [82.000000, -157.172252, 39.954737, 176.254220, 152.748053, -124.300615], [82.000000, -120.000000, -29.000000, 178.000000, 121.000000, -122.000000], [-98.000000, -72.293113, 56.886780, 178.221771, -105.414676, 58.557584], [-98.000000, -16.704099, -45.932042, 176.272678, -152.602020, 55.720161], [82.000000, -157.172252, 39.954737, -3.745780, -152.748053, 55.699385], [82.000000, -120.000000, -29.000000, -2.000000, -121.000000, 58.000000]] - id: 1818 parameters: KukaKR6_R700_sixx - joints: [-73.000000, 40.000000, -55.000000, -15.000000, 97.000000, 171.000000] - pose: {translation: [0.161687966349024, 0.5991488100489202, 0.2491902364286387], quaternion: [0.8255468556380119, 0.5452270408166533, -0.0318640833792228, -0.1420723171448578]} - solutions: [[-73.000000, -25.537654, 65.954737, -21.731412, 43.932997, -171.114055], [-73.000000, 40.000000, -55.000000, -15.000000, 97.000000, 171.000000], [107.000000, 151.306451, 46.299018, 164.901798, 99.516141, 170.316465], [107.000000, -164.640371, -35.344280, 163.283515, 63.266326, -179.435566], [-73.000000, -25.537654, 65.954737, 158.268588, -43.932997, 8.885945], [-73.000000, 40.000000, -55.000000, 165.000000, -97.000000, -9.000000], [107.000000, 151.306451, 46.299018, -15.098202, -99.516141, -9.683535], [107.000000, -164.640371, -35.344280, -16.716485, -63.266326, 0.564434]] + joints: [-73.000000, 39.000000, -55.000000, -15.000000, 97.000000, 171.000000] + pose: {translation: [0.1624309808165187, 0.6015791008654967, 0.259601608057456], quaternion: [0.8244110933188548, 0.5458346754452127, -0.0252065327596062, -0.1475651957633261]} + solutions: [[-73.000000, -26.537654, 65.954737, -21.731412, 43.932997, -171.114055], [-73.000000, 39.000000, -55.000000, -15.000000, 97.000000, 171.000000], [107.000000, 152.253546, 46.253241, 164.906084, 99.420865, 170.342521], [107.000000, -163.742999, -35.298504, 163.275267, 63.211878, -179.417248], [-73.000000, -26.537654, 65.954737, 158.268588, -43.932997, 8.885945], [-73.000000, 39.000000, -55.000000, 165.000000, -97.000000, -9.000000], [107.000000, 152.253546, 46.253241, -15.093916, -99.420865, -9.657479], [107.000000, -163.742999, -35.298504, -16.724733, -63.211878, 0.582752]] - id: 1819 parameters: KukaKR6_R700_sixx - joints: [115.000000, -68.000000, -172.000000, -36.000000, 70.000000, -71.000000] - pose: {translation: [0.07197115172897713, 0.04978729038452315, 0.3651768831773173], quaternion: [-0.5952921751561676, 0.3219774334246386, -0.3709143134172306, 0.6359090584866249]} - solutions: [[115.000000, -33.085300, -177.045263, -48.486093, 47.530360, -47.618481], [115.000000, -68.000000, -172.000000, -36.000000, 70.000000, -71.000000], [115.000000, -33.085300, -177.045263, 131.513907, -47.530360, 132.381519], [115.000000, -68.000000, -172.000000, 144.000000, -70.000000, 109.000000]] + joints: [115.000000, -68.000000, -172.000000, -36.000000, 69.000000, -71.000000] + pose: {translation: [0.07184223766334702, 0.05019090945844137, 0.3638464791766302], quaternion: [-0.6015702563866231, 0.3232189553106467, -0.3665522477628904, 0.6318877932187006]} + solutions: [[115.000000, -33.085300, -177.045263, -49.032145, 46.613761, -47.246563], [115.000000, -68.000000, -172.000000, -36.000000, 69.000000, -71.000000], [115.000000, -33.085300, -177.045263, 130.967855, -46.613761, 132.753437], [115.000000, -68.000000, -172.000000, 144.000000, -69.000000, 109.000000]] - id: 1820 parameters: KukaKR6_R700_sixx - joints: [-17.000000, 95.000000, -66.000000, 18.000000, 71.000000, -114.000000] - pose: {translation: [0.3144327757901447, 0.07168921997134359, -0.1356917915742826], quaternion: [0.6947589759638493, 0.6996259468734655, -0.137595742252728, 0.0943446421000755]} - solutions: [[-17.000000, 17.277967, 76.954737, 74.486823, 17.651601, 178.278625], [-17.000000, 95.000000, -66.000000, 18.000000, 71.000000, -114.000000], [163.000000, 94.072461, 67.950989, -162.817414, 81.511179, -110.575004], [163.000000, 161.810798, -56.996252, -142.993327, 29.040332, -141.345414], [-17.000000, 17.277967, 76.954737, -105.513177, -17.651601, -1.721375], [-17.000000, 95.000000, -66.000000, -162.000000, -71.000000, 66.000000], [163.000000, 94.072461, 67.950989, 17.182586, -81.511179, 69.424996], [163.000000, 161.810798, -56.996252, 37.006673, -29.040332, 38.654586]] + joints: [-17.000000, 95.000000, -66.000000, 18.000000, 70.000000, -114.000000] + pose: {translation: [0.3156970152692424, 0.07222634307163457, -0.1359421898826169], quaternion: [0.6944687805577238, 0.7010310995089213, -0.1295470454785544, 0.09739647508897981]} + solutions: [[-17.000000, 17.277967, 76.954737, 77.600546, 17.296472, 175.308510], [-17.000000, 95.000000, -66.000000, 18.000000, 70.000000, -114.000000], [163.000000, 94.072461, 67.950989, -162.877981, 80.512970, -110.565541], [163.000000, 161.810798, -56.996252, -142.019847, 28.155500, -142.200160], [-17.000000, 17.277967, 76.954737, -102.399454, -17.296472, -4.691490], [-17.000000, 95.000000, -66.000000, -162.000000, -70.000000, 66.000000], [163.000000, 94.072461, 67.950989, 17.122019, -80.512970, 69.434459], [163.000000, 161.810798, -56.996252, 37.980153, -28.155500, 37.799840]] - id: 1821 parameters: KukaKR6_R700_sixx - joints: [59.000000, 115.000000, -132.000000, 16.000000, -152.000000, -78.000000] - pose: {translation: [0.08746264197154163, -0.1254621898128604, 0.2685727560211128], quaternion: [-0.6331832422509019, -0.1112223792135999, 0.1786442035781318, 0.7448454958061013]} - solutions: [[59.000000, -44.525699, 142.954737, -7.438171, 91.629260, -92.420338], [59.000000, 115.000000, -132.000000, -164.000000, 152.000000, 102.000000], [-121.000000, 76.455348, 135.056640, 11.123666, 137.875850, 96.089444], [-121.000000, -135.671104, -124.101902, 172.078570, 110.121018, -94.948069], [59.000000, -44.525699, 142.954737, 172.561829, -91.629260, 87.579662], [59.000000, 115.000000, -132.000000, 16.000000, -152.000000, -78.000000], [-121.000000, 76.455348, 135.056640, -168.876334, -137.875850, -83.910556], [-121.000000, -135.671104, -124.101902, -7.921430, -110.121018, 85.051931]] + joints: [59.000000, 114.000000, -132.000000, 16.000000, -151.000000, -78.000000] + pose: {translation: [0.08906251249870695, -0.1274681334963099, 0.2721471607318682], quaternion: [-0.6335167285599141, -0.1103757748969927, 0.1764229624159365, 0.7452172040975822]} + solutions: [[59.000000, -45.525699, 142.954737, -7.687449, 92.597736, -92.429531], [59.000000, 114.000000, -132.000000, -164.000000, 151.000000, 102.000000], [-121.000000, 77.363677, 134.976090, 11.310435, 137.049953, 96.249718], [-121.000000, -134.876083, -124.021353, 171.773022, 110.954162, -95.038899], [59.000000, -45.525699, 142.954737, 172.312551, -92.597736, 87.570469], [59.000000, 114.000000, -132.000000, 16.000000, -151.000000, -78.000000], [-121.000000, 77.363677, 134.976090, -168.689565, -137.049953, -83.750282], [-121.000000, -134.876083, -124.021353, -8.226978, -110.954162, 84.961101]] - id: 1822 parameters: KukaKR6_R700_sixx - joints: [126.000000, -35.000000, -3.000000, 119.000000, -111.000000, -14.000000] - pose: {translation: [-0.2697351306475707, -0.4823913677743473, 0.7867898787150508], quaternion: [-0.5263091593029807, 0.7152940855822681, -0.4374352236227177, 0.1414336066815783]} - solutions: [[126.000000, -44.121163, 13.954737, -58.660438, 107.057717, 173.163000], [126.000000, -35.000000, -3.000000, -61.000000, 111.000000, 166.000000], [126.000000, -44.121163, 13.954737, 121.339562, -107.057717, -6.837000], [126.000000, -35.000000, -3.000000, 119.000000, -111.000000, -14.000000]] + joints: [126.000000, -35.000000, -3.000000, 119.000000, -110.000000, -14.000000] + pose: {translation: [-0.27008068635874, -0.4835945760657808, 0.7874082500081232], quaternion: [-0.522286628855994, 0.7155409259935608, -0.4433850815156085, 0.1364827096591949]} + solutions: [[126.000000, -44.121163, 13.954737, -58.790192, 106.065481, 173.126013], [126.000000, -35.000000, -3.000000, -61.000000, 110.000000, 166.000000], [126.000000, -44.121163, 13.954737, 121.209808, -106.065481, -6.873987], [126.000000, -35.000000, -3.000000, 119.000000, -110.000000, -14.000000]] - id: 1823 parameters: KukaKR6_R700_sixx joints: [124.000000, 38.000000, 121.000000, 109.000000, 112.000000, 170.000000] @@ -9121,59 +9121,59 @@ cases: solutions: [[-56.000000, 19.623803, 122.521235, -79.373344, 63.121481, -75.127302], [-56.000000, 150.783270, -111.566498, -65.266760, 105.157049, -172.167554], [124.000000, 38.000000, 121.000000, 109.000000, 112.000000, 170.000000], [124.000000, 167.230327, -110.045263, 109.175227, 68.150647, -95.645943], [-56.000000, 19.623803, 122.521235, 100.626656, -63.121481, 104.872698], [-56.000000, 150.783270, -111.566498, 114.733240, -105.157049, 7.832446], [124.000000, 38.000000, 121.000000, -71.000000, -112.000000, -10.000000], [124.000000, 167.230327, -110.045263, -70.824773, -68.150647, 84.354057]] - id: 1824 parameters: KukaKR6_R700_sixx - joints: [-107.000000, 180.000000, -66.000000, 67.000000, -61.000000, 33.000000] - pose: {translation: [0.05456164306026416, -0.3987557335276537, 0.00576858364602869], quaternion: [0.8822814308355608, 0.1119223529732175, -0.4570355427402207, 0.01309108016345918]} - solutions: [[73.000000, -2.341222, 87.330247, 78.391016, 55.275929, -168.372027], [73.000000, 87.032428, -76.375510, 53.620251, 90.310215, -97.782685], [-107.000000, 102.277967, 76.954737, -125.927682, 96.154136, -89.788155], [-107.000000, -180.000000, -66.000000, -113.000000, 61.000000, -147.000000], [73.000000, -2.341222, 87.330247, -101.608984, -55.275929, 11.627973], [73.000000, 87.032428, -76.375510, -126.379749, -90.310215, 82.217315], [-107.000000, 102.277967, 76.954737, 54.072318, -96.154136, 90.211845], [-107.000000, -180.000000, -66.000000, 67.000000, -61.000000, 33.000000]] + joints: [-107.000000, 179.000000, -66.000000, 67.000000, -60.000000, 33.000000] + pose: {translation: [0.05334759800456675, -0.3926201025217721, -0.002554907493725021], quaternion: [0.8844860010339841, 0.1179793598129883, -0.4513183421864473, 0.008782860530913358]} + solutions: [[73.000000, -1.183275, 87.176536, 78.842474, 54.344694, -168.635599], [73.000000, 88.016364, -76.221799, 52.863798, 89.573915, -97.892203], [-107.000000, 101.277967, 76.954737, -126.772397, 95.611956, -89.874739], [-107.000000, 179.000000, -66.000000, -113.000000, 60.000000, -147.000000], [73.000000, -1.183275, 87.176536, -101.157526, -54.344694, 11.364401], [73.000000, 88.016364, -76.221799, -127.136202, -89.573915, 82.107797], [-107.000000, 101.277967, 76.954737, 53.227603, -95.611956, 90.125261], [-107.000000, 179.000000, -66.000000, 67.000000, -60.000000, 33.000000]] - id: 1825 parameters: KukaKR6_R700_sixx - joints: [180.000000, -93.000000, 25.000000, 74.000000, -63.000000, -35.000000] - pose: {translation: [-0.1081826582956231, -0.06851923540267339, 1.107136365038027], quaternion: [0.1444821696043766, -0.4718663775551526, 0.8468617287106512, 0.1982226950795438]} - solutions: [[180.000000, -93.000000, 25.000000, -106.000000, 63.000000, 145.000000], [180.000000, -71.983056, -14.045263, -96.199212, 59.488613, 124.799018], [0.000000, -105.747744, 13.024484, 84.534578, 59.361744, 123.356490], [0.000000, -97.627697, -2.069746, 80.506901, 60.271220, 131.357463], [180.000000, -93.000000, 25.000000, 74.000000, -63.000000, -35.000000], [180.000000, -71.983056, -14.045263, 83.800788, -59.488613, -55.200982], [0.000000, -105.747744, 13.024484, -95.465422, -59.361744, -56.643510], [0.000000, -97.627697, -2.069746, -99.493099, -60.271220, -48.642537]] + joints: [180.000000, -92.000000, 25.000000, 74.000000, -63.000000, -35.000000] + pose: {translation: [-0.1205112204230874, -0.06851923540267339, 1.105576927183431], quaternion: [0.1370864992282683, -0.4735782077145695, 0.8480903115928861, 0.1940973886724793]} + solutions: [[180.000000, -92.000000, 25.000000, -106.000000, 63.000000, 145.000000], [180.000000, -70.983056, -14.045263, -96.199212, 59.488613, 124.799018], [0.000000, -105.301370, 10.364940, 83.821443, 59.484812, 124.758338], [0.000000, -100.043073, 0.589797, 81.211212, 60.073555, 129.941512], [180.000000, -92.000000, 25.000000, 74.000000, -63.000000, -35.000000], [180.000000, -70.983056, -14.045263, 83.800788, -59.488613, -55.200982], [0.000000, -105.301370, 10.364940, -96.178557, -59.484812, -55.241662], [0.000000, -100.043073, 0.589797, -98.788788, -60.073555, -50.058488]] - id: 1826 parameters: KukaKR6_R700_sixx - joints: [180.000000, 110.000000, 100.000000, 58.000000, 4.000000, -9.000000] - pose: {translation: [0.4839702703133945, 0.004732547580263354, 0.298649528386541], quaternion: [0.4295002329215958, 0.2239019724216617, 0.8021206162778618, 0.3492849461514304]} - solutions: [[-0.000000, -37.973185, 110.492908, -176.495027, 104.615666, 49.822626], [-0.000000, 78.329487, -99.538171, -162.619472, 11.422178, 31.880705], [180.000000, 110.000000, 100.000000, 58.000000, 4.000000, -9.000000], [180.000000, -146.097538, -89.045263, 3.395276, 87.269751, 48.775249], [-0.000000, -37.973185, 110.492908, 3.504973, -104.615666, -130.177374], [-0.000000, 78.329487, -99.538171, 17.380528, -11.422178, -148.119295], [180.000000, 110.000000, 100.000000, -122.000000, -4.000000, 171.000000], [180.000000, -146.097538, -89.045263, -176.604724, -87.269751, -131.224751]] + joints: [180.000000, 109.000000, 100.000000, 58.000000, 4.000000, -9.000000] + pose: {translation: [0.4821239420527644, 0.004732547580263353, 0.2897822085322661], quaternion: [0.4364836129007149, 0.226941494402264, 0.7983420249534786, 0.3473177579404563]} + solutions: [[-0.000000, -36.821285, 110.426739, -176.493656, 104.701236, 49.828044], [-0.000000, 79.401819, -99.472001, -162.821887, 11.554428, 32.087259], [180.000000, 109.000000, 100.000000, 58.000000, 4.000000, -9.000000], [180.000000, -147.097538, -89.045263, 3.395276, 87.269751, 48.775249], [-0.000000, -36.821285, 110.426739, 3.506344, -104.701236, -130.171956], [-0.000000, 79.401819, -99.472001, 17.178113, -11.554428, -147.912741], [180.000000, 109.000000, 100.000000, -122.000000, -4.000000, 171.000000], [180.000000, -147.097538, -89.045263, -176.604724, -87.269751, -131.224751]] - id: 1827 parameters: KukaKR6_R700_sixx - joints: [-18.000000, -28.000000, 0.000000, 109.000000, 101.000000, -117.000000] - pose: {translation: [0.5778788868028268, 0.1096913338209376, 0.7655517307007403], quaternion: [0.613212003472816, 0.1663479777308847, -0.2143788760056487, 0.7418497736228372]} - solutions: [[-18.000000, -33.892895, 10.954737, 107.996190, 102.606988, -121.903916], [-18.000000, -28.000000, 0.000000, 109.000000, 101.000000, -117.000000], [-18.000000, -33.892895, 10.954737, -72.003810, -102.606988, 58.096084], [-18.000000, -28.000000, 0.000000, -71.000000, -101.000000, 63.000000]] + joints: [-18.000000, -27.000000, 0.000000, 109.000000, 100.000000, -117.000000] + pose: {translation: [0.5850674382171054, 0.1117740718177554, 0.7564461048763564], quaternion: [0.6044868641611597, 0.1765638033082091, -0.2161491458309187, 0.7461235830440639]} + solutions: [[-18.000000, -32.892895, 10.954737, 108.083456, 101.610635, -121.885610], [-18.000000, -27.000000, 0.000000, 109.000000, 100.000000, -117.000000], [-18.000000, -32.892895, 10.954737, -71.916544, -101.610635, 58.114390], [-18.000000, -27.000000, 0.000000, -71.000000, -100.000000, 63.000000]] - id: 1828 parameters: KukaKR6_R700_sixx - joints: [-43.000000, 101.000000, -47.000000, -124.000000, 4.000000, 89.000000] - pose: {translation: [0.1849381547467764, 0.1787835037599885, -0.2466607490401608], quaternion: [-0.07480026652440312, 0.941522219460287, 0.227417319928008, 0.2371121949356794]} - solutions: [[-43.000000, 44.242997, 57.954737, -175.702841, 50.516184, 142.199741], [-43.000000, 101.000000, -47.000000, -124.000000, 4.000000, 89.000000], [137.000000, 87.078302, 51.129820, 161.498521, 10.500385, -16.852557], [137.000000, 136.385704, -40.175083, 6.233522, 32.181610, 139.653456], [-43.000000, 44.242997, 57.954737, 4.297159, -50.516184, -37.800259], [-43.000000, 101.000000, -47.000000, 56.000000, -4.000000, -91.000000], [137.000000, 87.078302, 51.129820, -18.501479, -10.500385, 163.147443], [137.000000, 136.385704, -40.175083, -173.766478, -32.181610, -40.346544]] + joints: [-43.000000, 100.000000, -47.000000, -124.000000, 4.000000, 89.000000] + pose: {translation: [0.1931661934570296, 0.1864562739866242, -0.2425100679423974], quaternion: [-0.07483766837561741, 0.938619605222704, 0.2325347248942517, 0.2435573070183507]} + solutions: [[-43.000000, 43.242997, 57.954737, -175.702841, 50.516184, 142.199741], [-43.000000, 100.000000, -47.000000, -124.000000, 4.000000, 89.000000], [137.000000, 88.240769, 50.776254, 161.165565, 10.319338, -16.514029], [137.000000, 137.163126, -39.821516, 6.256222, 32.051398, 139.626655], [-43.000000, 43.242997, 57.954737, 4.297159, -50.516184, -37.800259], [-43.000000, 100.000000, -47.000000, 56.000000, -4.000000, -91.000000], [137.000000, 88.240769, 50.776254, -18.834435, -10.319338, 163.485971], [137.000000, 137.163126, -39.821516, -173.743778, -32.051398, -40.373345]] - id: 1829 parameters: KukaKR6_R700_sixx - joints: [154.000000, 169.000000, 140.000000, 17.000000, -19.000000, 80.000000] - pose: {translation: [0.05139190886673647, 0.01659309691829108, 0.7200388598652231], quaternion: [-0.04612643392817057, -0.1802840214875402, 0.8091413404947154, 0.5573691010378719]} - solutions: [[-26.000000, -156.730214, 142.916806, 174.497612, 96.929040, 95.457383], [-26.000000, 2.736504, -131.962069, 16.810665, 19.215818, -99.799625], [154.000000, 169.000000, 140.000000, -163.000000, 19.000000, -100.000000], [154.000000, -35.972392, -129.045263, -5.489934, 95.765476, 95.570031], [-26.000000, -156.730214, 142.916806, -5.502388, -96.929040, -84.542617], [-26.000000, 2.736504, -131.962069, -163.189335, -19.215818, 80.200375], [154.000000, 169.000000, 140.000000, 17.000000, -19.000000, 80.000000], [154.000000, -35.972392, -129.045263, 174.510066, -95.765476, -84.429969]] + joints: [154.000000, 168.000000, 140.000000, 17.000000, -19.000000, 80.000000] + pose: {translation: [0.05640133542355792, 0.01903635750008017, 0.7186207189689926], quaternion: [-0.04191048621385824, -0.1728101723987156, 0.810161986573868, 0.5585854553884554]} + solutions: [[-26.000000, -155.805762, 143.073613, 174.496659, 97.009924, 95.449532], [-26.000000, 3.905006, -132.118875, 16.820375, 19.204622, -99.809908], [154.000000, 168.000000, 140.000000, -163.000000, 19.000000, -100.000000], [154.000000, -36.972392, -129.045263, -5.489934, 95.765476, 95.570031], [-26.000000, -155.805762, 143.073613, -5.503341, -97.009924, -84.550468], [-26.000000, 3.905006, -132.118875, -163.179625, -19.204622, 80.190092], [154.000000, 168.000000, 140.000000, 17.000000, -19.000000, 80.000000], [154.000000, -36.972392, -129.045263, 174.510066, -95.765476, -84.429969]] - id: 1830 parameters: KukaKR6_R700_sixx - joints: [104.000000, -166.000000, 150.000000, -148.000000, -68.000000, 81.000000] - pose: {translation: [-0.06395603510811949, -0.09403721228663381, 0.5582507002434067], quaternion: [0.893520569356654, -0.1670675358085823, -0.2886485758043168, 0.3006516760331606]} - solutions: [[104.000000, -166.000000, 150.000000, 32.000000, 68.000000, -99.000000], [104.000000, 5.186178, -139.045263, 94.219082, 150.483927, 9.020101], [-76.000000, 164.449059, 147.487962, -89.179312, 150.568478, 5.116874], [-76.000000, -28.701519, -136.533224, -147.727627, 66.954423, -99.711024], [104.000000, -166.000000, 150.000000, -148.000000, -68.000000, 81.000000], [104.000000, 5.186178, -139.045263, -85.780918, -150.483927, -170.979899], [-76.000000, 164.449059, 147.487962, 90.820688, -150.568478, -174.883126], [-76.000000, -28.701519, -136.533224, 32.272373, -66.954423, 80.288976]] + joints: [104.000000, -165.000000, 150.000000, -148.000000, -68.000000, 81.000000] + pose: {translation: [-0.06462117752803322, -0.0967049528225097, 0.5568004523309793], quaternion: [0.8966416383677751, -0.1652518122834916, -0.2881658522313719, 0.2927218005033807]} + solutions: [[104.000000, -165.000000, 150.000000, 32.000000, 68.000000, -99.000000], [104.000000, 6.186178, -139.045263, 94.219082, 150.483927, 9.020101], [-76.000000, 163.657370, 147.340416, -89.071624, 150.567550, 5.240520], [-76.000000, -29.741091, -136.385679, -147.752090, 67.045728, -99.648415], [104.000000, -165.000000, 150.000000, -148.000000, -68.000000, 81.000000], [104.000000, 6.186178, -139.045263, -85.780918, -150.483927, -170.979899], [-76.000000, 163.657370, 147.340416, 90.928376, -150.567550, -174.759480], [-76.000000, -29.741091, -136.385679, 32.247910, -67.045728, 80.351585]] - id: 1831 parameters: KukaKR6_R700_sixx - joints: [-65.000000, 117.000000, 110.000000, 103.000000, -136.000000, 82.000000] - pose: {translation: [-0.1945165874713799, -0.289016266632203, 0.3288455079003714], quaternion: [-0.4356256531102136, 0.7211035029967553, 0.5335975798282034, 0.07425396366250492]} - solutions: [[115.000000, -58.368777, 120.355333, 42.795786, 85.050829, 149.639336], [115.000000, 70.049062, -109.400595, 94.992978, 137.200686, -109.003589], [-65.000000, 117.000000, 110.000000, -77.000000, 136.000000, -98.000000], [-65.000000, -127.289573, -99.045263, -137.054057, 96.554877, 160.271166], [115.000000, -58.368777, 120.355333, -137.204214, -85.050829, -30.360664], [115.000000, 70.049062, -109.400595, -85.007022, -137.200686, 70.996411], [-65.000000, 117.000000, 110.000000, 103.000000, -136.000000, 82.000000], [-65.000000, -127.289573, -99.045263, 42.945943, -96.554877, -19.728834]] + joints: [-65.000000, 117.000000, 110.000000, 103.000000, -135.000000, 82.000000] + pose: {translation: [-0.1956088492845316, -0.2890625890161326, 0.3297140240870196], quaternion: [-0.4368987933048925, 0.7165550850591106, 0.5392796899941021, 0.06961085004885942]} + solutions: [[115.000000, -58.368777, 120.355333, 43.723534, 85.431894, 149.562370], [115.000000, 70.049062, -109.400595, 95.268827, 136.218736, -108.802794], [-65.000000, 117.000000, 110.000000, -77.000000, 135.000000, -98.000000], [-65.000000, -127.289573, -99.045263, -136.068089, 96.757186, 160.385451], [115.000000, -58.368777, 120.355333, -136.276466, -85.431894, -30.437630], [115.000000, 70.049062, -109.400595, -84.731173, -136.218736, 71.197206], [-65.000000, 117.000000, 110.000000, 103.000000, -135.000000, 82.000000], [-65.000000, -127.289573, -99.045263, 43.931911, -96.757186, -19.614549]] - id: 1832 parameters: KukaKR6_R700_sixx - joints: [-144.000000, 114.000000, 110.000000, -161.000000, 66.000000, 36.000000] - pose: {translation: [0.359297198118369, -0.2904553310627643, 0.3135022613061256], quaternion: [0.02866021598599644, 0.8176678209444156, -0.4556753733191792, 0.3506535052756126]} - solutions: [[36.000000, -54.922858, 120.285918, 156.066685, 47.151553, -119.231893], [36.000000, 73.407670, -109.331180, 20.439384, 58.395129, 32.921376], [-144.000000, 114.000000, 110.000000, -161.000000, 66.000000, 36.000000], [-144.000000, -130.289573, -99.045263, -33.097062, 33.002034, -107.364383], [36.000000, -54.922858, 120.285918, -23.933315, -47.151553, 60.768107], [36.000000, 73.407670, -109.331180, -159.560616, -58.395129, -147.078624], [-144.000000, 114.000000, 110.000000, 19.000000, -66.000000, -144.000000], [-144.000000, -130.289573, -99.045263, 146.902938, -33.002034, 72.635617]] + joints: [-144.000000, 114.000000, 110.000000, -161.000000, 65.000000, 36.000000] + pose: {translation: [0.35983972367297, -0.2906164897478759, 0.3147786608905074], quaternion: [0.0272407122003416, 0.8128237936876506, -0.4600544484605555, 0.3562658115307838]} + solutions: [[36.000000, -54.922858, 120.285918, 156.629875, 48.060956, -119.611621], [36.000000, 73.407670, -109.331180, 20.503133, 57.396588, 32.887494], [-144.000000, 114.000000, 110.000000, -161.000000, 65.000000, 36.000000], [-144.000000, -130.289573, -99.045263, -32.024636, 33.809150, -108.259669], [36.000000, -54.922858, 120.285918, -23.370125, -48.060956, 60.388379], [36.000000, 73.407670, -109.331180, -159.496867, -57.396588, -147.112506], [-144.000000, 114.000000, 110.000000, 19.000000, -65.000000, -144.000000], [-144.000000, -130.289573, -99.045263, 147.975364, -33.809150, 71.740331]] - id: 1833 parameters: KukaKR6_R700_sixx - joints: [111.000000, -143.000000, -78.000000, -87.000000, 61.000000, 27.000000] - pose: {translation: [0.248269419493137, 0.451786453124, 0.3010139427586953], quaternion: [0.787141737705059, -0.1488848172013647, 0.5805114485908949, -0.1457657505193776]} - solutions: [[-69.000000, -42.912586, 100.859208, 101.965328, 63.229665, 7.972325], [-69.000000, 61.990691, -89.904471, 63.478627, 77.459471, 99.656361], [111.000000, 125.784409, 88.954737, -117.701939, 80.573050, 105.844477], [111.000000, -143.000000, -78.000000, -87.000000, 61.000000, 27.000000], [-69.000000, -42.912586, 100.859208, -78.034672, -63.229665, -172.027675], [-69.000000, 61.990691, -89.904471, -116.521373, -77.459471, -80.343639], [111.000000, 125.784409, 88.954737, 62.298061, -80.573050, -74.155523], [111.000000, -143.000000, -78.000000, 93.000000, -61.000000, -153.000000]] + joints: [111.000000, -142.000000, -78.000000, -87.000000, 61.000000, 27.000000] + pose: {translation: [0.2488592743101356, 0.45332307745752, 0.3103791593925799], quaternion: [0.7841087838272456, -0.1531526752591329, 0.5817380281180997, -0.1526385921947449]} + solutions: [[-69.000000, -44.038089, 100.890472, 101.918795, 63.210165, 8.075602], [-69.000000, 60.901648, -89.935735, 63.454738, 77.513214, 99.766616], [111.000000, 126.784409, 88.954737, -117.701939, 80.573050, 105.844477], [111.000000, -142.000000, -78.000000, -87.000000, 61.000000, 27.000000], [-69.000000, -44.038089, 100.890472, -78.081205, -63.210165, -171.924398], [-69.000000, 60.901648, -89.935735, -116.545262, -77.513214, -80.233384], [111.000000, 126.784409, 88.954737, 62.298061, -80.573050, -74.155523], [111.000000, -142.000000, -78.000000, 93.000000, -61.000000, -153.000000]] - id: 1834 parameters: KukaKR6_R700_sixx - joints: [103.000000, 143.000000, 168.000000, -31.000000, 77.000000, -8.000000] - pose: {translation: [0.02816077730425341, -0.05649227217038998, 0.4786060043458429], quaternion: [0.6339475561696776, 0.5359046412462323, -0.194208245563589, 0.5226852483783653]} - solutions: [[-77.000000, 154.285021, 169.153819, 107.646041, 148.222880, -85.182149], [-77.000000, 13.678594, -158.199081, 146.543973, 65.544878, -0.398654], [103.000000, 143.000000, 168.000000, -31.000000, 77.000000, -8.000000], [103.000000, -1.976020, -157.045263, -98.454173, 149.512480, -115.483815], [-77.000000, 154.285021, 169.153819, -72.353959, -148.222880, 94.817851], [-77.000000, 13.678594, -158.199081, -33.456027, -65.544878, 179.601346], [103.000000, 143.000000, 168.000000, 149.000000, -77.000000, 172.000000], [103.000000, -1.976020, -157.045263, 81.545827, -149.512480, 64.516185]] + joints: [103.000000, 142.000000, 168.000000, -31.000000, 77.000000, -8.000000] + pose: {translation: [0.02847019186033537, -0.05515205048556865, 0.4790078215382535], quaternion: [0.6290978508723091, 0.5352589610183712, -0.2000020474045393, 0.5270037188781196]} + solutions: [[-77.000000, 154.907865, 169.321799, 107.967132, 148.158913, -84.804310], [-77.000000, 14.967199, -158.367062, 146.574134, 65.645535, -0.471650], [103.000000, 142.000000, 168.000000, -31.000000, 77.000000, -8.000000], [103.000000, -2.976020, -157.045263, -98.454173, 149.512480, -115.483815], [-77.000000, 154.907865, 169.321799, -72.032868, -148.158913, 95.195690], [-77.000000, 14.967199, -158.367062, -33.425866, -65.645535, 179.528350], [103.000000, 142.000000, 168.000000, 149.000000, -77.000000, 172.000000], [103.000000, -2.976020, -157.045263, 81.545827, -149.512480, 64.516185]] - id: 1835 parameters: KukaKR6_R700_sixx joints: [-143.000000, -37.000000, 107.000000, -49.000000, -14.000000, -82.000000] @@ -9181,24 +9181,24 @@ cases: solutions: [[-143.000000, -37.000000, 107.000000, 131.000000, 14.000000, 98.000000], [-143.000000, 75.128399, -96.045263, 10.630889, 81.768768, -131.682225], [37.000000, 113.160500, 96.150701, -169.479881, 90.021019, -130.138974], [37.000000, -147.394054, -85.195964, -127.257484, 13.261458, 177.863425], [-143.000000, -37.000000, 107.000000, -49.000000, -14.000000, -82.000000], [-143.000000, 75.128399, -96.045263, -169.369111, -81.768768, 48.317775], [37.000000, 113.160500, 96.150701, 10.520119, -90.021019, 49.861026], [37.000000, -147.394054, -85.195964, 52.742516, -13.261458, -2.136575]] - id: 1836 parameters: KukaKR6_R700_sixx - joints: [-59.000000, 108.000000, 101.000000, 174.000000, 141.000000, 47.000000] - pose: {translation: [-0.1904014846858027, -0.3270990754956909, 0.1728275295638992], quaternion: [0.5630815521493332, 0.8031335347554964, 0.1936943796404367, 0.01995440492587665]} - solutions: [[121.000000, -36.874648, 111.325861, -6.152555, 37.862890, 56.533994], [121.000000, 80.431363, -100.371123, -5.076898, 131.981590, 48.268818], [-59.000000, 108.000000, 101.000000, 174.000000, 141.000000, 47.000000], [-59.000000, -146.932507, -90.045263, 175.408615, 55.262355, 54.289677], [121.000000, -36.874648, 111.325861, 173.847445, -37.862890, -123.466006], [121.000000, 80.431363, -100.371123, 174.923102, -131.981590, -131.731182], [-59.000000, 108.000000, 101.000000, -6.000000, -141.000000, -133.000000], [-59.000000, -146.932507, -90.045263, -4.591385, -55.262355, -125.710323]] + joints: [-59.000000, 108.000000, 101.000000, 174.000000, 140.000000, 47.000000] + pose: {translation: [-0.1909725612984772, -0.3282681634552019, 0.172320965803278], quaternion: [0.564340233201879, 0.8042203887699515, 0.1852100880969199, 0.02113979052611667]} + solutions: [[121.000000, -36.874648, 111.325861, -6.428551, 36.877019, 56.753346], [121.000000, 80.431363, -100.371123, -5.106228, 130.981831, 48.249389], [-59.000000, 108.000000, 101.000000, 174.000000, 140.000000, 47.000000], [-59.000000, -146.932507, -90.045263, 175.252318, 54.270537, 54.379850], [121.000000, -36.874648, 111.325861, 173.571449, -36.877019, -123.246654], [121.000000, 80.431363, -100.371123, 174.893772, -130.981831, -131.750611], [-59.000000, 108.000000, 101.000000, -6.000000, -140.000000, -133.000000], [-59.000000, -146.932507, -90.045263, -4.747682, -54.270537, -125.620150]] - id: 1837 parameters: KukaKR6_R700_sixx - joints: [52.000000, -173.000000, -130.000000, -56.000000, 147.000000, 153.000000] - pose: {translation: [-0.04324830206964466, 0.1140273150103865, 0.1943359714578499], quaternion: [-0.3710647904158176, 0.3058822082355016, 0.6213370574561283, 0.6186172136550993]} - solutions: [[-128.000000, 2.223216, 143.100957, 85.336258, 153.061993, 108.963317], [-128.000000, 161.976603, -132.146220, 151.177153, 69.484290, -144.892739], [52.000000, 30.539424, 140.954737, -35.333510, 51.327914, -131.916102], [52.000000, -173.000000, -130.000000, -56.000000, 147.000000, 153.000000], [-128.000000, 2.223216, 143.100957, -94.663742, -153.061993, -71.036683], [-128.000000, 161.976603, -132.146220, -28.822847, -69.484290, 35.107261], [52.000000, 30.539424, 140.954737, 144.666490, -51.327914, 48.083898], [52.000000, -173.000000, -130.000000, 124.000000, -147.000000, -27.000000]] + joints: [52.000000, -172.000000, -130.000000, -56.000000, 146.000000, 153.000000] + pose: {translation: [-0.04477272739643327, 0.1175463265767657, 0.1958379242023496], quaternion: [-0.3658531417035538, 0.3122044436747335, 0.6213525334930297, 0.6185474057638453]} + solutions: [[-128.000000, 1.069566, 143.260429, 86.822395, 152.334697, 110.281283], [-128.000000, 161.071862, -132.305692, 150.218328, 68.963315, -144.523232], [52.000000, 31.539424, 140.954737, -36.575594, 51.077067, -131.137830], [52.000000, -172.000000, -130.000000, -56.000000, 146.000000, 153.000000], [-128.000000, 1.069566, 143.260429, -93.177605, -152.334697, -69.718717], [-128.000000, 161.071862, -132.305692, -29.781672, -68.963315, 35.476768], [52.000000, 31.539424, 140.954737, 143.424406, -51.077067, 48.862170], [52.000000, -172.000000, -130.000000, 124.000000, -146.000000, -27.000000]] - id: 1838 parameters: KukaKR6_R700_sixx - joints: [168.000000, -93.000000, -142.000000, 178.000000, -66.000000, -41.000000] - pose: {translation: [0.2457172822046701, 0.04962125699125417, 0.4107418156862779], quaternion: [0.175518998951223, 0.6115130276861958, 0.340070831936616, 0.6925292248296534]} - solutions: [[-12.000000, -96.646343, 162.070999, 178.120394, 76.418721, 138.627778], [-12.000000, 100.147036, -151.116262, 2.842037, 40.016924, -43.991074], [168.000000, 90.386678, 152.954737, -177.693038, 52.376856, -43.222547], [168.000000, -93.000000, -142.000000, -2.000000, 66.000000, 139.000000], [-12.000000, -96.646343, 162.070999, -1.879606, -76.418721, -41.372222], [-12.000000, 100.147036, -151.116262, -177.157963, -40.016924, 136.008926], [168.000000, 90.386678, 152.954737, 2.306962, -52.376856, 136.777453], [168.000000, -93.000000, -142.000000, 178.000000, -66.000000, -41.000000]] + joints: [168.000000, -92.000000, -142.000000, 178.000000, -65.000000, -41.000000] + pose: {translation: [0.2457612021995421, 0.04965125120203405, 0.4141831821489004], quaternion: [0.1755953236318376, 0.6114932887816684, 0.3403341387731271, 0.6923979448836942]} + solutions: [[-12.000000, -97.989852, 162.074025, 178.124174, 75.078441, 138.637661], [-12.000000, 98.811470, -151.119288, 2.743941, 41.353790, -43.905930], [168.000000, 91.386678, 152.954737, -177.741356, 53.376113, -43.193384], [168.000000, -92.000000, -142.000000, -2.000000, 65.000000, 139.000000], [-12.000000, -97.989852, 162.074025, -1.875826, -75.078441, -41.362339], [-12.000000, 98.811470, -151.119288, -177.256059, -41.353790, 136.094070], [168.000000, 91.386678, 152.954737, 2.258644, -53.376113, 136.806616], [168.000000, -92.000000, -142.000000, 178.000000, -65.000000, -41.000000]] - id: 1839 parameters: KukaKR6_R700_sixx - joints: [-94.000000, -58.000000, -142.000000, -104.000000, -78.000000, 64.000000] - pose: {translation: [0.08698698113972157, -0.155508008226959, 0.521508914597438], quaternion: [0.5614331675642343, -0.3304021166308835, 0.720558553782787, -0.2375344401451736]} - solutions: [[86.000000, -139.699938, 160.084828, -104.079049, 78.093371, -115.618332], [86.000000, 52.101115, -149.130090, -72.858054, 83.321061, 124.484534], [-94.000000, 125.386678, 152.954737, 107.284450, 83.709465, 123.222806], [-94.000000, -58.000000, -142.000000, 76.000000, 78.000000, -116.000000], [86.000000, -139.699938, 160.084828, 75.920951, -78.093371, 64.381668], [86.000000, 52.101115, -149.130090, 107.141946, -83.321061, -55.515466], [-94.000000, 125.386678, 152.954737, -72.715550, -83.709465, -56.777194], [-94.000000, -58.000000, -142.000000, -104.000000, -78.000000, 64.000000]] + joints: [-94.000000, -58.000000, -142.000000, -104.000000, -77.000000, 64.000000] + pose: {translation: [0.08678207894652672, -0.1567813394666567, 0.5209739897023117], quaternion: [0.5605183886815969, -0.336949813562351, 0.720087395883023, -0.2318579336155868]} + solutions: [[86.000000, -139.699938, 160.084828, -104.085883, 77.093393, -115.616864], [86.000000, 52.101115, -149.130090, -71.982746, 83.814474, 124.386472], [-94.000000, 125.386678, 152.954737, 108.147990, 84.221856, 123.132025], [-94.000000, -58.000000, -142.000000, 76.000000, 77.000000, -116.000000], [86.000000, -139.699938, 160.084828, 75.914117, -77.093393, 64.383136], [86.000000, 52.101115, -149.130090, 108.017254, -83.814474, -55.613528], [-94.000000, 125.386678, 152.954737, -71.852010, -84.221856, -56.867975], [-94.000000, -58.000000, -142.000000, -104.000000, -77.000000, 64.000000]] - id: 1840 parameters: KukaKR6_R700_sixx joints: [-94.000000, 6.000000, 146.000000, -80.000000, 9.000000, -59.000000] @@ -9206,9 +9206,9 @@ cases: solutions: [[-94.000000, 6.000000, 146.000000, -80.000000, 9.000000, -59.000000], [-94.000000, 170.381022, -135.045263, -10.036542, 117.872916, -143.607929], [86.000000, 22.542393, 144.751258, 166.122320, 140.035745, -149.600439], [86.000000, -175.097473, -133.796520, 159.524646, 26.130136, -120.345107], [-94.000000, 6.000000, 146.000000, 100.000000, -9.000000, 121.000000], [-94.000000, 170.381022, -135.045263, 169.963458, -117.872916, 36.392071], [86.000000, 22.542393, 144.751258, -13.877680, -140.035745, 30.399561], [86.000000, -175.097473, -133.796520, -20.475354, -26.130136, 59.654893]] - id: 1841 parameters: KukaKR6_R700_sixx - joints: [174.000000, 71.000000, -58.000000, -150.000000, -114.000000, 115.000000] - pose: {translation: [-0.4465108950451955, -0.01018708530482704, -0.0001929756648511721], quaternion: [0.7850393845069162, -0.4726557160523873, 0.09991546717009805, -0.3877197935058105]} - solutions: [[174.000000, 2.153504, 68.954737, 30.896479, 62.816514, -93.504998], [174.000000, 71.000000, -58.000000, 30.000000, 114.000000, -65.000000], [-6.000000, 119.821212, 54.243638, -148.144957, 120.063177, -60.925407], [-6.000000, 172.523267, -43.288901, -152.421470, 80.619273, -83.081351], [174.000000, 2.153504, 68.954737, -149.103521, -62.816514, 86.495002], [174.000000, 71.000000, -58.000000, -150.000000, -114.000000, 115.000000], [-6.000000, 119.821212, 54.243638, 31.855043, -120.063177, 119.074593], [-6.000000, 172.523267, -43.288901, 27.578530, -80.619273, 96.918649]] + joints: [174.000000, 71.000000, -58.000000, -150.000000, -113.000000, 115.000000] + pose: {translation: [-0.447672913698838, -0.01002930918248046, -0.0009508155833010956], quaternion: [0.7884444277552465, -0.4719980349281202, 0.09327824314342104, -0.3832393621769195]} + solutions: [[174.000000, 2.153504, 68.954737, 31.437270, 61.938778, -93.755740], [174.000000, 71.000000, -58.000000, 30.000000, 113.000000, -65.000000], [-6.000000, 119.821212, 54.243638, -148.226246, 119.065680, -60.965517], [-6.000000, 172.523267, -43.288901, -152.106003, 79.668800, -83.135352], [174.000000, 2.153504, 68.954737, -148.562730, -61.938778, 86.244260], [174.000000, 71.000000, -58.000000, -150.000000, -113.000000, 115.000000], [-6.000000, 119.821212, 54.243638, 31.773754, -119.065680, 119.034483], [-6.000000, 172.523267, -43.288901, 27.893997, -79.668800, 96.864648]] - id: 1842 parameters: KukaKR6_R700_sixx joints: [49.000000, -27.000000, -88.000000, 31.000000, -35.000000, -168.000000] @@ -9216,24 +9216,24 @@ cases: solutions: [[49.000000, -129.687957, 98.954737, -161.127149, 114.039170, 46.133992], [49.000000, -27.000000, -88.000000, -149.000000, 35.000000, 12.000000], [-131.000000, -157.122431, 95.983941, 34.158322, 31.744513, 8.220037], [-131.000000, -57.869142, -85.029203, 18.096222, 107.998524, 43.971950], [49.000000, -129.687957, 98.954737, 18.872851, -114.039170, -133.866008], [49.000000, -27.000000, -88.000000, 31.000000, -35.000000, -168.000000], [-131.000000, -157.122431, 95.983941, -145.841678, -31.744513, -171.779963], [-131.000000, -57.869142, -85.029203, -161.903778, -107.998524, -136.028050]] - id: 1843 parameters: KukaKR6_R700_sixx - joints: [83.000000, 59.000000, -33.000000, -109.000000, -153.000000, 84.000000] - pose: {translation: [0.02214472875423207, -0.4621357577095454, 0.02206425799190593], quaternion: [-0.5822540983283057, 0.1791855136124488, 0.6117505501774295, 0.5046127040106574]} - solutions: [[83.000000, 17.491766, 43.954737, 33.968969, 129.802759, -141.541501], [83.000000, 59.000000, -33.000000, 71.000000, 153.000000, -96.000000], [83.000000, 17.491766, 43.954737, -146.031031, -129.802759, 38.458499], [83.000000, 59.000000, -33.000000, -109.000000, -153.000000, 84.000000]] + joints: [83.000000, 59.000000, -33.000000, -109.000000, -152.000000, 84.000000] + pose: {translation: [0.0210315246011587, -0.4626781756339902, 0.02141922984754844], quaternion: [-0.5871693469261848, 0.1743297657922397, 0.6127512438911482, 0.49937681554008]} + solutions: [[83.000000, 17.491766, 43.954737, 34.888682, 129.098718, -140.957084], [83.000000, 59.000000, -33.000000, 71.000000, 152.000000, -96.000000], [83.000000, 17.491766, 43.954737, -145.111318, -129.098718, 39.042916], [83.000000, 59.000000, -33.000000, -109.000000, -152.000000, 84.000000]] - id: 1844 parameters: KukaKR6_R700_sixx - joints: [7.000000, -104.000000, -137.000000, -101.000000, 124.000000, -58.000000] - pose: {translation: [-0.1556301372296013, 0.08470236662019208, 0.4024298362383046], quaternion: [-0.5194450144330964, 0.1548605832884273, -0.2472094114483652, 0.803170332878102]} - solutions: [[-173.000000, -82.301461, 156.954933, 70.654617, 120.401122, -73.583990], [-173.000000, 102.389233, -146.000195, 125.524755, 90.688325, 50.203895], [7.000000, 88.361628, 147.954737, -55.019131, 83.334782, 60.586349], [7.000000, -104.000000, -137.000000, -101.000000, 124.000000, -58.000000], [-173.000000, -82.301461, 156.954933, -109.345383, -120.401122, 106.416010], [-173.000000, 102.389233, -146.000195, -54.475245, -90.688325, -129.796105], [7.000000, 88.361628, 147.954737, 124.980869, -83.334782, -119.413651], [7.000000, -104.000000, -137.000000, 79.000000, -124.000000, 122.000000]] + joints: [7.000000, -103.000000, -137.000000, -101.000000, 124.000000, -58.000000] + pose: {translation: [-0.1555593559452196, 0.08469367577126913, 0.4057418057738152], quaternion: [-0.5207122678513633, 0.1620742443617316, -0.2425361372862303, 0.8023508556323341]} + solutions: [[-173.000000, -83.610946, 156.980888, 70.811948, 120.494677, -73.273523], [-173.000000, 101.135501, -146.026150, 125.527167, 90.525807, 50.431532], [7.000000, 89.361628, 147.954737, -55.019131, 83.334782, 60.586349], [7.000000, -103.000000, -137.000000, -101.000000, 124.000000, -58.000000], [-173.000000, -83.610946, 156.980888, -109.188052, -120.494677, 106.726477], [-173.000000, 101.135501, -146.026150, -54.472833, -90.525807, -129.568468], [7.000000, 89.361628, 147.954737, 124.980869, -83.334782, -119.413651], [7.000000, -103.000000, -137.000000, 79.000000, -124.000000, 122.000000]] - id: 1845 parameters: KukaKR6_R700_sixx - joints: [3.000000, -7.000000, 129.000000, -93.000000, -169.000000, 139.000000] - pose: {translation: [0.2137580980225676, -0.026467306851253, 0.1773248281129935], quaternion: [0.2834313989841692, 0.02805668876918561, 0.8377684646398549, 0.4658577722225595]} - solutions: [[3.000000, -7.000000, 129.000000, 87.000000, 169.000000, -41.000000], [3.000000, 132.590698, -118.045263, 168.533996, 73.446404, 55.363489], [-177.000000, 57.970719, 123.965766, -13.082110, 57.334646, 59.204854], [-177.000000, -169.021585, -113.011028, -30.319734, 157.824020, 23.618039], [3.000000, -7.000000, 129.000000, -93.000000, -169.000000, 139.000000], [3.000000, 132.590698, -118.045263, -11.466004, -73.446404, -124.636511], [-177.000000, 57.970719, 123.965766, 166.917890, -57.334646, -120.795146], [-177.000000, -169.021585, -113.011028, 149.680266, -157.824020, -156.381961]] + joints: [3.000000, -7.000000, 129.000000, -93.000000, -168.000000, 139.000000] + pose: {translation: [0.2134786367607217, -0.02782087654242117, 0.1771267056951037], quaternion: [0.2862710570756222, 0.0201911541877049, 0.8360305137837937, 0.4676474945894401]} + solutions: [[3.000000, -7.000000, 129.000000, 87.000000, 168.000000, -41.000000], [3.000000, 132.590698, -118.045263, 167.497789, 73.559794, 55.657742], [-177.000000, 57.970719, 123.965766, -14.248840, 57.517213, 59.833026], [-177.000000, -169.021585, -113.011028, -32.669109, 157.378232, 21.445856], [3.000000, -7.000000, 129.000000, -93.000000, -168.000000, 139.000000], [3.000000, 132.590698, -118.045263, -12.502211, -73.559794, -124.342258], [-177.000000, 57.970719, 123.965766, 165.751160, -57.517213, -120.166974], [-177.000000, -169.021585, -113.011028, 147.330891, -157.378232, -158.554144]] - id: 1846 parameters: KukaKR6_R700_sixx - joints: [-168.000000, -2.000000, -8.000000, 26.000000, 169.000000, 145.000000] - pose: {translation: [-0.6033294689251681, 0.1350827447258052, 0.4816951720034169], quaternion: [0.4647901694774773, 0.6735319285252166, 0.2672544569948407, 0.5088220659823959]} - solutions: [[-168.000000, -16.503729, 18.954737, 12.442214, 157.155845, 130.909550], [-168.000000, -2.000000, -8.000000, 26.000000, 169.000000, 145.000000], [-168.000000, -16.503729, 18.954737, -167.557786, -157.155845, -49.090450], [-168.000000, -2.000000, -8.000000, -154.000000, -169.000000, -35.000000]] + joints: [-168.000000, -2.000000, -8.000000, 26.000000, 168.000000, 145.000000] + pose: {translation: [-0.6036817897820458, 0.1357708186746232, 0.4805324483677411], quaternion: [0.4654088657472558, 0.6784812236109602, 0.2671955149128727, 0.5016616127447584]} + solutions: [[-168.000000, -16.503729, 18.954737, 13.045117, 156.184755, 131.463181], [-168.000000, -2.000000, -8.000000, 26.000000, 168.000000, 145.000000], [-168.000000, -16.503729, 18.954737, -166.954883, -156.184755, -48.536819], [-168.000000, -2.000000, -8.000000, -154.000000, -168.000000, -35.000000]] - id: 1847 parameters: KukaKR6_R700_sixx joints: [-157.000000, -5.000000, 168.000000, 180.000000, 15.000000, 167.000000] @@ -9241,24 +9241,24 @@ cases: solutions: [[23.000000, -5.018911, 168.001395, 180.000000, 130.982484, -13.000000], [23.000000, -149.989849, -157.046658, 180.000000, 20.963493, -13.000000], [-157.000000, -5.000000, 168.000000, -180.000000, 15.000000, 167.000000], [-157.000000, -149.976020, -157.045263, -0.000000, 95.021282, -13.000000], [23.000000, -5.018911, 168.001395, -0.000000, -130.982484, 167.000000], [23.000000, -149.989849, -157.046658, -0.000000, -20.963493, 167.000000], [-157.000000, -5.000000, 168.000000, 0.000000, -15.000000, -13.000000], [-157.000000, -149.976020, -157.045263, 180.000000, -95.021282, 167.000000]] - id: 1848 parameters: KukaKR6_R700_sixx - joints: [98.000000, 33.000000, -122.000000, 107.000000, 114.000000, 70.000000] - pose: {translation: [-0.1024201701326909, -0.226575355333696, 0.561832887138753], quaternion: [0.7717779089530132, 0.3246004974314545, -0.3642242730548024, -0.4078407228772863]} - solutions: [[98.000000, -111.946684, 132.954737, 61.538827, 96.419570, -45.276679], [98.000000, 33.000000, -122.000000, 107.000000, 114.000000, 70.000000], [-82.000000, 146.896452, 125.190336, -71.718641, 113.064295, 73.208493], [-82.000000, -78.515719, -114.235598, -117.387787, 100.291662, -37.904335], [98.000000, -111.946684, 132.954737, -118.461173, -96.419570, 134.723321], [98.000000, 33.000000, -122.000000, -73.000000, -114.000000, -110.000000], [-82.000000, 146.896452, 125.190336, 108.281359, -113.064295, -106.791507], [-82.000000, -78.515719, -114.235598, 62.612213, -100.291662, 142.095665]] + joints: [98.000000, 32.000000, -122.000000, 107.000000, 114.000000, 70.000000] + pose: {translation: [-0.1020225651974667, -0.2237462492161308, 0.5655365003204764], quaternion: [0.7748305722443937, 0.3209453315649342, -0.367952798741395, -0.401550017258715]} + solutions: [[98.000000, -112.946684, 132.954737, 61.538827, 96.419570, -45.276679], [98.000000, 32.000000, -122.000000, 107.000000, 114.000000, 70.000000], [-82.000000, 147.713846, 125.288094, -71.752972, 113.090887, 73.120911], [-82.000000, -77.571631, -114.333357, -117.412473, 100.220942, -38.042982], [98.000000, -112.946684, 132.954737, -118.461173, -96.419570, 134.723321], [98.000000, 32.000000, -122.000000, -73.000000, -114.000000, -110.000000], [-82.000000, 147.713846, 125.288094, 108.247028, -113.090887, -106.879089], [-82.000000, -77.571631, -114.333357, 62.587527, -100.220942, 141.957018]] - id: 1849 parameters: KukaKR6_R700_sixx - joints: [-16.000000, 17.000000, 132.000000, 172.000000, 74.000000, 158.000000] - pose: {translation: [0.05266295494673652, 0.003967011254595458, 0.01328059343849582], quaternion: [0.07953902681394372, 0.9862185787810204, -0.0180939970940709, 0.1439411871209728]} - solutions: [[-16.000000, 17.000000, 132.000000, 172.000000, 74.000000, 158.000000], [-16.000000, 160.636616, -121.045263, 13.069213, 36.272043, -34.819044], [164.000000, 29.144599, 131.036939, -170.678683, 55.686084, -29.504909], [164.000000, 171.471118, -120.082202, -9.537580, 53.842708, 161.442841], [-16.000000, 17.000000, 132.000000, -8.000000, -74.000000, -22.000000], [-16.000000, 160.636616, -121.045263, -166.930787, -36.272043, 145.180956], [164.000000, 29.144599, 131.036939, 9.321317, -55.686084, 150.495091], [164.000000, 171.471118, -120.082202, 170.462420, -53.842708, -18.557159]] + joints: [-16.000000, 17.000000, 132.000000, 172.000000, 73.000000, 158.000000] + pose: {translation: [0.05135024662566731, 0.003648012135767031, 0.01292769341841295], quaternion: [0.08015294489599242, 0.9872865199471645, -0.02067371571090425, 0.1356960958680165]} + solutions: [[-16.000000, 17.000000, 132.000000, 172.000000, 73.000000, 158.000000], [-16.000000, 160.636616, -121.045263, 12.702656, 37.247688, -34.525366], [164.000000, 29.144599, 131.036939, -170.834985, 56.677618, -29.417915], [164.000000, 171.471118, -120.082202, -9.612925, 52.844536, 161.487825], [-16.000000, 17.000000, 132.000000, -8.000000, -73.000000, -22.000000], [-16.000000, 160.636616, -121.045263, -167.297344, -37.247688, 145.474634], [164.000000, 29.144599, 131.036939, 9.165015, -56.677618, 150.582085], [164.000000, 171.471118, -120.082202, 170.387075, -52.844536, -18.512175]] - id: 1850 parameters: KukaKR6_R700_sixx - joints: [61.000000, -122.000000, 111.000000, 43.000000, 87.000000, -82.000000] - pose: {translation: [0.06140399115512484, -0.2231602522807206, 0.7145816551711391], quaternion: [0.8838723407389654, 0.2687805737900069, -0.338822727992756, 0.1781175101591191]} - solutions: [[61.000000, -122.000000, 111.000000, 43.000000, 87.000000, -82.000000], [61.000000, -5.086889, -100.045263, 90.035933, 137.073169, 10.843123], [-119.000000, -177.579600, 105.663442, -86.795447, 136.989660, 15.172493], [-119.000000, -67.035338, -94.708705, -137.029775, 92.311256, -77.054509], [61.000000, -122.000000, 111.000000, -137.000000, -87.000000, 98.000000], [61.000000, -5.086889, -100.045263, -89.964067, -137.073169, -169.156877], [-119.000000, -177.579600, 105.663442, 93.204553, -136.989660, -164.827507], [-119.000000, -67.035338, -94.708705, 42.970225, -92.311256, 102.945491]] + joints: [61.000000, -121.000000, 111.000000, 43.000000, 87.000000, -82.000000] + pose: {translation: [0.06405093223000098, -0.2279354603851866, 0.7110441411729322], quaternion: [0.8837646895109721, 0.272109933251503, -0.3404977919331239, 0.1702275285848466]} + solutions: [[61.000000, -121.000000, 111.000000, 43.000000, 87.000000, -82.000000], [61.000000, -4.086889, -100.045263, 90.035933, 137.073169, 10.843123], [-119.000000, -178.421956, 105.500966, -86.800619, 136.989930, 15.165420], [-119.000000, -68.069802, -94.546228, -137.026181, 92.404921, -76.967176], [61.000000, -121.000000, 111.000000, -137.000000, -87.000000, 98.000000], [61.000000, -4.086889, -100.045263, -89.964067, -137.073169, -169.156877], [-119.000000, -178.421956, 105.500966, 93.199381, -136.989930, -164.834580], [-119.000000, -68.069802, -94.546228, 42.973819, -92.404921, 103.032824]] - id: 1851 parameters: KukaKR6_R700_sixx - joints: [43.000000, -12.000000, 139.000000, -104.000000, -161.000000, 89.000000] - pose: {translation: [0.1157951842472759, -0.142535570189219, 0.2171286879418872], quaternion: [0.226407700313083, -0.217892407599972, 0.8131672071599038, 0.4899199374887605]} - solutions: [[43.000000, -12.000000, 139.000000, 76.000000, 161.000000, -91.000000], [43.000000, 141.545947, -128.045263, 160.629334, 72.254809, 19.888567], [-137.000000, 50.527704, 134.337949, -22.658838, 55.084268, 27.210875], [-137.000000, -162.606410, -123.383212, -49.956555, 155.629379, -33.533039], [43.000000, -12.000000, 139.000000, -104.000000, -161.000000, 89.000000], [43.000000, 141.545947, -128.045263, -19.370666, -72.254809, -160.111433], [-137.000000, 50.527704, 134.337949, 157.341162, -55.084268, -152.789125], [-137.000000, -162.606410, -123.383212, 130.043445, -155.629379, 146.466961]] + joints: [43.000000, -12.000000, 139.000000, -104.000000, -160.000000, 89.000000] + pose: {translation: [0.1145331131227319, -0.1431048338996312, 0.216948085331739], quaternion: [0.2220005822367034, -0.2249045483105278, 0.8112695696903826, 0.4919099215610351]} + solutions: [[43.000000, -12.000000, 139.000000, 76.000000, 160.000000, -91.000000], [43.000000, 141.545947, -128.045263, 159.650332, 72.613777, 20.184037], [-137.000000, 50.527704, 134.337949, -23.727327, 55.561670, 27.818808], [-137.000000, -162.606410, -123.383212, -51.957619, 155.078200, -35.351859], [43.000000, -12.000000, 139.000000, -104.000000, -160.000000, 89.000000], [43.000000, 141.545947, -128.045263, -20.349668, -72.613777, -159.815963], [-137.000000, 50.527704, 134.337949, 156.272673, -55.561670, -152.181192], [-137.000000, -162.606410, -123.383212, 128.042381, -155.078200, 144.648141]] - id: 1852 parameters: KukaKR6_R700_sixx joints: [-52.000000, 14.000000, 4.000000, -115.000000, -66.000000, 160.000000] @@ -9266,29 +9266,29 @@ cases: solutions: [[-52.000000, 12.410633, 6.954737, 65.559645, 65.428991, -21.360657], [-52.000000, 14.000000, 4.000000, 65.000000, 66.000000, -20.000000], [-52.000000, 12.410633, 6.954737, -114.440355, -65.428991, 158.639343], [-52.000000, 14.000000, 4.000000, -115.000000, -66.000000, 160.000000]] - id: 1853 parameters: KukaKR6_R700_sixx - joints: [-2.000000, 32.000000, -120.000000, -79.000000, 129.000000, 177.000000] - pose: {translation: [0.2776929790282078, 0.07076386073970836, 0.5483455941570263], quaternion: [0.7070893159895212, 0.5630992570710061, 0.307303032349651, -0.2975042389752819]} - solutions: [[-2.000000, -110.215208, 130.954737, -54.292870, 69.964329, -84.679242], [-2.000000, 32.000000, -120.000000, -79.000000, 129.000000, 177.000000], [178.000000, 148.077224, 123.093543, 98.444091, 129.535709, 172.962934], [178.000000, -80.033029, -112.138806, 127.870308, 75.102282, -91.870356], [-2.000000, -110.215208, 130.954737, 125.707130, -69.964329, 95.320758], [-2.000000, 32.000000, -120.000000, 101.000000, -129.000000, -3.000000], [178.000000, 148.077224, 123.093543, -81.555909, -129.535709, -7.037066], [178.000000, -80.033029, -112.138806, -52.129692, -75.102282, 88.129644]] + joints: [-2.000000, 31.000000, -120.000000, -79.000000, 128.000000, 177.000000] + pose: {translation: [0.2752217593399508, 0.07153129794369245, 0.5538629019280037], quaternion: [0.7013980401733921, 0.5631489240826143, 0.3194968605905696, -0.2980366330139448]} + solutions: [[-2.000000, -111.215208, 130.954737, -55.345104, 70.112149, -84.320008], [-2.000000, 31.000000, -120.000000, -79.000000, 128.000000, 177.000000], [178.000000, 148.898411, 123.191884, 98.597462, 128.526170, 173.121345], [178.000000, -79.086100, -112.237147, 126.803529, 75.033575, -91.479144], [-2.000000, -111.215208, 130.954737, 124.654896, -70.112149, 95.679992], [-2.000000, 31.000000, -120.000000, 101.000000, -128.000000, -3.000000], [178.000000, 148.898411, 123.191884, -81.402538, -128.526170, -6.878655], [178.000000, -79.086100, -112.237147, -53.196471, -75.033575, 88.520856]] - id: 1854 parameters: KukaKR6_R700_sixx - joints: [127.000000, -31.000000, 104.000000, 13.000000, -172.000000, 31.000000] - pose: {translation: [-0.2522102723057721, -0.3388560313063939, 0.3023504034504482], quaternion: [0.07432647912649472, 0.0339536269336773, 0.9512223842796846, -0.2974873129462486]} - solutions: [[127.000000, -31.000000, 104.000000, -167.000000, 172.000000, -149.000000], [127.000000, 77.582035, -93.045263, -178.195183, 83.742338, -162.074511], [-53.000000, 110.994636, 93.173931, 1.857010, 75.041425, -162.357212], [-53.000000, -152.979290, -82.219194, 4.146343, 154.342408, -158.138996], [127.000000, -31.000000, 104.000000, 13.000000, -172.000000, 31.000000], [127.000000, 77.582035, -93.045263, 1.804817, -83.742338, 17.925489], [-53.000000, 110.994636, 93.173931, -178.142990, -75.041425, 17.642788], [-53.000000, -152.979290, -82.219194, -175.853657, -154.342408, 21.861004]] + joints: [127.000000, -31.000000, 104.000000, 13.000000, -171.000000, 31.000000] + pose: {translation: [-0.2527728693484317, -0.340118789647113, 0.3025464339040194], quaternion: [0.06854546575652155, 0.0274518318276679, 0.9518947387175748, -0.2973959018805184]} + solutions: [[127.000000, -31.000000, 104.000000, -167.000000, 171.000000, -149.000000], [127.000000, 77.582035, -93.045263, -177.967162, 82.768313, -162.101292], [-53.000000, 110.994636, 93.173931, 2.097247, 74.068604, -162.421192], [-53.000000, -152.979290, -82.219194, 4.500490, 153.354661, -157.821090], [127.000000, -31.000000, 104.000000, 13.000000, -171.000000, 31.000000], [127.000000, 77.582035, -93.045263, 2.032838, -82.768313, 17.898708], [-53.000000, 110.994636, 93.173931, -177.902753, -74.068604, 17.578808], [-53.000000, -152.979290, -82.219194, -175.499510, -153.354661, 22.178910]] - id: 1855 parameters: KukaKR6_R700_sixx - joints: [-131.000000, -144.000000, -44.000000, -77.000000, 26.000000, 10.000000] - pose: {translation: [0.4063693654711475, -0.519559515201496, 0.497499943128405], quaternion: [0.2501440956816421, -0.6716738238844218, 0.6949720994647862, 0.05741068428088631]} - solutions: [[49.000000, -46.263497, 72.155666, 130.898440, 34.408579, -21.988044], [49.000000, 26.124601, -61.200929, 38.249923, 43.625202, 84.694552], [-131.000000, 162.521760, 54.954737, -143.233462, 45.529438, 86.776669], [-131.000000, -144.000000, -44.000000, -77.000000, 26.000000, 10.000000], [49.000000, -46.263497, 72.155666, -49.101560, -34.408579, 158.011956], [49.000000, 26.124601, -61.200929, -141.750077, -43.625202, -95.305448], [-131.000000, 162.521760, 54.954737, 36.766538, -45.529438, -93.223331], [-131.000000, -144.000000, -44.000000, 103.000000, -26.000000, -170.000000]] + joints: [-131.000000, -143.000000, -44.000000, -77.000000, 26.000000, 10.000000] + pose: {translation: [0.4051846919145931, -0.5181967041691655, 0.5094176324110304], quaternion: [0.2457776638597209, -0.6673998455909177, 0.7008013863892137, 0.05521053239947215]} + solutions: [[49.000000, -47.322231, 72.106147, 130.778709, 34.337789, -21.842982], [49.000000, 25.010984, -61.151410, 38.208345, 43.675554, 84.752015], [-131.000000, 163.521760, 54.954737, -143.233462, 45.529438, 86.776669], [-131.000000, -143.000000, -44.000000, -77.000000, 26.000000, 10.000000], [49.000000, -47.322231, 72.106147, -49.221291, -34.337789, 158.157018], [49.000000, 25.010984, -61.151410, -141.791655, -43.675554, -95.247985], [-131.000000, 163.521760, 54.954737, 36.766538, -45.529438, -93.223331], [-131.000000, -143.000000, -44.000000, 103.000000, -26.000000, -170.000000]] - id: 1856 parameters: KukaKR6_R700_sixx - joints: [-113.000000, 96.000000, -80.000000, -152.000000, 151.000000, 158.000000] - pose: {translation: [-0.1319333513363768, 0.2642147919744262, 0.07196668540881286], quaternion: [0.1321381891209455, -0.3952986360885232, 0.8858313016979402, 0.2039151593543828]} - solutions: [[-113.000000, 2.509090, 90.954737, -16.654182, 127.423206, -57.243676], [-113.000000, 96.000000, -80.000000, -152.000000, 151.000000, 158.000000], [67.000000, 93.064329, 82.093010, 21.120806, 140.828374, 149.730924], [67.000000, 176.533975, -71.138273, 156.504628, 145.186854, -66.582472], [-113.000000, 2.509090, 90.954737, 163.345818, -127.423206, 122.756324], [-113.000000, 96.000000, -80.000000, 28.000000, -151.000000, -22.000000], [67.000000, 93.064329, 82.093010, -158.879194, -140.828374, -30.269076], [67.000000, 176.533975, -71.138273, -23.495372, -145.186854, 113.417528]] + joints: [-113.000000, 95.000000, -80.000000, -152.000000, 150.000000, 158.000000] + pose: {translation: [-0.1350473854841197, 0.270090872157518, 0.0775831073302467], quaternion: [0.1303161788905516, -0.3971527271690432, 0.8845580365933863, 0.2069890932382931]} + solutions: [[-113.000000, 1.509090, 90.954737, -17.388846, 128.237649, -57.694279], [-113.000000, 95.000000, -80.000000, -152.000000, 150.000000, 158.000000], [67.000000, 94.092363, 81.925035, 21.404371, 139.968871, 149.981768], [67.000000, 177.373451, -70.970297, 155.248191, 145.899548, -67.620227], [-113.000000, 1.509090, 90.954737, 162.611154, -128.237649, 122.305721], [-113.000000, 95.000000, -80.000000, 28.000000, -150.000000, -22.000000], [67.000000, 94.092363, 81.925035, -158.595629, -139.968871, -30.018232], [67.000000, 177.373451, -70.970297, -24.751809, -145.899548, 112.379773]] - id: 1857 parameters: KukaKR6_R700_sixx - joints: [89.000000, 22.000000, -107.000000, 102.000000, 171.000000, 98.000000] - pose: {translation: [-0.00692464680512844, -0.3046965244205146, 0.5701728239460198], quaternion: [0.7196295783802388, 0.6875179002890935, -0.01614007601187204, -0.09587442124303466]} - solutions: [[89.000000, -103.416951, 117.954737, 8.879571, 82.438919, -5.322847], [89.000000, 22.000000, -107.000000, 102.000000, 171.000000, 98.000000], [-91.000000, 158.559893, 109.741191, -59.719758, 169.793864, 116.534556], [-91.000000, -86.040214, -98.786454, -171.192652, 92.035137, -3.829913], [89.000000, -103.416951, 117.954737, -171.120429, -82.438919, 174.677153], [89.000000, 22.000000, -107.000000, -78.000000, -171.000000, -82.000000], [-91.000000, 158.559893, 109.741191, 120.280242, -169.793864, -63.465444], [-91.000000, -86.040214, -98.786454, 8.807348, -92.035137, 176.170087]] + joints: [89.000000, 22.000000, -107.000000, 102.000000, 170.000000, 98.000000] + pose: {translation: [-0.008276073122147974, -0.3044549329919255, 0.570427347991036], quaternion: [0.7187932698921494, 0.6872358060913626, -0.02120673322710909, -0.1029245182137907]} + solutions: [[89.000000, -103.416951, 117.954737, 9.860673, 82.670442, -5.449982], [89.000000, 22.000000, -107.000000, 102.000000, 170.000000, 98.000000], [-91.000000, 158.559893, 109.741191, -61.362434, 168.841251, 114.920288], [-91.000000, -86.040214, -98.786454, -170.213145, 92.239837, -3.793379], [89.000000, -103.416951, 117.954737, -170.139327, -82.670442, 174.550018], [89.000000, 22.000000, -107.000000, -78.000000, -170.000000, -82.000000], [-91.000000, 158.559893, 109.741191, 118.637566, -168.841251, -65.079712], [-91.000000, -86.040214, -98.786454, 9.786855, -92.239837, 176.206621]] - id: 1858 parameters: KukaKR6_R700_sixx joints: [-131.000000, -169.000000, 33.000000, 176.000000, 162.000000, 178.000000] @@ -9296,9 +9296,9 @@ cases: solutions: [[49.000000, -55.000011, 55.714572, -1.390254, 117.319588, -178.833345], [49.000000, -0.691980, -44.759835, -4.339443, 163.447979, 177.644548], [-131.000000, -169.000000, 33.000000, 176.000000, 162.000000, 178.000000], [-131.000000, -139.350197, -22.045263, 178.201124, 136.631470, -179.503083], [49.000000, -55.000011, 55.714572, 178.609746, -117.319588, 1.166655], [49.000000, -0.691980, -44.759835, 175.660557, -163.447979, -2.355452], [-131.000000, -169.000000, 33.000000, -4.000000, -162.000000, -2.000000], [-131.000000, -139.350197, -22.045263, -1.798876, -136.631470, 0.496917]] - id: 1859 parameters: KukaKR6_R700_sixx - joints: [-86.000000, 52.000000, -120.000000, -6.000000, -157.000000, -175.000000] - pose: {translation: [0.0218707184187021, 0.2659257198543422, 0.4466772611911245], quaternion: [0.609341047883933, 0.6947357730073807, -0.2902993562505268, 0.2485396886376046]} - solutions: [[-86.000000, -90.215208, 130.954737, 2.346895, 94.144019, -169.304203], [-86.000000, 52.000000, -120.000000, 174.000000, 157.000000, 5.000000], [94.000000, 131.523365, 121.610925, -4.972703, 151.888994, 6.137559], [94.000000, -98.473616, -110.656188, -177.567955, 105.743723, -168.813626], [-86.000000, -90.215208, 130.954737, -177.653105, -94.144019, 10.695797], [-86.000000, 52.000000, -120.000000, -6.000000, -157.000000, -175.000000], [94.000000, 131.523365, 121.610925, 175.027297, -151.888994, -173.862441], [94.000000, -98.473616, -110.656188, 2.432045, -105.743723, 11.186374]] + joints: [-86.000000, 51.000000, -120.000000, -6.000000, -157.000000, -175.000000] + pose: {translation: [0.02181132368405469, 0.2650763355767435, 0.4508902060664711], quaternion: [0.6116581677592606, 0.6970851620779949, -0.2838695088283569, 0.243648649866211]} + solutions: [[-86.000000, -91.215208, 130.954737, 2.346895, 94.144019, -169.304203], [-86.000000, 51.000000, -120.000000, 174.000000, 157.000000, 5.000000], [94.000000, 132.359285, 121.662003, -4.991116, 152.001569, 6.116694], [94.000000, -97.572970, -110.707266, -177.569744, 105.593425, -168.820253], [-86.000000, -91.215208, 130.954737, -177.653105, -94.144019, 10.695797], [-86.000000, 51.000000, -120.000000, -6.000000, -157.000000, -175.000000], [94.000000, 132.359285, 121.662003, 175.008884, -152.001569, -173.883306], [94.000000, -97.572970, -110.707266, 2.430256, -105.593425, 11.179747]] - id: 1860 parameters: KukaKR6_R700_sixx joints: [-79.000000, 14.000000, 58.000000, -51.000000, 3.000000, 120.000000] @@ -9306,14 +9306,14 @@ cases: solutions: [[-79.000000, 14.000000, 58.000000, -51.000000, 3.000000, 120.000000], [-79.000000, 70.806525, -47.045263, -3.036082, 50.167333, 70.984264], [101.000000, 121.469745, 40.908135, 177.197752, 56.298536, 70.594165], [101.000000, 159.674787, -29.953397, 174.196672, 23.718625, 74.354503], [-79.000000, 14.000000, 58.000000, 129.000000, -3.000000, -60.000000], [-79.000000, 70.806525, -47.045263, 176.963918, -50.167333, -109.015736], [101.000000, 121.469745, 40.908135, -2.802248, -56.298536, -109.405835], [101.000000, 159.674787, -29.953397, -5.803328, -23.718625, -105.645497]] - id: 1861 parameters: KukaKR6_R700_sixx - joints: [89.000000, -46.000000, 41.000000, -37.000000, 124.000000, 27.000000] - pose: {translation: [0.04975875095537344, -0.5636466935520029, 0.6366053991267618], quaternion: [0.3820755217332541, 0.8415321808566709, 0.3598628808133167, 0.1278303222542192]} - solutions: [[89.000000, -46.000000, 41.000000, -37.000000, 124.000000, 27.000000], [89.000000, -7.695421, -30.045263, -62.976261, 145.938846, -8.530871], [89.000000, -46.000000, 41.000000, 143.000000, -124.000000, -153.000000], [89.000000, -7.695421, -30.045263, 117.023739, -145.938846, 171.469129]] + joints: [89.000000, -45.000000, 41.000000, -37.000000, 123.000000, 27.000000] + pose: {translation: [0.05031411556152637, -0.5688893811006412, 0.6266222815130906], quaternion: [0.386563843266805, 0.838835325201627, 0.3608183131284491, 0.1293593335782869]} + solutions: [[89.000000, -45.000000, 41.000000, -37.000000, 123.000000, 27.000000], [89.000000, -6.695421, -30.045263, -61.960008, 145.120788, -7.693023], [89.000000, -45.000000, 41.000000, 143.000000, -123.000000, -153.000000], [89.000000, -6.695421, -30.045263, 118.039992, -145.120788, 172.306977]] - id: 1862 parameters: KukaKR6_R700_sixx - joints: [30.000000, 9.000000, 10.000000, -13.000000, -137.000000, -123.000000] - pose: {translation: [0.5607791715425291, -0.3379379917781933, 0.334297543773575], quaternion: [-0.2115620829181699, -0.1484295101908295, 0.6568629213857763, 0.7083369735404043]} - solutions: [[30.000000, 9.000000, 10.000000, 167.000000, 137.000000, 57.000000], [30.000000, 13.865646, 0.954737, 167.907087, 132.919979, 58.282872], [30.000000, 9.000000, 10.000000, -13.000000, -137.000000, -123.000000], [30.000000, 13.865646, 0.954737, -12.092913, -132.919979, -121.717128]] + joints: [30.000000, 9.000000, 10.000000, -13.000000, -136.000000, -123.000000] + pose: {translation: [0.5617304968738732, -0.3387503158480573, 0.3349177144901158], quaternion: [-0.2032479837406498, -0.1469830757303182, 0.6589297341847247, 0.7091529016802118]} + solutions: [[30.000000, 9.000000, 10.000000, 167.000000, 136.000000, 57.000000], [30.000000, 13.865646, 0.954737, 167.877000, 131.920225, 58.262575], [30.000000, 9.000000, 10.000000, -13.000000, -136.000000, -123.000000], [30.000000, 13.865646, 0.954737, -12.123000, -131.920225, -121.737425]] - id: 1863 parameters: KukaKR6_R700_sixx joints: [-12.000000, 35.000000, -21.000000, -35.000000, -58.000000, -18.000000] @@ -9321,29 +9321,29 @@ cases: solutions: [[-12.000000, 6.479236, 31.954737, 150.267470, 78.748947, 148.000959], [-12.000000, 35.000000, -21.000000, 145.000000, 58.000000, 162.000000], [-12.000000, 6.479236, 31.954737, -29.732530, -78.748947, -31.999041], [-12.000000, 35.000000, -21.000000, -35.000000, -58.000000, -18.000000]] - id: 1864 parameters: KukaKR6_R700_sixx - joints: [16.000000, 56.000000, 60.000000, -170.000000, 146.000000, 109.000000] - pose: {translation: [0.1379379523610174, -0.03147178993116279, -0.1642517214480298], quaternion: [0.338457547273263, 0.3654920249418986, 0.4754841115276975, 0.7251047704175954]} - solutions: [[16.000000, 56.000000, 60.000000, -170.000000, 146.000000, 109.000000], [16.000000, 114.996421, -49.045263, -174.393386, 96.326450, 101.303078], [-164.000000, 70.900336, 57.756989, 5.630286, 81.787394, 99.876499], [-164.000000, 127.440999, -46.802251, 7.233757, 129.541751, 105.303201], [16.000000, 56.000000, 60.000000, 10.000000, -146.000000, -71.000000], [16.000000, 114.996421, -49.045263, 5.606614, -96.326450, -78.696922], [-164.000000, 70.900336, 57.756989, -174.369714, -81.787394, -80.123501], [-164.000000, 127.440999, -46.802251, -172.766243, -129.541751, -74.696799]] + joints: [16.000000, 56.000000, 60.000000, -170.000000, 145.000000, 109.000000] + pose: {translation: [0.13863883495469, -0.0314648984498773, -0.165459288462967], quaternion: [0.3430766834660366, 0.3714614579033271, 0.4734118804503853, 0.7212461202687399]} + solutions: [[16.000000, 56.000000, 60.000000, -170.000000, 145.000000, 109.000000], [16.000000, 114.996421, -49.045263, -174.258877, 95.335443, 101.316744], [-164.000000, 70.900336, 57.756989, 5.790907, 80.800079, 99.852185], [-164.000000, 127.440999, -46.802251, 7.316189, 128.543802, 105.355128], [16.000000, 56.000000, 60.000000, 10.000000, -145.000000, -71.000000], [16.000000, 114.996421, -49.045263, 5.741123, -95.335443, -78.683256], [-164.000000, 70.900336, 57.756989, -174.209093, -80.800079, -80.147815], [-164.000000, 127.440999, -46.802251, -172.683811, -128.543802, -74.644872]] - id: 1865 parameters: KukaKR6_R700_sixx - joints: [-88.000000, -173.000000, -32.000000, -90.000000, 2.000000, 164.000000] - pose: {translation: [-0.02638661819835706, -0.6756138820077406, 0.2186235399618307], quaternion: [0.831414113698078, -0.1411771178372914, 0.05086088196999736, 0.5350072556779292]} - solutions: [[92.000000, -17.010448, 63.318189, 174.510696, 21.397049, 79.113030], [92.000000, 45.626869, -52.363452, 3.798146, 31.792970, -109.229575], [-88.000000, 146.576490, 42.954737, -176.474784, 34.581920, -108.903545], [-88.000000, -173.000000, -32.000000, -90.000000, 2.000000, 164.000000], [92.000000, -17.010448, 63.318189, -5.489304, -21.397049, -100.886970], [92.000000, 45.626869, -52.363452, -176.201854, -31.792970, 70.770425], [-88.000000, 146.576490, 42.954737, 3.525216, -34.581920, 71.096455], [-88.000000, -173.000000, -32.000000, 90.000000, -2.000000, -16.000000]] + joints: [-88.000000, -172.000000, -32.000000, -90.000000, 2.000000, 164.000000] + pose: {translation: [-0.02649336428521244, -0.6786706899878916, 0.2308874514540629], quaternion: [0.8267320300378996, -0.1405652359606061, 0.05183697340143942, 0.5422808249766269]} + solutions: [[92.000000, -18.131685, 63.390819, 174.498802, 21.348666, 79.125803], [92.000000, 44.585439, -52.436082, 3.786003, 31.906781, -109.215279], [-88.000000, 147.576490, 42.954737, -176.474784, 34.581920, -108.903545], [-88.000000, -172.000000, -32.000000, -90.000000, 2.000000, 164.000000], [92.000000, -18.131685, 63.390819, -5.501198, -21.348666, -100.874197], [92.000000, 44.585439, -52.436082, -176.213997, -31.906781, 70.784721], [-88.000000, 147.576490, 42.954737, 3.525216, -34.581920, 71.096455], [-88.000000, -172.000000, -32.000000, 90.000000, -2.000000, -16.000000]] - id: 1866 parameters: KukaKR6_R700_sixx - joints: [172.000000, 156.000000, 39.000000, -138.000000, -116.000000, -131.000000] - pose: {translation: [0.5643755040851676, 0.127903485351943, 0.3750767880927436], quaternion: [-0.45753756819599, 0.1574844569903972, 0.8311101983137044, 0.2740690747871686]} - solutions: [[-8.000000, -23.727763, 61.187822, -95.639244, 142.818968, 110.395392], [-8.000000, 36.570868, -50.233085, -137.551828, 116.990686, 50.004529], [172.000000, 156.000000, 39.000000, 42.000000, 116.000000, 49.000000], [172.000000, -167.861582, -28.045263, 59.950102, 135.988817, 78.647864], [-8.000000, -23.727763, 61.187822, 84.360756, -142.818968, -69.604608], [-8.000000, 36.570868, -50.233085, 42.448172, -116.990686, -129.995471], [172.000000, 156.000000, 39.000000, -138.000000, -116.000000, -131.000000], [172.000000, -167.861582, -28.045263, -120.049898, -135.988817, -101.352136]] + joints: [172.000000, 155.000000, 39.000000, -138.000000, -115.000000, -131.000000] + pose: {translation: [0.56490192294321, 0.1283836353956957, 0.3653180666192505], quaternion: [-0.4440818180422855, 0.1647903332292618, 0.8363301069717408, 0.2760207186627188]} + solutions: [[-8.000000, -22.624472, 61.149500, -96.992468, 142.339410, 109.359882], [-8.000000, 37.632127, -50.194763, -137.538513, 116.064322, 50.070620], [172.000000, 155.000000, 39.000000, 42.000000, 115.000000, 49.000000], [172.000000, -168.861582, -28.045263, 59.249114, 135.117569, 78.147411], [-8.000000, -22.624472, 61.149500, 83.007532, -142.339410, -70.640118], [-8.000000, 37.632127, -50.194763, 42.461487, -116.064322, -129.929380], [172.000000, 155.000000, 39.000000, -138.000000, -115.000000, -131.000000], [172.000000, -168.861582, -28.045263, -120.750886, -135.117569, -101.852589]] - id: 1867 parameters: KukaKR6_R700_sixx - joints: [167.000000, -149.000000, -119.000000, 38.000000, 57.000000, -85.000000] - pose: {translation: [0.2607314791335115, 0.102588120754336, 0.1545384332322264], quaternion: [0.8355124877509087, -0.2500805791121293, 0.192002235317197, -0.4500152535152885]} - solutions: [[-13.000000, -29.441127, 136.969314, -147.320866, 72.998506, -72.572594], [-13.000000, 121.151843, -126.014577, -41.825929, 50.738882, 147.575868], [167.000000, 70.132716, 129.954737, 144.463661, 62.669018, 136.206723], [167.000000, -149.000000, -119.000000, 38.000000, 57.000000, -85.000000], [-13.000000, -29.441127, 136.969314, 32.679134, -72.998506, 107.427406], [-13.000000, 121.151843, -126.014577, 138.174071, -50.738882, -32.424132], [167.000000, 70.132716, 129.954737, -35.536339, -62.669018, -43.793277], [167.000000, -149.000000, -119.000000, -142.000000, -57.000000, 95.000000]] + joints: [167.000000, -148.000000, -119.000000, 38.000000, 57.000000, -85.000000] + pose: {translation: [0.2648607422865042, 0.1035414362691489, 0.1598486484004201], quaternion: [0.8329647035409772, -0.246621542093089, 0.1986082636497771, -0.4537646694494177]} + solutions: [[-13.000000, -30.648963, 137.085922, -147.305766, 72.921725, -72.624123], [-13.000000, 120.111669, -126.131185, -41.740721, 50.855789, 147.441058], [167.000000, 71.132716, 129.954737, 144.463661, 62.669018, 136.206723], [167.000000, -148.000000, -119.000000, 38.000000, 57.000000, -85.000000], [-13.000000, -30.648963, 137.085922, 32.694234, -72.921725, 107.375877], [-13.000000, 120.111669, -126.131185, 138.259279, -50.855789, -32.558942], [167.000000, 71.132716, 129.954737, -35.536339, -62.669018, -43.793277], [167.000000, -148.000000, -119.000000, -142.000000, -57.000000, 95.000000]] - id: 1868 parameters: KukaKR6_R700_sixx - joints: [96.000000, -155.000000, -140.000000, -142.000000, -67.000000, -163.000000] - pose: {translation: [-0.03318416577426156, 0.1180077680474254, 0.1642599444834555], quaternion: [0.3869678931376642, 0.8249812149615428, 0.1532964321423131, -0.3823114548815029]} - solutions: [[-84.000000, -14.824597, 154.365201, -145.420272, 86.895198, 31.837797], [-84.000000, 164.528777, -143.410463, -52.241245, 45.793005, -104.029512], [96.000000, 32.102320, 150.954737, 140.438720, 62.848711, -125.367589], [96.000000, -155.000000, -140.000000, 38.000000, 67.000000, 17.000000], [-84.000000, -14.824597, 154.365201, 34.579728, -86.895198, -148.162203], [-84.000000, 164.528777, -143.410463, 127.758755, -45.793005, 75.970488], [96.000000, 32.102320, 150.954737, -39.561280, -62.848711, 54.632411], [96.000000, -155.000000, -140.000000, -142.000000, -67.000000, -163.000000]] + joints: [96.000000, -154.000000, -140.000000, -142.000000, -66.000000, -163.000000] + pose: {translation: [-0.03251176318362042, 0.1211260435617937, 0.1657285641290321], quaternion: [0.3838406483141903, 0.8275591166568917, 0.1554946213456548, -0.3789903532708696]} + solutions: [[-84.000000, -16.047813, 154.518021, -145.674146, 85.870441, 31.814068], [-84.000000, 163.609002, -143.563283, -51.002388, 46.360301, -104.929918], [96.000000, 33.102320, 150.954737, 141.120137, 63.642297, -125.674352], [96.000000, -154.000000, -140.000000, 38.000000, 66.000000, 17.000000], [-84.000000, -16.047813, 154.518021, 34.325854, -85.870441, -148.185932], [-84.000000, 163.609002, -143.563283, 128.997612, -46.360301, 75.070082], [96.000000, 33.102320, 150.954737, -38.879863, -63.642297, 54.325648], [96.000000, -154.000000, -140.000000, -142.000000, -66.000000, -163.000000]] - id: 1869 parameters: KukaKR6_R700_sixx joints: [-69.000000, 74.000000, -42.000000, -133.000000, 130.000000, 167.000000] @@ -9351,29 +9351,29 @@ cases: solutions: [[-69.000000, 22.703897, 52.954737, -83.302760, 145.660273, -129.484918], [-69.000000, 74.000000, -42.000000, -133.000000, 130.000000, 167.000000], [111.000000, 118.754312, 35.444180, 43.577115, 125.635040, 161.424323], [111.000000, 151.045676, -24.489443, 65.843018, 142.119204, -167.186198], [-69.000000, 22.703897, 52.954737, 96.697240, -145.660273, 50.515082], [-69.000000, 74.000000, -42.000000, 47.000000, -130.000000, -13.000000], [111.000000, 118.754312, 35.444180, -136.422885, -125.635040, -18.575677], [111.000000, 151.045676, -24.489443, -114.156982, -142.119204, 12.813802]] - id: 1870 parameters: KukaKR6_R700_sixx - joints: [-100.000000, 98.000000, -75.000000, 63.000000, 87.000000, -132.000000] - pose: {translation: [0.01444668616280243, 0.3279943773891169, -0.05735579589099166], quaternion: [0.1184655720136615, 0.839556086308576, 0.09010288517119817, 0.5224872785757839]} - solutions: [[-100.000000, 10.181883, 85.954737, 84.770905, 63.316912, 155.383910], [-100.000000, 98.000000, -75.000000, 63.000000, 87.000000, -132.000000], [80.000000, 90.949618, 77.499689, -117.069840, 92.217872, -121.805041], [80.000000, 169.279331, -66.544952, -104.027200, 66.510574, 175.944315], [-100.000000, 10.181883, 85.954737, -95.229095, -63.316912, -24.616090], [-100.000000, 98.000000, -75.000000, -117.000000, -87.000000, 48.000000], [80.000000, 90.949618, 77.499689, 62.930160, -92.217872, 58.194959], [80.000000, 169.279331, -66.544952, 75.972800, -66.510574, -4.055685]] + joints: [-100.000000, 97.000000, -75.000000, 63.000000, 86.000000, -132.000000] + pose: {translation: [0.01276675550744317, 0.3370843687971972, -0.05261509150805321], quaternion: [0.1191425662105503, 0.841917045649202, 0.1032945777516593, 0.5160532602059507]} + solutions: [[-100.000000, 9.181883, 85.954737, 85.841765, 63.022158, 154.900563], [-100.000000, 97.000000, -75.000000, 63.000000, 86.000000, -132.000000], [80.000000, 91.997318, 77.308601, -117.249543, 91.168001, -121.937877], [80.000000, 170.113898, -66.353863, -103.174459, 65.903913, 175.623101], [-100.000000, 9.181883, 85.954737, -94.158235, -63.022158, -25.099437], [-100.000000, 97.000000, -75.000000, -117.000000, -86.000000, 48.000000], [80.000000, 91.997318, 77.308601, 62.750457, -91.168001, 58.062123], [80.000000, 170.113898, -66.353863, 76.825541, -65.903913, -4.376899]] - id: 1871 parameters: KukaKR6_R700_sixx - joints: [83.000000, -132.000000, 128.000000, -111.000000, -12.000000, 94.000000] - pose: {translation: [0.01558749721189767, -0.2543666216968505, 0.6939788539815503], quaternion: [0.5864413635489303, 0.398916227566546, -0.4380438914360564, 0.5523313495344108]} - solutions: [[83.000000, -132.000000, 128.000000, 69.000000, 12.000000, -86.000000], [83.000000, 6.263866, -117.045263, 11.977078, 110.716701, -13.135389], [-97.000000, 169.837117, 122.960665, -167.855216, 112.688588, -12.681940], [-97.000000, -58.442919, -112.005928, -131.008309, 14.905199, -65.445574], [83.000000, -132.000000, 128.000000, -111.000000, -12.000000, 94.000000], [83.000000, 6.263866, -117.045263, -168.022922, -110.716701, 166.864611], [-97.000000, 169.837117, 122.960665, 12.144784, -112.688588, 167.318060], [-97.000000, -58.442919, -112.005928, 48.991691, -14.905199, 114.554426]] + joints: [83.000000, -132.000000, 128.000000, -111.000000, -11.000000, 94.000000] + pose: {translation: [0.01688498883752577, -0.2544526235014907, 0.6944874020807659], quaternion: [0.5813441841746837, 0.4023781099950983, -0.4349115211948093, 0.5576582868164526]} + solutions: [[83.000000, -132.000000, 128.000000, 69.000000, 11.000000, -86.000000], [83.000000, 6.263866, -117.045263, 10.957394, 110.419076, -13.493631], [-97.000000, 169.837117, 122.960665, -168.891296, 112.398202, -13.079166], [-97.000000, -58.442919, -112.005928, -132.462405, 13.973172, -64.037358], [83.000000, -132.000000, 128.000000, -111.000000, -11.000000, 94.000000], [83.000000, 6.263866, -117.045263, -169.042606, -110.419076, 166.506369], [-97.000000, 169.837117, 122.960665, 11.108704, -112.398202, 166.920834], [-97.000000, -58.442919, -112.005928, 47.537595, -13.973172, 115.962642]] - id: 1872 parameters: KukaKR6_R700_sixx - joints: [18.000000, -33.000000, 64.000000, -40.000000, -147.000000, -58.000000] - pose: {translation: [0.5427239854848096, -0.2057899917545092, 0.4767390662037043], quaternion: [0.06373175653614996, -0.3180439250504964, 0.0898976056986673, 0.9416500121791206]} - solutions: [[18.000000, -33.000000, 64.000000, 140.000000, 147.000000, 122.000000], [18.000000, 30.386692, -53.045263, 159.224315, 99.260519, 153.641498], [-162.000000, 160.840572, 43.237030, -20.699718, 97.933417, 154.149661], [-162.000000, -158.429760, -32.282292, -27.167977, 129.939297, 138.899256], [18.000000, -33.000000, 64.000000, -40.000000, -147.000000, -58.000000], [18.000000, 30.386692, -53.045263, -20.775685, -99.260519, -26.358502], [-162.000000, 160.840572, 43.237030, 159.300282, -97.933417, -25.850339], [-162.000000, -158.429760, -32.282292, 152.832023, -129.939297, -41.100744]] + joints: [18.000000, -33.000000, 64.000000, -40.000000, -146.000000, -58.000000] + pose: {translation: [0.5435578385910266, -0.2068478452770949, 0.4771066759426904], quaternion: [0.07028231245746694, -0.3130119977567589, 0.09254259221807731, 0.9426132581507182]} + solutions: [[18.000000, -33.000000, 64.000000, 140.000000, 146.000000, 122.000000], [18.000000, 30.386692, -53.045263, 158.694030, 98.408793, 153.560052], [-162.000000, 160.840572, 43.237030, -21.235927, 97.086425, 154.079577], [-162.000000, -158.429760, -32.282292, -27.541913, 128.981875, 138.661593], [18.000000, -33.000000, 64.000000, -40.000000, -146.000000, -58.000000], [18.000000, 30.386692, -53.045263, -21.305970, -98.408793, -26.439948], [-162.000000, 160.840572, 43.237030, 158.764073, -97.086425, -25.920423], [-162.000000, -158.429760, -32.282292, 152.458087, -128.981875, -41.338407]] - id: 1873 parameters: KukaKR6_R700_sixx - joints: [-179.000000, 116.000000, -171.000000, 55.000000, -65.000000, -97.000000] - pose: {translation: [-0.05395292510022658, -0.05845960542422043, 0.4874939266109195], quaternion: [-0.1163408956653432, -0.4053238489308362, 0.7938722419658352, -0.4381144107648329]} - solutions: [[-179.000000, 163.682746, -178.045263, -132.053285, 91.022933, 115.247313], [-179.000000, 116.000000, -171.000000, -125.000000, 65.000000, 83.000000], [1.000000, 87.310115, 171.138497, 67.419512, 53.517723, 59.083486], [1.000000, -44.878832, -160.183760, 55.723524, 116.046818, 146.906133], [-179.000000, 163.682746, -178.045263, 47.946715, -91.022933, -64.752687], [-179.000000, 116.000000, -171.000000, 55.000000, -65.000000, -97.000000], [1.000000, 87.310115, 171.138497, -112.580488, -53.517723, -120.916514], [1.000000, -44.878832, -160.183760, -124.276476, -116.046818, -33.093867]] + joints: [-179.000000, 115.000000, -171.000000, 55.000000, -65.000000, -97.000000] + pose: {translation: [-0.05242192571782468, -0.05848632911784531, 0.4879679496609418], quaternion: [-0.1094764909964279, -0.4092519600872222, 0.7947953816365884, -0.4345434758606157]} + solutions: [[-179.000000, 162.682746, -178.045263, -132.053285, 91.022933, 115.247313], [-179.000000, 115.000000, -171.000000, -125.000000, 65.000000, 83.000000], [1.000000, 87.695225, 171.202113, 67.045077, 53.731066, 59.714825], [1.000000, -44.202255, -160.247376, 55.880735, 116.264355, 147.262773], [-179.000000, 162.682746, -178.045263, 47.946715, -91.022933, -64.752687], [-179.000000, 115.000000, -171.000000, 55.000000, -65.000000, -97.000000], [1.000000, 87.695225, 171.202113, -112.954923, -53.731066, -120.285175], [1.000000, -44.202255, -160.247376, -124.119265, -116.264355, -32.737227]] - id: 1874 parameters: KukaKR6_R700_sixx - joints: [34.000000, 49.000000, -69.000000, -98.000000, 123.000000, 180.000000] - pose: {translation: [0.4670411267484725, -0.2348812592609273, 0.313865377260885], quaternion: [-0.7218155035492566, -0.1314553066651118, -0.1264495592311795, 0.6676169486732306]} - solutions: [[34.000000, -32.072814, 79.954737, -60.986631, 108.251974, -104.984691], [34.000000, 49.000000, -69.000000, -98.000000, 123.000000, 180.000000], [-146.000000, 140.150482, 64.733808, 78.917950, 122.189640, 174.282183], [-146.000000, -155.655799, -53.779070, 112.135830, 116.286117, -122.961566], [34.000000, -32.072814, 79.954737, 119.013369, -108.251974, 75.015309], [34.000000, 49.000000, -69.000000, 82.000000, -123.000000, 0.000000], [-146.000000, 140.150482, 64.733808, -101.082050, -122.189640, -5.717817], [-146.000000, -155.655799, -53.779070, -67.864170, -116.286117, 57.038434]] + joints: [34.000000, 49.000000, -69.000000, -98.000000, 122.000000, 180.000000] + pose: {translation: [0.4683443310751013, -0.2348641807480446, 0.3143662453130165], quaternion: [-0.7206845524592632, -0.1256243182479225, -0.1327436930344264, 0.6687386772655805]} + solutions: [[34.000000, -32.072814, 79.954737, -62.002287, 107.990744, -105.300599], [34.000000, 49.000000, -69.000000, -98.000000, 122.000000, 180.000000], [-146.000000, 140.150482, 64.733808, 79.034413, 121.194562, 174.343370], [-146.000000, -155.655799, -53.779070, 111.204383, 115.739040, -123.370082], [34.000000, -32.072814, 79.954737, 117.997713, -107.990744, 74.699401], [34.000000, 49.000000, -69.000000, 82.000000, -122.000000, 0.000000], [-146.000000, 140.150482, 64.733808, -100.965587, -121.194562, -5.656630], [-146.000000, -155.655799, -53.779070, -68.795617, -115.739040, 56.629918]] - id: 1875 parameters: KukaKR6_R700_sixx joints: [128.000000, 124.000000, -174.000000, -25.000000, -148.000000, -62.000000] @@ -9381,19 +9381,19 @@ cases: solutions: [[128.000000, 131.408805, -175.045263, 149.704266, 153.644193, 111.943319], [128.000000, 124.000000, -174.000000, 155.000000, 148.000000, 118.000000], [-52.000000, 88.794907, 172.750333, -14.711315, 118.129510, 132.519846], [-52.000000, -35.522462, -161.795596, -159.445559, 140.367003, -24.315946], [128.000000, 131.408805, -175.045263, -30.295734, -153.644193, -68.056681], [128.000000, 124.000000, -174.000000, -25.000000, -148.000000, -62.000000], [-52.000000, 88.794907, 172.750333, 165.288685, -118.129510, -47.480154], [-52.000000, -35.522462, -161.795596, 20.554441, -140.367003, 155.684054]] - id: 1876 parameters: KukaKR6_R700_sixx - joints: [-54.000000, 116.000000, -86.000000, 0.000000, -139.000000, -17.000000] - pose: {translation: [0.114304781043427, 0.157327034051589, 0.04033225059616312], quaternion: [0.05237037386810537, -0.15651854887283, 0.5727389639878125, 0.8029504137428572]} - solutions: [[-54.000000, 15.627021, 96.954737, -0.000000, 138.418242, -17.000000], [-54.000000, 116.000000, -86.000000, -180.000000, 139.000000, 163.000000], [126.000000, 72.376684, 91.482000, 0.000000, 125.141315, 163.000000], [126.000000, 166.468903, -80.527263, 180.000000, 156.941640, -17.000000], [-54.000000, 15.627021, 96.954737, -180.000000, -138.418242, 163.000000], [-54.000000, 116.000000, -86.000000, 0.000000, -139.000000, -17.000000], [126.000000, 72.376684, 91.482000, -180.000000, -125.141315, -17.000000], [126.000000, 166.468903, -80.527263, -0.000000, -156.941640, 163.000000]] + joints: [-54.000000, 116.000000, -86.000000, 0.000000, -138.000000, -17.000000] + pose: {translation: [0.1150830632677993, 0.1583982476342392, 0.04077528585183006], quaternion: [0.04963738417950482, -0.1483505036871781, 0.5735535387048298, 0.8040924053781034]} + solutions: [[-54.000000, 15.627021, 96.954737, -0.000000, 139.418242, -17.000000], [-54.000000, 116.000000, -86.000000, -180.000000, 138.000000, 163.000000], [126.000000, 72.376684, 91.482000, 0.000000, 124.141315, 163.000000], [126.000000, 166.468903, -80.527263, 180.000000, 157.941640, -17.000000], [-54.000000, 15.627021, 96.954737, -180.000000, -139.418242, 163.000000], [-54.000000, 116.000000, -86.000000, 0.000000, -138.000000, -17.000000], [126.000000, 72.376684, 91.482000, -180.000000, -124.141315, -17.000000], [126.000000, 166.468903, -80.527263, -0.000000, -157.941640, 163.000000]] - id: 1877 parameters: KukaKR6_R700_sixx - joints: [-177.000000, 72.000000, -127.000000, -106.000000, -27.000000, 125.000000] - pose: {translation: [-0.3498010162354126, 0.05329250041665846, 0.4721304151930795], quaternion: [-0.3801078559940097, 0.1626986566781073, 0.8784579608016665, 0.2394969228005953]} - solutions: [[-177.000000, -80.016995, 137.954737, 153.343170, 103.415469, -169.482630], [-177.000000, 72.000000, -127.000000, 74.000000, 27.000000, -55.000000], [3.000000, 113.974496, 128.442040, -118.718031, 29.842170, -40.560745], [3.000000, -107.176387, -117.487303, -25.884195, 91.501749, -163.567886], [-177.000000, -80.016995, 137.954737, -26.656830, -103.415469, 10.517370], [-177.000000, 72.000000, -127.000000, -106.000000, -27.000000, 125.000000], [3.000000, 113.974496, 128.442040, 61.281969, -29.842170, 139.439255], [3.000000, -107.176387, -117.487303, 154.115805, -91.501749, 16.432114]] + joints: [-177.000000, 72.000000, -127.000000, -106.000000, -26.000000, 125.000000] + pose: {translation: [-0.3499389811378835, 0.05209693961069367, 0.4728383008075111], quaternion: [-0.3774084162353474, 0.1552141660343955, 0.8814901074908453, 0.2375850172312046]} + solutions: [[-177.000000, -80.016995, 137.954737, 154.280416, 103.828142, -169.261891], [-177.000000, 72.000000, -127.000000, 74.000000, 26.000000, -55.000000], [3.000000, 113.974496, 128.442040, -119.234382, 28.874735, -40.110692], [3.000000, -107.176387, -117.487303, -24.935774, 91.819957, -163.540397], [-177.000000, -80.016995, 137.954737, -25.719584, -103.828142, 10.738109], [-177.000000, 72.000000, -127.000000, -106.000000, -26.000000, 125.000000], [3.000000, 113.974496, 128.442040, 60.765618, -28.874735, 139.889308], [3.000000, -107.176387, -117.487303, 155.064226, -91.819957, 16.459603]] - id: 1878 parameters: KukaKR6_R700_sixx - joints: [102.000000, -154.000000, -124.000000, 78.000000, 64.000000, 6.000000] - pose: {translation: [-0.03083358792748993, 0.1932188564482021, 0.1447011489171816], quaternion: [-0.169255427119565, -0.8375014620390173, -0.07774332729982956, 0.5137118613906375]} - solutions: [[-78.000000, -22.131285, 140.754408, -110.534047, 69.851161, 27.529576], [-78.000000, 134.027073, -129.799671, -62.908719, 80.931135, -92.741833], [102.000000, 58.269780, 134.954737, 118.446921, 89.112249, -108.229589], [102.000000, -154.000000, -124.000000, 78.000000, 64.000000, 6.000000], [-78.000000, -22.131285, 140.754408, 69.465953, -69.851161, -152.470424], [-78.000000, 134.027073, -129.799671, 117.091281, -80.931135, 87.258167], [102.000000, 58.269780, 134.954737, -61.553079, -89.112249, 71.770411], [102.000000, -154.000000, -124.000000, -102.000000, -64.000000, -174.000000]] + joints: [102.000000, -153.000000, -124.000000, 78.000000, 63.000000, 6.000000] + pose: {translation: [-0.02937611426194491, 0.1971447380588415, 0.1471384569857453], quaternion: [-0.1649875825851064, -0.8422413835903323, -0.08299924283933116, 0.5064777142665441]} + solutions: [[-78.000000, -23.339765, 140.887909, -110.900313, 68.894608, 27.592972], [-78.000000, 133.019899, -129.933171, -61.888855, 81.150732, -93.023807], [102.000000, 59.269780, 134.954737, 119.358853, 89.522738, -108.240452], [102.000000, -153.000000, -124.000000, 78.000000, 63.000000, 6.000000], [-78.000000, -23.339765, 140.887909, 69.099687, -68.894608, -152.407028], [-78.000000, 133.019899, -129.933171, 118.111145, -81.150732, 86.976193], [102.000000, 59.269780, 134.954737, -60.641147, -89.522738, 71.759548], [102.000000, -153.000000, -124.000000, -102.000000, -63.000000, -174.000000]] - id: 1879 parameters: KukaKR6_R700_sixx joints: [83.000000, 36.000000, -120.000000, -100.000000, 65.000000, -18.000000] @@ -9401,9 +9401,9 @@ cases: solutions: [[83.000000, -106.215208, 130.954737, -111.392883, 106.547428, 85.370496], [83.000000, 36.000000, -120.000000, -100.000000, 65.000000, -18.000000], [-97.000000, 144.788332, 122.722153, 81.637240, 64.439638, -21.832666], [-97.000000, -83.796114, -111.767415, 66.364596, 103.026736, 76.604307], [83.000000, -106.215208, 130.954737, 68.607117, -106.547428, -94.629504], [83.000000, 36.000000, -120.000000, 80.000000, -65.000000, 162.000000], [-97.000000, 144.788332, 122.722153, -98.362760, -64.439638, 158.167334], [-97.000000, -83.796114, -111.767415, -113.635404, -103.026736, -103.395693]] - id: 1880 parameters: KukaKR6_R700_sixx - joints: [11.000000, -167.000000, 87.000000, 18.000000, 171.000000, -29.000000] - pose: {translation: [-0.2510652693472507, 0.04486248945057629, 0.7565106448287143], quaternion: [0.4827807366441175, 0.8753181386268217, -0.02684958143143068, -0.004473979570408672]} - solutions: [[-169.000000, -110.501656, 93.305828, -2.878889, 105.743130, 132.425832], [-169.000000, -14.324541, -82.351091, -152.087768, 174.072705, -19.007071], [11.000000, -167.000000, 87.000000, 18.000000, 171.000000, -29.000000], [11.000000, -78.000155, -76.045263, 176.955014, 114.490238, 131.944309], [-169.000000, -110.501656, 93.305828, 177.121111, -105.743130, -47.574168], [-169.000000, -14.324541, -82.351091, 27.912232, -174.072705, 160.992929], [11.000000, -167.000000, 87.000000, -162.000000, -171.000000, 151.000000], [11.000000, -78.000155, -76.045263, -3.044986, -114.490238, -48.055691]] + joints: [11.000000, -166.000000, 87.000000, 18.000000, 170.000000, -29.000000] + pose: {translation: [-0.2436917730845408, 0.0429957157668043, 0.7613195523373119], quaternion: [0.4823352236831513, 0.8754802920835932, -0.02950526106346814, -0.004053361238207131]} + solutions: [[-169.000000, -111.438984, 93.115728, -3.213567, 106.818013, 132.325505], [-169.000000, -15.479547, -82.160991, -153.399696, 173.117103, -20.309066], [11.000000, -166.000000, 87.000000, 18.000000, 170.000000, -29.000000], [11.000000, -77.000155, -76.045263, 176.593501, 115.435007, 131.791735], [-169.000000, -111.438984, 93.115728, 176.786433, -106.818013, -47.674495], [-169.000000, -15.479547, -82.160991, 26.600304, -173.117103, 159.690934], [11.000000, -166.000000, 87.000000, -162.000000, -170.000000, 151.000000], [11.000000, -77.000155, -76.045263, -3.406499, -115.435007, -48.208265]] - id: 1881 parameters: KukaKR6_R700_sixx joints: [-29.000000, 157.000000, -58.000000, 121.000000, -16.000000, 114.000000] @@ -9411,139 +9411,139 @@ cases: solutions: [[151.000000, 23.064680, 76.687401, 151.951518, 30.163074, -99.258169], [151.000000, 100.488759, -65.732663, 21.620188, 39.884565, 39.092729], [-29.000000, 88.153504, 68.954737, -162.318629, 51.068994, 44.681029], [-29.000000, 157.000000, -58.000000, -59.000000, 16.000000, -66.000000], [151.000000, 23.064680, 76.687401, -28.048482, -30.163074, 80.741831], [151.000000, 100.488759, -65.732663, -158.379812, -39.884565, -140.907271], [-29.000000, 88.153504, 68.954737, 17.681371, -51.068994, -135.318971], [-29.000000, 157.000000, -58.000000, 121.000000, -16.000000, 114.000000]] - id: 1882 parameters: KukaKR6_R700_sixx - joints: [-138.000000, 136.000000, -12.000000, 24.000000, -11.000000, -34.000000] - pose: {translation: [0.2998168373816218, -0.2783109508711786, -0.2138902712677377], quaternion: [0.8735765279341187, -0.4387529696758364, 0.1889860999165494, 0.09297384299649333]} - solutions: [[42.000000, 36.617897, 43.219505, 161.887810, 14.456451, 7.182200], [42.000000, 77.328557, -32.264767, 12.252262, 21.451111, 158.180998], [-138.000000, 117.187452, 22.954737, -170.004712, 26.560404, 160.649157], [-138.000000, 136.000000, -12.000000, -156.000000, 11.000000, 146.000000], [42.000000, 36.617897, 43.219505, -18.112190, -14.456451, -172.817800], [42.000000, 77.328557, -32.264767, -167.747738, -21.451111, -21.819002], [-138.000000, 117.187452, 22.954737, 9.995288, -26.560404, -19.350843], [-138.000000, 136.000000, -12.000000, 24.000000, -11.000000, -34.000000]] + joints: [-138.000000, 135.000000, -12.000000, 24.000000, -11.000000, -34.000000] + pose: {translation: [0.291805759974923, -0.2710977443750039, -0.2213717054611112], quaternion: [0.8753117468561192, -0.4392368466460695, 0.1807517276714082, 0.09071466975030745]} + solutions: [[42.000000, 37.869227, 42.832762, 161.723039, 14.327809, 7.352309], [42.000000, 78.160462, -31.878025, 12.371571, 21.237492, 158.052903], [-138.000000, 116.187452, 22.954737, -170.004712, 26.560404, 160.649157], [-138.000000, 135.000000, -12.000000, -156.000000, 11.000000, 146.000000], [42.000000, 37.869227, 42.832762, -18.276961, -14.327809, -172.647691], [42.000000, 78.160462, -31.878025, -167.628429, -21.237492, -21.947097], [-138.000000, 116.187452, 22.954737, 9.995288, -26.560404, -19.350843], [-138.000000, 135.000000, -12.000000, 24.000000, -11.000000, -34.000000]] - id: 1883 parameters: KukaKR6_R700_sixx - joints: [-168.000000, -79.000000, -26.000000, -108.000000, -10.000000, 103.000000] - pose: {translation: [0.06086447292813575, 0.0005699579443780595, 1.129927985531587], quaternion: [0.1143394565295117, 0.06600546664075305, 0.9899992640200251, 0.04971141009749182]} - solutions: [[12.000000, -106.446972, 38.949115, -137.744590, 14.217187, -46.629185], [12.000000, -70.363643, -27.994377, -25.828822, 22.275309, -161.130950], [-168.000000, -112.925019, 36.954737, 159.033087, 27.485973, -166.484055], [-168.000000, -79.000000, -26.000000, 72.000000, 10.000000, -77.000000], [12.000000, -106.446972, 38.949115, 42.255410, -14.217187, 133.370815], [12.000000, -70.363643, -27.994377, 154.171178, -22.275309, 18.869050], [-168.000000, -112.925019, 36.954737, -20.966913, -27.485973, 13.515945], [-168.000000, -79.000000, -26.000000, -108.000000, -10.000000, 103.000000]] + joints: [-168.000000, -78.000000, -26.000000, -108.000000, -10.000000, 103.000000] + pose: {translation: [0.04839127476539573, 0.003221218058878916, 1.131290075210484], quaternion: [0.1057944339179281, 0.06737482865159639, 0.9908177942248894, 0.05048038097596021]} + solutions: [[12.000000, -107.168993, 38.432833, -137.104105, 14.041701, -47.289650], [12.000000, -71.644543, -27.478095, -26.081649, 22.063668, -160.857940], [-168.000000, -111.925019, 36.954737, 159.033087, 27.485973, -166.484055], [-168.000000, -78.000000, -26.000000, 72.000000, 10.000000, -77.000000], [12.000000, -107.168993, 38.432833, 42.895895, -14.041701, 132.710350], [12.000000, -71.644543, -27.478095, 153.918351, -22.063668, 19.142060], [-168.000000, -111.925019, 36.954737, -20.966913, -27.485973, 13.515945], [-168.000000, -78.000000, -26.000000, -108.000000, -10.000000, 103.000000]] - id: 1884 parameters: KukaKR6_R700_sixx - joints: [112.000000, 36.000000, 62.000000, -106.000000, 134.000000, -71.000000] - pose: {translation: [-0.05627600318972833, -0.2869573231245111, -0.09864700297041226], quaternion: [0.1863736125162251, -0.3675775863953096, 0.8658036026919624, -0.2837881535636558]} - solutions: [[112.000000, 36.000000, 62.000000, -106.000000, 134.000000, -71.000000], [112.000000, 97.189739, -51.045263, -134.044330, 105.849850, -122.801026], [-68.000000, 91.558171, 53.736579, 44.256157, 97.761702, -131.073283], [-68.000000, 143.706979, -42.781842, 59.159799, 126.355935, -93.775516], [112.000000, 36.000000, 62.000000, 74.000000, -134.000000, 109.000000], [112.000000, 97.189739, -51.045263, 45.955670, -105.849850, 57.198974], [-68.000000, 91.558171, 53.736579, -135.743843, -97.761702, 48.926717], [-68.000000, 143.706979, -42.781842, -120.840201, -126.355935, 86.224484]] + joints: [112.000000, 36.000000, 62.000000, -106.000000, 133.000000, -71.000000] + pose: {translation: [-0.05546486818431291, -0.2874159615246472, -0.09968681680908847], quaternion: [0.1911678998958863, -0.3739011580667705, 0.8622082128743366, -0.2832838782877824]} + solutions: [[112.000000, 36.000000, 62.000000, -106.000000, 133.000000, -71.000000], [112.000000, 97.189739, -51.045263, -133.229871, 105.229949, -122.582818], [-68.000000, 91.558171, 53.736579, 45.129818, 97.261936, -130.959065], [-68.000000, 143.706979, -42.781842, 59.634896, 125.432962, -93.496960], [112.000000, 36.000000, 62.000000, 74.000000, -133.000000, 109.000000], [112.000000, 97.189739, -51.045263, 46.770129, -105.229949, 57.417182], [-68.000000, 91.558171, 53.736579, -134.870182, -97.261936, 49.040935], [-68.000000, 143.706979, -42.781842, -120.365104, -125.432962, 86.503040]] - id: 1885 parameters: KukaKR6_R700_sixx - joints: [95.000000, -126.000000, -32.000000, -136.000000, 107.000000, -162.000000] - pose: {translation: [0.09744518103536494, 0.5040398147263051, 0.6993329948108005], quaternion: [0.6744983831444583, 0.6470878953335872, 0.2286248366586962, 0.272139432848392]} - solutions: [[-85.000000, -66.240014, 60.581317, 41.823196, 94.991726, -173.314375], [-85.000000, -6.606448, -49.626580, 58.677843, 128.954997, -131.832508], [95.000000, -166.423510, 42.954737, -121.115408, 129.109556, -131.504211], [95.000000, -126.000000, -32.000000, -136.000000, 107.000000, -162.000000], [-85.000000, -66.240014, 60.581317, -138.176804, -94.991726, 6.685625], [-85.000000, -6.606448, -49.626580, -121.322157, -128.954997, 48.167492], [95.000000, -166.423510, 42.954737, 58.884592, -129.109556, 48.495789], [95.000000, -126.000000, -32.000000, 44.000000, -107.000000, 18.000000]] + joints: [95.000000, -125.000000, -32.000000, -136.000000, 107.000000, -162.000000] + pose: {translation: [0.09698276248918317, 0.4987543465576805, 0.7086351703523953], quaternion: [0.6766646131098226, 0.6448687649668345, 0.2347544805732341, 0.2667575888065321]} + solutions: [[-85.000000, -67.200682, 60.389088, 41.832204, 95.105657, -173.212012], [-85.000000, -7.777838, -49.434351, 58.663455, 128.944162, -131.855396], [95.000000, -165.423510, 42.954737, -121.115408, 129.109556, -131.504211], [95.000000, -125.000000, -32.000000, -136.000000, 107.000000, -162.000000], [-85.000000, -67.200682, 60.389088, -138.167796, -95.105657, 6.787988], [-85.000000, -7.777838, -49.434351, -121.336545, -128.944162, 48.144604], [95.000000, -165.423510, 42.954737, 58.884592, -129.109556, 48.495789], [95.000000, -125.000000, -32.000000, 44.000000, -107.000000, 18.000000]] - id: 1886 parameters: KukaKR6_R700_sixx - joints: [-71.000000, -140.000000, 57.000000, -150.000000, 43.000000, 107.000000] - pose: {translation: [-0.1059903911478593, -0.2240266692682205, 1.032853408381807], quaternion: [-0.1145743206809287, -0.2965330614387333, 0.8012020889185593, 0.5069675346871959]} - solutions: [[109.000000, -103.602984, 63.283410, 130.055614, 26.455709, -3.309322], [109.000000, -41.003881, -52.328672, 32.145710, 39.857953, 104.139536], [-71.000000, -140.000000, 57.000000, -150.000000, 43.000000, 107.000000], [-71.000000, -84.287204, -46.045263, -68.043802, 21.571746, 16.455013], [109.000000, -103.602984, 63.283410, -49.944386, -26.455709, 176.690678], [109.000000, -41.003881, -52.328672, -147.854290, -39.857953, -75.860464], [-71.000000, -140.000000, 57.000000, 30.000000, -43.000000, -73.000000], [-71.000000, -84.287204, -46.045263, 111.956198, -21.571746, -163.544987]] + joints: [-71.000000, -139.000000, 57.000000, -150.000000, 42.000000, 107.000000] + pose: {translation: [-0.1015642676695418, -0.2127532330667607, 1.03830239301787], quaternion: [-0.1142937188803911, -0.2804573950524161, 0.8060233845589559, 0.5085340686021227]} + solutions: [[109.000000, -104.466990, 62.990841, 131.904062, 26.713207, -4.909485], [109.000000, -42.189304, -52.036103, 32.296343, 38.768620, 103.986792], [-71.000000, -139.000000, 57.000000, -150.000000, 42.000000, 107.000000], [-71.000000, -83.287204, -46.045263, -65.326969, 21.603307, 13.928684], [109.000000, -104.466990, 62.990841, -48.095938, -26.713207, 175.090515], [109.000000, -42.189304, -52.036103, -147.703657, -38.768620, -76.013208], [-71.000000, -139.000000, 57.000000, 30.000000, -42.000000, -73.000000], [-71.000000, -83.287204, -46.045263, 114.673031, -21.603307, -166.071316]] - id: 1887 parameters: KukaKR6_R700_sixx - joints: [-18.000000, -30.000000, 6.000000, 16.000000, -118.000000, 95.000000] - pose: {translation: [0.5218944186119682, 0.1900456058176966, 0.784686138929003], quaternion: [0.2852259739051199, -0.3555823552703307, -0.5502661289283357, 0.6995816748489803]} - solutions: [[-18.000000, -30.000000, 6.000000, -164.000000, 118.000000, -85.000000], [-18.000000, -29.437750, 4.954737, -164.069950, 117.535617, -85.150143], [-18.000000, -30.000000, 6.000000, 16.000000, -118.000000, 95.000000], [-18.000000, -29.437750, 4.954737, 15.930050, -117.535617, 94.849857]] + joints: [-18.000000, -30.000000, 6.000000, 16.000000, -117.000000, 95.000000] + pose: {translation: [0.5226758076388998, 0.1904863471229153, 0.7857560362552251], quaternion: [0.2787149054998979, -0.3513172508332245, -0.5535533043246086, 0.7017641555326657]} + solutions: [[-18.000000, -30.000000, 6.000000, -164.000000, 117.000000, -85.000000], [-18.000000, -29.437750, 4.954737, -164.067022, 116.535620, -85.148811], [-18.000000, -30.000000, 6.000000, 16.000000, -117.000000, 95.000000], [-18.000000, -29.437750, 4.954737, 15.932978, -116.535620, 94.851189]] - id: 1888 parameters: KukaKR6_R700_sixx - joints: [35.000000, -155.000000, -21.000000, 153.000000, -158.000000, -153.000000] - pose: {translation: [-0.4436986318972938, 0.327290286010627, 0.5451340659043935], quaternion: [-0.1576217015608884, 0.5839623359695743, -0.5111995670237678, 0.6105885619963092]} - solutions: [[-145.000000, -39.405976, 56.892693, 80.311942, 170.065145, -47.545525], [-145.000000, 16.189502, -45.937955, 166.408342, 133.639930, 42.814498], [35.000000, 176.479236, 31.954737, -13.896200, 134.916781, 42.378309], [35.000000, -155.000000, -21.000000, -27.000000, 158.000000, 27.000000], [-145.000000, -39.405976, 56.892693, -99.688058, -170.065145, 132.454475], [-145.000000, 16.189502, -45.937955, -13.591658, -133.639930, -137.185502], [35.000000, 176.479236, 31.954737, 166.103800, -134.916781, -137.621691], [35.000000, -155.000000, -21.000000, 153.000000, -158.000000, -153.000000]] + joints: [35.000000, -154.000000, -21.000000, 153.000000, -158.000000, -153.000000] + pose: {translation: [-0.4415518849575684, 0.3257871176208026, 0.5551677348509113], quaternion: [-0.1582137376550567, 0.5908635321083392, -0.5071304383432681, 0.6071798894458208]} + solutions: [[-145.000000, -40.446318, 56.821021, 80.943507, 170.083387, -46.904363], [-145.000000, 15.070808, -45.866284, 166.418868, 133.594223, 42.829756], [35.000000, 177.479236, 31.954737, -13.896200, 134.916781, 42.378309], [35.000000, -154.000000, -21.000000, -27.000000, 158.000000, 27.000000], [-145.000000, -40.446318, 56.821021, -99.056493, -170.083387, 133.095637], [-145.000000, 15.070808, -45.866284, -13.581132, -133.594223, -137.170244], [35.000000, 177.479236, 31.954737, 166.103800, -134.916781, -137.621691], [35.000000, -154.000000, -21.000000, 153.000000, -158.000000, -153.000000]] - id: 1889 parameters: KukaKR6_R700_sixx - joints: [38.000000, -152.000000, 71.000000, -130.000000, -121.000000, 56.000000] - pose: {translation: [-0.1848281354348579, 0.07774170905794207, 0.8662738873706147], quaternion: [0.8660904672222206, -0.2175585253796879, 0.08838326628103146, 0.441298072580096]} - solutions: [[-142.000000, -107.161220, 77.146167, -66.670219, 134.349109, -33.867915], [-142.000000, -29.225771, -66.191430, -128.253793, 123.261596, -120.718037], [38.000000, -152.000000, 71.000000, 50.000000, 121.000000, -124.000000], [38.000000, -80.891961, -60.045263, 104.494040, 137.295820, -46.160981], [-142.000000, -107.161220, 77.146167, 113.329781, -134.349109, 146.132085], [-142.000000, -29.225771, -66.191430, 51.746207, -123.261596, 59.281963], [38.000000, -152.000000, 71.000000, -130.000000, -121.000000, 56.000000], [38.000000, -80.891961, -60.045263, -75.505960, -137.295820, 133.839019]] + joints: [38.000000, -151.000000, 71.000000, -130.000000, -120.000000, 56.000000] + pose: {translation: [-0.1782054940145059, 0.07187864028929443, 0.8711220522939631], quaternion: [0.8654369145676412, -0.2134321563169163, 0.08393755460149102, 0.4454437657898856]} + solutions: [[-142.000000, -108.062724, 76.910661, -68.192929, 134.393919, -35.023227], [-142.000000, -30.389821, -65.955924, -128.286064, 122.307508, -120.688347], [38.000000, -151.000000, 71.000000, 50.000000, 120.000000, -124.000000], [38.000000, -79.891961, -60.045263, 103.058540, 137.076172, -47.214040], [-142.000000, -108.062724, 76.910661, 111.807071, -134.393919, 144.976773], [-142.000000, -30.389821, -65.955924, 51.713936, -122.307508, 59.311653], [38.000000, -151.000000, 71.000000, -130.000000, -120.000000, 56.000000], [38.000000, -79.891961, -60.045263, -76.941460, -137.076172, 132.785960]] - id: 1890 parameters: KukaKR6_R700_sixx - joints: [80.000000, 43.000000, 54.000000, 120.000000, -151.000000, -60.000000] - pose: {translation: [0.07387044234545231, -0.2255110827869468, -0.1095628846264435], quaternion: [0.08867322651792822, 0.2081249363711291, 0.7546243194151644, 0.6159246758383801]} - solutions: [[80.000000, 43.000000, 54.000000, -60.000000, 151.000000, 120.000000], [80.000000, 95.436201, -43.045263, -136.448632, 142.456173, 33.578615], [-100.000000, 93.508542, 45.243955, 35.595165, 133.835009, 22.940625], [-100.000000, 136.415982, -34.289217, 82.194526, 154.926290, 77.964603], [80.000000, 43.000000, 54.000000, 120.000000, -151.000000, -60.000000], [80.000000, 95.436201, -43.045263, 43.551368, -142.456173, -146.421385], [-100.000000, 93.508542, 45.243955, -144.404835, -133.835009, -157.059375], [-100.000000, 136.415982, -34.289217, -97.805474, -154.926290, -102.035397]] + joints: [80.000000, 43.000000, 54.000000, 120.000000, -150.000000, -60.000000] + pose: {translation: [0.07478759921086089, -0.2246518904187561, -0.1101712543798574], quaternion: [0.09003201218261837, 0.2165074547949149, 0.7534096069713989, 0.6143229793225864]} + solutions: [[80.000000, 43.000000, 54.000000, -60.000000, 150.000000, 120.000000], [80.000000, 95.436201, -43.045263, -134.813384, 142.382465, 34.874574], [-100.000000, 93.508542, 45.243955, 36.973684, 133.949632, 23.896384], [-100.000000, 136.415982, -34.289217, 83.731739, 154.175439, 79.352701], [80.000000, 43.000000, 54.000000, 120.000000, -150.000000, -60.000000], [80.000000, 95.436201, -43.045263, 45.186616, -142.382465, -145.125426], [-100.000000, 93.508542, 45.243955, -143.026316, -133.949632, -156.103616], [-100.000000, 136.415982, -34.289217, -96.268261, -154.175439, -100.647299]] - id: 1891 parameters: KukaKR6_R700_sixx - joints: [175.000000, 100.000000, -168.000000, 118.000000, -75.000000, -155.000000] - pose: {translation: [-0.1095857162038486, -0.0780770820156418, 0.4469267534562119], quaternion: [-0.5606264930504491, -0.3881350576617121, 0.6393862361373789, -0.3552947415062179]} - solutions: [[175.000000, -179.613278, 178.954737, -94.301321, 58.789668, 97.303427], [175.000000, 100.000000, -168.000000, -62.000000, 75.000000, 25.000000], [-5.000000, 92.201808, 169.473207, 120.471776, 81.704751, 12.822053], [-5.000000, -47.131912, -158.518470, 71.391186, 64.146209, 126.717558], [175.000000, -179.613278, 178.954737, 85.698679, -58.789668, -82.696573], [175.000000, 100.000000, -168.000000, 118.000000, -75.000000, -155.000000], [-5.000000, 92.201808, 169.473207, -59.528224, -81.704751, -167.177947], [-5.000000, -47.131912, -158.518470, -108.608814, -64.146209, -53.282442]] + joints: [175.000000, 99.000000, -168.000000, 118.000000, -75.000000, -155.000000] + pose: {translation: [-0.1087560449230599, -0.07800449518411975, 0.4485073140998038], quaternion: [-0.5547765258903832, -0.3907226760252366, 0.6445308034618744, -0.3523334218456517]} + solutions: [[175.000000, 179.386722, 178.954737, -94.301321, 58.789668, 97.303427], [175.000000, 99.000000, -168.000000, -62.000000, 75.000000, 25.000000], [-5.000000, 92.640996, 169.538890, 120.408582, 81.453899, 13.253585], [-5.000000, -46.427364, -158.584152, 71.225844, 64.261943, 127.097508], [175.000000, 179.386722, 178.954737, 85.698679, -58.789668, -82.696573], [175.000000, 99.000000, -168.000000, 118.000000, -75.000000, -155.000000], [-5.000000, 92.640996, 169.538890, -59.591418, -81.453899, -166.746415], [-5.000000, -46.427364, -158.584152, -108.774156, -64.261943, -52.902492]] - id: 1892 parameters: KukaKR6_R700_sixx - joints: [76.000000, 83.000000, -145.000000, 44.000000, 177.000000, -19.000000] - pose: {translation: [0.03806172747576755, -0.1646795144857677, 0.3541023865093104], quaternion: [0.9112639130414433, 0.3454041540430502, 0.007778164612822607, -0.2241284259380268]} - solutions: [[76.000000, -99.578038, 155.954737, 2.418590, 59.486670, -64.189290], [76.000000, 83.000000, -145.000000, 44.000000, 177.000000, -19.000000], [-104.000000, 103.550998, 146.914012, -18.325321, 173.360009, 98.828726], [-104.000000, -90.559899, -135.959275, -177.773195, 69.336151, -63.746889], [76.000000, -99.578038, 155.954737, -177.581410, -59.486670, 115.810710], [76.000000, 83.000000, -145.000000, -136.000000, -177.000000, 161.000000], [-104.000000, 103.550998, 146.914012, 161.674679, -173.360009, -81.171274], [-104.000000, -90.559899, -135.959275, 2.226805, -69.336151, 116.253111]] + joints: [76.000000, 82.000000, -145.000000, 44.000000, 176.000000, -19.000000] + pose: {translation: [0.03753631424187362, -0.1665739211391288, 0.3562432720978874], quaternion: [0.9137444603281338, 0.3476771568504691, 0.000225416320707604, -0.2102179940240705]} + solutions: [[76.000000, -100.578038, 155.954737, 3.248112, 58.784529, -64.614856], [76.000000, 82.000000, -145.000000, 44.000000, 176.000000, -19.000000], [-104.000000, 104.319469, 146.933193, -27.388215, 173.953406, 89.811962], [-104.000000, -89.759505, -135.978455, -177.012765, 68.409094, -64.030271], [76.000000, -100.578038, 155.954737, -176.751888, -58.784529, 115.385144], [76.000000, 82.000000, -145.000000, -136.000000, -176.000000, 161.000000], [-104.000000, 104.319469, 146.933193, 152.611785, -173.953406, -90.188038], [-104.000000, -89.759505, -135.978455, 2.987235, -68.409094, 115.969729]] - id: 1893 parameters: KukaKR6_R700_sixx - joints: [-95.000000, 64.000000, -93.000000, -62.000000, 102.000000, -99.000000] - pose: {translation: [-0.1096720545968194, 0.4608127071118003, 0.2842523665516152], quaternion: [-0.1506741386991343, 0.853530457249121, 0.06696057776637881, -0.4942664701358703]} - solutions: [[-95.000000, -44.528782, 103.954737, -75.681011, 63.042586, -17.025269], [-95.000000, 64.000000, -93.000000, -62.000000, 102.000000, -99.000000], [85.000000, 123.681845, 92.380206, 116.476916, 105.235788, -105.459890], [85.000000, -141.200132, -81.425468, 111.607028, 68.268257, -34.572132], [-95.000000, -44.528782, 103.954737, 104.318989, -63.042586, 162.974731], [-95.000000, 64.000000, -93.000000, 118.000000, -102.000000, 81.000000], [85.000000, 123.681845, 92.380206, -63.523084, -105.235788, 74.540110], [85.000000, -141.200132, -81.425468, -68.392972, -68.268257, 145.427868]] + joints: [-95.000000, 64.000000, -93.000000, -62.000000, 101.000000, -99.000000] + pose: {translation: [-0.1100267209372695, 0.4620465167272029, 0.2848013907934152], quaternion: [-0.1464996806136216, 0.8522460792479347, 0.07410900030380588, -0.4967115058669372]} + solutions: [[-95.000000, -44.528782, 103.954737, -76.793278, 62.907340, -16.519865], [-95.000000, 64.000000, -93.000000, -62.000000, 101.000000, -99.000000], [85.000000, 123.681845, 92.380206, 116.592986, 104.242108, -105.430359], [85.000000, -141.200132, -81.425468, 110.633040, 67.839467, -34.208109], [-95.000000, -44.528782, 103.954737, 103.206722, -62.907340, 163.480135], [-95.000000, 64.000000, -93.000000, 118.000000, -101.000000, 81.000000], [85.000000, 123.681845, 92.380206, -63.407014, -104.242108, 74.569641], [85.000000, -141.200132, -81.425468, -69.366960, -67.839467, 145.791891]] - id: 1894 parameters: KukaKR6_R700_sixx - joints: [61.000000, -34.000000, 24.000000, 4.000000, 5.000000, 115.000000] - pose: {translation: [0.3482577369400093, -0.6292768157507591, 0.6809848067440256], quaternion: [0.3254545457318732, -0.5919433473690188, 0.737345635973179, 0.001955832132252709]} - solutions: [[61.000000, -34.000000, 24.000000, 4.000000, 5.000000, 115.000000], [61.000000, -14.060977, -13.045263, 0.926054, 22.096730, 118.126782], [61.000000, -34.000000, 24.000000, -176.000000, -5.000000, -65.000000], [61.000000, -14.060977, -13.045263, -179.073946, -22.096730, -61.873218]] + joints: [61.000000, -33.000000, 24.000000, 4.000000, 5.000000, 115.000000] + pose: {translation: [0.3505839157952445, -0.6334733534929061, 0.6688262610423631], quaternion: [0.3285765754601165, -0.5975402501992486, 0.7314227084847046, 0.001976098079694507]} + solutions: [[61.000000, -33.000000, 24.000000, 4.000000, 5.000000, 115.000000], [61.000000, -13.060977, -13.045263, 0.926054, 22.096730, 118.126782], [61.000000, -33.000000, 24.000000, -176.000000, -5.000000, -65.000000], [61.000000, -13.060977, -13.045263, -179.073946, -22.096730, -61.873218]] - id: 1895 parameters: KukaKR6_R700_sixx - joints: [162.000000, -158.000000, 80.000000, -46.000000, -156.000000, -179.000000] - pose: {translation: [0.2426235605112955, 0.1034442750748806, 0.8155147962244423], quaternion: [-0.5277526549138271, 0.7993098811828855, 0.08243853440766416, 0.2752902779240938]} - solutions: [[-18.000000, -111.218675, 85.731437, -17.046044, 86.463412, 45.494150], [-18.000000, -23.652741, -74.776700, -40.805961, 153.402787, 6.742676], [162.000000, -158.000000, 80.000000, 134.000000, 156.000000, 1.000000], [162.000000, -76.876527, -69.045263, 162.928811, 94.677749, 42.976022], [-18.000000, -111.218675, 85.731437, 162.953956, -86.463412, -134.505850], [-18.000000, -23.652741, -74.776700, 139.194039, -153.402787, -173.257324], [162.000000, -158.000000, 80.000000, -46.000000, -156.000000, -179.000000], [162.000000, -76.876527, -69.045263, -17.071189, -94.677749, -137.023978]] + joints: [162.000000, -157.000000, 80.000000, -46.000000, -155.000000, -179.000000] + pose: {translation: [0.2360966520333551, 0.1022845298972195, 0.8212355379447267], quaternion: [-0.5269112915207425, 0.7942820918009528, 0.08469047333708861, 0.2903583531400222]} + solutions: [[-18.000000, -112.134429, 85.518578, -17.745923, 85.872865, 45.502556], [-18.000000, -24.808799, -74.563840, -40.950762, 152.364760, 6.630731], [162.000000, -157.000000, 80.000000, 134.000000, 155.000000, 1.000000], [162.000000, -75.876527, -69.045263, 162.258431, 93.934022, 42.925687], [-18.000000, -112.134429, 85.518578, 162.254077, -85.872865, -134.497444], [-18.000000, -24.808799, -74.563840, 139.049238, -152.364760, -173.369269], [162.000000, -157.000000, 80.000000, -46.000000, -155.000000, -179.000000], [162.000000, -75.876527, -69.045263, -17.741569, -93.934022, -137.074313]] - id: 1896 parameters: KukaKR6_R700_sixx - joints: [-83.000000, 22.000000, 129.000000, 104.000000, 151.000000, -61.000000] - pose: {translation: [0.04716763505142805, 0.07535413081850223, 0.1001471896611787], quaternion: [0.5145901186303673, 0.2729016975292403, 0.7350331263866374, -0.3470561574269055]} - solutions: [[-83.000000, 22.000000, 129.000000, 104.000000, 151.000000, -61.000000], [-83.000000, 161.590698, -118.045263, 149.517954, 68.023437, 25.511383], [97.000000, 27.465408, 128.560935, -36.851441, 51.660733, 38.023642], [97.000000, 166.472277, -117.606198, -49.097130, 141.509756, -29.009036], [-83.000000, 22.000000, 129.000000, -76.000000, -151.000000, 119.000000], [-83.000000, 161.590698, -118.045263, -30.482046, -68.023437, -154.488617], [97.000000, 27.465408, 128.560935, 143.148559, -51.660733, -141.976358], [97.000000, 166.472277, -117.606198, 130.902870, -141.509756, 150.990964]] + joints: [-83.000000, 21.000000, 129.000000, 104.000000, 150.000000, -61.000000] + pose: {translation: [0.04892005831911308, 0.07995108777498616, 0.1005638026193126], quaternion: [0.5165658286182803, 0.2627375507765298, 0.7377641093041968, -0.3461688072869151]} + solutions: [[-83.000000, 21.000000, 129.000000, 104.000000, 150.000000, -61.000000], [-83.000000, 160.590698, -118.045263, 148.441152, 67.966100, 25.914862], [97.000000, 28.557132, 128.392852, -38.070811, 51.884382, 38.741703], [97.000000, 167.341027, -117.438115, -49.898456, 140.634895, -29.614842], [-83.000000, 21.000000, 129.000000, -76.000000, -150.000000, 119.000000], [-83.000000, 160.590698, -118.045263, -31.558848, -67.966100, -154.085138], [97.000000, 28.557132, 128.392852, 141.929189, -51.884382, -141.258297], [97.000000, 167.341027, -117.438115, 130.101544, -140.634895, 150.385158]] - id: 1897 parameters: KukaKR6_R700_sixx - joints: [-100.000000, -4.000000, -75.000000, -155.000000, -157.000000, 41.000000] - pose: {translation: [-0.05441424057770647, 0.3846742057364382, 0.7092525359078753], quaternion: [0.5192190607030768, 0.8461635511180705, 0.1199813927017461, 0.004824641667581109]} - solutions: [[-100.000000, -91.818117, 85.954737, 9.529662, 85.878868, -162.922075], [-100.000000, -4.000000, -75.000000, 25.000000, 157.000000, -139.000000], [80.000000, -174.443714, 76.356375, -151.716455, 159.604598, -135.467131], [80.000000, -97.388432, -65.401637, -170.421720, 97.069047, -161.041182], [-100.000000, -91.818117, 85.954737, -170.470338, -85.878868, 17.077925], [-100.000000, -4.000000, -75.000000, -155.000000, -157.000000, 41.000000], [80.000000, -174.443714, 76.356375, 28.283545, -159.604598, 44.532869], [80.000000, -97.388432, -65.401637, 9.578280, -97.069047, 18.958818]] + joints: [-100.000000, -4.000000, -75.000000, -155.000000, -156.000000, 41.000000] + pose: {translation: [-0.05409758284094041, 0.385994638977305, 0.7095776296364404], quaternion: [0.5183814713226437, 0.845476198732979, 0.1282407907872705, 0.002224217538567702]} + solutions: [[-100.000000, -91.818117, 85.954737, 9.936710, 84.964882, -162.954566], [-100.000000, -4.000000, -75.000000, 25.000000, 156.000000, -139.000000], [80.000000, -174.443714, 76.356375, -151.885376, 158.606413, -135.624951], [80.000000, -97.388432, -65.401637, -170.044297, 96.141987, -160.997765], [-100.000000, -91.818117, 85.954737, -170.063290, -84.964882, 17.045434], [-100.000000, -4.000000, -75.000000, -155.000000, -156.000000, 41.000000], [80.000000, -174.443714, 76.356375, 28.114624, -158.606413, 44.375049], [80.000000, -97.388432, -65.401637, 9.955703, -96.141987, 19.002235]] - id: 1898 parameters: KukaKR6_R700_sixx - joints: [-64.000000, 115.000000, -179.000000, -102.000000, -30.000000, -42.000000] - pose: {translation: [0.06070956043968827, 0.03522012696403067, 0.5165404428161063], quaternion: [0.3623353762386324, 0.04805682341796159, 0.9152443672396796, -0.1695032893044326]} - solutions: [[-64.000000, 115.000000, -179.000000, 78.000000, 30.000000, 138.000000], [-64.000000, 55.962643, -170.045263, 33.787211, 61.576685, -163.456111], [116.000000, 101.891147, 176.632151, -139.688486, 49.110777, -174.836350], [116.000000, 1.895271, -165.677413, -40.554952, 48.782730, 63.626940], [-64.000000, 115.000000, -179.000000, -102.000000, -30.000000, -42.000000], [-64.000000, 55.962643, -170.045263, -146.212789, -61.576685, 16.543889], [116.000000, 101.891147, 176.632151, 40.311514, -49.110777, 5.163650], [116.000000, 1.895271, -165.677413, 139.445048, -48.782730, -116.373060]] + joints: [-64.000000, 114.000000, -179.000000, -102.000000, -30.000000, -42.000000] + pose: {translation: [0.05981573122868031, 0.03338750549898524, 0.5171033165548353], quaternion: [0.3574908726374458, 0.04152483247964275, 0.9169725444025002, -0.1721549217433532]} + solutions: [[-64.000000, 114.000000, -179.000000, 78.000000, 30.000000, 138.000000], [-64.000000, 54.962643, -170.045263, 33.787211, 61.576685, -163.456111], [116.000000, 101.850783, 176.796595, -139.189465, 48.445317, -175.593595], [116.000000, 3.098710, -165.841858, -40.577178, 48.753107, 63.660660], [-64.000000, 114.000000, -179.000000, -102.000000, -30.000000, -42.000000], [-64.000000, 54.962643, -170.045263, -146.212789, -61.576685, 16.543889], [116.000000, 101.850783, 176.796595, 40.810535, -48.445317, 4.406405], [116.000000, 3.098710, -165.841858, 139.422822, -48.753107, -116.339340]] - id: 1899 parameters: KukaKR6_R700_sixx - joints: [-164.000000, -125.000000, 155.000000, 109.000000, -179.000000, 139.000000] - pose: {translation: [-0.1045876533075955, 0.02861670070389128, 0.5454440340018651], quaternion: [0.4995671259936086, 0.05413980408745448, 0.7942306372078953, 0.3416127385801043]} - solutions: [[-164.000000, -125.000000, 155.000000, -71.000000, 179.000000, -41.000000], [-164.000000, 55.622750, -144.045263, -178.928202, 61.907251, -150.507442], [16.000000, 124.379703, 147.180325, 1.105759, 58.770301, -150.576042], [16.000000, -69.286921, -136.225587, 12.811418, 175.732239, -137.225625], [-164.000000, -125.000000, 155.000000, 109.000000, -179.000000, 139.000000], [-164.000000, 55.622750, -144.045263, 1.071798, -61.907251, 29.492558], [16.000000, 124.379703, 147.180325, -178.894241, -58.770301, 29.423958], [16.000000, -69.286921, -136.225587, -167.188582, -175.732239, 42.774375]] + joints: [-164.000000, -124.000000, 155.000000, 109.000000, -178.000000, 139.000000] + pose: {translation: [-0.1071843614336266, 0.02798838681628086, 0.5435575976617572], quaternion: [0.4953374407298389, 0.046349692911559, 0.7952941283368226, 0.3464098370589252]} + solutions: [[-164.000000, -124.000000, 155.000000, -71.000000, 178.000000, -41.000000], [-164.000000, 56.622750, -144.045263, -177.863051, 62.245291, -151.006261], [16.000000, 123.634889, 147.107387, 2.207916, 58.927911, -151.150705], [16.000000, -70.153637, -136.152649, 25.096314, 175.537887, -124.981177], [-164.000000, -124.000000, 155.000000, 109.000000, -178.000000, 139.000000], [-164.000000, 56.622750, -144.045263, 2.136949, -62.245291, 28.993739], [16.000000, 123.634889, 147.107387, -177.792084, -58.927911, 28.849295], [16.000000, -70.153637, -136.152649, -154.903686, -175.537887, 55.018823]] - id: 1900 parameters: KukaKR6_R700_sixx - joints: [114.000000, -104.000000, -156.000000, -30.000000, 14.000000, -138.000000] - pose: {translation: [0.05362364738629294, 0.09664918157045344, 0.2665767468169127], quaternion: [-0.6123364982069696, 0.7646115556542743, 0.03291906839103203, 0.1983167084737014]} - solutions: [[-66.000000, -76.525205, 174.860440, 166.506902, 31.226020, -155.662034], [-66.000000, 171.275856, -163.905703, 7.974243, 60.683628, 8.818726], [114.000000, 44.657010, 166.954737, -172.958268, 99.357407, 13.893007], [114.000000, -104.000000, -156.000000, -30.000000, 14.000000, -138.000000], [-66.000000, -76.525205, 174.860440, -13.493098, -31.226020, 24.337966], [-66.000000, 171.275856, -163.905703, -172.025757, -60.683628, -171.181274], [114.000000, 44.657010, 166.954737, 7.041732, -99.357407, -166.106993], [114.000000, -104.000000, -156.000000, 150.000000, -14.000000, 42.000000]] + joints: [114.000000, -104.000000, -156.000000, -30.000000, 13.000000, -138.000000] + pose: {translation: [0.05255555820512213, 0.09591918988015874, 0.2660515805276683], quaternion: [-0.6136846744270776, 0.7656763204889731, 0.03341147761051888, 0.1897750399280184]} + solutions: [[-66.000000, -76.525205, 174.860440, 167.108699, 30.274525, -156.179240], [-66.000000, 171.275856, -163.905703, 7.351635, 61.522015, 9.119605], [114.000000, 44.657010, 166.954737, -173.436993, 100.239146, 13.811535], [114.000000, -104.000000, -156.000000, -30.000000, 13.000000, -138.000000], [-66.000000, -76.525205, 174.860440, -12.891301, -30.274525, 23.820760], [-66.000000, 171.275856, -163.905703, -172.648365, -61.522015, -170.880395], [114.000000, 44.657010, 166.954737, 6.563007, -100.239146, -166.188465], [114.000000, -104.000000, -156.000000, 150.000000, -13.000000, 42.000000]] - id: 1901 parameters: KukaKR6_R700_sixx - joints: [113.000000, -128.000000, 127.000000, 140.000000, -39.000000, 168.000000] - pose: {translation: [-0.0711116880792511, -0.2503516993477162, 0.6521121132997646], quaternion: [0.8159035698568187, 0.2617762656069459, -0.1206898262410093, 0.5012070603071112]} - solutions: [[113.000000, -128.000000, 127.000000, -40.000000, 39.000000, -12.000000], [113.000000, 8.947028, -116.045263, -33.421006, 132.740157, -69.234211], [-67.000000, 167.813935, 121.469533, 145.413179, 134.551876, -70.923031], [-67.000000, -62.362118, -110.514795, 144.265385, 43.838857, -17.680936], [113.000000, -128.000000, 127.000000, 140.000000, -39.000000, 168.000000], [113.000000, 8.947028, -116.045263, 146.578994, -132.740157, 110.765789], [-67.000000, 167.813935, 121.469533, -34.586821, -134.551876, 109.076969], [-67.000000, -62.362118, -110.514795, -35.734615, -43.838857, 162.319064]] + joints: [113.000000, -127.000000, 127.000000, 140.000000, -39.000000, 168.000000] + pose: {translation: [-0.07281701071289637, -0.2543691877086822, 0.6480031945844821], quaternion: [0.8203101275932382, 0.2610267971311764, -0.1158004194557697, 0.495526556908177]} + solutions: [[113.000000, -127.000000, 127.000000, -40.000000, 39.000000, -12.000000], [113.000000, 9.947028, -116.045263, -33.421006, 132.740157, -69.234211], [-67.000000, 166.985671, 121.330871, 145.394682, 134.579102, -70.949390], [-67.000000, -63.365855, -110.376133, 144.347208, 43.948436, -17.794480], [113.000000, -127.000000, 127.000000, 140.000000, -39.000000, 168.000000], [113.000000, 9.947028, -116.045263, 146.578994, -132.740157, 110.765789], [-67.000000, 166.985671, 121.330871, -34.605318, -134.579102, 109.050610], [-67.000000, -63.365855, -110.376133, -35.652792, -43.948436, 162.205520]] - id: 1902 parameters: KukaKR6_R700_sixx - joints: [-51.000000, -177.000000, -108.000000, 131.000000, 0.000000, -87.000000] - pose: {translation: [-0.08847390361554723, -0.1092561720023955, -0.004292499903519861], quaternion: [0.7309698269877656, -0.6698104397350121, -0.007968433406080156, -0.1302827345603351]} - solutions: [[129.000000, 1.237009, 123.395452, -180.000000, 19.632461, 44.000000], [129.000000, 133.513031, -112.440715, -0.000000, 83.927684, -136.000000], [-51.000000, 56.337564, 118.954737, -180.000000, 100.292302, -136.000000], [-51.000000, -177.000000, -108.000000, -0.000000, 0.000000, 44.000000], [129.000000, 1.237009, 123.395452, 0.000000, -19.632461, -136.000000], [129.000000, 133.513031, -112.440715, -180.000000, -83.927684, 44.000000], [-51.000000, 56.337564, 118.954737, 0.000000, -100.292302, 44.000000], [-51.000000, -177.000000, -108.000000, -180.000000, 0.000000, -136.000000]] + joints: [-51.000000, -176.000000, -108.000000, 131.000000, 1.000000, -87.000000] + pose: {translation: [-0.09152207568977658, -0.1146947284720125, -0.001107623401988556], quaternion: [0.7306972584970345, -0.6706493192916877, -0.001261851057791233, -0.1277083187988235]} + solutions: [[129.000000, 0.079260, 123.554974, -177.680482, 18.992585, 41.810949], [129.000000, 132.559674, -112.600237, -0.757937, 84.697121, -135.925626], [-51.000000, 57.337564, 118.954737, 179.231317, 100.947437, -136.141667], [-51.000000, -176.000000, -108.000000, 131.000000, 1.000000, -87.000000], [129.000000, 0.079260, 123.554974, 2.319518, -18.992585, -138.189051], [129.000000, 132.559674, -112.600237, 179.242063, -84.697121, 44.074374], [-51.000000, 57.337564, 118.954737, -0.768683, -100.947437, 43.858333], [-51.000000, -176.000000, -108.000000, -49.000000, -1.000000, 93.000000]] - id: 1903 parameters: KukaKR6_R700_sixx - joints: [-139.000000, -23.000000, -21.000000, 19.000000, -106.000000, -113.000000] - pose: {translation: [-0.383843228710098, 0.3004961460028457, 0.83879370551429], quaternion: [-0.04510748799221997, -0.5165283663165503, 0.7144900199158735, -0.4697528847787976]} - solutions: [[-139.000000, -51.520764, 31.954737, -156.315941, 128.822397, 76.953805], [-139.000000, -23.000000, -21.000000, -161.000000, 106.000000, 67.000000], [-139.000000, -51.520764, 31.954737, 23.684059, -128.822397, -103.046195], [-139.000000, -23.000000, -21.000000, 19.000000, -106.000000, -113.000000]] + joints: [-139.000000, -23.000000, -21.000000, 19.000000, -105.000000, -113.000000] + pose: {translation: [-0.3844684075986693, 0.3008786439561126, 0.8399821282804905], quaternion: [-0.04644299261107611, -0.5091675999424821, 0.718765797141131, -0.4711338795567717]} + solutions: [[-139.000000, -51.520764, 31.954737, -156.534800, 127.837244, 76.818066], [-139.000000, -23.000000, -21.000000, -161.000000, 105.000000, 67.000000], [-139.000000, -51.520764, 31.954737, 23.465200, -127.837244, -103.181934], [-139.000000, -23.000000, -21.000000, 19.000000, -105.000000, -113.000000]] - id: 1904 parameters: KukaKR6_R700_sixx - joints: [-73.000000, -62.000000, -42.000000, 89.000000, -8.000000, 85.000000] - pose: {translation: [-0.00150392275963211, 0.0331562312412239, 1.100640387058444], quaternion: [0.1405935604369536, 0.0100407168113125, -0.7692994888646709, 0.6231459950943534]} - solutions: [[-73.000000, -113.296103, 52.954737, -168.523609, 44.377432, -14.266412], [-73.000000, -62.000000, -42.000000, -91.000000, 8.000000, -95.000000], [107.000000, -121.618507, 51.227000, 124.142075, 9.679067, -130.534487], [107.000000, -72.205260, -40.272262, 13.256108, 37.361667, -16.615360], [-73.000000, -113.296103, 52.954737, 11.476391, -44.377432, 165.733588], [-73.000000, -62.000000, -42.000000, 89.000000, -8.000000, 85.000000], [107.000000, -121.618507, 51.227000, -55.857925, -9.679067, 49.465513], [107.000000, -72.205260, -40.272262, -166.743892, -37.361667, 163.384640]] + joints: [-73.000000, -61.000000, -42.000000, 89.000000, -8.000000, 85.000000] + pose: {translation: [0.002070878647074847, 0.04484887978291213, 1.100424288688377], quaternion: [0.1334251274247657, 0.005210245062262526, -0.769712697656235, 0.6242699350319842]} + solutions: [[-73.000000, -112.296103, 52.954737, -168.523609, 44.377432, -14.266412], [-73.000000, -61.000000, -42.000000, -91.000000, 8.000000, -95.000000], [107.000000, -122.402384, 50.848933, 123.348793, 9.589105, -129.729858], [107.000000, -73.400883, -39.894196, 13.311191, 37.184105, -16.684580], [-73.000000, -112.296103, 52.954737, 11.476391, -44.377432, 165.733588], [-73.000000, -61.000000, -42.000000, 89.000000, -8.000000, 85.000000], [107.000000, -122.402384, 50.848933, -56.651207, -9.589105, 50.270142], [107.000000, -73.400883, -39.894196, -166.688809, -37.184105, 163.315420]] - id: 1905 parameters: KukaKR6_R700_sixx - joints: [-75.000000, -46.000000, -180.000000, 168.000000, -26.000000, 90.000000] - pose: {translation: [-0.02235990408817518, -0.05527649605413298, 0.3118259993113586], quaternion: [0.2086933725812067, 0.7942193490471994, -0.5676885251629133, -0.05824465845106309]} - solutions: [[-75.000000, -46.000000, 180.000000, -12.000000, 26.000000, -90.000000], [-75.000000, -115.984040, -169.045263, -5.253091, 84.556740, -100.316024], [105.000000, -7.062412, 176.874317, 169.831884, 148.916968, -109.548235], [105.000000, -105.219514, -165.919579, 174.376815, 68.460078, -98.745419], [-75.000000, -46.000000, 180.000000, 168.000000, -26.000000, 90.000000], [-75.000000, -115.984040, -169.045263, 174.746909, -84.556740, 79.683976], [105.000000, -7.062412, 176.874317, -10.168116, -148.916968, 70.451765], [105.000000, -105.219514, -165.919579, -5.623185, -68.460078, 81.254581]] + joints: [-75.000000, -45.000000, -180.000000, 168.000000, -26.000000, 90.000000] + pose: {translation: [-0.02275486905570958, -0.05675052538018112, 0.3133085750774492], quaternion: [0.2078942035762703, 0.7892724044206648, -0.5748328854632354, -0.05827714414263784]} + solutions: [[-75.000000, -45.000000, 180.000000, -12.000000, 26.000000, -90.000000], [-75.000000, -114.984040, -169.045263, -5.253091, 84.556740, -100.316024], [105.000000, -8.361976, 177.050297, 169.867925, 148.795319, -109.506124], [105.000000, -105.154774, -166.095559, 174.410316, 69.344586, -98.838483], [-75.000000, -45.000000, 180.000000, 168.000000, -26.000000, 90.000000], [-75.000000, -114.984040, -169.045263, 174.746909, -84.556740, 79.683976], [105.000000, -8.361976, 177.050297, -10.132075, -148.795319, 70.493876], [105.000000, -105.154774, -166.095559, -5.589684, -69.344586, 81.161517]] - id: 1906 parameters: KukaKR6_R700_sixx - joints: [-143.000000, 117.000000, 134.000000, 179.000000, 120.000000, 123.000000] - pose: {translation: [0.2582135793593106, -0.1930638834787317, 0.392679008542208], quaternion: [-0.6437092231984135, 0.6804202781245461, -0.3439099327740182, 0.06627698865806159]} - solutions: [[37.000000, -92.160682, 143.181124, -156.754018, 2.194675, -79.730701], [37.000000, 67.717755, -132.226387, -0.944413, 113.509563, 123.123281], [-143.000000, 117.000000, 134.000000, 179.000000, 120.000000, 123.000000], [-143.000000, -96.605419, -123.045263, 174.686163, 9.392749, 128.743031], [37.000000, -92.160682, 143.181124, 23.245982, -2.194675, 100.269299], [37.000000, 67.717755, -132.226387, 179.055587, -113.509563, -56.876719], [-143.000000, 117.000000, 134.000000, -1.000000, -120.000000, -57.000000], [-143.000000, -96.605419, -123.045263, -5.313837, -9.392749, -51.256969]] + joints: [-143.000000, 117.000000, 134.000000, 179.000000, 119.000000, 123.000000] + pose: {translation: [0.2590558757143442, -0.1936835745545273, 0.3936042230141379], quaternion: [-0.6415651128783927, 0.6781924021998198, -0.3519360506291125, 0.06775166273499006]} + solutions: [[37.000000, -92.160682, 143.181124, -163.823873, 3.140854, -72.668249], [37.000000, 67.717755, -132.226387, -0.946742, 112.509566, 123.122371], [-143.000000, 117.000000, 134.000000, 179.000000, 119.000000, 123.000000], [-143.000000, -96.605419, -123.045263, 174.001047, 8.398359, 129.419932], [37.000000, -92.160682, 143.181124, 16.176127, -3.140854, 107.331751], [37.000000, 67.717755, -132.226387, 179.053258, -112.509566, -56.877629], [-143.000000, 117.000000, 134.000000, -1.000000, -119.000000, -57.000000], [-143.000000, -96.605419, -123.045263, -5.998953, -8.398359, -50.580068]] - id: 1907 parameters: KukaKR6_R700_sixx - joints: [-82.000000, 155.000000, 81.000000, 121.000000, 8.000000, 137.000000] - pose: {translation: [-0.06607336375014602, -0.5387097959400362, 0.6123731537817245], quaternion: [-0.0003006365258709177, -0.330993218113095, 0.9422862950792191, -0.05039779049418001]} - solutions: [[98.000000, -65.879046, 93.396010, -173.030297, 79.453625, -103.033853], [98.000000, 30.401364, -82.441272, -88.502427, 6.853748, 166.739589], [-82.000000, 155.000000, 81.000000, 121.000000, 8.000000, 137.000000], [-82.000000, -122.756456, -70.045263, 7.572623, 64.855236, -104.985154], [98.000000, -65.879046, 93.396010, 6.969703, -79.453625, 76.966147], [98.000000, 30.401364, -82.441272, 91.497573, -6.853748, -13.260411], [-82.000000, 155.000000, 81.000000, -59.000000, -8.000000, -43.000000], [-82.000000, -122.756456, -70.045263, -172.427377, -64.855236, 75.014846]] + joints: [-82.000000, 154.000000, 81.000000, 121.000000, 8.000000, 137.000000] + pose: {translation: [-0.06657716547821668, -0.5422945315020351, 0.6024337273913375], quaternion: [-0.001880548870078775, -0.3390622769957781, 0.9393897364585532, -0.05079526445167454]} + solutions: [[98.000000, -64.818005, 93.458979, -173.033081, 79.576720, -103.018553], [98.000000, 31.534543, -82.504241, -89.086498, 6.852271, 167.327864], [-82.000000, 154.000000, 81.000000, 121.000000, 8.000000, 137.000000], [-82.000000, -123.756456, -70.045263, 7.572623, 64.855236, -104.985154], [98.000000, -64.818005, 93.458979, 6.966919, -79.576720, 76.981447], [98.000000, 31.534543, -82.504241, 90.913502, -6.852271, -12.672136], [-82.000000, 154.000000, 81.000000, -59.000000, -8.000000, -43.000000], [-82.000000, -123.756456, -70.045263, -172.427377, -64.855236, 75.014846]] - id: 1908 parameters: KukaKR6_R700_sixx - joints: [115.000000, 56.000000, 24.000000, 92.000000, 118.000000, 42.000000] - pose: {translation: [-0.1886095408486858, -0.2374377225534911, -0.1771087706758561], quaternion: [0.01061440489445892, -0.5157928677973748, -0.4218092918282778, 0.7456017524559765]} - solutions: [[115.000000, 56.000000, 24.000000, 92.000000, 118.000000, 42.000000], [115.000000, 75.939023, -13.045263, 100.750811, 116.080832, 61.104482], [115.000000, 56.000000, 24.000000, -88.000000, -118.000000, -138.000000], [115.000000, 75.939023, -13.045263, -79.249189, -116.080832, -118.895518]] + joints: [115.000000, 56.000000, 24.000000, 92.000000, 117.000000, 42.000000] + pose: {translation: [-0.1892937477847021, -0.2373804138855179, -0.1783245332281148], quaternion: [0.01223224563500696, -0.5230715402124694, -0.4188502523027968, 0.7421664248215244]} + solutions: [[115.000000, 56.000000, 24.000000, 92.000000, 117.000000, 42.000000], [115.000000, 75.939023, -13.045263, 100.389301, 115.135460, 60.948226], [115.000000, 56.000000, 24.000000, -88.000000, -117.000000, -138.000000], [115.000000, 75.939023, -13.045263, -79.610699, -115.135460, -119.051774]] - id: 1909 parameters: KukaKR6_R700_sixx joints: [89.000000, 109.000000, 6.000000, 146.000000, 119.000000, -145.000000] @@ -9556,24 +9556,24 @@ cases: solutions: [[-133.000000, -15.478240, 54.954737, 100.519570, 160.201046, -64.817528], [-133.000000, 38.000000, -44.000000, 155.000000, 128.000000, -2.000000], [47.000000, 157.437866, 28.022095, -25.180496, 128.489083, -2.291581], [47.000000, -178.286142, -17.067357, -37.060217, 146.454306, -18.169037], [-133.000000, -15.478240, 54.954737, -79.480430, -160.201046, 115.182472], [-133.000000, 38.000000, -44.000000, -25.000000, -128.000000, 178.000000], [47.000000, 157.437866, 28.022095, 154.819504, -128.489083, 177.708419], [47.000000, -178.286142, -17.067357, 142.939783, -146.454306, 161.830963]] - id: 1911 parameters: KukaKR6_R700_sixx - joints: [34.000000, -62.000000, -60.000000, -50.000000, -176.000000, 160.000000] - pose: {translation: [-0.01148540032166339, 0.002590509402505069, 0.8995394222028519], quaternion: [0.9660133235495409, -0.04110746530487851, 0.201705722919905, 0.156343328486817]} - solutions: [[-146.000000, -123.745991, 72.316542, -18.609999, 170.360569, 11.566189], [-146.000000, -51.179572, -61.361805, -176.113363, 127.968223, -147.675388], [34.000000, -133.057937, 70.954737, 3.637688, 122.624311, -148.105772], [34.000000, -62.000000, -60.000000, 130.000000, 176.000000, -20.000000], [-146.000000, -123.745991, 72.316542, 161.390001, -170.360569, -168.433811], [-146.000000, -51.179572, -61.361805, 3.886637, -127.968223, 32.324612], [34.000000, -133.057937, 70.954737, -176.362312, -122.624311, 31.894228], [34.000000, -62.000000, -60.000000, -50.000000, -176.000000, 160.000000]] + joints: [34.000000, -62.000000, -60.000000, -50.000000, -175.000000, 160.000000] + pose: {translation: [-0.01275883575824479, 0.0021632754395099, 0.8991581934947064], quaternion: [0.9671639500384394, -0.04298997733163281, 0.1936537897548231, 0.1588834960235448]} + solutions: [[-146.000000, -123.745991, 72.316542, -21.482432, 169.495605, 8.737924], [-146.000000, -51.179572, -61.361805, -175.100961, 128.575089, -147.048297], [34.000000, -133.057937, 70.954737, 4.578466, 123.237924, -147.594321], [34.000000, -62.000000, -60.000000, 130.000000, 175.000000, -20.000000], [-146.000000, -123.745991, 72.316542, 158.517568, -169.495605, -171.262076], [-146.000000, -51.179572, -61.361805, 4.899039, -128.575089, 32.951703], [34.000000, -133.057937, 70.954737, -175.421534, -123.237924, 32.405679], [34.000000, -62.000000, -60.000000, -50.000000, -175.000000, 160.000000]] - id: 1912 parameters: KukaKR6_R700_sixx - joints: [-37.000000, 140.000000, 44.000000, 28.000000, 25.000000, 23.000000] - pose: {translation: [-0.512038084191605, -0.4057229961355142, 0.2229052051583], quaternion: [0.4188942481256634, -0.3267977812224782, -0.03411765123845041, 0.8465026904560151]} - solutions: [[143.000000, -10.599339, 63.468627, -168.357182, 79.463720, 46.571305], [143.000000, 52.203284, -52.513889, -155.266014, 28.307147, 26.652572], [-37.000000, 140.000000, 44.000000, 28.000000, 25.000000, 23.000000], [-37.000000, -178.442657, -33.045263, 13.444404, 58.578824, 41.625250], [143.000000, -10.599339, 63.468627, 11.642818, -79.463720, -133.428695], [143.000000, 52.203284, -52.513889, 24.733986, -28.307147, -153.347428], [-37.000000, 140.000000, 44.000000, -152.000000, -25.000000, -157.000000], [-37.000000, -178.442657, -33.045263, -166.555596, -58.578824, -138.374750]] + joints: [-37.000000, 139.000000, 44.000000, 28.000000, 25.000000, 23.000000] + pose: {translation: [-0.5094872355400505, -0.4038007938029361, 0.2110976660031812], quaternion: [0.4235617038914975, -0.3325057091287923, -0.03291320717746288, 0.8419929674210966]} + solutions: [[143.000000, -9.460354, 63.357665, -168.358233, 79.491167, 46.577057], [143.000000, 53.220338, -52.402927, -155.365033, 28.423464, 26.765101], [-37.000000, 139.000000, 44.000000, 28.000000, 25.000000, 23.000000], [-37.000000, -179.442657, -33.045263, 13.444404, 58.578824, 41.625250], [143.000000, -9.460354, 63.357665, 11.641767, -79.491167, -133.422943], [143.000000, 53.220338, -52.402927, 24.634967, -28.423464, -153.234899], [-37.000000, 139.000000, 44.000000, -152.000000, -25.000000, -157.000000], [-37.000000, -179.442657, -33.045263, -166.555596, -58.578824, -138.374750]] - id: 1913 parameters: KukaKR6_R700_sixx - joints: [-15.000000, -159.000000, -120.000000, -113.000000, 59.000000, 149.000000] - pose: {translation: [-0.1559141740726983, 0.02357176355599786, 0.1213505647869272], quaternion: [-0.399143113672224, 0.7542126078248423, 0.3969148295062472, 0.3380927907011913]} - solutions: [[165.000000, -17.191935, 136.562578, 80.312363, 53.172246, 125.402787], [165.000000, 132.817952, -125.607840, 57.414324, 110.539034, -131.731492], [-15.000000, 58.784792, 130.954737, -115.723771, 118.857430, -115.443361], [-15.000000, -159.000000, -120.000000, -113.000000, 59.000000, 149.000000], [165.000000, -17.191935, 136.562578, -99.687637, -53.172246, -54.597213], [165.000000, 132.817952, -125.607840, -122.585676, -110.539034, 48.268508], [-15.000000, 58.784792, 130.954737, 64.276229, -118.857430, 64.556639], [-15.000000, -159.000000, -120.000000, 67.000000, -59.000000, -31.000000]] + joints: [-15.000000, -158.000000, -120.000000, -113.000000, 58.000000, 149.000000] + pose: {translation: [-0.1605254478458017, 0.02164094528049895, 0.1231326186810398], quaternion: [-0.3980251614427368, 0.7621672512696075, 0.3921728131585053, 0.3269213002695887]} + solutions: [[165.000000, -18.385458, 136.700773, 80.776298, 52.265780, 125.165186], [165.000000, 131.822241, -125.746036, 56.407849, 110.423812, -131.978568], [-15.000000, 59.784792, 130.954737, -116.861214, 118.949487, -115.993142], [-15.000000, -158.000000, -120.000000, -113.000000, 58.000000, 149.000000], [165.000000, -18.385458, 136.700773, -99.223702, -52.265780, -54.834814], [165.000000, 131.822241, -125.746036, -123.592151, -110.423812, 48.021432], [-15.000000, 59.784792, 130.954737, 63.138786, -118.949487, 64.006858], [-15.000000, -158.000000, -120.000000, 67.000000, -58.000000, -31.000000]] - id: 1914 parameters: KukaKR6_R700_sixx - joints: [30.000000, 147.000000, -152.000000, 170.000000, -168.000000, 149.000000] - pose: {translation: [0.04028796034225422, -0.01992516755008479, 0.2719793582211795], quaternion: [-0.3566756084412223, -0.719301779245361, -0.060102316805559, 0.5931063751403672]} - solutions: [[30.000000, -52.161424, 162.954737, -2.611347, 52.412602, -19.620715], [30.000000, 147.000000, -152.000000, -10.000000, 168.000000, -31.000000], [-150.000000, 52.964834, 156.073913, 9.689032, 167.612763, 168.253349], [-150.000000, -124.208964, -145.119176, 177.846036, 73.859816, -20.615216], [30.000000, -52.161424, 162.954737, 177.388653, -52.412602, 160.379285], [30.000000, 147.000000, -152.000000, 170.000000, -168.000000, 149.000000], [-150.000000, 52.964834, 156.073913, -170.310968, -167.612763, -11.746651], [-150.000000, -124.208964, -145.119176, -2.153964, -73.859816, 159.384784]] + joints: [30.000000, 146.000000, -152.000000, 170.000000, -168.000000, 149.000000] + pose: {translation: [0.04222027481979558, -0.0210407898338523, 0.2723453386766296], quaternion: [-0.3587956919105657, -0.7240189759050492, -0.05965706279097181, 0.5860914679936713]} + solutions: [[30.000000, -53.161424, 162.954737, -2.611347, 52.412602, -19.620715], [30.000000, 146.000000, -152.000000, -10.000000, 168.000000, -31.000000], [-150.000000, 53.833778, 155.982311, 9.862754, 167.832188, 168.431138], [-150.000000, -123.530850, -145.027573, 177.843510, 73.629695, -20.606195], [30.000000, -53.161424, 162.954737, 177.388653, -52.412602, 160.379285], [30.000000, 146.000000, -152.000000, 170.000000, -168.000000, 149.000000], [-150.000000, 53.833778, 155.982311, -170.137246, -167.832188, -11.568862], [-150.000000, -123.530850, -145.027573, -2.156490, -73.629695, 159.393805]] - id: 1915 parameters: KukaKR6_R700_sixx joints: [-133.000000, 122.000000, 27.000000, 139.000000, 64.000000, 78.000000] @@ -9581,9 +9581,9 @@ cases: solutions: [[47.000000, 26.918999, 47.643530, -72.190236, 38.268138, 124.886432], [47.000000, 72.433141, -36.688793, -42.667125, 60.463783, 81.575721], [-133.000000, 122.000000, 27.000000, 139.000000, 64.000000, 78.000000], [-133.000000, 145.173497, -16.045263, 129.664417, 49.995822, 94.925634], [47.000000, 26.918999, 47.643530, 107.809764, -38.268138, -55.113568], [47.000000, 72.433141, -36.688793, 137.332875, -60.463783, -98.424279], [-133.000000, 122.000000, 27.000000, -41.000000, -64.000000, -102.000000], [-133.000000, 145.173497, -16.045263, -50.335583, -49.995822, -85.074366]] - id: 1916 parameters: KukaKR6_R700_sixx - joints: [175.000000, -87.000000, -8.000000, 10.000000, 176.000000, -32.000000] - pose: {translation: [0.01262951181716439, 0.00207768747476886, 0.9961064608906908], quaternion: [0.9453383443328146, -0.3165845337521849, -0.07388015274854366, 0.02552196608524368]} - solutions: [[-5.000000, -98.560977, 21.416018, -10.059467, 176.023442, 127.988128], [-5.000000, -81.406293, -10.461281, -176.303405, 169.171003, -38.345186], [175.000000, -101.503729, 18.954737, 2.458185, 163.595282, -39.617901], [175.000000, -87.000000, -8.000000, 10.000000, 176.000000, -32.000000], [-5.000000, -98.560977, 21.416018, 169.940533, -176.023442, -52.011872], [-5.000000, -81.406293, -10.461281, 3.696595, -169.171003, 141.654814], [175.000000, -101.503729, 18.954737, -177.541815, -163.595282, 140.382099], [175.000000, -87.000000, -8.000000, -170.000000, -176.000000, 148.000000]] + joints: [175.000000, -86.000000, -8.000000, 10.000000, 175.000000, -32.000000] + pose: {translation: [0.0008841728129347446, 0.001292734856752973, 0.996879621231317], quaternion: [0.9453383443328146, -0.316584533752185, -0.07436281608318181, 0.02407943743494336]} + solutions: [[-5.000000, -98.966777, 20.313928, -19.700674, 177.426833, 118.354953], [-5.000000, -82.999244, -9.359191, -175.576268, 168.684306, -37.624641], [175.000000, -100.503729, 18.954737, 2.901560, 162.603617, -39.193659], [175.000000, -86.000000, -8.000000, 10.000000, 175.000000, -32.000000], [-5.000000, -98.966777, 20.313928, 160.299326, -177.426833, -61.645047], [-5.000000, -82.999244, -9.359191, 4.423732, -168.684306, 142.375359], [175.000000, -100.503729, 18.954737, -177.098440, -162.603617, 140.806341], [175.000000, -86.000000, -8.000000, -170.000000, -175.000000, 148.000000]] - id: 1917 parameters: KukaKR6_R700_sixx joints: [-180.000000, 33.000000, 132.000000, 59.000000, 110.000000, 113.000000] @@ -9591,14 +9591,14 @@ cases: solutions: [[-0.000000, 11.428848, 133.695441, -54.552626, 98.607131, -108.521206], [-0.000000, 157.400038, -122.740703, -112.927518, 119.006361, 132.252638], [180.000000, 33.000000, 132.000000, 59.000000, 110.000000, 113.000000], [180.000000, 176.636616, -121.045263, 120.970405, 110.048764, -126.384973], [-0.000000, 11.428848, 133.695441, 125.447374, -98.607131, 71.478794], [-0.000000, 157.400038, -122.740703, 67.072482, -119.006361, -47.747362], [180.000000, 33.000000, 132.000000, -121.000000, -110.000000, -67.000000], [180.000000, 176.636616, -121.045263, -59.029595, -110.048764, 53.615027]] - id: 1918 parameters: KukaKR6_R700_sixx - joints: [103.000000, 159.000000, -83.000000, 112.000000, 71.000000, 132.000000] - pose: {translation: [-0.04291187036927129, 0.1259008221585771, -0.07699331865558838], quaternion: [0.7148052942483858, -0.322735218623419, -0.4952962210094409, 0.3736000848880251]} - solutions: [[-77.000000, 24.566053, 97.596856, -74.990225, 65.180765, 150.568198], [-77.000000, 125.681045, -86.642118, -63.093766, 100.551467, 73.295860], [103.000000, 62.079176, 93.954737, 113.542196, 107.008181, 59.261563], [103.000000, 159.000000, -83.000000, 112.000000, 71.000000, 132.000000], [-77.000000, 24.566053, 97.596856, 105.009775, -65.180765, -29.431802], [-77.000000, 125.681045, -86.642118, 116.906234, -100.551467, -106.704140], [103.000000, 62.079176, 93.954737, -66.457804, -107.008181, -120.738437], [103.000000, 159.000000, -83.000000, -68.000000, -71.000000, -48.000000]] + joints: [103.000000, 158.000000, -83.000000, 112.000000, 70.000000, 132.000000] + pose: {translation: [-0.04440687392729299, 0.1175042168684738, -0.08064596814697134], quaternion: [0.7159525029691299, -0.3271711456065027, -0.4876526314686156, 0.3775790857509206]} + solutions: [[-77.000000, 25.707371, 97.397579, -75.316744, 64.247915, 150.657011], [-77.000000, 126.591963, -86.442842, -62.208816, 99.979481, 73.549885], [103.000000, 61.079176, 93.954737, 114.539255, 106.709030, 59.550729], [103.000000, 158.000000, -83.000000, 112.000000, 70.000000, 132.000000], [-77.000000, 25.707371, 97.397579, 104.683256, -64.247915, -29.342989], [-77.000000, 126.591963, -86.442842, 117.791184, -99.979481, -106.450115], [103.000000, 61.079176, 93.954737, -65.460745, -106.709030, -120.449271], [103.000000, 158.000000, -83.000000, -68.000000, -70.000000, -48.000000]] - id: 1919 parameters: KukaKR6_R700_sixx - joints: [41.000000, -141.000000, 131.000000, -6.000000, -27.000000, -102.000000] - pose: {translation: [0.1465656574258193, -0.1324378540507012, 0.7440350432984957], quaternion: [0.4359092453152605, 0.1014900506776684, 0.4804140864061656, 0.7542447911949102]} - solutions: [[41.000000, -141.000000, 131.000000, 174.000000, 27.000000, 78.000000], [41.000000, 1.276489, -120.045263, 2.747384, 81.905072, -107.737223], [-139.000000, 173.337988, 127.024549, -177.262384, 83.497011, -107.660345], [-139.000000, -49.682773, -116.069811, -7.039981, 22.779857, 79.145683], [41.000000, -141.000000, 131.000000, -6.000000, -27.000000, -102.000000], [41.000000, 1.276489, -120.045263, -177.252616, -81.905072, 72.262777], [-139.000000, 173.337988, 127.024549, 2.737616, -83.497011, 72.339655], [-139.000000, -49.682773, -116.069811, 172.960019, -22.779857, -100.854317]] + joints: [41.000000, -140.000000, 131.000000, -6.000000, -26.000000, -102.000000] + pose: {translation: [0.15177408953194, -0.1367924106103816, 0.7398421334389597], quaternion: [0.4506362264178175, 0.1064176296249795, 0.4763981030797215, 0.7474270044137777]} + solutions: [[41.000000, -140.000000, 131.000000, 174.000000, 26.000000, 78.000000], [41.000000, 2.276489, -120.045263, 2.646650, 82.900075, -107.723905], [-139.000000, 172.507478, 126.874757, -177.361555, 84.511821, -107.649068], [-139.000000, -50.709740, -115.920020, -7.132047, 21.658186, 79.236646], [41.000000, -140.000000, 131.000000, -6.000000, -26.000000, -102.000000], [41.000000, 2.276489, -120.045263, -177.353350, -82.900075, 72.276095], [-139.000000, 172.507478, 126.874757, 2.638445, -84.511821, 72.350932], [-139.000000, -50.709740, -115.920020, 172.867953, -21.658186, -100.763354]] - id: 1920 parameters: KukaKR6_R700_sixx joints: [-179.000000, 44.000000, 40.000000, 31.000000, -25.000000, -64.000000] @@ -9606,14 +9606,14 @@ cases: solutions: [[-179.000000, 44.000000, 40.000000, -149.000000, 25.000000, 116.000000], [-179.000000, 81.221275, -29.045263, -51.991682, 16.036612, 15.454403], [1.000000, 112.905118, 20.811791, 140.905054, 20.191956, 1.900095], [1.000000, 129.408912, -9.857054, 97.863776, 12.693223, 46.512929], [-179.000000, 44.000000, 40.000000, 31.000000, -25.000000, -64.000000], [-179.000000, 81.221275, -29.045263, 128.008318, -16.036612, -164.545597], [1.000000, 112.905118, 20.811791, -39.094946, -20.191956, -178.099905], [1.000000, 129.408912, -9.857054, -82.136224, -12.693223, -133.487071]] - id: 1921 parameters: KukaKR6_R700_sixx - joints: [-54.000000, -113.000000, 170.000000, -138.000000, -54.000000, -119.000000] - pose: {translation: [0.1028307255680827, 0.06785601001874213, 0.3372742917313583], quaternion: [0.9138606302579595, -0.2739724642405988, 0.2358378212579064, 0.1848739012591627]} - solutions: [[-54.000000, -113.000000, 170.000000, 42.000000, 54.000000, 61.000000], [-54.000000, 109.830660, -159.045263, 53.777688, 137.853597, 134.237490], [126.000000, 84.508937, 160.630123, -108.190157, 145.262737, 157.095367], [126.000000, -82.361230, -149.675385, -140.203595, 57.753393, 64.924988], [-54.000000, -113.000000, 170.000000, -138.000000, -54.000000, -119.000000], [-54.000000, 109.830660, -159.045263, -126.222312, -137.853597, -45.762510], [126.000000, 84.508937, 160.630123, 71.809843, -145.262737, -22.904633], [126.000000, -82.361230, -149.675385, 39.796405, -57.753393, -115.075012]] + joints: [-54.000000, -112.000000, 170.000000, -138.000000, -54.000000, -119.000000] + pose: {translation: [0.1021791811160851, 0.06695923601462933, 0.3357072113559284], quaternion: [0.9137303288657154, -0.2713487580751549, 0.233075572015192, 0.192723935544638]} + solutions: [[-54.000000, -112.000000, 170.000000, 42.000000, 54.000000, 61.000000], [-54.000000, 110.830660, -159.045263, 53.777688, 137.853597, 134.237490], [126.000000, 83.833806, 160.628073, -107.746475, 145.362325, 157.634949], [126.000000, -83.041412, -149.673336, -140.332768, 58.000924, 65.167914], [-54.000000, -112.000000, 170.000000, -138.000000, -54.000000, -119.000000], [-54.000000, 110.830660, -159.045263, -126.222312, -137.853597, -45.762510], [126.000000, 83.833806, 160.628073, 72.253525, -145.362325, -22.365051], [126.000000, -83.041412, -149.673336, 39.667232, -58.000924, -114.832086]] - id: 1922 parameters: KukaKR6_R700_sixx - joints: [-27.000000, 49.000000, 178.000000, 150.000000, -164.000000, 115.000000] - pose: {translation: [0.01597290407928082, 0.02051280259095001, 0.3621227858785582], quaternion: [0.03574820535190934, 0.8768316021703415, 0.3001787836952996, 0.3738731135943319]} - solutions: [[-27.000000, 49.000000, 178.000000, -30.000000, 164.000000, -65.000000], [-27.000000, -40.001177, -167.045263, -170.881208, 119.585752, 148.560718], [-27.000000, 49.000000, 178.000000, 150.000000, -164.000000, 115.000000], [-27.000000, -40.001177, -167.045263, 9.118792, -119.585752, -31.439282]] + joints: [-27.000000, 49.000000, 178.000000, 150.000000, -163.000000, 115.000000] + pose: {translation: [0.01618354772387885, 0.02137138684251245, 0.3632035098655926], quaternion: [0.03389696631074934, 0.8730452814753958, 0.3069703118660234, 0.3773753566428936]} + solutions: [[-27.000000, 49.000000, 178.000000, -30.000000, 163.000000, -65.000000], [-27.000000, -40.001177, -167.045263, -170.240171, 120.417512, 148.881263], [-27.000000, 49.000000, 178.000000, 150.000000, -163.000000, 115.000000], [-27.000000, -40.001177, -167.045263, 9.759829, -120.417512, -31.118737]] - id: 1923 parameters: KukaKR6_R700_sixx joints: [-77.000000, 3.000000, -104.000000, 163.000000, 3.000000, 56.000000] @@ -9621,29 +9621,29 @@ cases: solutions: [[-77.000000, -118.716720, 114.954737, 179.109433, 100.105960, 38.865678], [-77.000000, 3.000000, -104.000000, 163.000000, 3.000000, 56.000000], [103.000000, 174.962013, 108.860409, -86.950195, 0.877992, 125.971795], [103.000000, -70.692712, -97.905672, -0.877562, 92.467233, 38.984177], [-77.000000, -118.716720, 114.954737, -0.890567, -100.105960, -141.134322], [-77.000000, 3.000000, -104.000000, -17.000000, -3.000000, -124.000000], [103.000000, 174.962013, 108.860409, 93.049805, -0.877992, -54.028205], [103.000000, -70.692712, -97.905672, 179.122438, -92.467233, -141.015823]] - id: 1924 parameters: KukaKR6_R700_sixx - joints: [141.000000, 172.000000, -80.000000, 88.000000, -173.000000, -104.000000] - pose: {translation: [0.2094199325697822, 0.1570472364266259, 0.06950478579468101], quaternion: [0.06388044494048192, -0.004769274718029277, 0.4305877205081718, 0.9002726018936968]} - solutions: [[-39.000000, 9.162804, 97.525037, 20.715810, 159.860092, 7.562907], [-39.000000, 110.194748, -86.570300, 172.234180, 115.663300, 164.634951], [141.000000, 78.509090, 90.954737, -7.171644, 102.684942, 166.432314], [141.000000, 172.000000, -80.000000, -92.000000, 173.000000, 76.000000], [-39.000000, 9.162804, 97.525037, -159.284190, -159.860092, -172.437093], [-39.000000, 110.194748, -86.570300, -7.765820, -115.663300, -15.365049], [141.000000, 78.509090, 90.954737, 172.828356, -102.684942, -13.567686], [141.000000, 172.000000, -80.000000, 88.000000, -173.000000, -104.000000]] + joints: [141.000000, 172.000000, -80.000000, 88.000000, -172.000000, -104.000000] + pose: {translation: [0.2102579912351519, 0.1559457060046575, 0.06932096413907615], quaternion: [0.0724099398302006, -0.003023770567875572, 0.4304768474596917, 0.8996873574895365]} + solutions: [[-39.000000, 9.162804, 97.525037, 23.368813, 159.472368, 10.050655], [-39.000000, 110.194748, -86.570300, 171.125301, 115.635289, 164.154948], [141.000000, 78.509090, 90.954737, -8.196658, 102.690523, 166.207177], [141.000000, 172.000000, -80.000000, -92.000000, 172.000000, 76.000000], [-39.000000, 9.162804, 97.525037, -156.631187, -159.472368, -169.949345], [-39.000000, 110.194748, -86.570300, -8.874699, -115.635289, -15.845052], [141.000000, 78.509090, 90.954737, 171.803342, -102.690523, -13.792823], [141.000000, 172.000000, -80.000000, 88.000000, -172.000000, -104.000000]] - id: 1925 parameters: KukaKR6_R700_sixx - joints: [-114.000000, 125.000000, -86.000000, -174.000000, -158.000000, 53.000000] - pose: {translation: [-0.02707686240659817, 0.06851732996366276, -0.0370174070362561], quaternion: [-0.08026321296311277, -0.5887058352129327, 0.6659608642900007, -0.4510868912584322]} - solutions: [[-114.000000, 24.627021, 96.954737, 2.317575, 75.538684, -133.145009], [-114.000000, 125.000000, -86.000000, 6.000000, 158.000000, -127.000000], [66.000000, 62.760233, 93.233376, -161.927732, 172.748498, -114.628939], [66.000000, 158.854375, -82.278638, -177.751248, 93.682007, -132.421467], [-114.000000, 24.627021, 96.954737, -177.682425, -75.538684, 46.854991], [-114.000000, 125.000000, -86.000000, -174.000000, -158.000000, 53.000000], [66.000000, 62.760233, 93.233376, 18.072268, -172.748498, 65.371061], [66.000000, 158.854375, -82.278638, 2.248752, -93.682007, 47.578533]] + joints: [-114.000000, 125.000000, -86.000000, -174.000000, -157.000000, 53.000000] + pose: {translation: [-0.02679419719825907, 0.06821396490068547, -0.0383506632069718], quaternion: [-0.08061385412097039, -0.5956937143865586, 0.661411103380581, -0.4485373535046894]} + solutions: [[-114.000000, 24.627021, 96.954737, 2.428630, 74.544456, -133.173675], [-114.000000, 125.000000, -86.000000, 6.000000, 157.000000, -127.000000], [66.000000, 62.760233, 93.233376, -163.424291, 171.768943, -116.111914], [66.000000, 158.854375, -82.278638, -177.656668, 92.686476, -132.416213], [-114.000000, 24.627021, 96.954737, -177.571370, -74.544456, 46.826325], [-114.000000, 125.000000, -86.000000, -174.000000, -157.000000, 53.000000], [66.000000, 62.760233, 93.233376, 16.575709, -171.768943, 63.888086], [66.000000, 158.854375, -82.278638, 2.343332, -92.686476, 47.583787]] - id: 1926 parameters: KukaKR6_R700_sixx - joints: [98.000000, 164.000000, -161.000000, 67.000000, -63.000000, 67.000000] - pose: {translation: [0.04740335124072621, -0.1341641537338459, 0.3549361896875352], quaternion: [0.4625639336505709, -0.3522515976148962, 0.8135593508413463, 0.008637240419888928]} - solutions: [[98.000000, -67.666286, 171.954737, -114.689636, 115.485127, -22.971014], [98.000000, 164.000000, -161.000000, -113.000000, 63.000000, -113.000000], [-82.000000, 46.155325, 164.536852, 87.359588, 55.189792, -151.457064], [-82.000000, -110.178823, -153.582115, 58.429335, 105.708155, -42.298172], [98.000000, -67.666286, 171.954737, 65.310364, -115.485127, 157.028986], [98.000000, 164.000000, -161.000000, 67.000000, -63.000000, 67.000000], [-82.000000, 46.155325, 164.536852, -92.640412, -55.189792, 28.542936], [-82.000000, -110.178823, -153.582115, -121.570665, -105.708155, 137.701828]] + joints: [98.000000, 163.000000, -161.000000, 67.000000, -62.000000, 67.000000] + pose: {translation: [0.04653731935772993, -0.1360620843413412, 0.3564153257734438], quaternion: [0.4605548009630746, -0.351694415808381, 0.8147869046393164, 0.01796143722941271]} + solutions: [[98.000000, -68.666286, 171.954737, -115.797406, 115.481474, -23.447642], [98.000000, 163.000000, -161.000000, -113.000000, 62.000000, -113.000000], [-82.000000, 46.963962, 164.451725, 87.926640, 54.418629, -151.558145], [-82.000000, -109.622005, -153.496987, 57.534071, 105.567927, -42.247144], [98.000000, -68.666286, 171.954737, 64.202594, -115.481474, 156.552358], [98.000000, 163.000000, -161.000000, 67.000000, -62.000000, 67.000000], [-82.000000, 46.963962, 164.451725, -92.073360, -54.418629, 28.441855], [-82.000000, -109.622005, -153.496987, -122.465929, -105.567927, 137.752856]] - id: 1927 parameters: KukaKR6_R700_sixx - joints: [-19.000000, 129.000000, -170.000000, 138.000000, 2.000000, 3.000000] - pose: {translation: [0.1313259595514518, 0.04324332237085013, 0.4750940474784165], quaternion: [0.3948630566011465, -0.08041541351887295, 0.8028007464293828, -0.4394627280357397]} - solutions: [[-19.000000, -171.445999, -179.045263, 178.301992, 52.007507, -37.937227], [-19.000000, 129.000000, -170.000000, 138.000000, 2.000000, 3.000000], [161.000000, 80.526656, 169.751721, -177.131996, 27.821448, 138.480418], [161.000000, -57.673140, -158.796984, -1.363347, 78.959734, -38.721512], [-19.000000, -171.445999, -179.045263, -1.698008, -52.007507, 142.062773], [-19.000000, 129.000000, -170.000000, -42.000000, -2.000000, -177.000000], [161.000000, 80.526656, 169.751721, 2.868004, -27.821448, -41.519582], [161.000000, -57.673140, -158.796984, 178.636653, -78.959734, 141.278488]] + joints: [-19.000000, 128.000000, -170.000000, 138.000000, 2.000000, 3.000000] + pose: {translation: [0.130070480766191, 0.04281102635718549, 0.4770590915308612], quaternion: [0.3869754813802357, -0.07906712280552272, 0.8057997665732143, -0.4412313487189512]} + solutions: [[-19.000000, -172.445999, -179.045263, 178.301992, 52.007507, -37.937227], [-19.000000, 128.000000, -170.000000, 138.000000, 2.000000, 3.000000], [161.000000, 80.995085, 169.786175, -177.083964, 27.324963, 138.426233], [161.000000, -57.062837, -158.831437, -1.361419, 79.383764, -38.731780], [-19.000000, -172.445999, -179.045263, -1.698008, -52.007507, 142.062773], [-19.000000, 128.000000, -170.000000, -42.000000, -2.000000, -177.000000], [161.000000, 80.995085, 169.786175, 2.916036, -27.324963, -41.573767], [161.000000, -57.062837, -158.831437, 178.638581, -79.383764, 141.268220]] - id: 1928 parameters: KukaKR6_R700_sixx - joints: [51.000000, -61.000000, -49.000000, 130.000000, -109.000000, -48.000000] - pose: {translation: [0.09196981372884293, -0.02149815809473509, 0.9986770915551466], quaternion: [0.7026111826204049, -0.2353085996795246, 0.6509656051053148, -0.1649580854141098]} - solutions: [[51.000000, -119.946824, 59.954737, -48.534848, 75.143784, 169.386528], [51.000000, -61.000000, -49.000000, -50.000000, 109.000000, 132.000000], [-129.000000, -123.380589, 59.343257, 128.233406, 112.764351, 127.049250], [-129.000000, -65.103635, -48.388519, 132.555127, 79.507327, 164.425352], [51.000000, -119.946824, 59.954737, 131.465152, -75.143784, -10.613472], [51.000000, -61.000000, -49.000000, 130.000000, -109.000000, -48.000000], [-129.000000, -123.380589, 59.343257, -51.766594, -112.764351, -52.950750], [-129.000000, -65.103635, -48.388519, -47.444873, -79.507327, -15.574648]] + joints: [51.000000, -61.000000, -49.000000, 130.000000, -108.000000, -48.000000] + pose: {translation: [0.09211697537353564, -0.02114059997163061, 1.000018731461055], quaternion: [0.697713549861697, -0.2320412979489763, 0.6565694949419978, -0.1681342817427597]} + solutions: [[51.000000, -119.946824, 59.954737, -49.165394, 74.350098, 169.552419], [51.000000, -61.000000, -49.000000, -50.000000, 108.000000, 132.000000], [-129.000000, -123.380589, 59.343257, 128.326327, 111.768055, 127.084461], [-129.000000, -65.103635, -48.388519, 132.008277, 78.663715, 164.528898], [51.000000, -119.946824, 59.954737, 130.834606, -74.350098, -10.447581], [51.000000, -61.000000, -49.000000, 130.000000, -108.000000, -48.000000], [-129.000000, -123.380589, 59.343257, -51.673673, -111.768055, -52.915539], [-129.000000, -65.103635, -48.388519, -47.991723, -78.663715, -15.471102]] - id: 1929 parameters: KukaKR6_R700_sixx joints: [63.000000, -3.000000, 172.000000, 27.000000, -16.000000, -26.000000] @@ -9651,9 +9651,9 @@ cases: solutions: [[-117.000000, -21.024983, 173.348427, 171.026421, 126.652903, -5.290215], [-117.000000, -142.137348, -162.393690, 165.898145, 30.903907, 12.259119], [63.000000, -3.000000, 172.000000, -153.000000, 16.000000, 154.000000], [63.000000, -131.112334, -161.045263, -7.199584, 86.850556, 0.492663], [-117.000000, -21.024983, 173.348427, -8.973579, -126.652903, 174.709785], [-117.000000, -142.137348, -162.393690, -14.101855, -30.903907, -167.740881], [63.000000, -3.000000, 172.000000, 27.000000, -16.000000, -26.000000], [63.000000, -131.112334, -161.045263, 172.800416, -86.850556, -179.507337]] - id: 1930 parameters: KukaKR6_R700_sixx - joints: [15.000000, -11.000000, 58.000000, -30.000000, 80.000000, -21.000000] - pose: {translation: [0.5591443419336506, -0.1090403545144846, 0.1603384208422731], quaternion: [0.4005161162576618, 0.8330146634040628, 0.2111022954836272, -0.3179767790472104]} - solutions: [[15.000000, -11.000000, 58.000000, -30.000000, 80.000000, -21.000000], [15.000000, 45.806525, -47.045263, -35.217934, 121.367314, -46.900071], [-165.000000, 148.104066, 34.789446, 144.180337, 122.714227, -48.034187], [-165.000000, 179.687611, -23.834709, 150.014341, 99.858062, -32.367040], [15.000000, -11.000000, 58.000000, 150.000000, -80.000000, 159.000000], [15.000000, 45.806525, -47.045263, 144.782066, -121.367314, 133.099929], [-165.000000, 148.104066, 34.789446, -35.819663, -122.714227, 131.965813], [-165.000000, 179.687611, -23.834709, -29.985659, -99.858062, 147.632960]] + joints: [15.000000, -11.000000, 58.000000, -30.000000, 79.000000, -21.000000] + pose: {translation: [0.5601714699153643, -0.1094472833441205, 0.1594846532890222], quaternion: [0.4032151120833659, 0.8349132945544239, 0.2104363791172945, -0.3099256270589428]} + solutions: [[15.000000, -11.000000, 58.000000, -30.000000, 79.000000, -21.000000], [15.000000, 45.806525, -47.045263, -34.711176, 120.466760, -46.639692], [-165.000000, 148.104066, 34.789446, 144.715246, 121.822354, -47.748597], [-165.000000, 179.687611, -23.834709, 150.213814, 98.877620, -32.334570], [15.000000, -11.000000, 58.000000, 150.000000, -79.000000, 159.000000], [15.000000, 45.806525, -47.045263, 145.288824, -120.466760, 133.360308], [-165.000000, 148.104066, 34.789446, -35.284754, -121.822354, 132.251403], [-165.000000, 179.687611, -23.834709, -29.786186, -98.877620, 147.665430]] - id: 1931 parameters: KukaKR6_R700_sixx joints: [-170.000000, 7.000000, 168.000000, -67.000000, 26.000000, -133.000000] @@ -9666,29 +9666,29 @@ cases: solutions: [[-106.000000, -95.662515, 127.025859, 119.338076, 121.610516, 108.109202], [-106.000000, 41.318443, -116.071122, 117.575668, 56.882225, -162.596727], [74.000000, 141.000000, 118.000000, -65.000000, 55.000000, -158.000000], [74.000000, -93.526812, -107.045263, -55.616342, 115.896553, 118.562687], [-106.000000, -95.662515, 127.025859, -60.661924, -121.610516, -71.890798], [-106.000000, 41.318443, -116.071122, -62.424332, -56.882225, 17.403273], [74.000000, 141.000000, 118.000000, 115.000000, -55.000000, 22.000000], [74.000000, -93.526812, -107.045263, 124.383658, -115.896553, -61.437313]] - id: 1933 parameters: KukaKR6_R700_sixx - joints: [94.000000, -139.000000, -131.000000, 47.000000, 55.000000, 101.000000] - pose: {translation: [-0.03229476460196871, 0.2252277582361137, 0.1957724792239262], quaternion: [-0.4026944914289726, 0.7903324393875555, 0.4438612550554756, -0.1272751668042709]} - solutions: [[-86.000000, -38.512742, 148.802888, -140.350248, 69.863606, 116.671761], [-86.000000, 130.578312, -137.848151, -43.124193, 61.210856, -23.127497], [94.000000, 63.018035, 141.954737, 141.598083, 74.676209, -35.573965], [94.000000, -139.000000, -131.000000, 47.000000, 55.000000, 101.000000], [-86.000000, -38.512742, 148.802888, 39.649752, -69.863606, -63.328239], [-86.000000, 130.578312, -137.848151, 136.875807, -61.210856, 156.872503], [94.000000, 63.018035, 141.954737, -38.401917, -74.676209, 144.426035], [94.000000, -139.000000, -131.000000, -133.000000, -55.000000, -79.000000]] + joints: [94.000000, -139.000000, -131.000000, 47.000000, 54.000000, 101.000000] + pose: {translation: [-0.03174179760832634, 0.2246347737344551, 0.194635773948612], quaternion: [-0.4045084971874736, 0.7938926261462366, 0.4364036777195218, -0.1251367409142467]} + solutions: [[-86.000000, -38.512742, 148.802888, -140.639771, 68.901020, 116.773715], [-86.000000, 130.578312, -137.848151, -42.184699, 61.775142, -23.575899], [94.000000, 63.018035, 141.954737, 142.308409, 75.403580, -35.757339], [94.000000, -139.000000, -131.000000, 47.000000, 54.000000, 101.000000], [-86.000000, -38.512742, 148.802888, 39.360229, -68.901020, -63.226285], [-86.000000, 130.578312, -137.848151, 137.815301, -61.775142, 156.424101], [94.000000, 63.018035, 141.954737, -37.691591, -75.403580, 144.242661], [94.000000, -139.000000, -131.000000, -133.000000, -54.000000, -79.000000]] - id: 1934 parameters: KukaKR6_R700_sixx - joints: [11.000000, 177.000000, 158.000000, 114.000000, -145.000000, -50.000000] - pose: {translation: [-0.01660334926144206, 0.04593100211146686, 0.5248805891238455], quaternion: [0.8756829314132615, -0.1095081995303801, -0.3438835851672039, -0.3208292968537038]} - solutions: [[11.000000, 177.000000, 158.000000, -66.000000, 145.000000, 130.000000], [11.000000, 3.975174, -147.045263, -147.815374, 79.653519, 5.025918], [-169.000000, 161.138320, 156.610811, 31.783746, 84.167663, 7.871947], [-169.000000, -14.905645, -145.656074, 120.737612, 142.437175, 138.350810], [11.000000, 177.000000, 158.000000, 114.000000, -145.000000, -50.000000], [11.000000, 3.975174, -147.045263, 32.184626, -79.653519, -174.974082], [-169.000000, 161.138320, 156.610811, -148.216254, -84.167663, -172.128053], [-169.000000, -14.905645, -145.656074, -59.262388, -142.437175, -41.649190]] + joints: [11.000000, 176.000000, 158.000000, 114.000000, -144.000000, -50.000000] + pose: {translation: [-0.01762283697777737, 0.04718703840374224, 0.5239277456897338], quaternion: [0.8788407217273151, -0.1113682801777746, -0.3305252787699202, -0.3255597212465379]} + solutions: [[11.000000, 176.000000, 158.000000, -66.000000, 144.000000, 130.000000], [11.000000, 2.975174, -147.045263, -146.983911, 80.227773, 4.880684], [-169.000000, 161.896211, 156.763161, 32.629774, 84.775686, 7.838058], [-169.000000, -13.823538, -145.808424, 120.580453, 141.411849, 138.264355], [11.000000, 176.000000, 158.000000, 114.000000, -144.000000, -50.000000], [11.000000, 2.975174, -147.045263, 33.016089, -80.227773, -175.119316], [-169.000000, 161.896211, 156.763161, -147.370226, -84.775686, -172.161942], [-169.000000, -13.823538, -145.808424, -59.419547, -141.411849, -41.735645]] - id: 1935 parameters: KukaKR6_R700_sixx - joints: [30.000000, 176.000000, 140.000000, -158.000000, 0.000000, 51.000000] - pose: {translation: [0.005681553038849735, -0.003280246176395035, 0.7123265786367072], quaternion: [0.3635431063038619, 0.1432034379106878, 0.5730277443701113, 0.7203946067341157]} - solutions: [[-150.000000, -163.094634, 141.801880, -180.000000, 114.707246, -107.000000], [-150.000000, -5.346635, -130.847143, -0.000000, 0.193778, 73.000000], [30.000000, 176.000000, 140.000000, -0.000000, 0.000000, -107.000000], [30.000000, -28.972392, -129.045263, 0.000000, 114.017655, -107.000000], [-150.000000, -163.094634, 141.801880, 0.000000, -114.707246, 73.000000], [-150.000000, -5.346635, -130.847143, 180.000000, -0.193778, -107.000000], [30.000000, 176.000000, 140.000000, -180.000000, 0.000000, 73.000000], [30.000000, -28.972392, -129.045263, -180.000000, -114.017655, 73.000000]] + joints: [30.000000, 175.000000, 140.000000, -158.000000, 1.000000, 51.000000] + pose: {translation: [0.0004247276252781762, 0.0003587182405895076, 0.7128639492726941], quaternion: [0.3479798703997256, 0.1403189626321711, 0.5780131856775416, 0.7246525758633039]} + solutions: [[-150.000000, -162.196410, 141.962641, 179.590472, 113.838493, -107.168548], [-150.000000, -4.202334, -131.007904, 18.229578, 1.197521, 54.771109], [30.000000, 175.000000, 140.000000, -158.000000, 1.000000, 51.000000], [30.000000, -29.972392, -129.045263, -0.407212, 113.089936, -107.162732], [-150.000000, -162.196410, 141.962641, -0.409528, -113.838493, 72.831452], [-150.000000, -4.202334, -131.007904, -161.770422, -1.197521, -125.228891], [30.000000, 175.000000, 140.000000, 22.000000, -1.000000, -129.000000], [30.000000, -29.972392, -129.045263, 179.592788, -113.089936, 72.837268]] - id: 1936 parameters: KukaKR6_R700_sixx - joints: [-28.000000, 153.000000, 53.000000, 129.000000, -83.000000, -25.000000] - pose: {translation: [-0.5463132324525937, -0.2205909726927963, 0.4347276542266389], quaternion: [-0.1381131050267714, -0.4165406533890518, -0.7421193261710398, 0.506633555952947]} - solutions: [[152.000000, -34.054277, 70.897160, 117.030133, 120.009540, 102.011006], [152.000000, 36.939931, -59.942423, 129.246692, 84.891667, 152.661627], [-28.000000, 153.000000, 53.000000, -51.000000, 83.000000, 155.000000], [-28.000000, -155.654544, -42.045263, -55.215995, 110.086366, 120.132061], [152.000000, -34.054277, 70.897160, -62.969867, -120.009540, -77.988994], [152.000000, 36.939931, -59.942423, -50.753308, -84.891667, -27.338373], [-28.000000, 153.000000, 53.000000, 129.000000, -83.000000, -25.000000], [-28.000000, -155.654544, -42.045263, 124.784005, -110.086366, -59.867939]] + joints: [-28.000000, 152.000000, 53.000000, 129.000000, -83.000000, -25.000000] + pose: {translation: [-0.5467662145643943, -0.2208318275540147, 0.4240602162469699], quaternion: [-0.1303141552590795, -0.4173880824155525, -0.7448617490170857, 0.5039706186354405]} + solutions: [[152.000000, -32.962019, 70.887685, 116.987502, 120.047134, 101.925818], [152.000000, 38.021701, -59.932948, 129.252973, 84.949399, 152.590688], [-28.000000, 152.000000, 53.000000, -51.000000, 83.000000, 155.000000], [-28.000000, -156.654544, -42.045263, -55.215995, 110.086366, 120.132061], [152.000000, -32.962019, 70.887685, -63.012498, -120.047134, -78.074182], [152.000000, 38.021701, -59.932948, -50.747027, -84.949399, -27.409312], [-28.000000, 152.000000, 53.000000, 129.000000, -83.000000, -25.000000], [-28.000000, -156.654544, -42.045263, 124.784005, -110.086366, -59.867939]] - id: 1937 parameters: KukaKR6_R700_sixx - joints: [17.000000, 10.000000, 127.000000, 119.000000, -144.000000, 92.000000] - pose: {translation: [0.1305362742732792, 0.003097309891819725, 0.1315866590069396], quaternion: [-0.1392116781028162, 0.3170824167040633, 0.1885824329990883, 0.9189752530188465]} - solutions: [[17.000000, 10.000000, 127.000000, -61.000000, 144.000000, -88.000000], [17.000000, 146.947028, -116.045263, -149.021355, 92.835094, 149.283339], [-163.000000, 42.831191, 124.355524, 31.793609, 77.358235, 139.856791], [-163.000000, 176.340448, -113.400786, 89.106419, 149.059270, -123.459330], [17.000000, 10.000000, 127.000000, 119.000000, -144.000000, 92.000000], [17.000000, 146.947028, -116.045263, 30.978645, -92.835094, -30.716661], [-163.000000, 42.831191, 124.355524, -148.206391, -77.358235, -40.143209], [-163.000000, 176.340448, -113.400786, -90.893581, -149.059270, 56.540670]] + joints: [17.000000, 10.000000, 127.000000, 119.000000, -143.000000, 92.000000] + pose: {translation: [0.129887532599464, 0.004322160890655524, 0.1314182064334995], quaternion: [-0.1471635291717653, 0.315145798907113, 0.1913829948754528, 0.91782273363946]} + solutions: [[17.000000, 10.000000, 127.000000, -61.000000, 143.000000, -88.000000], [17.000000, 146.947028, -116.045263, -148.178551, 93.375253, 149.328994], [-163.000000, 42.831191, 124.355524, 32.551543, 78.030275, 139.695249], [-163.000000, 176.340448, -113.400786, 90.208570, 148.239971, -122.518059], [17.000000, 10.000000, 127.000000, 119.000000, -143.000000, 92.000000], [17.000000, 146.947028, -116.045263, 31.821449, -93.375253, -30.671006], [-163.000000, 42.831191, 124.355524, -147.448457, -78.030275, -40.304751], [-163.000000, 176.340448, -113.400786, -89.791430, -148.239971, 57.481941]] - id: 1938 parameters: KukaKR6_R700_sixx joints: [138.000000, 75.000000, -104.000000, -31.000000, 102.000000, -17.000000] @@ -9701,19 +9701,19 @@ cases: solutions: [[154.000000, -128.918823, 91.320140, -125.308839, 42.414512, -102.687452], [154.000000, -35.011263, -80.365402, -40.739725, 57.499774, 148.335953], [-26.000000, -149.215591, 88.954737, 140.931171, 60.847330, 145.077322], [-26.000000, -58.000000, -78.000000, 61.000000, 39.000000, -111.000000], [154.000000, -128.918823, 91.320140, 54.691161, -42.414512, 77.312548], [154.000000, -35.011263, -80.365402, 139.260275, -57.499774, -31.664047], [-26.000000, -149.215591, 88.954737, -39.068829, -60.847330, -34.922678], [-26.000000, -58.000000, -78.000000, -119.000000, -39.000000, 69.000000]] - id: 1940 parameters: KukaKR6_R700_sixx - joints: [103.000000, -143.000000, -54.000000, -90.000000, -74.000000, -127.000000] - pose: {translation: [0.05699839721820504, 0.5887434848950485, 0.4429383085219513], quaternion: [-0.5559579028554948, 0.480837906217118, 0.6618893350707034, -0.1469973684013438]} - solutions: [[-77.000000, -45.907505, 80.221691, -94.877727, 74.743098, 70.967867], [-77.000000, 35.464141, -69.266953, -77.471278, 79.967870, 1.093158], [103.000000, 152.563204, 64.954737, 103.142861, 80.793501, -2.580776], [103.000000, -143.000000, -54.000000, 90.000000, 74.000000, 53.000000], [-77.000000, -45.907505, 80.221691, 85.122273, -74.743098, -109.032133], [-77.000000, 35.464141, -69.266953, 102.528722, -79.967870, -178.906842], [103.000000, 152.563204, 64.954737, -76.857139, -80.793501, 177.419224], [103.000000, -143.000000, -54.000000, -90.000000, -74.000000, -127.000000]] + joints: [103.000000, -142.000000, -54.000000, -90.000000, -74.000000, -127.000000] + pose: {translation: [0.05680887425656636, 0.5879225707590876, 0.4536034943427936], quaternion: [-0.5584859513899209, 0.4754801973384261, 0.6648612674747629, -0.1413206250020086]} + solutions: [[-77.000000, -46.985472, 80.197219, -94.849878, 74.734412, 70.862065], [-77.000000, 34.358774, -69.242482, -77.457321, 79.985428, 1.012968], [103.000000, 153.563204, 64.954737, 103.142861, 80.793501, -2.580776], [103.000000, -142.000000, -54.000000, 90.000000, 74.000000, 53.000000], [-77.000000, -46.985472, 80.197219, 85.150122, -74.734412, -109.137935], [-77.000000, 34.358774, -69.242482, 102.542679, -79.985428, -178.987032], [103.000000, 153.563204, 64.954737, -76.857139, -80.793501, 177.419224], [103.000000, -142.000000, -54.000000, -90.000000, -74.000000, -127.000000]] - id: 1941 parameters: KukaKR6_R700_sixx - joints: [92.000000, 132.000000, 175.000000, -169.000000, -5.000000, 44.000000] - pose: {translation: [-0.003401309825171998, -0.05927964748501326, 0.5380035477323128], quaternion: [0.3366236360406075, -0.1209556645350767, 0.2626912253930077, 0.8961292177901571]} - solutions: [[92.000000, 132.000000, 175.000000, 11.000000, 5.000000, -136.000000], [92.000000, 20.688519, -164.045263, 0.956916, 95.264602, -124.953033], [-88.000000, 126.550887, 174.219357, -179.001866, 72.681303, -125.338001], [-88.000000, 10.421271, -163.264619, -2.665173, 20.955461, 57.448282], [92.000000, 132.000000, 175.000000, -169.000000, -5.000000, 44.000000], [92.000000, 20.688519, -164.045263, -179.043084, -95.264602, 55.046967], [-88.000000, 126.550887, 174.219357, 0.998134, -72.681303, 54.661999], [-88.000000, 10.421271, -163.264619, 177.334827, -20.955461, -122.551718]] + joints: [92.000000, 131.000000, 175.000000, -169.000000, -5.000000, 44.000000] + pose: {translation: [-0.003317071948835437, -0.05686739032222456, 0.5385822329008505], quaternion: [0.328875481868002, -0.1183871533952016, 0.2636335845201738, 0.8990677018167847]} + solutions: [[92.000000, 131.000000, 175.000000, 11.000000, 5.000000, -136.000000], [92.000000, 19.688519, -164.045263, 0.956916, 95.264602, -124.953033], [-88.000000, 126.811434, 174.394329, -178.998741, 72.116909, -125.348334], [-88.000000, 11.731468, -163.439592, -2.681701, 20.820384, 57.465972], [92.000000, 131.000000, 175.000000, -169.000000, -5.000000, 44.000000], [92.000000, 19.688519, -164.045263, -179.043084, -95.264602, 55.046967], [-88.000000, 126.811434, 174.394329, 1.001259, -72.116909, 54.651666], [-88.000000, 11.731468, -163.439592, 177.318299, -20.820384, -122.534028]] - id: 1942 parameters: KukaKR6_R700_sixx - joints: [55.000000, -124.000000, 64.000000, -131.000000, -163.000000, 90.000000] - pose: {translation: [-0.02817979063568481, 0.009468790276991068, 0.920818846874061], quaternion: [0.9766248518702962, -0.09082554209818865, -0.1886811136126787, -0.04851862506060461]} - solutions: [[55.000000, -124.000000, 64.000000, 49.000000, 163.000000, -90.000000], [55.000000, -60.613308, -53.045263, 161.425607, 136.154273, 28.647809], [-125.000000, -124.183988, 63.969652, -16.821384, 130.315962, 31.203425], [-125.000000, -60.830660, -53.014915, -111.783783, 166.253635, -70.092596], [55.000000, -124.000000, 64.000000, -131.000000, -163.000000, 90.000000], [55.000000, -60.613308, -53.045263, -18.574393, -136.154273, -151.352191], [-125.000000, -124.183988, 63.969652, 163.178616, -130.315962, -148.796575], [-125.000000, -60.830660, -53.014915, 68.216217, -166.253635, 109.907404]] + joints: [55.000000, -123.000000, 64.000000, -131.000000, -162.000000, 90.000000] + pose: {translation: [-0.02323165852709562, 0.0006499808265352791, 0.9215032293674836], quaternion: [0.9757396263656877, -0.08801796548885264, -0.1949870339228006, -0.04653037602405557]} + solutions: [[55.000000, -123.000000, 64.000000, 49.000000, 162.000000, -90.000000], [55.000000, -59.613308, -53.045263, 160.147687, 136.626620, 27.722496], [-125.000000, -125.013291, 63.667088, -17.987022, 130.953997, 30.414363], [-125.000000, -61.992557, -52.712351, -112.631213, 165.364211, -70.882266], [55.000000, -123.000000, 64.000000, -131.000000, -162.000000, 90.000000], [55.000000, -59.613308, -53.045263, -19.852313, -136.626620, -152.277504], [-125.000000, -125.013291, 63.667088, 162.012978, -130.953997, -149.585637], [-125.000000, -61.992557, -52.712351, 67.368787, -165.364211, 109.117734]] - id: 1943 parameters: KukaKR6_R700_sixx joints: [-164.000000, 77.000000, 41.000000, 92.000000, -14.000000, 73.000000] @@ -9721,19 +9721,19 @@ cases: solutions: [[16.000000, 68.100398, 42.861618, 161.847301, 50.899078, 176.744303], [16.000000, 108.422925, -31.906881, 136.115744, 20.412616, -152.907426], [-164.000000, 77.000000, 41.000000, -88.000000, 14.000000, -107.000000], [-164.000000, 115.304579, -30.045263, -24.445166, 35.749838, -174.688863], [16.000000, 68.100398, 42.861618, -18.152699, -50.899078, -3.255697], [16.000000, 108.422925, -31.906881, -43.884256, -20.412616, 27.092574], [-164.000000, 77.000000, 41.000000, 92.000000, -14.000000, 73.000000], [-164.000000, 115.304579, -30.045263, 155.554834, -35.749838, 5.311137]] - id: 1944 parameters: KukaKR6_R700_sixx - joints: [-104.000000, 32.000000, -19.000000, -180.000000, -158.000000, 110.000000] - pose: {translation: [-0.1395014653490097, 0.5595098174221195, 0.1725564919952946], quaternion: [-0.2223211884438198, 0.727179841365974, -0.6485580023512372, -0.03398948463947365]} - solutions: [[-104.000000, 5.638552, 29.954737, 0.000000, 135.406711, -70.000000], [-104.000000, 32.000000, -19.000000, 0.000000, 158.000000, -70.000000], [-104.000000, 5.638552, 29.954737, -180.000000, -135.406711, 110.000000], [-104.000000, 32.000000, -19.000000, -180.000000, -158.000000, 110.000000]] + joints: [-104.000000, 32.000000, -19.000000, -180.000000, -157.000000, 110.000000] + pose: {translation: [-0.13955721552569, 0.5597334191677898, 0.1711793949851587], quaternion: [-0.2239697197280751, 0.7325719442337338, -0.6419066916072733, -0.03364090421406109]} + solutions: [[-104.000000, 5.638552, 29.954737, 0.000000, 134.406711, -70.000000], [-104.000000, 32.000000, -19.000000, 0.000000, 157.000000, -70.000000], [-104.000000, 5.638552, 29.954737, -180.000000, -134.406711, 110.000000], [-104.000000, 32.000000, -19.000000, -180.000000, -157.000000, 110.000000]] - id: 1945 parameters: KukaKR6_R700_sixx - joints: [71.000000, 174.000000, 104.000000, 95.000000, -113.000000, 132.000000] - pose: {translation: [-0.01858239815863789, 0.2792968715135923, 0.7015449145005029], quaternion: [0.2808705582570552, 0.7875015869633242, 0.3306357549729524, 0.4377590405326681]} - solutions: [[-109.000000, -111.850136, 110.904061, 66.557720, 91.812964, -146.447981], [-109.000000, 4.947394, -99.949324, 93.723735, 113.228085, -51.250368], [71.000000, 174.000000, 104.000000, -85.000000, 113.000000, -48.000000], [71.000000, -77.417965, -93.045263, -112.957354, 95.202571, -138.538263], [-109.000000, -111.850136, 110.904061, -113.442280, -91.812964, 33.552019], [-109.000000, 4.947394, -99.949324, -86.276265, -113.228085, 128.749632], [71.000000, 174.000000, 104.000000, 95.000000, -113.000000, 132.000000], [71.000000, -77.417965, -93.045263, 67.042646, -95.202571, 41.461737]] + joints: [71.000000, 173.000000, 104.000000, 95.000000, -113.000000, 132.000000] + pose: {translation: [-0.02028112639758273, 0.284230336543351, 0.6963482552470174], quaternion: [0.2763085060174938, 0.7889560011060692, 0.3249233862219469, 0.4422972200988428]} + solutions: [[-109.000000, -110.866946, 111.052659, 66.553948, 91.760532, -146.568948], [-109.000000, 6.109625, -100.097922, 93.717896, 113.228970, -51.265172], [71.000000, 173.000000, 104.000000, -85.000000, 113.000000, -48.000000], [71.000000, -78.417965, -93.045263, -112.957354, 95.202571, -138.538263], [-109.000000, -110.866946, 111.052659, -113.446052, -91.760532, 33.431052], [-109.000000, 6.109625, -100.097922, -86.282104, -113.228970, 128.734828], [71.000000, 173.000000, 104.000000, 95.000000, -113.000000, 132.000000], [71.000000, -78.417965, -93.045263, 67.042646, -95.202571, 41.461737]] - id: 1946 parameters: KukaKR6_R700_sixx - joints: [158.000000, -167.000000, -55.000000, 115.000000, -172.000000, 46.000000] - pose: {translation: [0.4432933352930942, 0.1682189699898375, 0.2571231052941956], quaternion: [0.3704251775753015, -0.09808690860530034, -0.6288164417996605, 0.6765752202829898]} - solutions: [[-22.000000, -19.120870, 80.203035, 25.191000, 162.762043, 134.976438], [-22.000000, 62.229889, -69.248298, 170.884839, 127.231140, -74.759886], [158.000000, 127.462346, 65.954737, -8.453631, 120.907263, -73.580819], [158.000000, -167.000000, -55.000000, -65.000000, 172.000000, -134.000000], [-22.000000, -19.120870, 80.203035, -154.809000, -162.762043, -45.023562], [-22.000000, 62.229889, -69.248298, -9.115161, -127.231140, 105.240114], [158.000000, 127.462346, 65.954737, 171.546369, -120.907263, 106.419181], [158.000000, -167.000000, -55.000000, 115.000000, -172.000000, 46.000000]] + joints: [158.000000, -166.000000, -55.000000, 115.000000, -171.000000, 46.000000] + pose: {translation: [0.4465030801172707, 0.1681659738986122, 0.2661591970248072], quaternion: [0.3772573858644587, -0.09347852592542208, -0.624439652148603, 0.6775055356423715]} + solutions: [[-22.000000, -20.255759, 80.290312, 28.638293, 162.793586, 138.275634], [-22.000000, 61.192721, -69.335575, 169.829220, 126.592367, -75.377224], [158.000000, 128.462346, 65.954737, -9.462018, 120.409700, -74.095030], [158.000000, -166.000000, -55.000000, -65.000000, 171.000000, -134.000000], [-22.000000, -20.255759, 80.290312, -151.361707, -162.793586, -41.724366], [-22.000000, 61.192721, -69.335575, -10.170780, -126.592367, 104.622776], [158.000000, 128.462346, 65.954737, 170.537982, -120.409700, 105.904970], [158.000000, -166.000000, -55.000000, 115.000000, -171.000000, 46.000000]] - id: 1947 parameters: KukaKR6_R700_sixx joints: [88.000000, -31.000000, -81.000000, -177.000000, 147.000000, 104.000000] @@ -9741,39 +9741,39 @@ cases: solutions: [[88.000000, -125.631881, 91.954737, -2.295031, 134.618276, -80.129114], [88.000000, -31.000000, -81.000000, -177.000000, 147.000000, 104.000000], [-92.000000, -152.721634, 88.821179, 2.708829, 142.905525, 103.644568], [-92.000000, -61.657684, -77.866441, 177.380704, 141.410797, -80.564590], [88.000000, -125.631881, 91.954737, 177.704969, -134.618276, 99.870886], [88.000000, -31.000000, -81.000000, 3.000000, -147.000000, -76.000000], [-92.000000, -152.721634, 88.821179, -177.291171, -142.905525, -76.355432], [-92.000000, -61.657684, -77.866441, -2.619296, -141.410797, 99.435410]] - id: 1948 parameters: KukaKR6_R700_sixx - joints: [-134.000000, 143.000000, 132.000000, 128.000000, -151.000000, 69.000000] - pose: {translation: [0.1252380528989585, -0.173684701191905, 0.5053053323304679], quaternion: [-0.5860754847248952, 0.7779256687218286, 0.0887401316875459, -0.2085002857941733]} - solutions: [[46.000000, -117.992691, 139.468183, 22.640385, 82.949573, 114.295360], [46.000000, 36.244569, -128.513445, 123.873932, 152.604121, -115.680649], [-134.000000, 143.000000, 132.000000, -52.000000, 151.000000, -111.000000], [-134.000000, -73.363384, -121.045263, -157.539210, 89.477321, 117.009950], [46.000000, -117.992691, 139.468183, -157.359615, -82.949573, -65.704640], [46.000000, 36.244569, -128.513445, -56.126068, -152.604121, 64.319351], [-134.000000, 143.000000, 132.000000, 128.000000, -151.000000, 69.000000], [-134.000000, -73.363384, -121.045263, 22.460790, -89.477321, -62.990050]] + joints: [-134.000000, 142.000000, 132.000000, 128.000000, -150.000000, 69.000000] + pose: {translation: [0.125249026639863, -0.1750746052043388, 0.5017878705025767], quaternion: [-0.5853985853668628, 0.7745986020828685, 0.1016565691996678, -0.2167289640087245]} + solutions: [[46.000000, -116.929671, 139.573488, 23.363007, 83.499023, 114.144783], [46.000000, 37.463653, -128.618751, 123.870708, 151.670903, -115.727651], [-134.000000, 142.000000, 132.000000, -52.000000, 150.000000, -111.000000], [-134.000000, -74.363384, -121.045263, -156.795963, 90.146348, 117.007509], [46.000000, -116.929671, 139.573488, -156.636993, -83.499023, -65.855217], [46.000000, 37.463653, -128.618751, -56.129292, -151.670903, 64.272349], [-134.000000, 142.000000, 132.000000, 128.000000, -150.000000, 69.000000], [-134.000000, -74.363384, -121.045263, 23.204037, -90.146348, -62.992491]] - id: 1949 parameters: KukaKR6_R700_sixx - joints: [5.000000, -179.000000, 103.000000, -117.000000, -24.000000, 28.000000] - pose: {translation: [-0.2053488941724521, -0.01113744615967526, 0.8354616960049349], quaternion: [0.2810987002205308, 0.01071849366425185, 0.6251552023541594, 0.7280450587686367]} - solutions: [[-175.000000, -117.448966, 108.945928, -157.881183, 105.742629, -84.857563], [-175.000000, -3.001440, -97.991190, -122.662928, 25.498105, -145.765935], [5.000000, -179.000000, 103.000000, 63.000000, 24.000000, -152.000000], [5.000000, -71.592841, -92.045263, 21.492347, 98.444388, -87.841056], [-175.000000, -117.448966, 108.945928, 22.118817, -105.742629, 95.142437], [-175.000000, -3.001440, -97.991190, 57.337072, -25.498105, 34.234065], [5.000000, -179.000000, 103.000000, -117.000000, -24.000000, 28.000000], [5.000000, -71.592841, -92.045263, -158.507653, -98.444388, 92.158944]] + joints: [5.000000, -178.000000, 103.000000, -117.000000, -24.000000, 28.000000] + pose: {translation: [-0.1977432754957365, -0.01180285157298892, 0.8393849371206188], quaternion: [0.2870764038594609, 0.01657174747620138, 0.6226958671867685, 0.7277103630712037]} + solutions: [[-175.000000, -118.407997, 108.781116, -157.894274, 105.627896, -84.905983], [-175.000000, -4.157500, -97.826379, -122.678372, 25.502829, -145.748825], [5.000000, -178.000000, 103.000000, 63.000000, 24.000000, -152.000000], [5.000000, -70.592841, -92.045263, 21.492347, 98.444388, -87.841056], [-175.000000, -118.407997, 108.781116, 22.105726, -105.627896, 95.094017], [-175.000000, -4.157500, -97.826379, 57.321628, -25.502829, 34.251175], [5.000000, -178.000000, 103.000000, -117.000000, -24.000000, 28.000000], [5.000000, -70.592841, -92.045263, -158.507653, -98.444388, 92.158944]] - id: 1950 parameters: KukaKR6_R700_sixx - joints: [-43.000000, -133.000000, -96.000000, 113.000000, 30.000000, -147.000000] - pose: {translation: [-0.2941492659428713, -0.3246438906360489, 0.2694038323077449], quaternion: [-0.156942705044615, 0.9307273999392861, -0.3262576676247984, -0.05168586510412601]} - solutions: [[137.000000, -52.156050, 117.401747, -96.779138, 27.612729, -113.247808], [137.000000, 72.574845, -106.447010, -27.514937, 94.956318, 146.534601], [-43.000000, 114.925361, 106.954737, 151.926110, 102.042939, 142.761421], [-43.000000, -133.000000, -96.000000, 113.000000, 30.000000, -147.000000], [137.000000, -52.156050, 117.401747, 83.220862, -27.612729, 66.752192], [137.000000, 72.574845, -106.447010, 152.485063, -94.956318, -33.465399], [-43.000000, 114.925361, 106.954737, -28.073890, -102.042939, -37.238579], [-43.000000, -133.000000, -96.000000, -67.000000, -30.000000, 33.000000]] + joints: [-43.000000, -132.000000, -96.000000, 113.000000, 30.000000, -147.000000] + pose: {translation: [-0.2957647703733106, -0.3261503728891558, 0.2774785974220478], quaternion: [-0.1587113580839548, 0.9284203750589827, -0.3307828157096372, -0.0585580124465362]} + solutions: [[137.000000, -53.303051, 117.431764, -96.556936, 27.599146, -113.498556], [137.000000, 71.465035, -106.477026, -27.520610, 95.080326, 146.469749], [-43.000000, 115.925361, 106.954737, 151.926110, 102.042939, 142.761421], [-43.000000, -132.000000, -96.000000, 113.000000, 30.000000, -147.000000], [137.000000, -53.303051, 117.431764, 83.443064, -27.599146, 66.501444], [137.000000, 71.465035, -106.477026, 152.479390, -95.080326, -33.530251], [-43.000000, 115.925361, 106.954737, -28.073890, -102.042939, -37.238579], [-43.000000, -132.000000, -96.000000, -67.000000, -30.000000, 33.000000]] - id: 1951 parameters: KukaKR6_R700_sixx - joints: [21.000000, 169.000000, 158.000000, -64.000000, 163.000000, 169.000000] - pose: {translation: [-0.04450186212568785, 0.03960086976173545, 0.5177753994673616], quaternion: [0.8826869385908849, 0.1871611537914882, -0.2611506733522327, -0.3429792949438288]} - solutions: [[21.000000, 169.000000, 158.000000, -64.000000, 163.000000, 169.000000], [21.000000, -4.024826, -147.045263, -163.793634, 70.311937, 46.385095], [-159.000000, 167.274577, 157.847731, 15.711297, 76.030928, 48.092879], [-159.000000, -6.088299, -146.892994, 130.836566, 159.675928, -175.356514], [21.000000, 169.000000, 158.000000, 116.000000, -163.000000, -11.000000], [21.000000, -4.024826, -147.045263, 16.206366, -70.311937, -133.614905], [-159.000000, 167.274577, 157.847731, -164.288703, -76.030928, -131.907121], [-159.000000, -6.088299, -146.892994, -49.163434, -159.675928, 4.643486]] + joints: [21.000000, 168.000000, 158.000000, -64.000000, 162.000000, 169.000000] + pose: {translation: [-0.04535070390043732, 0.04120871480943412, 0.5160992292627742], quaternion: [0.8874362345315407, 0.1857993150949018, -0.2472516873827255, -0.3417632912369914]} + solutions: [[-159.000000, 168.054514, 158.004813, 16.589206, 76.606510, 47.902251], [-159.000000, -4.959596, -147.050076, 130.149545, 158.693046, -175.991047], [21.000000, 168.000000, 158.000000, -64.000000, 162.000000, 169.000000], [21.000000, -5.024826, -147.045263, -162.902007, 70.853115, 46.088666], [-159.000000, 168.054514, 158.004813, -163.410794, -76.606510, -132.097749], [-159.000000, -4.959596, -147.050076, -49.850455, -158.693046, 4.008953], [21.000000, 168.000000, 158.000000, 116.000000, -162.000000, -11.000000], [21.000000, -5.024826, -147.045263, 17.097993, -70.853115, -133.911334]] - id: 1952 parameters: KukaKR6_R700_sixx - joints: [126.000000, 174.000000, -119.000000, 75.000000, -52.000000, 31.000000] - pose: {translation: [0.05433761774279847, -0.0288076960256574, 0.05717115835109562], quaternion: [0.01753124156668285, 0.83268346220765, -0.517205854469112, 0.1970507839057934]} - solutions: [[-54.000000, 13.906639, 131.480743, 91.753263, 49.598067, -175.223597], [-54.000000, 156.835501, -120.526005, 50.828278, 100.942817, -69.404446], [126.000000, 33.132716, 129.954737, -124.437907, 112.644795, -53.205252], [126.000000, 174.000000, -119.000000, -105.000000, 52.000000, -149.000000], [-54.000000, 13.906639, 131.480743, -88.246737, -49.598067, 4.776403], [-54.000000, 156.835501, -120.526005, -129.171722, -100.942817, 110.595554], [126.000000, 33.132716, 129.954737, 55.562093, -112.644795, 126.794748], [126.000000, 174.000000, -119.000000, 75.000000, -52.000000, 31.000000]] + joints: [126.000000, 173.000000, -119.000000, 75.000000, -52.000000, 31.000000] + pose: {translation: [0.05081777700265964, -0.03365234118332235, 0.05663639719813794], quaternion: [0.01348649322232955, 0.8300110648084444, -0.5231547592567222, 0.1928959425782655]} + solutions: [[-54.000000, 15.031603, 131.313708, 91.717471, 49.596793, -175.168376], [-54.000000, 157.733487, -120.358971, 50.818551, 100.901742, -69.455780], [126.000000, 32.132716, 129.954737, -124.437907, 112.644795, -53.205252], [126.000000, 173.000000, -119.000000, -105.000000, 52.000000, -149.000000], [-54.000000, 15.031603, 131.313708, -88.282529, -49.596793, 4.831624], [-54.000000, 157.733487, -120.358971, -129.181449, -100.901742, 110.544220], [126.000000, 32.132716, 129.954737, 55.562093, -112.644795, 126.794748], [126.000000, 173.000000, -119.000000, 75.000000, -52.000000, 31.000000]] - id: 1953 parameters: KukaKR6_R700_sixx - joints: [-51.000000, -136.000000, -80.000000, 165.000000, 42.000000, 153.000000] - pose: {translation: [-0.3001271021900842, -0.3926414406269777, 0.299184018437102], quaternion: [-0.1195732575485693, 0.9826256730702506, -0.1406021729943231, -0.0194949134836501]} - solutions: [[129.000000, -50.533215, 102.793162, -22.779502, 26.569851, 162.323973], [129.000000, 56.631364, -91.838424, -10.755105, 111.868066, 137.691337], [-51.000000, 130.509090, 90.954737, 168.687507, 118.009469, 136.371360], [-51.000000, -136.000000, -80.000000, 165.000000, 42.000000, 153.000000], [129.000000, -50.533215, 102.793162, 157.220498, -26.569851, -17.676027], [129.000000, 56.631364, -91.838424, 169.244895, -111.868066, -42.308663], [-51.000000, 130.509090, 90.954737, -11.312493, -118.009469, -43.628640], [-51.000000, -136.000000, -80.000000, -15.000000, -42.000000, -27.000000]] + joints: [-51.000000, -135.000000, -80.000000, 165.000000, 42.000000, 153.000000] + pose: {translation: [-0.3011846328565886, -0.3939473822399926, 0.3082574481536351], quaternion: [-0.1202086512687077, 0.9815276611216384, -0.1466041112168767, -0.0257014627512535]} + solutions: [[129.000000, -51.648776, 102.801744, -22.696997, 26.668516, 162.231686], [129.000000, 55.525865, -91.847007, -10.763677, 111.980142, 137.668380], [-51.000000, 131.509090, 90.954737, 168.687507, 118.009469, 136.371360], [-51.000000, -135.000000, -80.000000, 165.000000, 42.000000, 153.000000], [129.000000, -51.648776, 102.801744, 157.303003, -26.668516, -17.768314], [129.000000, 55.525865, -91.847007, 169.236323, -111.980142, -42.331620], [-51.000000, 131.509090, 90.954737, -11.312493, -118.009469, -43.628640], [-51.000000, -135.000000, -80.000000, -15.000000, -42.000000, -27.000000]] - id: 1954 parameters: KukaKR6_R700_sixx - joints: [-126.000000, 34.000000, -103.000000, -137.000000, -37.000000, 29.000000] - pose: {translation: [-0.2320877606751952, 0.3753035490773866, 0.6241826523554219], quaternion: [0.1474286227970353, 0.429343140344091, 0.8110365529892607, -0.368983710663414]} - solutions: [[-126.000000, -86.494546, 113.954737, 154.041933, 69.666247, 75.278145], [-126.000000, 34.000000, -103.000000, 43.000000, 37.000000, -151.000000], [54.000000, 149.033069, 104.137927, -140.452600, 40.136809, -146.586647], [54.000000, -102.222574, -93.183190, -28.627813, 58.942599, 81.403785], [-126.000000, -86.494546, 113.954737, -25.958067, -69.666247, -104.721855], [-126.000000, 34.000000, -103.000000, -137.000000, -37.000000, 29.000000], [54.000000, 149.033069, 104.137927, 39.547400, -40.136809, 33.413353], [54.000000, -102.222574, -93.183190, 151.372187, -58.942599, -98.596215]] + joints: [-126.000000, 34.000000, -103.000000, -137.000000, -36.000000, 29.000000] + pose: {translation: [-0.2324315345428274, 0.3744744306971186, 0.6252521775947815], quaternion: [0.1427939163128973, 0.423079301902592, 0.8139473310252098, -0.3716228519380613]} + solutions: [[-126.000000, -86.494546, 113.954737, 154.809267, 70.359068, 75.015853], [-126.000000, 34.000000, -103.000000, 43.000000, 36.000000, -151.000000], [54.000000, 149.033069, 104.137927, -140.574504, 39.139837, -146.492767], [54.000000, -102.222574, -93.183190, -27.708777, 59.555950, 80.933863], [-126.000000, -86.494546, 113.954737, -25.190733, -70.359068, -104.984147], [-126.000000, 34.000000, -103.000000, -137.000000, -36.000000, 29.000000], [54.000000, 149.033069, 104.137927, 39.425496, -39.139837, 33.507233], [54.000000, -102.222574, -93.183190, 152.291223, -59.555950, -99.066137]] - id: 1955 parameters: KukaKR6_R700_sixx joints: [123.000000, 85.000000, 179.000000, 96.000000, -61.000000, -161.000000] @@ -9786,19 +9786,19 @@ cases: solutions: [[50.000000, 57.000000, 34.000000, -63.000000, 162.000000, -149.000000], [50.000000, 87.730300, -23.045263, -137.057427, 156.161859, 133.226074], [-130.000000, 104.915088, 18.026618, 33.585905, 150.150238, 122.759647], [-130.000000, 118.419431, -7.071881, 49.899312, 158.902434, 140.750519], [50.000000, 57.000000, 34.000000, 117.000000, -162.000000, 31.000000], [50.000000, 87.730300, -23.045263, 42.942573, -156.161859, -46.773926], [-130.000000, 104.915088, 18.026618, -146.414095, -150.150238, -57.240353], [-130.000000, 118.419431, -7.071881, -130.100688, -158.902434, -39.249481]] - id: 1957 parameters: KukaKR6_R700_sixx - joints: [29.000000, 48.000000, 28.000000, -64.000000, 180.000000, 72.000000] - pose: {translation: [0.296219903514727, -0.164197373738679, -0.1021576356680498], quaternion: [-0.09796550779514335, 0.07249066246380605, 0.9840547817211396, -0.1295532697764077]} - solutions: [[29.000000, 48.000000, 28.000000, -12.407419, 180.000000, 127.303948], [29.000000, 72.252156, -17.045263, -180.000000, 159.206893, -44.000000], [29.000000, 48.000000, 28.000000, 167.592581, -180.000000, -52.696052], [29.000000, 72.252156, -17.045263, 0.000000, -159.206893, 136.000000]] + joints: [29.000000, 47.000000, 28.000000, -64.000000, 179.000000, 72.000000] + pose: {translation: [0.3039372314588594, -0.1670403754337702, -0.09677678946795791], quaternion: [-0.1033437002321278, 0.08614399937643391, 0.9825640617728844, -0.128324415081997]} + solutions: [[29.000000, 47.000000, 28.000000, -64.000000, 179.000000, 72.000000], [29.000000, 71.252156, -17.045263, -177.417566, 159.626308, -41.582358], [29.000000, 47.000000, 28.000000, 116.000000, -179.000000, -108.000000], [29.000000, 71.252156, -17.045263, 2.582434, -159.626308, 138.417642]] - id: 1958 parameters: KukaKR6_R700_sixx - joints: [-33.000000, -8.000000, -162.000000, -42.000000, 110.000000, 57.000000] - pose: {translation: [-0.02064613212292501, 0.04657070304786536, 0.523019029658129], quaternion: [-0.4232972032957482, -0.08158305072186135, -0.218039700820057, 0.8755697415872777]} - solutions: [[147.000000, 142.141068, 176.813966, 140.935297, 86.152282, 77.234141], [147.000000, 43.521574, -165.859229, 94.632184, 39.111947, 158.155147], [-33.000000, 115.240772, 172.954737, -69.189676, 42.272724, 136.929583], [-33.000000, -8.000000, -162.000000, -42.000000, 110.000000, 57.000000], [147.000000, 142.141068, 176.813966, -39.064703, -86.152282, -102.765859], [147.000000, 43.521574, -165.859229, -85.367816, -39.111947, -21.844853], [-33.000000, 115.240772, 172.954737, 110.810324, -42.272724, -43.070417], [-33.000000, -8.000000, -162.000000, 138.000000, -110.000000, -123.000000]] + joints: [-33.000000, -8.000000, -162.000000, -42.000000, 109.000000, 57.000000] + pose: {translation: [-0.02185259886115832, 0.04615907192698123, 0.5235886785219463], quaternion: [-0.417909364930631, -0.08733712719975122, -0.2154224656290939, 0.8782466340488035]} + solutions: [[147.000000, 142.141068, 176.813966, 140.588245, 85.214071, 77.260265], [147.000000, 43.521574, -165.859229, 93.083592, 39.315692, 159.355015], [-33.000000, 115.240772, 172.954737, -70.658165, 42.107210, 138.017647], [-33.000000, -8.000000, -162.000000, -42.000000, 109.000000, 57.000000], [147.000000, 142.141068, 176.813966, -39.411755, -85.214071, -102.739735], [147.000000, 43.521574, -165.859229, -86.916408, -39.315692, -20.644985], [-33.000000, 115.240772, 172.954737, 109.341835, -42.107210, -41.982353], [-33.000000, -8.000000, -162.000000, 138.000000, -109.000000, -123.000000]] - id: 1959 parameters: KukaKR6_R700_sixx - joints: [-120.000000, -123.000000, -133.000000, -177.000000, 45.000000, 41.000000] - pose: {translation: [0.07732337919119447, -0.1398491589015459, 0.2330013934584483], quaternion: [0.1365196011116227, 0.9538494796402793, 0.1979378972010764, -0.1798726147969948]} - solutions: [[60.000000, -58.325768, 152.162295, 4.643696, 27.200702, 38.990248], [60.000000, 116.792972, -141.207557, 3.728992, 145.318498, 46.190145], [-120.000000, 75.906691, 143.954737, -173.568118, 160.709614, 49.195842], [-120.000000, -123.000000, -133.000000, -177.000000, 45.000000, 41.000000], [60.000000, -58.325768, 152.162295, -175.356304, -27.200702, -141.009752], [60.000000, 116.792972, -141.207557, -176.271008, -145.318498, -133.809855], [-120.000000, 75.906691, 143.954737, 6.431882, -160.709614, -130.804158], [-120.000000, -123.000000, -133.000000, 3.000000, -45.000000, -139.000000]] + joints: [-120.000000, -122.000000, -133.000000, -177.000000, 45.000000, 41.000000] + pose: {translation: [0.07876657193476945, -0.1423488420585324, 0.2362515898162142], quaternion: [0.1370101163763686, 0.9560938885010436, 0.1913174084850083, -0.1746721316984152]} + solutions: [[60.000000, -59.614832, 152.238404, 4.610422, 27.412964, 39.027695], [60.000000, 115.646133, -141.283666, 3.750094, 145.540972, 46.215772], [-120.000000, 76.906691, 143.954737, -173.568118, 160.709614, 49.195842], [-120.000000, -122.000000, -133.000000, -177.000000, 45.000000, 41.000000], [60.000000, -59.614832, 152.238404, -175.389578, -27.412964, -140.972305], [60.000000, 115.646133, -141.283666, -176.249906, -145.540972, -133.784228], [-120.000000, 76.906691, 143.954737, 6.431882, -160.709614, -130.804158], [-120.000000, -122.000000, -133.000000, 3.000000, -45.000000, -139.000000]] - id: 1960 parameters: KukaKR6_R700_sixx joints: [-63.000000, 49.000000, -175.000000, 89.000000, -23.000000, -125.000000] @@ -9806,34 +9806,34 @@ cases: solutions: [[-63.000000, 49.000000, -175.000000, -91.000000, 23.000000, 55.000000], [-63.000000, 42.231589, -174.045263, -77.521330, 23.585927, 40.337944], [-63.000000, 49.000000, -175.000000, 89.000000, -23.000000, -125.000000], [-63.000000, 42.231589, -174.045263, 102.478670, -23.585927, -139.662056]] - id: 1961 parameters: KukaKR6_R700_sixx - joints: [-46.000000, -135.000000, 127.000000, 133.000000, -120.000000, -174.000000] - pose: {translation: [0.05094166640776993, 0.1256934957327431, 0.6558388798932437], quaternion: [-0.5113080130337185, 0.7521950335771438, 0.2944394657537627, -0.2933805519730802]} - solutions: [[-46.000000, -135.000000, 127.000000, -47.000000, 120.000000, 6.000000], [-46.000000, 1.947028, -116.045263, -135.484141, 115.393046, -122.938300], [134.000000, 173.628761, 122.482843, 43.871112, 113.949386, -124.482736], [134.000000, -55.260672, -111.528105, 130.595217, 123.475383, 1.432293], [-46.000000, -135.000000, 127.000000, 133.000000, -120.000000, -174.000000], [-46.000000, 1.947028, -116.045263, 44.515859, -115.393046, 57.061700], [134.000000, 173.628761, 122.482843, -136.128888, -113.949386, 55.517264], [134.000000, -55.260672, -111.528105, -49.404783, -123.475383, -178.567707]] + joints: [-46.000000, -134.000000, 127.000000, 133.000000, -119.000000, -174.000000] + pose: {translation: [0.05454851640317427, 0.1301523620373669, 0.6537233430806314], quaternion: [-0.5053761883331479, 0.755088177793272, 0.2965145407584684, -0.2941358175086629]} + solutions: [[-46.000000, -134.000000, 127.000000, -47.000000, 119.000000, 6.000000], [-46.000000, 2.947028, -116.045263, -134.618604, 116.018991, -122.562859], [134.000000, 172.795907, 122.333774, 44.701784, 114.583484, -124.152843], [134.000000, -56.283285, -111.379036, 130.628454, 122.560917, 1.369908], [-46.000000, -134.000000, 127.000000, 133.000000, -119.000000, -174.000000], [-46.000000, 2.947028, -116.045263, 45.381396, -116.018991, 57.437141], [134.000000, 172.795907, 122.333774, -135.298216, -114.583484, 55.847157], [134.000000, -56.283285, -111.379036, -49.371546, -122.560917, -178.630092]] - id: 1962 parameters: KukaKR6_R700_sixx - joints: [138.000000, 145.000000, 168.000000, 172.000000, 135.000000, 36.000000] - pose: {translation: [0.06105736896065089, 0.06557022550728764, 0.5069700519733653], quaternion: [-0.5057951669448397, 0.5137777615642684, 0.03748279954310997, 0.6919528167119943]} - solutions: [[-42.000000, 153.045226, 168.819807, -8.672643, 40.740655, 48.267686], [-42.000000, 11.138144, -157.865070, -10.871026, 148.547159, 32.371266], [138.000000, 145.000000, 168.000000, 172.000000, 135.000000, 36.000000], [138.000000, 0.023980, -157.045263, 166.951981, 25.842055, 53.456873], [-42.000000, 153.045226, 168.819807, 171.327357, -40.740655, -131.732314], [-42.000000, 11.138144, -157.865070, 169.128974, -148.547159, -147.628734], [138.000000, 145.000000, 168.000000, -8.000000, -135.000000, -144.000000], [138.000000, 0.023980, -157.045263, -13.048019, -25.842055, -126.543127]] + joints: [138.000000, 144.000000, 168.000000, 172.000000, 134.000000, 36.000000] + pose: {translation: [0.06238066773039407, 0.06694500502525851, 0.5063483749030738], quaternion: [-0.5057703996836759, 0.5137978176969051, 0.03869817911581452, 0.6918891213676026]} + solutions: [[-42.000000, 153.664179, 168.986478, -8.964737, 39.975705, 48.468990], [-42.000000, 12.402325, -158.031741, -10.724558, 147.453306, 32.505165], [138.000000, 144.000000, 168.000000, 172.000000, 134.000000, 36.000000], [138.000000, -0.976020, -157.045263, 166.239225, 24.889796, 54.100936], [-42.000000, 153.664179, 168.986478, 171.035263, -39.975705, -131.531010], [-42.000000, 12.402325, -158.031741, 169.275442, -147.453306, -147.494835], [138.000000, 144.000000, 168.000000, -8.000000, -134.000000, -144.000000], [138.000000, -0.976020, -157.045263, -13.760775, -24.889796, -125.899064]] - id: 1963 parameters: KukaKR6_R700_sixx - joints: [-67.000000, 9.000000, -95.000000, -24.000000, -75.000000, -37.000000] - pose: {translation: [0.1296195933821065, 0.2249251829690623, 0.7428549291377087], quaternion: [0.2747544883687372, -0.5144302958121254, 0.726283204473595, 0.363846325763294]} - solutions: [[-67.000000, -101.888931, 105.954737, 123.272806, 151.971484, 83.053225], [-67.000000, 9.000000, -95.000000, 156.000000, 75.000000, 143.000000], [113.000000, 171.384854, 97.794770, -24.384841, 72.099487, 144.358489], [113.000000, -87.271218, -86.840032, -44.022543, 145.574166, 97.865292], [-67.000000, -101.888931, 105.954737, -56.727194, -151.971484, -96.946775], [-67.000000, 9.000000, -95.000000, -24.000000, -75.000000, -37.000000], [113.000000, 171.384854, 97.794770, 155.615159, -72.099487, -35.641511], [113.000000, -87.271218, -86.840032, 135.977457, -145.574166, -82.134708]] + joints: [-67.000000, 9.000000, -95.000000, -24.000000, -74.000000, -37.000000] + pose: {translation: [0.1296494289408841, 0.2253838861061575, 0.7441733385087478], quaternion: [0.2715931593164591, -0.5080606807967213, 0.7308720666297972, 0.36597475686332]} + solutions: [[-67.000000, -101.888931, 105.954737, 125.084596, 151.458618, 84.648736], [-67.000000, 9.000000, -95.000000, 156.000000, 74.000000, 143.000000], [113.000000, 171.384854, 97.794770, -24.409898, 71.099770, 144.366399], [113.000000, -87.271218, -86.840032, -42.791031, 144.862458, 98.876804], [-67.000000, -101.888931, 105.954737, -54.915404, -151.458618, -95.351264], [-67.000000, 9.000000, -95.000000, -24.000000, -74.000000, -37.000000], [113.000000, 171.384854, 97.794770, 155.590102, -71.099770, -35.633601], [113.000000, -87.271218, -86.840032, 137.208969, -144.862458, -81.123196]] - id: 1964 parameters: KukaKR6_R700_sixx - joints: [-152.000000, 75.000000, -72.000000, 73.000000, -27.000000, -180.000000] - pose: {translation: [-0.4971574023085082, 0.2250065601787698, 0.1184564056525367], quaternion: [0.393913766131671, -0.5494285663899834, -0.4516737519509506, 0.5821949991928497]} - solutions: [[-152.000000, -9.437710, 82.954737, -153.849881, 80.093506, 66.233158], [-152.000000, 75.000000, -72.000000, -107.000000, 27.000000, 0.000000], [28.000000, 114.612504, 70.546648, 89.348636, 25.733212, -18.215543], [28.000000, -174.781169, -59.591910, 29.133814, 63.095002, 56.905757], [-152.000000, -9.437710, 82.954737, 26.150119, -80.093506, -113.766842], [-152.000000, 75.000000, -72.000000, 73.000000, -27.000000, -180.000000], [28.000000, 114.612504, 70.546648, -90.651364, -25.733212, 161.784457], [28.000000, -174.781169, -59.591910, -150.866186, -63.095002, -123.094243]] + joints: [-152.000000, 75.000000, -72.000000, 73.000000, -26.000000, -180.000000] + pose: {translation: [-0.4971288498377443, 0.2263447419207135, 0.1180589683868785], quaternion: [0.3899572200723923, -0.5544881911611507, -0.4550940560619282, 0.5773782231028027]} + solutions: [[-152.000000, -9.437710, 82.954737, -154.780081, 79.691785, 66.396406], [-152.000000, 75.000000, -72.000000, -107.000000, 26.000000, -0.000000], [28.000000, 114.612504, 70.546648, 90.094278, 24.785162, -18.889916], [28.000000, -174.781169, -59.591910, 28.189775, 62.552127, 57.336942], [-152.000000, -9.437710, 82.954737, 25.219919, -79.691785, -113.603594], [-152.000000, 75.000000, -72.000000, 73.000000, -26.000000, 180.000000], [28.000000, 114.612504, 70.546648, -89.905722, -24.785162, 161.110084], [28.000000, -174.781169, -59.591910, -151.810225, -62.552127, -122.663058]] - id: 1965 parameters: KukaKR6_R700_sixx - joints: [-130.000000, -173.000000, 70.000000, 115.000000, 164.000000, 99.000000] - pose: {translation: [0.2696241113124363, -0.2902343897617295, 0.7091343075300186], quaternion: [0.8229774036916415, -0.5514732159704856, -0.01467686364246774, -0.1355362488552617]} - solutions: [[50.000000, -86.491572, 80.684461, -14.770248, 101.515012, 160.109170], [50.000000, -4.601626, -69.729724, -57.179545, 162.706682, 107.160901], [-130.000000, -173.000000, 70.000000, 115.000000, 164.000000, 99.000000], [-130.000000, -102.998312, -59.045263, 164.224465, 113.238729, 156.761597], [50.000000, -86.491572, 80.684461, 165.229752, -101.515012, -19.890830], [50.000000, -4.601626, -69.729724, 122.820455, -162.706682, -72.839099], [-130.000000, -173.000000, 70.000000, -65.000000, -164.000000, -81.000000], [-130.000000, -102.998312, -59.045263, -15.775535, -113.238729, -23.238403]] + joints: [-130.000000, -172.000000, 70.000000, 115.000000, 163.000000, 99.000000] + pose: {translation: [0.2674531837094333, -0.28575959180158, 0.7166987232284954], quaternion: [0.8227643705511291, -0.5510057574075298, -0.0005010850178955818, -0.1394675401990143]} + solutions: [[50.000000, -87.457832, 80.509828, -15.669723, 101.166188, 159.896024], [50.000000, -5.763515, -69.555090, -57.599440, 161.709449, 106.764354], [-130.000000, -172.000000, 70.000000, 115.000000, 163.000000, 99.000000], [-130.000000, -101.998312, -59.045263, 163.307598, 112.702634, 156.403769], [50.000000, -87.457832, 80.509828, 164.330277, -101.166188, -20.103976], [50.000000, -5.763515, -69.555090, 122.400560, -161.709449, -73.235646], [-130.000000, -172.000000, 70.000000, -65.000000, -163.000000, -81.000000], [-130.000000, -101.998312, -59.045263, -16.692402, -112.702634, -23.596231]] - id: 1966 parameters: KukaKR6_R700_sixx - joints: [32.000000, 18.000000, -64.000000, 68.000000, -34.000000, 170.000000] - pose: {translation: [0.5197614926313563, -0.2758730999779226, 0.6488817101066388], quaternion: [0.1935700150083292, 0.3026436708539576, 0.7277883154678287, 0.5841760228306334]} - solutions: [[32.000000, -57.495398, 74.954737, -148.171097, 79.453172, 47.536030], [32.000000, 18.000000, -64.000000, -112.000000, 34.000000, -10.000000], [-148.000000, 169.028112, 59.324095, 71.321686, 33.181983, -13.986984], [-148.000000, -132.715920, -48.369358, 34.663392, 65.727007, 38.149666], [32.000000, -57.495398, 74.954737, 31.828903, -79.453172, -132.463970], [32.000000, 18.000000, -64.000000, 68.000000, -34.000000, 170.000000], [-148.000000, 169.028112, 59.324095, -108.678314, -33.181983, 166.013016], [-148.000000, -132.715920, -48.369358, -145.336608, -65.727007, -141.850334]] + joints: [32.000000, 18.000000, -64.000000, 68.000000, -33.000000, 170.000000] + pose: {translation: [0.5199094876498231, -0.2772385347508262, 0.6491330810549338], quaternion: [0.1989319986169184, 0.2965089100140464, 0.7265556807629846, 0.5870480124824515]} + solutions: [[32.000000, -57.495398, 74.954737, -149.030848, 78.917581, 47.697351], [32.000000, 18.000000, -64.000000, -112.000000, 33.000000, -10.000000], [-148.000000, 169.028112, 59.324095, 71.452216, 32.184470, -14.096851], [-148.000000, -132.715920, -48.369358, 33.841925, 65.062034, 38.491709], [32.000000, -57.495398, 74.954737, 30.969152, -78.917581, -132.302649], [32.000000, 18.000000, -64.000000, 68.000000, -33.000000, 170.000000], [-148.000000, 169.028112, 59.324095, -108.547784, -32.184470, 165.903149], [-148.000000, -132.715920, -48.369358, -146.158075, -65.062034, -141.508291]] - id: 1967 parameters: KukaKR6_R700_sixx joints: [164.000000, -38.000000, 49.000000, -124.000000, 44.000000, 60.000000] @@ -9846,24 +9846,24 @@ cases: solutions: [[-156.000000, -18.314780, 109.809332, -179.085293, 100.595432, -124.801201], [-156.000000, 97.166844, -98.854595, -173.066097, 7.468462, -131.845050], [24.000000, 92.000000, 101.000000, 167.000000, 4.000000, 68.000000], [24.000000, -162.932507, -90.045263, 0.907768, 82.080950, -125.094482], [-156.000000, -18.314780, 109.809332, 0.914707, -100.595432, 55.198799], [-156.000000, 97.166844, -98.854595, 6.933903, -7.468462, 48.154950], [24.000000, 92.000000, 101.000000, -13.000000, -4.000000, -112.000000], [24.000000, -162.932507, -90.045263, -179.092232, -82.080950, 54.905518]] - id: 1969 parameters: KukaKR6_R700_sixx - joints: [-35.000000, 45.000000, -87.000000, 78.000000, -115.000000, 57.000000] - pose: {translation: [0.336422367071039, 0.3221430835050134, 0.4360837393731262], quaternion: [-0.1238103745374844, -0.7456864427781689, -0.2149644066966958, 0.6183955239709179]} - solutions: [[-35.000000, -56.529050, 97.954737, -65.807790, 103.625768, -33.971350], [-35.000000, 45.000000, -87.000000, -102.000000, 115.000000, -123.000000], [145.000000, 141.497476, 85.613844, 75.738394, 113.837879, -128.466951], [145.000000, -131.069356, -74.659106, 109.829428, 109.544899, -49.153137], [-35.000000, -56.529050, 97.954737, 114.192210, -103.625768, 146.028650], [-35.000000, 45.000000, -87.000000, 78.000000, -115.000000, 57.000000], [145.000000, 141.497476, 85.613844, -104.261606, -113.837879, 51.533049], [145.000000, -131.069356, -74.659106, -70.170572, -109.544899, 130.846863]] + joints: [-35.000000, 45.000000, -87.000000, 78.000000, -114.000000, 57.000000] + pose: {translation: [0.3368049642277171, 0.323102379804416, 0.4370233520719796], quaternion: [-0.1273098190323961, -0.7411456742074235, -0.2210021157092656, 0.6210099551807448]} + solutions: [[-35.000000, -56.529050, 97.954737, -66.836522, 103.606702, -34.213537], [-35.000000, 45.000000, -87.000000, -102.000000, 114.000000, -123.000000], [145.000000, 141.497476, 85.613844, 75.841767, 112.842394, -128.425994], [145.000000, -131.069356, -74.659106, 108.811935, 109.263853, -49.491191], [-35.000000, -56.529050, 97.954737, 113.163478, -103.606702, 145.786463], [-35.000000, 45.000000, -87.000000, 78.000000, -114.000000, 57.000000], [145.000000, 141.497476, 85.613844, -104.158233, -112.842394, 51.574006], [145.000000, -131.069356, -74.659106, -71.188065, -109.263853, 130.508809]] - id: 1970 parameters: KukaKR6_R700_sixx - joints: [134.000000, -24.000000, 153.000000, -173.000000, 117.000000, 6.000000] - pose: {translation: [-0.1244190974507989, -0.1413450457085819, 0.2061389845459329], quaternion: [0.3514510602741688, -0.6916272151670273, 0.2709520424251816, 0.5698411517064099]} - solutions: [[134.000000, -24.000000, 153.000000, -173.000000, 117.000000, 6.000000], [134.000000, 152.699626, -142.045263, -79.395435, 6.342593, -97.858918], [-46.000000, 43.259029, 148.214954, 164.562308, 24.074720, -163.039366], [-46.000000, -148.659580, -137.260217, 6.249651, 94.069334, 3.254718], [134.000000, -24.000000, 153.000000, 7.000000, -117.000000, -174.000000], [134.000000, 152.699626, -142.045263, 100.604565, -6.342593, 82.141082], [-46.000000, 43.259029, 148.214954, -15.437692, -24.074720, 16.960634], [-46.000000, -148.659580, -137.260217, -173.750349, -94.069334, -176.745282]] + joints: [134.000000, -24.000000, 153.000000, -173.000000, 116.000000, 6.000000] + pose: {translation: [-0.1241520470125188, -0.1411778049505611, 0.2047787578771518], quaternion: [0.3543089906528444, -0.6962992232869278, 0.2685224588493687, 0.5634964240224358]} + solutions: [[134.000000, -24.000000, 153.000000, -173.000000, 116.000000, 6.000000], [134.000000, 152.699626, -142.045263, -70.985634, 6.653055, -106.214918], [-46.000000, 43.259029, 148.214954, 165.011227, 25.057157, -163.447665], [-46.000000, -148.659580, -137.260217, 6.297614, 93.070481, 3.257704], [134.000000, -24.000000, 153.000000, 7.000000, -116.000000, -174.000000], [134.000000, 152.699626, -142.045263, 109.014366, -6.653055, 73.785082], [-46.000000, 43.259029, 148.214954, -14.988773, -25.057157, 16.552335], [-46.000000, -148.659580, -137.260217, -173.702386, -93.070481, -176.742296]] - id: 1971 parameters: KukaKR6_R700_sixx - joints: [-39.000000, -173.000000, 101.000000, 156.000000, -135.000000, 30.000000] - pose: {translation: [-0.1516302946962234, -0.09318138530809673, 0.7265708253042691], quaternion: [0.6834349567836815, 0.6848170681584449, 0.2191168232560718, -0.126214344553726]} - solutions: [[141.000000, -120.798149, 106.216889, 21.125312, 127.060486, 60.583142], [141.000000, -9.598756, -95.262151, 154.621475, 137.852468, -151.902086], [-39.000000, -173.000000, 101.000000, -24.000000, 135.000000, -150.000000], [-39.000000, -67.932507, -90.045263, -156.455739, 133.946155, 64.300038], [141.000000, -120.798149, 106.216889, -158.874688, -127.060486, -119.416858], [141.000000, -9.598756, -95.262151, -25.378525, -137.852468, 28.097914], [-39.000000, -173.000000, 101.000000, 156.000000, -135.000000, 30.000000], [-39.000000, -67.932507, -90.045263, 23.544261, -133.946155, -115.699962]] + joints: [-39.000000, -172.000000, 101.000000, 156.000000, -134.000000, 30.000000] + pose: {translation: [-0.1465187345652398, -0.08852993169274631, 0.7306879420821218], quaternion: [0.6845241088011992, 0.68323234213936, 0.2188753802956357, -0.1292821682411369]} + solutions: [[141.000000, -121.741275, 106.041421, 21.804608, 128.029763, 61.031519], [141.000000, -10.749715, -95.086683, 154.658814, 136.875160, -151.881727], [-39.000000, -172.000000, 101.000000, -24.000000, 134.000000, -150.000000], [-39.000000, -66.932507, -90.045263, -155.661993, 134.769531, 64.854995], [141.000000, -121.741275, 106.041421, -158.195392, -128.029763, -118.968481], [141.000000, -10.749715, -95.086683, -25.341186, -136.875160, 28.118273], [-39.000000, -172.000000, 101.000000, 156.000000, -134.000000, 30.000000], [-39.000000, -66.932507, -90.045263, 24.338007, -134.769531, -115.145005]] - id: 1972 parameters: KukaKR6_R700_sixx - joints: [36.000000, 139.000000, -165.000000, 153.000000, 19.000000, 75.000000] - pose: {translation: [0.1207096896508699, -0.1023164703491041, 0.4388217260606425], quaternion: [0.4024012990690576, -0.02160022092441289, 0.6529229750499196, 0.6413253570657516]} - solutions: [[36.000000, -116.088349, 175.954737, 171.282759, 102.777959, 47.334532], [36.000000, 139.000000, -165.000000, 153.000000, 19.000000, 75.000000], [-144.000000, 68.930896, 166.028396, -144.074923, 14.590816, -165.760529], [-144.000000, -82.794769, -155.073659, -8.654254, 100.802906, 47.642741], [36.000000, -116.088349, 175.954737, -8.717241, -102.777959, -132.665468], [36.000000, 139.000000, -165.000000, -27.000000, -19.000000, -105.000000], [-144.000000, 68.930896, 166.028396, 35.925077, -14.590816, 14.239471], [-144.000000, -82.794769, -155.073659, 171.345746, -100.802906, -132.357259]] + joints: [36.000000, 138.000000, -165.000000, 153.000000, 18.000000, 75.000000] + pose: {translation: [0.1212511965300936, -0.1019668660771255, 0.4402833746526097], quaternion: [0.4013748622355688, -0.01870165272406916, 0.6551258697634422, 0.6398113494753432]} + solutions: [[36.000000, -117.088349, 175.954737, 171.757232, 101.891870, 47.435895], [36.000000, 138.000000, -165.000000, 153.000000, 18.000000, 75.000000], [-144.000000, 69.567008, 166.009501, -146.644996, 14.782791, -163.329542], [-144.000000, -82.219505, -155.054764, -8.198087, 100.316106, 47.667875], [36.000000, -117.088349, 175.954737, -8.242768, -101.891870, -132.564105], [36.000000, 138.000000, -165.000000, -27.000000, -18.000000, -105.000000], [-144.000000, 69.567008, 166.009501, 33.355004, -14.782791, 16.670458], [-144.000000, -82.219505, -155.054764, 171.801913, -100.316106, -132.332125]] - id: 1973 parameters: KukaKR6_R700_sixx joints: [-14.000000, 38.000000, -7.000000, -117.000000, 75.000000, 119.000000] @@ -9876,19 +9876,19 @@ cases: solutions: [[-83.000000, -84.130839, 66.885176, -144.596727, 70.179317, 42.492789], [-83.000000, -17.567986, -55.930439, -104.804482, 34.313527, -16.213564], [97.000000, -159.478240, 54.954737, 78.040020, 33.855525, -19.647724], [97.000000, -106.000000, -44.000000, 39.000000, 60.000000, 34.000000], [-83.000000, -84.130839, 66.885176, 35.403273, -70.179317, -137.507211], [-83.000000, -17.567986, -55.930439, 75.195518, -34.313527, 163.786436], [97.000000, -159.478240, 54.954737, -101.959980, -33.855525, 160.352276], [97.000000, -106.000000, -44.000000, -141.000000, -60.000000, -146.000000]] - id: 1975 parameters: KukaKR6_R700_sixx - joints: [129.000000, 6.000000, -165.000000, -71.000000, -56.000000, 72.000000] - pose: {translation: [-0.008126018423458087, 0.0896117977093535, 0.4610757824417553], quaternion: [0.4023415019602701, 0.6032523767753799, 0.4747664033208807, -0.4988033159402251]} - solutions: [[-51.000000, 123.317992, 178.561806, -54.813465, 73.560806, -144.507686], [-51.000000, 39.286686, -167.607068, -59.949981, 115.096814, 157.375317], [129.000000, 110.911651, 175.954737, 126.365644, 103.232204, 176.354653], [129.000000, 6.000000, -165.000000, 109.000000, 56.000000, -108.000000], [-51.000000, 123.317992, 178.561806, 125.186535, -73.560806, 35.492314], [-51.000000, 39.286686, -167.607068, 120.050019, -115.096814, -22.624683], [129.000000, 110.911651, 175.954737, -53.634356, -103.232204, -3.645347], [129.000000, 6.000000, -165.000000, -71.000000, -56.000000, 72.000000]] + joints: [129.000000, 6.000000, -165.000000, -71.000000, -55.000000, 72.000000] + pose: {translation: [-0.006926919841212815, 0.08990436501654112, 0.4617285220215377], quaternion: [0.4051856866969241, 0.5979440201282163, 0.4808399489240421, -0.4970718777074135]} + solutions: [[-51.000000, 123.317992, 178.561806, -54.190560, 72.757959, -144.688154], [-51.000000, 39.286686, -167.607068, -58.848624, 115.173375, 157.843134], [129.000000, 110.911651, 175.954737, 127.359836, 102.982369, 176.580117], [129.000000, 6.000000, -165.000000, 109.000000, 55.000000, -108.000000], [-51.000000, 123.317992, 178.561806, 125.809440, -72.757959, 35.311846], [-51.000000, 39.286686, -167.607068, 121.151376, -115.173375, -22.156866], [129.000000, 110.911651, 175.954737, -52.640164, -102.982369, -3.419883], [129.000000, 6.000000, -165.000000, -71.000000, -55.000000, 72.000000]] - id: 1976 parameters: KukaKR6_R700_sixx - joints: [-125.000000, 133.000000, -112.000000, 1.000000, -113.000000, -105.000000] - pose: {translation: [-0.09321175182064086, 0.1308794962826818, 0.1514353926548803], quaternion: [-0.004937717609354151, -0.01859161598984175, 0.9047537012104671, -0.4255005416044231]} - solutions: [[-125.000000, 1.287607, 122.954737, -1.556628, 143.744432, -106.646118], [-125.000000, 133.000000, -112.000000, -179.000000, 113.000000, 75.000000], [55.000000, 56.814020, 118.471282, 0.926860, 96.716967, 74.717655], [55.000000, -177.126474, -107.516544, 176.789735, 163.329130, -108.466362], [-125.000000, 1.287607, 122.954737, 178.443372, -143.744432, 73.353882], [-125.000000, 133.000000, -112.000000, 1.000000, -113.000000, -105.000000], [55.000000, 56.814020, 118.471282, -179.073140, -96.716967, -105.282345], [55.000000, -177.126474, -107.516544, -3.210265, -163.329130, 71.533638]] + joints: [-125.000000, 132.000000, -112.000000, 1.000000, -113.000000, -105.000000] + pose: {translation: [-0.09568810310103072, 0.1344160924277638, 0.153841092775574], quaternion: [-0.00345056490228171, -0.02718818550645901, 0.9046110663404785, -0.425355985998862]} + solutions: [[-125.000000, 0.287607, 122.954737, -1.556628, 143.744432, -106.646118], [-125.000000, 132.000000, -112.000000, -179.000000, 113.000000, 75.000000], [55.000000, 57.843217, 118.317464, 0.927100, 96.841571, 74.719685], [55.000000, -176.288794, -107.362727, 176.791325, 163.320641, -108.464703], [-125.000000, 0.287607, 122.954737, 178.443372, -143.744432, 73.353882], [-125.000000, 132.000000, -112.000000, 1.000000, -113.000000, -105.000000], [55.000000, 57.843217, 118.317464, -179.072900, -96.841571, -105.280315], [55.000000, -176.288794, -107.362727, -3.208675, -163.320641, 71.535297]] - id: 1977 parameters: KukaKR6_R700_sixx - joints: [178.000000, -175.000000, 139.000000, -159.000000, -74.000000, -61.000000] - pose: {translation: [-0.04688979686123954, 0.02593820117637839, 0.625190591057718], quaternion: [0.4627184879164564, 0.7535886475231347, -0.07219212324958155, -0.4612852139460772]} - solutions: [[-2.000000, -169.442905, 139.483654, -71.709074, 158.726724, -125.429924], [-2.000000, -15.182729, -128.528917, -159.029349, 74.269228, 119.107357], [178.000000, -175.000000, 139.000000, 21.000000, 74.000000, 119.000000], [178.000000, -21.454053, -128.045263, 106.959915, 158.890679, -126.857457], [-2.000000, -169.442905, 139.483654, 108.290926, -158.726724, 54.570076], [-2.000000, -15.182729, -128.528917, 20.970651, -74.269228, -60.892643], [178.000000, -175.000000, 139.000000, -159.000000, -74.000000, -61.000000], [178.000000, -21.454053, -128.045263, -73.040085, -158.890679, 53.142543]] + joints: [178.000000, -174.000000, 139.000000, -159.000000, -74.000000, -61.000000] + pose: {translation: [-0.05081433070428798, 0.02580115343468273, 0.6247905607635874], quaternion: [0.4631899871747512, 0.7576049090263781, -0.06792439818028519, -0.4548363592898366]} + solutions: [[-2.000000, -170.313515, 139.320992, -71.790252, 158.737144, -125.517035], [-2.000000, -16.294039, -128.366255, -159.034517, 74.317180, 119.126447], [178.000000, -174.000000, 139.000000, 21.000000, 74.000000, 119.000000], [178.000000, -20.454053, -128.045263, 106.959915, 158.890679, -126.857457], [-2.000000, -170.313515, 139.320992, 108.209748, -158.737144, 54.482965], [-2.000000, -16.294039, -128.366255, 20.965483, -74.317180, -60.873553], [178.000000, -174.000000, 139.000000, -159.000000, -74.000000, -61.000000], [178.000000, -20.454053, -128.045263, -73.040085, -158.890679, 53.142543]] - id: 1978 parameters: KukaKR6_R700_sixx joints: [-167.000000, -60.000000, 165.000000, -10.000000, -2.000000, 148.000000] @@ -9896,74 +9896,74 @@ cases: solutions: [[-167.000000, -60.000000, 165.000000, 170.000000, 2.000000, -32.000000], [-167.000000, 145.056256, -154.045263, 0.374548, 112.018941, 138.146393], [13.000000, 55.768694, 157.614368, -179.496376, 136.412317, 138.370758], [13.000000, -118.108759, -146.659631, -178.892052, 18.265159, 136.953831], [-167.000000, -60.000000, 165.000000, -10.000000, -2.000000, 148.000000], [-167.000000, 145.056256, -154.045263, -179.625452, -112.018941, -41.853607], [13.000000, 55.768694, 157.614368, 0.503624, -136.412317, -41.629242], [13.000000, -118.108759, -146.659631, 1.107948, -18.265159, -43.046169]] - id: 1979 parameters: KukaKR6_R700_sixx - joints: [-72.000000, 88.000000, 6.000000, 30.000000, -173.000000, 103.000000] - pose: {translation: [0.01372210642627773, 0.05800740022881463, -0.2027391754350399], quaternion: [-0.09278729755606989, -0.002730366393868203, -0.007623610084710927, 0.9956530234378204]} - solutions: [[-72.000000, 88.000000, 6.000000, -150.000000, 173.000000, -77.000000], [-72.000000, 88.562250, 4.954737, -151.855069, 172.577788, -78.869844], [-72.000000, 88.000000, 6.000000, 30.000000, -173.000000, 103.000000], [-72.000000, 88.562250, 4.954737, 28.144931, -172.577788, 101.130156]] + joints: [-72.000000, 87.000000, 6.000000, 30.000000, -173.000000, 103.000000] + pose: {translation: [0.01697111371840905, 0.06800681648396954, -0.2020468610697184], quaternion: [-0.08449985527949692, -0.00535191632980714, -0.007896194940661232, 0.9963778307222627]} + solutions: [[-72.000000, 87.000000, 6.000000, -150.000000, 173.000000, -77.000000], [-72.000000, 87.562250, 4.954737, -151.855069, 172.577788, -78.869844], [-72.000000, 87.000000, 6.000000, 30.000000, -173.000000, 103.000000], [-72.000000, 87.562250, 4.954737, 28.144931, -172.577788, 101.130156]] - id: 1980 parameters: KukaKR6_R700_sixx - joints: [88.000000, -136.000000, -42.000000, -142.000000, 172.000000, 7.000000] - pose: {translation: [-0.01020572223977421, 0.4886656867269545, 0.5850439880910115], quaternion: [-0.409288365738093, 0.6360538565136776, -0.5889818973294008, -0.2846381033940786]} - solutions: [[-92.000000, -54.915193, 69.998640, 12.216914, 156.114761, -19.530220], [-92.000000, 15.084991, -59.043902, 171.604135, 144.067862, 142.456521], [88.000000, 172.703897, 52.954737, -8.070166, 142.385647, 142.863087], [88.000000, -136.000000, -42.000000, -142.000000, 172.000000, 7.000000], [-92.000000, -54.915193, 69.998640, -167.783086, -156.114761, 160.469780], [-92.000000, 15.084991, -59.043902, -8.395865, -144.067862, -37.543479], [88.000000, 172.703897, 52.954737, 171.929834, -142.385647, -37.136913], [88.000000, -136.000000, -42.000000, 38.000000, -172.000000, -173.000000]] + joints: [88.000000, -135.000000, -42.000000, -142.000000, 171.000000, 7.000000] + pose: {translation: [-0.009249810501757189, 0.4856525523756988, 0.5929056492329087], quaternion: [-0.4172701128063863, 0.6428709125209615, -0.580379265784255, -0.2752499784572944]} + solutions: [[-92.000000, -55.942843, 69.901862, 13.344696, 155.337357, -18.490792], [-92.000000, 13.950333, -58.947124, 170.396937, 144.737185, 141.478334], [88.000000, 173.703897, 52.954737, -9.229938, 143.097724, 141.939979], [88.000000, -135.000000, -42.000000, -142.000000, 171.000000, 7.000000], [-92.000000, -55.942843, 69.901862, -166.655304, -155.337357, 161.509208], [-92.000000, 13.950333, -58.947124, -9.603063, -144.737185, -38.521666], [88.000000, 173.703897, 52.954737, 170.770062, -143.097724, -38.060021], [88.000000, -135.000000, -42.000000, 38.000000, -171.000000, -173.000000]] - id: 1981 parameters: KukaKR6_R700_sixx - joints: [134.000000, -44.000000, 144.000000, -145.000000, 18.000000, 34.000000] - pose: {translation: [-0.1491614156735092, -0.1748734881017639, 0.1748397726742325], quaternion: [0.8350556189532713, -0.5412614668143551, 0.07930286205669063, 0.05855931920847014]} - solutions: [[134.000000, -44.000000, 144.000000, -145.000000, 18.000000, 34.000000], [134.000000, 117.164854, -133.045263, -10.395456, 100.800276, -114.307736], [-46.000000, 74.590166, 136.232052, 168.677068, 115.477943, -117.261865], [-46.000000, -135.871829, -125.277314, 110.915247, 10.938044, -43.606823], [134.000000, -44.000000, 144.000000, 35.000000, -18.000000, -146.000000], [134.000000, 117.164854, -133.045263, 169.604544, -100.800276, 65.692264], [-46.000000, 74.590166, 136.232052, -11.322932, -115.477943, 62.738135], [-46.000000, -135.871829, -125.277314, -69.084753, -10.938044, 136.393177]] + joints: [134.000000, -43.000000, 144.000000, -145.000000, 18.000000, 34.000000] + pose: {translation: [-0.1464100681042898, -0.1720243842900631, 0.1713066247483026], quaternion: [0.8349106887515289, -0.5420936529106373, 0.08096423239721522, 0.05003405195243498]} + solutions: [[134.000000, -43.000000, 144.000000, -145.000000, 18.000000, 34.000000], [134.000000, 118.164854, -133.045263, -10.395456, 100.800276, -114.307736], [-46.000000, 73.678550, 136.316930, 168.660785, 115.647829, -117.299601], [-46.000000, -136.662431, -125.362192, 111.514635, 10.983104, -44.217347], [134.000000, -43.000000, 144.000000, 35.000000, -18.000000, -146.000000], [134.000000, 118.164854, -133.045263, 169.604544, -100.800276, 65.692264], [-46.000000, 73.678550, 136.316930, -11.339215, -115.647829, 62.700399], [-46.000000, -136.662431, -125.362192, -68.485365, -10.983104, 135.782653]] - id: 1982 parameters: KukaKR6_R700_sixx - joints: [-148.000000, 71.000000, -98.000000, -69.000000, -92.000000, 6.000000] - pose: {translation: [-0.3178021835166609, 0.2865998255576457, 0.3233149796169212], quaternion: [0.3254495838981032, 0.4923898401883259, 0.7943187079261416, 0.1438492400341807]} - solutions: [[-148.000000, -43.458061, 108.954737, 86.903810, 110.872489, 92.562193], [-148.000000, 71.000000, -98.000000, 111.000000, 92.000000, -174.000000], [32.000000, 116.883342, 97.995693, -68.924942, 89.167699, -166.646503], [32.000000, -141.540200, -87.040956, -86.603001, 110.827688, 110.672621], [-148.000000, -43.458061, 108.954737, -93.096190, -110.872489, -87.437807], [-148.000000, 71.000000, -98.000000, -69.000000, -92.000000, 6.000000], [32.000000, 116.883342, 97.995693, 111.075058, -89.167699, 13.353497], [32.000000, -141.540200, -87.040956, 93.396999, -110.827688, -69.327379]] + joints: [-148.000000, 70.000000, -98.000000, -69.000000, -92.000000, 6.000000] + pose: {translation: [-0.3188859606495225, 0.2872770446722711, 0.3302445540245275], quaternion: [0.3319807752683206, 0.4897624358501735, 0.7941569534804352, 0.1386948251414722]} + solutions: [[-148.000000, -44.458061, 108.954737, 86.903810, 110.872489, 92.562193], [-148.000000, 70.000000, -98.000000, 111.000000, 92.000000, -174.000000], [32.000000, 117.804284, 97.953513, -68.923342, 89.211297, -166.759643], [32.000000, -140.668083, -86.998775, -86.635551, 110.832742, 110.581085], [-148.000000, -44.458061, 108.954737, -93.096190, -110.872489, -87.437807], [-148.000000, 70.000000, -98.000000, -69.000000, -92.000000, 6.000000], [32.000000, 117.804284, 97.953513, 111.076658, -89.211297, 13.240357], [32.000000, -140.668083, -86.998775, 93.364449, -110.832742, -69.418915]] - id: 1983 parameters: KukaKR6_R700_sixx - joints: [3.000000, -180.000000, 114.000000, -45.000000, -126.000000, -49.000000] - pose: {translation: [-0.2365232936305045, -0.03343205695166707, 0.7233366575323382], quaternion: [-0.01748788639473308, 0.8073656421797657, -0.3183495224474078, -0.4964961985902882]} - solutions: [[-177.000000, -129.983244, 118.605736, -51.899058, 46.631982, -157.344070], [-177.000000, -3.756207, -107.650998, -43.726902, 124.146093, 133.215072], [3.000000, -180.000000, 114.000000, 135.000000, 126.000000, 131.000000], [3.000000, -59.450250, -103.045263, 132.232073, 50.588721, -163.585028], [-177.000000, -129.983244, 118.605736, 128.100942, -46.631982, 22.655930], [-177.000000, -3.756207, -107.650998, 136.273098, -124.146093, -46.784928], [3.000000, -180.000000, 114.000000, -45.000000, -126.000000, -49.000000], [3.000000, -59.450250, -103.045263, -47.767927, -50.588721, 16.414972]] + joints: [3.000000, -179.000000, 114.000000, -45.000000, -125.000000, -49.000000] + pose: {translation: [-0.230917731426605, -0.03429994382042884, 0.7290879314680641], quaternion: [0.02198402496965186, -0.7981471919873367, 0.3232110333988992, 0.5079492006668374]} + solutions: [[-177.000000, -130.931628, 118.441367, -53.125399, 46.392330, -156.564993], [-177.000000, -4.909380, -107.486630, -43.768005, 123.138748, 133.198744], [3.000000, -179.000000, 114.000000, 135.000000, 125.000000, 131.000000], [3.000000, -58.450250, -103.045263, 131.048076, 50.178660, -162.830039], [-177.000000, -130.931628, 118.441367, 126.874601, -46.392330, 23.435007], [-177.000000, -4.909380, -107.486630, 136.231995, -123.138748, -46.801256], [3.000000, -179.000000, 114.000000, -45.000000, -125.000000, -49.000000], [3.000000, -58.450250, -103.045263, -48.951924, -50.178660, 17.169961]] - id: 1984 parameters: KukaKR6_R700_sixx - joints: [114.000000, 155.000000, 154.000000, -179.000000, -140.000000, -177.000000] - pose: {translation: [0.02219939939763624, 0.05206714490075024, 0.4925768503782129], quaternion: [0.8278773877318089, 0.5608137599349637, -0.01034057504541436, -0.0001733715529831143]} - solutions: [[-66.000000, -171.436018, 156.873152, -0.667215, 105.557565, -177.945035], [-66.000000, 13.079322, -145.918415, -179.071966, 136.161450, 2.903337], [114.000000, 155.000000, 154.000000, 1.000000, 140.000000, 3.000000], [114.000000, -26.366418, -143.045263, 179.343868, 101.583283, -177.897828], [-66.000000, -171.436018, 156.873152, 179.332785, -105.557565, 2.054965], [-66.000000, 13.079322, -145.918415, 0.928034, -136.161450, -177.096663], [114.000000, 155.000000, 154.000000, -179.000000, -140.000000, -177.000000], [114.000000, -26.366418, -143.045263, -0.656132, -101.583283, 2.102172]] + joints: [114.000000, 154.000000, 154.000000, -179.000000, -139.000000, -177.000000] + pose: {translation: [0.02226726516563316, 0.05226513030912024, 0.4911997240831629], quaternion: [0.8276263700283267, 0.5606412402470884, -0.02521893134756225, 0.008944096915199902]} + solutions: [[-66.000000, -170.547064, 157.028906, -0.684263, 106.512723, -177.949238], [-66.000000, 14.302658, -146.074169, -179.068468, 135.229024, 2.906607], [114.000000, 154.000000, 154.000000, 1.000000, 139.000000, 3.000000], [114.000000, -27.366418, -143.045263, 179.327814, 102.583160, -177.901189], [-66.000000, -170.547064, 157.028906, 179.315737, -106.512723, 2.050762], [-66.000000, 14.302658, -146.074169, 0.931532, -135.229024, -177.093393], [114.000000, 154.000000, 154.000000, -179.000000, -139.000000, -177.000000], [114.000000, -27.366418, -143.045263, -0.672186, -102.583160, 2.098811]] - id: 1985 parameters: KukaKR6_R700_sixx - joints: [44.000000, 59.000000, -74.000000, 156.000000, -161.000000, 67.000000] - pose: {translation: [0.3410142624857353, -0.3145867529033976, 0.2157082446066358], quaternion: [0.8180455166301038, 0.311133575516191, -0.1347866710588512, -0.4645750576739676]} - solutions: [[44.000000, -27.689499, 84.954737, -7.609572, 90.270920, -90.206465], [44.000000, 59.000000, -74.000000, -24.000000, 161.000000, -113.000000], [-136.000000, 130.070609, 71.123111, 145.638298, 166.431051, -123.780221], [-136.000000, -158.685067, -60.168373, 171.972506, 108.514571, -92.734466], [44.000000, -27.689499, 84.954737, 172.390428, -90.270920, 89.793535], [44.000000, 59.000000, -74.000000, 156.000000, -161.000000, 67.000000], [-136.000000, 130.070609, 71.123111, -34.361702, -166.431051, 56.219779], [-136.000000, -158.685067, -60.168373, -8.027494, -108.514571, 87.265534]] + joints: [44.000000, 59.000000, -74.000000, 156.000000, -160.000000, 67.000000] + pose: {translation: [0.3419338334558613, -0.3147305757999431, 0.21466747267988], quaternion: [0.8222058010088393, 0.3106203702620607, -0.129492945749497, -0.4590470382943246]} + solutions: [[44.000000, -27.689499, 84.954737, -7.996992, 89.349014, -90.205180], [44.000000, 59.000000, -74.000000, -24.000000, 160.000000, -113.000000], [-136.000000, 130.070609, 71.123111, 146.382678, 165.447519, -123.058116], [-136.000000, -158.685067, -60.168373, 171.609188, 107.576130, -92.847015], [44.000000, -27.689499, 84.954737, 172.003008, -89.349014, 89.794820], [44.000000, 59.000000, -74.000000, 156.000000, -160.000000, 67.000000], [-136.000000, 130.070609, 71.123111, -33.617322, -165.447519, 56.941884], [-136.000000, -158.685067, -60.168373, -8.390812, -107.576130, 87.152985]] - id: 1986 parameters: KukaKR6_R700_sixx - joints: [-116.000000, 170.000000, 148.000000, 156.000000, -155.000000, -20.000000] - pose: {translation: [0.0185894133547963, -0.06948358923078521, 0.5440753745279313], quaternion: [0.5171663302904512, 0.8241451162033865, -0.1877179004111962, 0.13448347153917]} - solutions: [[64.000000, -171.908645, 149.551604, 9.907741, 87.468986, 1.532844], [64.000000, -1.513616, -138.596867, 157.703532, 153.059182, 161.894571], [-116.000000, 170.000000, 148.000000, -24.000000, 155.000000, 160.000000], [-116.000000, -22.284735, -137.045263, -170.075192, 85.807147, 1.241830], [64.000000, -171.908645, 149.551604, -170.092259, -87.468986, -178.467156], [64.000000, -1.513616, -138.596867, -22.296468, -153.059182, -18.105429], [-116.000000, 170.000000, 148.000000, 156.000000, -155.000000, -20.000000], [-116.000000, -22.284735, -137.045263, 9.924808, -85.807147, -178.758170]] + joints: [-116.000000, 169.000000, 148.000000, 156.000000, -155.000000, -20.000000] + pose: {translation: [0.01968529807502392, -0.07173048588259595, 0.542384972390464], quaternion: [0.517483332636703, 0.82610053533272, -0.1832250871945847, 0.1272692947601343]} + solutions: [[64.000000, -171.033032, 149.710526, 9.908005, 87.434966, 1.526896], [64.000000, -0.358499, -138.755788, 157.706371, 153.055662, 161.897756], [-116.000000, 169.000000, 148.000000, -24.000000, 155.000000, 160.000000], [-116.000000, -23.284735, -137.045263, -170.075192, 85.807147, 1.241830], [64.000000, -171.033032, 149.710526, -170.091995, -87.434966, -178.473104], [64.000000, -0.358499, -138.755788, -22.293629, -153.055662, -18.102244], [-116.000000, 169.000000, 148.000000, 156.000000, -155.000000, -20.000000], [-116.000000, -23.284735, -137.045263, 9.924808, -85.807147, -178.758170]] - id: 1987 parameters: KukaKR6_R700_sixx - joints: [-19.000000, 162.000000, -56.000000, 106.000000, 76.000000, -131.000000] - pose: {translation: [-0.2842429159993099, -0.1767887962493014, -0.08234973114704661], quaternion: [-0.04017541776833748, 0.8071682800731486, -0.5215095051864594, 0.2736661094309438]} - solutions: [[161.000000, 16.883802, 76.229631, -79.462956, 71.569213, -111.623584], [161.000000, 93.797920, -65.274893, -68.893836, 91.206089, -174.275051], [-19.000000, 95.360464, 66.954737, 110.549148, 95.069823, 175.581621], [-19.000000, 162.000000, -56.000000, 106.000000, 76.000000, -131.000000], [161.000000, 16.883802, 76.229631, 100.537044, -71.569213, 68.376416], [161.000000, 93.797920, -65.274893, 111.106164, -91.206089, 5.724949], [-19.000000, 95.360464, 66.954737, -69.450852, -95.069823, -4.418379], [-19.000000, 162.000000, -56.000000, -74.000000, -76.000000, 49.000000]] + joints: [-19.000000, 161.000000, -56.000000, 106.000000, 75.000000, -131.000000] + pose: {translation: [-0.2767610107568463, -0.1738571568812896, -0.08968830894444245], quaternion: [-0.03396456623897764, 0.8113575523265455, -0.5143983450501115, 0.2755715390467265]} + solutions: [[161.000000, 18.051946, 76.018105, -79.799616, 70.633858, -111.554914], [161.000000, 94.730519, -65.063367, -68.207275, 90.424443, -174.131146], [-19.000000, 94.360464, 66.954737, 111.354596, 94.473376, 175.648624], [-19.000000, 161.000000, -56.000000, 106.000000, 75.000000, -131.000000], [161.000000, 18.051946, 76.018105, 100.200384, -70.633858, 68.445086], [161.000000, 94.730519, -65.063367, 111.792725, -90.424443, 5.868854], [-19.000000, 94.360464, 66.954737, -68.645404, -94.473376, -4.351376], [-19.000000, 161.000000, -56.000000, -74.000000, -75.000000, 49.000000]] - id: 1988 parameters: KukaKR6_R700_sixx - joints: [12.000000, 74.000000, 112.000000, 105.000000, -175.000000, -171.000000] - pose: {translation: [-0.1701527371692457, 0.0430524205926438, 0.09401145193414012], quaternion: [-0.454761839304241, 0.577961956588155, -0.482071326408834, 0.4761920647216235]} - solutions: [[-168.000000, -10.694620, 118.725206, 5.233814, 67.351778, -98.074884], [-168.000000, 115.681375, -107.770469, 21.150486, 166.507427, -75.438264], [12.000000, 74.000000, 112.000000, -75.000000, 175.000000, 9.000000], [12.000000, -167.879569, -101.045263, -175.161133, 86.385232, -96.360505], [-168.000000, -10.694620, 118.725206, -174.766186, -67.351778, 81.925116], [-168.000000, 115.681375, -107.770469, -158.849514, -166.507427, 104.561736], [12.000000, 74.000000, 112.000000, 105.000000, -175.000000, -171.000000], [12.000000, -167.879569, -101.045263, 4.838867, -86.385232, 83.639495]] + joints: [12.000000, 73.000000, 112.000000, 105.000000, -174.000000, -171.000000] + pose: {translation: [-0.1647199675038788, 0.04327010187790551, 0.09093085066972414], quaternion: [-0.4550181357169185, 0.5681743914646482, -0.4838555799015141, 0.4858190350847177]} + solutions: [[-168.000000, -9.526427, 118.583053, 6.268562, 67.622822, -98.473498], [-168.000000, 116.672338, -107.628315, 25.145849, 166.254398, -71.567468], [12.000000, 73.000000, 112.000000, -75.000000, 174.000000, 9.000000], [12.000000, -168.879569, -101.045263, -174.195208, 86.650623, -96.419174], [-168.000000, -9.526427, 118.583053, -173.731438, -67.622822, 81.526502], [-168.000000, 116.672338, -107.628315, -154.854151, -166.254398, 108.432532], [12.000000, 73.000000, 112.000000, 105.000000, -174.000000, -171.000000], [12.000000, -168.879569, -101.045263, 5.804792, -86.650623, 83.580826]] - id: 1989 parameters: KukaKR6_R700_sixx - joints: [-44.000000, 130.000000, -79.000000, -104.000000, -97.000000, -45.000000] - pose: {translation: [0.09550051509568944, -0.01488146620850791, -0.1074481652231619], quaternion: [0.6911960998291939, 0.2246076530388538, 0.1276142285951814, 0.6749177449418156]} - solutions: [[-44.000000, 37.647829, 89.954737, 79.747745, 78.150218, 60.324766], [-44.000000, 130.000000, -79.000000, 76.000000, 97.000000, 135.000000], [136.000000, 56.679315, 87.971897, -101.637045, 100.493851, 150.439436], [136.000000, 146.779864, -77.017160, -103.293223, 81.720734, 77.589680], [-44.000000, 37.647829, 89.954737, -100.252255, -78.150218, -119.675234], [-44.000000, 130.000000, -79.000000, -104.000000, -97.000000, -45.000000], [136.000000, 56.679315, 87.971897, 78.362955, -100.493851, -29.560564], [136.000000, 146.779864, -77.017160, 76.706777, -81.720734, -102.410320]] + joints: [-44.000000, 129.000000, -79.000000, -104.000000, -97.000000, -45.000000] + pose: {translation: [0.1018674713485185, -0.008732968025463216, -0.1067886698588963], quaternion: [0.6944600277489578, 0.2195888171386903, 0.1333098081530284, 0.6721119819618979]} + solutions: [[-44.000000, 36.647829, 89.954737, 79.747745, 78.150218, 60.324766], [-44.000000, 129.000000, -79.000000, 76.000000, 97.000000, 135.000000], [136.000000, 57.783071, 87.752462, -101.658007, 100.470497, 150.324216], [136.000000, 147.634938, -76.797724, -103.303763, 81.737873, 77.662954], [-44.000000, 36.647829, 89.954737, -100.252255, -78.150218, -119.675234], [-44.000000, 129.000000, -79.000000, -104.000000, -97.000000, -45.000000], [136.000000, 57.783071, 87.752462, 78.341993, -100.470497, -29.675784], [136.000000, 147.634938, -76.797724, 76.696237, -81.737873, -102.337046]] - id: 1990 parameters: KukaKR6_R700_sixx - joints: [152.000000, -41.000000, 118.000000, 10.000000, 83.000000, 69.000000] - pose: {translation: [-0.2757224334041317, -0.1309879954395187, 0.2317965589903175], quaternion: [0.4970430699544783, 0.6498170812561078, 0.5578913867844086, 0.1394386892859728]} - solutions: [[152.000000, -41.000000, 118.000000, 10.000000, 83.000000, 69.000000], [152.000000, 84.473188, -107.045263, 103.810806, 169.776695, 174.255913], [-28.000000, 104.008246, 108.128077, -40.014847, 164.451606, -148.735517], [-28.000000, -142.520830, -97.173339, -169.919200, 100.044719, 72.007093], [152.000000, -41.000000, 118.000000, -170.000000, -83.000000, -111.000000], [152.000000, 84.473188, -107.045263, -76.189194, -169.776695, -5.744087], [-28.000000, 104.008246, 108.128077, 139.985153, -164.451606, 31.264483], [-28.000000, -142.520830, -97.173339, 10.080800, -100.044719, -107.992907]] + joints: [152.000000, -41.000000, 118.000000, 10.000000, 82.000000, 69.000000] + pose: {translation: [-0.2761369339198577, -0.1312442314859755, 0.2304881116626993], quaternion: [0.4999048399709757, 0.653901368138335, 0.5510217263608576, 0.137416188270186]} + solutions: [[152.000000, -41.000000, 118.000000, 10.000000, 82.000000, 69.000000], [152.000000, 84.473188, -107.045263, 98.249989, 169.993705, 168.781381], [-28.000000, 104.008246, 108.128077, -42.416078, 165.230078, -151.053269], [-28.000000, -142.520830, -97.173339, -169.972317, 99.046092, 71.998284], [152.000000, -41.000000, 118.000000, -170.000000, -82.000000, -111.000000], [152.000000, 84.473188, -107.045263, -81.750011, -169.993705, -11.218619], [-28.000000, 104.008246, 108.128077, 137.583922, -165.230078, 28.946731], [-28.000000, -142.520830, -97.173339, 10.027683, -99.046092, -108.001716]] - id: 1991 parameters: KukaKR6_R700_sixx - joints: [59.000000, 160.000000, -96.000000, 133.000000, -43.000000, -93.000000] - pose: {translation: [-0.01077791592241186, 0.09541243939563696, -0.08935176698541333], quaternion: [0.0994381403709096, 0.9595458368239295, 0.195660521637393, 0.1763541991165041]} - solutions: [[-121.000000, 25.367612, 108.975462, 143.401611, 56.782667, 71.031085], [-121.000000, 139.850458, -98.020725, 40.854106, 49.685627, -160.334563], [59.000000, 47.925361, 106.954737, -145.961777, 63.010109, -148.149599], [59.000000, 160.000000, -96.000000, -47.000000, 43.000000, 87.000000], [-121.000000, 25.367612, 108.975462, -36.598389, -56.782667, -108.968915], [-121.000000, 139.850458, -98.020725, -139.145894, -49.685627, 19.665437], [59.000000, 47.925361, 106.954737, 34.038223, -63.010109, 31.850401], [59.000000, 160.000000, -96.000000, 133.000000, -43.000000, -93.000000]] + joints: [59.000000, 159.000000, -96.000000, 133.000000, -43.000000, -93.000000] + pose: {translation: [-0.006370490388405866, 0.088077251509403, -0.09123776044977452], quaternion: [0.09723581103990411, 0.9601802370953615, 0.1889224963554885, 0.1814039682965007]} + solutions: [[-121.000000, 26.493819, 108.787958, 143.377652, 56.733463, 71.074793], [-121.000000, 140.752492, -97.833221, 40.903887, 49.617928, -160.411453], [59.000000, 46.925361, 106.954737, -145.961777, 63.010109, -148.149599], [59.000000, 159.000000, -96.000000, -47.000000, 43.000000, 87.000000], [-121.000000, 26.493819, 108.787958, -36.622348, -56.733463, -108.925207], [-121.000000, 140.752492, -97.833221, -139.096113, -49.617928, 19.588547], [59.000000, 46.925361, 106.954737, 34.038223, -63.010109, 31.850401], [59.000000, 159.000000, -96.000000, 133.000000, -43.000000, -93.000000]] - id: 1992 parameters: KukaKR6_R700_sixx - joints: [-79.000000, 41.000000, -11.000000, 168.000000, 170.000000, -3.000000] - pose: {translation: [0.1048984580539583, 0.5245187672201347, 0.09231240414492087], quaternion: [0.2942913513230928, 0.3060096704084012, -0.7364270108964351, 0.5267123880972534]} - solutions: [[-79.000000, 23.264936, 21.954737, 20.881761, 174.186602, -150.393575], [-79.000000, 41.000000, -11.000000, 168.000000, 170.000000, -3.000000], [-79.000000, 23.264936, 21.954737, -159.118239, -174.186602, 29.606425], [-79.000000, 41.000000, -11.000000, -12.000000, -170.000000, 177.000000]] + joints: [-79.000000, 41.000000, -11.000000, 168.000000, 169.000000, -3.000000] + pose: {translation: [0.1053488099141122, 0.5253397078559179, 0.09334813657792083], quaternion: [0.2876219407458927, 0.3017442780606563, -0.7388238362245246, 0.5294934833269398]} + solutions: [[-79.000000, 23.264936, 21.954737, 27.076259, 174.999972, -144.226428], [-79.000000, 41.000000, -11.000000, 168.000000, 169.000000, -3.000000], [-79.000000, 23.264936, 21.954737, -152.923741, -174.999972, 35.773572], [-79.000000, 41.000000, -11.000000, -12.000000, -169.000000, 177.000000]] - id: 1993 parameters: KukaKR6_R700_sixx joints: [106.000000, -104.000000, -8.000000, 37.000000, -12.000000, 152.000000] @@ -9971,9 +9971,9 @@ cases: solutions: [[-74.000000, -88.260441, 34.187902, 120.691879, 8.366594, -112.568198], [-74.000000, -57.327073, -23.233165, 18.461890, 23.273502, -8.656792], [106.000000, -118.503729, 18.954737, -161.457319, 23.169919, -8.744705], [106.000000, -104.000000, -8.000000, -143.000000, 12.000000, -28.000000], [-74.000000, -88.260441, 34.187902, -59.308121, -8.366594, 67.431802], [-74.000000, -57.327073, -23.233165, -161.538110, -23.273502, 171.343208], [106.000000, -118.503729, 18.954737, 18.542681, -23.169919, 171.255295], [106.000000, -104.000000, -8.000000, 37.000000, -12.000000, 152.000000]] - id: 1994 parameters: KukaKR6_R700_sixx - joints: [-114.000000, -52.000000, 74.000000, 77.000000, 144.000000, -88.000000] - pose: {translation: [-0.1641538243891111, 0.4813424418643529, 0.5583808677674692], quaternion: [0.02846235687082594, 0.6394965354201264, -0.3587892681559103, 0.6793411046618328]} - solutions: [[-114.000000, -52.000000, 74.000000, 77.000000, 144.000000, -88.000000], [-114.000000, 22.434388, -63.045263, 138.942333, 119.312599, -5.168548], [66.000000, 165.369763, 57.664546, -40.204504, 117.473243, -3.374709], [66.000000, -138.190696, -46.709809, -78.983308, 144.304823, -58.592463], [-114.000000, -52.000000, 74.000000, -103.000000, -144.000000, 92.000000], [-114.000000, 22.434388, -63.045263, -41.057667, -119.312599, 174.831452], [66.000000, 165.369763, 57.664546, 139.795496, -117.473243, 176.625291], [66.000000, -138.190696, -46.709809, 101.016692, -144.304823, 121.407537]] + joints: [-114.000000, -52.000000, 74.000000, 77.000000, 143.000000, -88.000000] + pose: {translation: [-0.1634294926518844, 0.4824043209408811, 0.5578356537182465], quaternion: [0.02242732032241483, 0.6423943708375606, -0.35320708514579, 0.679758223651752]} + solutions: [[-114.000000, -52.000000, 74.000000, 77.000000, 143.000000, -88.000000], [-114.000000, 22.434388, -63.045263, 137.805882, 119.182999, -5.723818], [66.000000, 165.369763, 57.664546, -41.325675, 117.375085, -3.891104], [66.000000, -138.190696, -46.709809, -79.807437, 143.430816, -59.258101], [-114.000000, -52.000000, 74.000000, -103.000000, -143.000000, 92.000000], [-114.000000, 22.434388, -63.045263, -42.194118, -119.182999, 174.276182], [66.000000, 165.369763, 57.664546, 138.674325, -117.375085, 176.108896], [66.000000, -138.190696, -46.709809, 100.192563, -143.430816, 120.741899]] - id: 1995 parameters: KukaKR6_R700_sixx joints: [55.000000, -7.000000, 142.000000, -128.000000, -123.000000, -163.000000] @@ -9981,14 +9981,14 @@ cases: solutions: [[55.000000, -7.000000, 142.000000, 52.000000, 123.000000, 17.000000], [55.000000, 151.051344, -131.045263, 137.124324, 103.760361, 149.665738], [-125.000000, 41.573749, 138.359524, -41.376374, 88.903365, 163.085269], [-125.000000, -165.819474, -127.404786, -112.773223, 134.212638, 41.070088], [55.000000, -7.000000, 142.000000, -128.000000, -123.000000, -163.000000], [55.000000, 151.051344, -131.045263, -42.875676, -103.760361, -30.334262], [-125.000000, 41.573749, 138.359524, 138.623626, -88.903365, -16.914731], [-125.000000, -165.819474, -127.404786, 67.226777, -134.212638, -138.929912]] - id: 1996 parameters: KukaKR6_R700_sixx - joints: [-133.000000, -133.000000, 99.000000, -1.000000, -118.000000, -70.000000] - pose: {translation: [-0.01448953868823985, 0.01734570530871354, 0.9010469469073715], quaternion: [0.2765268057429249, -0.4345720741561077, 0.8398363772261194, -0.1713327101197566]} - solutions: [[-133.000000, -133.000000, 99.000000, 179.000000, 118.000000, 110.000000], [-133.000000, -30.259519, -88.045263, 178.408910, 33.709036, 111.793188], [47.000000, -154.337747, 96.686307, -1.784080, 29.667004, 112.019849], [47.000000, -54.274622, -85.731570, -0.952333, 112.007060, 110.112622], [-133.000000, -133.000000, 99.000000, -1.000000, -118.000000, -70.000000], [-133.000000, -30.259519, -88.045263, -1.591090, -33.709036, -68.206812], [47.000000, -154.337747, 96.686307, 178.215920, -29.667004, -67.980151], [47.000000, -54.274622, -85.731570, 179.047667, -112.007060, -69.887378]] + joints: [-133.000000, -132.000000, 99.000000, -1.000000, -117.000000, -70.000000] + pose: {translation: [-0.02091422039673099, 0.02425183125364876, 0.9022282327670121], quaternion: [0.2686697323710012, -0.4217504957182395, 0.848516320754331, -0.1730986645894392]} + solutions: [[-133.000000, -132.000000, 99.000000, 179.000000, 117.000000, 110.000000], [-133.000000, -29.259519, -88.045263, 178.351006, 32.709539, 111.841637], [47.000000, -155.195475, 96.485893, -1.854107, 28.725756, 112.080081], [47.000000, -55.363564, -85.531156, -0.953727, 110.895605, 110.113837], [-133.000000, -132.000000, 99.000000, -1.000000, -117.000000, -70.000000], [-133.000000, -29.259519, -88.045263, -1.648994, -32.709539, -68.158363], [47.000000, -155.195475, 96.485893, 178.145893, -28.725756, -67.919919], [47.000000, -55.363564, -85.531156, 179.046273, -110.895605, -69.886163]] - id: 1997 parameters: KukaKR6_R700_sixx - joints: [134.000000, -154.000000, 55.000000, 146.000000, 27.000000, 93.000000] - pose: {translation: [0.2567782257277547, 0.2951382544295088, 0.9588106456877963], quaternion: [-0.2928175789681579, 0.06065074521061581, -0.09784084083879124, 0.9492136337077033]} - solutions: [[-46.000000, -89.218161, 65.627604, -155.142726, 37.151999, -138.272161], [-46.000000, -24.040746, -54.672866, -36.704920, 25.134601, 96.010694], [134.000000, -154.000000, 55.000000, 146.000000, 27.000000, 93.000000], [134.000000, -100.472342, -44.045263, 34.312665, 26.766378, -149.361566], [-46.000000, -89.218161, 65.627604, 24.857274, -37.151999, 41.727839], [-46.000000, -24.040746, -54.672866, 143.295080, -25.134601, -83.989306], [134.000000, -154.000000, 55.000000, -34.000000, -27.000000, -87.000000], [134.000000, -100.472342, -44.045263, -145.687335, -26.766378, 30.638434]] + joints: [134.000000, -153.000000, 55.000000, 146.000000, 27.000000, 93.000000] + pose: {translation: [0.2499595284499721, 0.2880772866978037, 0.9659801146757721], quaternion: [-0.2862547812216324, 0.05550852050006667, -0.09923143847249456, 0.9513832697700378]} + solutions: [[-46.000000, -90.127524, 65.379557, -155.055029, 37.009222, -138.382086], [-46.000000, -25.223185, -54.424819, -36.788682, 25.082031, 96.103197], [134.000000, -153.000000, 55.000000, 146.000000, 27.000000, 93.000000], [134.000000, -99.472342, -44.045263, 34.312665, 26.766378, -149.361566], [-46.000000, -90.127524, 65.379557, 24.944971, -37.009222, 41.617914], [-46.000000, -25.223185, -54.424819, 143.211318, -25.082031, -83.896803], [134.000000, -153.000000, 55.000000, -34.000000, -27.000000, -87.000000], [134.000000, -99.472342, -44.045263, -145.687335, -26.766378, 30.638434]] - id: 1998 parameters: KukaKR6_R700_sixx joints: [164.000000, 57.000000, -130.000000, -15.000000, 81.000000, 19.000000] @@ -9996,64 +9996,64 @@ cases: solutions: [[164.000000, -99.460576, 140.954737, -154.580929, 36.552047, 175.704397], [164.000000, 57.000000, -130.000000, -15.000000, 81.000000, 19.000000], [-16.000000, 126.010612, 132.073930, 165.150306, 85.913230, 17.682284], [-16.000000, -90.251736, -121.119192, 33.356444, 27.704831, 166.365343], [164.000000, -99.460576, 140.954737, 25.419071, -36.552047, -4.295603], [164.000000, 57.000000, -130.000000, 165.000000, -81.000000, -161.000000], [-16.000000, 126.010612, 132.073930, -14.849694, -85.913230, -162.317716], [-16.000000, -90.251736, -121.119192, -146.643556, -27.704831, -13.634657]] - id: 1999 parameters: KukaKR6_R700_sixx - joints: [151.000000, -110.000000, -162.000000, -148.000000, -122.000000, 76.000000] - pose: {translation: [0.06478332077851606, 0.07701557425135866, 0.3728067850452351], quaternion: [-0.4600861918869206, 0.1899265053669171, -0.1087614748189236, 0.8604763565545045]} - solutions: [[-29.000000, -53.698294, 177.944587, -125.917337, 146.295884, -73.367078], [-29.000000, -143.174730, -166.989849, -153.177552, 84.837791, -124.926105], [151.000000, 13.240772, 172.954737, 46.801718, 38.058519, -162.301999], [151.000000, -110.000000, -162.000000, 32.000000, 122.000000, -104.000000], [-29.000000, -53.698294, 177.944587, 54.082663, -146.295884, 106.632922], [-29.000000, -143.174730, -166.989849, 26.822448, -84.837791, 55.073895], [151.000000, 13.240772, 172.954737, -133.198282, -38.058519, 17.698001], [151.000000, -110.000000, -162.000000, -148.000000, -122.000000, 76.000000]] + joints: [151.000000, -109.000000, -162.000000, -148.000000, -121.000000, 76.000000] + pose: {translation: [0.06551798414073409, 0.07786482019521529, 0.3736866283734804], quaternion: [-0.4626598779058915, 0.1865724124452673, -0.1108665645763945, 0.8595610374775527]} + solutions: [[-29.000000, -55.785105, 178.169248, -127.800988, 144.909548, -75.311101], [-29.000000, -143.318289, -167.214511, -152.847751, 84.465939, -124.671386], [151.000000, 14.240772, 172.954737, 48.198116, 37.541261, -163.405403], [151.000000, -109.000000, -162.000000, 32.000000, 121.000000, -104.000000], [-29.000000, -55.785105, 178.169248, 52.199012, -144.909548, 104.688899], [-29.000000, -143.318289, -167.214511, 27.152249, -84.465939, 55.328614], [151.000000, 14.240772, 172.954737, -131.801884, -37.541261, 16.594597], [151.000000, -109.000000, -162.000000, -148.000000, -121.000000, 76.000000]] - id: 2000 parameters: KukaKR6_R700_sixx - joints: [-2.000000, -81.000000, 170.000000, 150.000000, -153.000000, -163.000000] - pose: {translation: [0.08226475164851027, 0.02104343751202879, 0.4175089810974489], quaternion: [-0.01885504801385085, -0.2400831838856185, -0.3723615938088555, 0.8962987199789302]} - solutions: [[-2.000000, -81.000000, 170.000000, -30.000000, 153.000000, 17.000000], [-2.000000, 141.830660, -159.045263, -166.767700, 97.396046, -134.043904], [178.000000, 61.624457, 161.495715, 13.793851, 72.184109, -140.073438], [178.000000, -103.072714, -150.540977, 122.149769, 164.448363, -12.657463], [-2.000000, -81.000000, 170.000000, 150.000000, -153.000000, -163.000000], [-2.000000, 141.830660, -159.045263, 13.232300, -97.396046, 45.956096], [178.000000, 61.624457, 161.495715, -166.206149, -72.184109, 39.926562], [178.000000, -103.072714, -150.540977, -57.850231, -164.448363, 167.342537]] + joints: [-2.000000, -80.000000, 170.000000, 150.000000, -152.000000, -163.000000] + pose: {translation: [0.08146780142395155, 0.02163522737454312, 0.4158502496275598], quaternion: [-0.02318718613486924, -0.2408081351816907, -0.3713160989404759, 0.8964363619895672]} + solutions: [[-2.000000, -80.000000, 170.000000, -30.000000, 152.000000, 17.000000], [-2.000000, 142.830660, -159.045263, -166.278491, 98.270760, -133.977226], [178.000000, 60.861326, 161.553294, 14.223108, 72.820093, -140.270487], [178.000000, -103.688379, -150.598556, 122.969362, 163.752137, -11.944651], [-2.000000, -80.000000, 170.000000, 150.000000, -152.000000, -163.000000], [-2.000000, 142.830660, -159.045263, 13.721509, -98.270760, 46.022774], [178.000000, 60.861326, 161.553294, -165.776892, -72.820093, 39.729513], [178.000000, -103.688379, -150.598556, -57.030638, -163.752137, 168.055349]] - id: 2001 parameters: KukaKR6_R700_sixx - joints: [-52.000000, 174.000000, -107.000000, 49.000000, -111.000000, 137.000000] - pose: {translation: [-0.09338616310527728, -0.02797435622075873, 0.09030052804482713], quaternion: [-0.3310493833061591, -0.3252819252477734, -0.3535028343043457, 0.8121783800733113]} - solutions: [[128.000000, 11.382236, 121.035437, 45.318743, 97.721759, -57.666995], [128.000000, 140.657311, -110.080700, 111.284261, 130.873260, 55.361834], [-52.000000, 48.583049, 117.954737, -57.152380, 122.999817, 74.445880], [-52.000000, 174.000000, -107.000000, -131.000000, 111.000000, -43.000000], [128.000000, 11.382236, 121.035437, -134.681257, -97.721759, 122.333005], [128.000000, 140.657311, -110.080700, -68.715739, -130.873260, -124.638166], [-52.000000, 48.583049, 117.954737, 122.847620, -122.999817, -105.554120], [-52.000000, 174.000000, -107.000000, 49.000000, -111.000000, 137.000000]] + joints: [-52.000000, 174.000000, -107.000000, 49.000000, -110.000000, 137.000000] + pose: {translation: [-0.09318055672698798, -0.02711178062482628, 0.08922201455084541], quaternion: [-0.3381265638467673, -0.3283491453298609, -0.353312465724775, 0.808101210954301]} + solutions: [[128.000000, 11.382236, 121.035437, 45.573701, 96.754272, -57.634871], [128.000000, 140.657311, -110.080700, 109.973061, 131.011269, 54.502585], [-52.000000, 48.583049, 117.954737, -58.216079, 123.456223, 73.862986], [-52.000000, 174.000000, -107.000000, -131.000000, 110.000000, -43.000000], [128.000000, 11.382236, 121.035437, -134.426299, -96.754272, 122.365129], [128.000000, 140.657311, -110.080700, -70.026939, -131.011269, -125.497415], [-52.000000, 48.583049, 117.954737, 121.783921, -123.456223, -106.137014], [-52.000000, 174.000000, -107.000000, 49.000000, -110.000000, 137.000000]] - id: 2002 parameters: KukaKR6_R700_sixx - joints: [159.000000, -170.000000, 58.000000, -73.000000, -112.000000, 10.000000] - pose: {translation: [0.4070872408530669, 0.2322463496648362, 0.744099779215203], quaternion: [0.6006410217793594, 0.6030502205980448, 0.2723328487790572, -0.4487712266493697]} - solutions: [[-21.000000, -77.152568, 71.162976, -62.681266, 86.355391, -112.203583], [-21.000000, -5.864109, -60.208238, -72.267331, 111.424573, -168.019719], [159.000000, -170.000000, 58.000000, 107.000000, 112.000000, -170.000000], [159.000000, -113.193475, -47.045263, 117.418905, 92.710592, -124.427888], [-21.000000, -77.152568, 71.162976, 117.318734, -86.355391, 67.796417], [-21.000000, -5.864109, -60.208238, 107.732669, -111.424573, 11.980281], [159.000000, -170.000000, 58.000000, -73.000000, -112.000000, 10.000000], [159.000000, -113.193475, -47.045263, -62.581095, -92.710592, 55.572112]] + joints: [159.000000, -169.000000, 58.000000, -73.000000, -112.000000, 10.000000] + pose: {translation: [0.4014113179926221, 0.2300675670130761, 0.7525690029878934], quaternion: [0.5969960295042467, 0.6058316933877844, 0.2791017805402273, -0.4457195263193314]} + solutions: [[-21.000000, -78.116209, 70.980351, -62.673065, 86.422528, -112.333789], [-21.000000, -7.029921, -60.025613, -72.261048, 111.419451, -168.002516], [159.000000, -169.000000, 58.000000, 107.000000, 112.000000, -170.000000], [159.000000, -112.193475, -47.045263, 117.418905, 92.710592, -124.427888], [-21.000000, -78.116209, 70.980351, 117.326935, -86.422528, 67.666211], [-21.000000, -7.029921, -60.025613, 107.738952, -111.419451, 11.997484], [159.000000, -169.000000, 58.000000, -73.000000, -112.000000, 10.000000], [159.000000, -112.193475, -47.045263, -62.581095, -92.710592, 55.572112]] - id: 2003 parameters: KukaKR6_R700_sixx - joints: [159.000000, -145.000000, 157.000000, -4.000000, 115.000000, 81.000000] - pose: {translation: [-0.07582349037406344, -0.03452340546779769, 0.4753058936227709], quaternion: [0.5933655615641515, 0.7390232251126956, 0.2572889173204146, 0.1885852489400436]} - solutions: [[159.000000, -145.000000, 157.000000, -4.000000, 115.000000, 81.000000], [159.000000, 39.787532, -146.045263, -175.483158, 126.603354, -94.610402], [-21.000000, 135.366178, 150.781065, 4.523322, 126.713498, -94.599548], [-21.000000, -52.050295, -139.826328, 175.995973, 115.123077, 80.990494], [159.000000, -145.000000, 157.000000, 176.000000, -115.000000, -99.000000], [159.000000, 39.787532, -146.045263, 4.516842, -126.603354, 85.389598], [-21.000000, 135.366178, 150.781065, -175.476678, -126.713498, 85.400452], [-21.000000, -52.050295, -139.826328, -4.004027, -115.123077, -99.009506]] + joints: [159.000000, -144.000000, 157.000000, -4.000000, 114.000000, 81.000000] + pose: {translation: [-0.0780621605108031, -0.03542601391272916, 0.4734307963181447], quaternion: [0.5938363306787816, 0.7386420038003466, 0.2572570829995575, 0.1886403876011929]} + solutions: [[159.000000, -144.000000, 157.000000, -4.000000, 114.000000, 81.000000], [159.000000, 40.787532, -146.045263, -175.386559, 127.600382, -94.552128], [-21.000000, 134.640211, 150.676188, 4.609812, 127.541904, -94.558080], [-21.000000, -52.965354, -139.721450, 175.990189, 114.312431, 80.976027], [159.000000, -144.000000, 157.000000, 176.000000, -114.000000, -99.000000], [159.000000, 40.787532, -146.045263, 4.613441, -127.600382, 85.447872], [-21.000000, 134.640211, 150.676188, -175.390188, -127.541904, 85.441920], [-21.000000, -52.965354, -139.721450, -4.009811, -114.312431, -99.023973]] - id: 2004 parameters: KukaKR6_R700_sixx - joints: [-26.000000, -175.000000, 40.000000, -132.000000, -129.000000, -121.000000] - pose: {translation: [-0.4351003391058744, -0.2636176725797816, 0.6546158887887673], quaternion: [-0.1135088733788559, 0.7250945010591194, -0.2132273949597151, 0.6448936177671348]} - solutions: [[154.000000, -55.155221, 60.276651, -75.484070, 143.374944, 131.929416], [154.000000, 4.144383, -49.321913, -132.106520, 128.881087, 58.830522], [-26.000000, -175.000000, 40.000000, 48.000000, 129.000000, 59.000000], [-26.000000, -137.778725, -29.045263, 79.217067, 143.990969, 100.800774], [154.000000, -55.155221, 60.276651, 104.515930, -143.374944, -48.070584], [154.000000, 4.144383, -49.321913, 47.893480, -128.881087, -121.169478], [-26.000000, -175.000000, 40.000000, -132.000000, -129.000000, -121.000000], [-26.000000, -137.778725, -29.045263, -100.782933, -143.990969, -79.199226]] + joints: [-26.000000, -174.000000, 40.000000, -132.000000, -128.000000, -121.000000] + pose: {translation: [-0.4310566882608486, -0.2623641142840744, 0.6650453405600133], quaternion: [-0.1138283884281058, 0.724801719458924, -0.220021172413703, 0.6428812092034943]} + solutions: [[154.000000, -56.152082, 60.135614, -77.254220, 143.101388, 130.431047], [154.000000, 2.992951, -49.180877, -132.108772, 127.874120, 58.823077], [-26.000000, -174.000000, 40.000000, 48.000000, 128.000000, 59.000000], [-26.000000, -136.778725, -29.045263, 78.103292, 143.240278, 99.904094], [154.000000, -56.152082, 60.135614, 102.745780, -143.101388, -49.568953], [154.000000, 2.992951, -49.180877, 47.891228, -127.874120, -121.176923], [-26.000000, -174.000000, 40.000000, -132.000000, -128.000000, -121.000000], [-26.000000, -136.778725, -29.045263, -101.896708, -143.240278, -80.095906]] - id: 2005 parameters: KukaKR6_R700_sixx - joints: [-122.000000, -147.000000, -25.000000, 57.000000, 48.000000, 172.000000] - pose: {translation: [0.3888528493782147, -0.5282042795279668, 0.6272146318676176], quaternion: [-0.2227451131135789, 0.4510196915049003, -0.5379379735011963, 0.6764529467185945]} - solutions: [[58.000000, -46.665084, 58.627972, -134.331397, 60.610743, -168.814742], [58.000000, 10.828682, -47.673235, -92.913292, 38.613244, 131.583346], [-122.000000, -179.843429, 35.954737, 86.170898, 38.656364, 132.755729], [-122.000000, -147.000000, -25.000000, 57.000000, 48.000000, 172.000000], [58.000000, -46.665084, 58.627972, 45.668603, -60.610743, 11.185258], [58.000000, 10.828682, -47.673235, 87.086708, -38.613244, -48.416654], [-122.000000, -179.843429, 35.954737, -93.829102, -38.656364, -47.244271], [-122.000000, -147.000000, -25.000000, -123.000000, -48.000000, -8.000000]] + joints: [-122.000000, -146.000000, -25.000000, 57.000000, 48.000000, 172.000000] + pose: {translation: [0.3866966833591388, -0.5247536925972944, 0.6390302666606817], quaternion: [-0.2252551179967388, 0.4438933348935168, -0.5422853249664817, 0.6768644364859073]} + solutions: [[58.000000, -47.685566, 58.523389, -134.280899, 60.523385, -168.917504], [58.000000, 9.693724, -47.568652, -92.875307, 38.611710, 131.534733], [-122.000000, -178.843429, 35.954737, 86.170898, 38.656364, 132.755729], [-122.000000, -146.000000, -25.000000, 57.000000, 48.000000, 172.000000], [58.000000, -47.685566, 58.523389, 45.719101, -60.523385, 11.082496], [58.000000, 9.693724, -47.568652, 87.124693, -38.611710, -48.465267], [-122.000000, -178.843429, 35.954737, -93.829102, -38.656364, -47.244271], [-122.000000, -146.000000, -25.000000, -123.000000, -48.000000, -8.000000]] - id: 2006 parameters: KukaKR6_R700_sixx - joints: [97.000000, 174.000000, 55.000000, 65.000000, -32.000000, -87.000000] - pose: {translation: [0.1127414185836484, 0.602936412379631, 0.6590287263295762], quaternion: [-0.502834071883511, -0.02462238466367618, -0.5926936388032576, 0.6287017455428893]} - solutions: [[-83.000000, -58.267466, 71.318980, 143.293442, 53.466351, -1.871784], [-83.000000, 13.193726, -60.364243, 67.721211, 31.266156, 89.804225], [97.000000, 174.000000, 55.000000, -115.000000, 32.000000, 93.000000], [97.000000, -132.472342, -44.045263, -46.982631, 41.061749, 13.136248], [-83.000000, -58.267466, 71.318980, -36.706558, -53.466351, 178.128216], [-83.000000, 13.193726, -60.364243, -112.278789, -31.266156, -90.195775], [97.000000, 174.000000, 55.000000, 65.000000, -32.000000, -87.000000], [97.000000, -132.472342, -44.045263, 133.017369, -41.061749, -166.863752]] + joints: [97.000000, 173.000000, 55.000000, 65.000000, -32.000000, -87.000000] + pose: {translation: [0.1132805233106562, 0.6073270680373414, 0.6478689168356118], quaternion: [-0.5088907468947692, -0.02908643417011327, -0.5919230417230529, 0.6243487004466981]} + solutions: [[-83.000000, -57.242852, 71.420716, 143.349254, 53.567683, -1.965650], [-83.000000, 14.331000, -60.465978, 67.775395, 31.252699, 89.740838], [97.000000, 173.000000, 55.000000, -115.000000, 32.000000, 93.000000], [97.000000, -133.472342, -44.045263, -46.982631, 41.061749, 13.136248], [-83.000000, -57.242852, 71.420716, -36.650746, -53.567683, 178.034350], [-83.000000, 14.331000, -60.465978, -112.224605, -31.252699, -90.259162], [97.000000, 173.000000, 55.000000, 65.000000, -32.000000, -87.000000], [97.000000, -133.472342, -44.045263, 133.017369, -41.061749, -166.863752]] - id: 2007 parameters: KukaKR6_R700_sixx - joints: [67.000000, -63.000000, 33.000000, 145.000000, -126.000000, -1.000000] - pose: {translation: [0.2109350725203309, -0.4019237265764377, 0.8240527823063375], quaternion: [0.8811660459395998, -0.3968043115217582, 0.09549306704343716, -0.2386918766685461]} - solutions: [[67.000000, -63.000000, 33.000000, -35.000000, 126.000000, 179.000000], [67.000000, -33.350197, -22.045263, -53.243629, 144.606985, 153.867503], [67.000000, -63.000000, 33.000000, 145.000000, -126.000000, -1.000000], [67.000000, -33.350197, -22.045263, 126.756371, -144.606985, -26.132497]] + joints: [67.000000, -62.000000, 33.000000, 145.000000, -125.000000, -1.000000] + pose: {translation: [0.2147436997829923, -0.4097060648484692, 0.8164993723579593], quaternion: [0.8786908789602437, -0.400473897475903, 0.09702888219587984, -0.2410568246126885]} + solutions: [[67.000000, -62.000000, 33.000000, -35.000000, 125.000000, 179.000000], [67.000000, -32.350197, -22.045263, -52.526251, 143.699498, 154.449020], [67.000000, -62.000000, 33.000000, 145.000000, -125.000000, -1.000000], [67.000000, -32.350197, -22.045263, 127.473749, -143.699498, -25.550980]] - id: 2008 parameters: KukaKR6_R700_sixx - joints: [-32.000000, -83.000000, 34.000000, 147.000000, -54.000000, 41.000000] - pose: {translation: [0.2766539413337726, 0.2144383469206393, 1.010960855368805], quaternion: [0.5491349102413465, 0.4463349446524641, 0.6679127124150985, -0.2304963690182906]} - solutions: [[-32.000000, -83.000000, 34.000000, -33.000000, 54.000000, -139.000000], [-32.000000, -52.269700, -23.045263, -26.893591, 76.932936, -153.350879], [148.000000, -118.056154, 8.823477, 152.546115, 72.886747, -151.200282], [148.000000, -114.456323, 2.131261, 152.065610, 70.148454, -149.685071], [-32.000000, -83.000000, 34.000000, 147.000000, -54.000000, 41.000000], [-32.000000, -52.269700, -23.045263, 153.106409, -76.932936, 26.649121], [148.000000, -118.056154, 8.823477, -27.453885, -72.886747, 28.799718], [148.000000, -114.456323, 2.131261, -27.934390, -70.148454, 30.314929]] + joints: [-32.000000, -82.000000, 34.000000, 147.000000, -54.000000, 41.000000] + pose: {translation: [0.2856547036131177, 0.2200626474128236, 1.005226297694169], quaternion: [0.555122801486554, 0.4477008245217299, 0.6617593823236516, -0.2312513068047448]} + solutions: [[-32.000000, -82.000000, 34.000000, -33.000000, 54.000000, -139.000000], [-32.000000, -51.269700, -23.045263, -26.893591, 76.932936, -153.350879], [-32.000000, -82.000000, 34.000000, 147.000000, -54.000000, 41.000000], [-32.000000, -51.269700, -23.045263, 153.106409, -76.932936, 26.649121]] - id: 2009 parameters: KukaKR6_R700_sixx - joints: [-118.000000, -158.000000, -122.000000, -157.000000, -141.000000, -42.000000] - pose: {translation: [0.1233045007336318, -0.1900004470047437, 0.2178036361396988], quaternion: [0.2894900426818653, 0.2895209360444474, 0.03524426784371287, 0.9116638549181159]} - solutions: [[62.000000, -17.867833, 138.453913, -137.574212, 158.624031, 160.143789], [62.000000, 134.876888, -127.499176, -161.843871, 52.103171, 108.354603], [-118.000000, 57.053316, 132.954737, 24.805369, 35.881471, 99.213874], [-118.000000, -158.000000, -122.000000, 23.000000, 141.000000, 138.000000], [62.000000, -17.867833, 138.453913, 42.425788, -158.624031, -19.856211], [62.000000, 134.876888, -127.499176, 18.156129, -52.103171, -71.645397], [-118.000000, 57.053316, 132.954737, -155.194631, -35.881471, -80.786126], [-118.000000, -158.000000, -122.000000, -157.000000, -141.000000, -42.000000]] + joints: [-118.000000, -157.000000, -122.000000, -157.000000, -140.000000, -42.000000] + pose: {translation: [0.1255457102978255, -0.1933188709316585, 0.2211734750138102], quaternion: [0.2874207928839197, 0.2921694550082454, 0.03435736743671686, 0.9115074704471611]} + solutions: [[62.000000, -19.065348, 138.592327, -138.662478, 157.650412, 159.119062], [62.000000, 133.881943, -127.637589, -161.174926, 51.109523, 107.905984], [-118.000000, 58.053316, 132.954737, 25.894602, 35.106821, 98.327018], [-118.000000, -157.000000, -122.000000, 23.000000, 140.000000, 138.000000], [62.000000, -19.065348, 138.592327, 41.337522, -157.650412, -20.880938], [62.000000, 133.881943, -127.637589, 18.825074, -51.109523, -72.094016], [-118.000000, 58.053316, 132.954737, -154.105398, -35.106821, -81.672982], [-118.000000, -157.000000, -122.000000, -157.000000, -140.000000, -42.000000]] - id: 2010 parameters: KukaKR6_R700_sixx - joints: [5.000000, 176.000000, -121.000000, 49.000000, -153.000000, 180.000000] - pose: {translation: [-0.06990823969186279, 0.03363136039309144, 0.1711679051384609], quaternion: [-0.05409892341198456, 0.2161482965560126, 0.9223856915007574, -0.3155279012960149]} - solutions: [[-175.000000, 12.136837, 133.550901, 30.001874, 136.746841, -22.898458], [-175.000000, 157.907531, -122.596163, 158.930857, 107.618776, 127.641964], [5.000000, 32.425208, 131.954737, -20.039505, 89.157997, 134.600186], [5.000000, 176.000000, -121.000000, -131.000000, 153.000000, -0.000000], [-175.000000, 12.136837, 133.550901, -149.998126, -136.746841, 157.101542], [-175.000000, 157.907531, -122.596163, -21.069143, -107.618776, -52.358036], [5.000000, 32.425208, 131.954737, 159.960495, -89.157997, -45.399814], [5.000000, 176.000000, -121.000000, 49.000000, -153.000000, 180.000000]] + joints: [5.000000, 175.000000, -121.000000, 49.000000, -152.000000, 180.000000] + pose: {translation: [-0.06480114539117889, 0.0341228144545596, 0.1694558688878545], quaternion: [-0.05382974256070085, 0.222313551663942, 0.9222207372629386, -0.311749828106792]} + solutions: [[-175.000000, 13.264425, 133.385272, 30.580137, 135.857024, -22.467108], [-175.000000, 158.805718, -122.430535, 158.089340, 108.286945, 127.360331], [5.000000, 31.425208, 131.954737, -20.751514, 89.860199, 134.606287], [5.000000, 175.000000, -121.000000, -131.000000, 152.000000, 0.000000], [-175.000000, 13.264425, 133.385272, -149.419863, -135.857024, 157.532892], [-175.000000, 158.805718, -122.430535, -21.910660, -108.286945, -52.639669], [5.000000, 31.425208, 131.954737, 159.248486, -89.860199, -45.393713], [5.000000, 175.000000, -121.000000, 49.000000, -152.000000, -180.000000]] - id: 2011 parameters: KukaKR6_R700_sixx joints: [128.000000, 52.000000, 44.000000, 141.000000, 133.000000, 49.000000] @@ -10066,74 +10066,74 @@ cases: solutions: [[-163.000000, -104.742472, 67.954737, 109.513088, 36.807727, 102.165518], [-163.000000, -37.000000, -57.000000, 45.000000, 53.000000, -175.000000], [17.000000, -144.072510, 61.719279, -136.823253, 55.620115, -171.876100], [17.000000, -83.190840, -50.764542, -83.061528, 34.672639, 117.623059], [-163.000000, -104.742472, 67.954737, -70.486912, -36.807727, -77.834482], [-163.000000, -37.000000, -57.000000, -135.000000, -53.000000, 5.000000], [17.000000, -144.072510, 61.719279, 43.176747, -55.620115, 8.123900], [17.000000, -83.190840, -50.764542, 96.938472, -34.672639, -62.376941]] - id: 2013 parameters: KukaKR6_R700_sixx - joints: [-70.000000, 125.000000, -103.000000, -51.000000, -22.000000, -67.000000] - pose: {translation: [0.1148106519236684, 0.2473445028150634, 0.02738730663736934], quaternion: [0.3794449949878133, 0.6483790704962824, 0.6554656540041173, 0.07740060169036274]} - solutions: [[-70.000000, 4.505454, 113.954737, 161.977125, 109.789820, 57.847090], [-70.000000, 125.000000, -103.000000, 129.000000, 22.000000, 113.000000], [110.000000, 64.168659, 108.900778, -92.638813, 16.943769, 156.891697], [110.000000, 178.562198, -97.946040, -16.931877, 91.578208, 63.652936], [-70.000000, 4.505454, 113.954737, -18.022875, -109.789820, -122.152910], [-70.000000, 125.000000, -103.000000, -51.000000, -22.000000, -67.000000], [110.000000, 64.168659, 108.900778, 87.361187, -16.943769, -23.108303], [110.000000, 178.562198, -97.946040, 163.068123, -91.578208, -116.347064]] + joints: [-70.000000, 124.000000, -103.000000, -51.000000, -22.000000, -67.000000] + pose: {translation: [0.1170219541809996, 0.2534200058346698, 0.03174948503927087], quaternion: [0.3781089158530101, 0.6427483789830413, 0.6618900843479065, 0.07622129170419124]} + solutions: [[-70.000000, 3.505454, 113.954737, 161.977125, 109.789820, 57.847090], [-70.000000, 124.000000, -103.000000, 129.000000, 22.000000, 113.000000], [110.000000, 65.202496, 108.740256, -92.223289, 16.938395, 156.457324], [110.000000, 179.404163, -97.785518, -16.931857, 91.575829, 63.653661], [-70.000000, 3.505454, 113.954737, -18.022875, -109.789820, -122.152910], [-70.000000, 124.000000, -103.000000, -51.000000, -22.000000, -67.000000], [110.000000, 65.202496, 108.740256, 87.776711, -16.938395, -23.542676], [110.000000, 179.404163, -97.785518, 163.068143, -91.575829, -116.346339]] - id: 2014 parameters: KukaKR6_R700_sixx - joints: [101.000000, -84.000000, 110.000000, 161.000000, -1.000000, 8.000000] - pose: {translation: [-0.08973836032781642, -0.4640460977295209, 0.5484758482728125], quaternion: [-0.4778975977584393, 0.7058199734162265, -0.3714510621958295, -0.3680436924836782]} - solutions: [[101.000000, -84.000000, 110.000000, -19.000000, 1.000000, -172.000000], [101.000000, 31.710427, -99.045263, -0.326464, 94.280296, 168.978320], [-79.000000, 151.536579, 99.895260, 179.670936, 98.377231, 168.954744], [-79.000000, -104.682807, -88.940522, 178.587443, 13.326105, 170.377223], [101.000000, -84.000000, 110.000000, 161.000000, -1.000000, 8.000000], [101.000000, 31.710427, -99.045263, 179.673536, -94.280296, -11.021680], [-79.000000, 151.536579, 99.895260, -0.329064, -98.377231, -11.045256], [-79.000000, -104.682807, -88.940522, -1.412557, -13.326105, -9.622777]] + joints: [101.000000, -83.000000, 110.000000, 161.000000, -1.000000, 8.000000] + pose: {translation: [-0.09021978718973324, -0.4665228242253912, 0.5406407844843218], quaternion: [-0.4804136346929588, 0.7095878537949375, -0.3661864682648373, -0.3627606480966755]} + solutions: [[101.000000, -83.000000, 110.000000, -19.000000, 1.000000, -172.000000], [101.000000, 32.710427, -99.045263, -0.326464, 94.280296, 168.978320], [-79.000000, 150.681423, 99.816489, 179.670879, 98.443304, 168.954361], [-79.000000, -105.629576, -88.861752, 178.601045, 13.458067, 170.363242], [101.000000, -83.000000, 110.000000, 161.000000, -1.000000, 8.000000], [101.000000, 32.710427, -99.045263, 179.673536, -94.280296, -11.021680], [-79.000000, 150.681423, 99.816489, -0.329121, -98.443304, -11.045639], [-79.000000, -105.629576, -88.861752, -1.398955, -13.458067, -9.636758]] - id: 2015 parameters: KukaKR6_R700_sixx - joints: [-77.000000, -112.000000, -3.000000, -138.000000, 68.000000, -171.000000] - pose: {translation: [-0.1252039389811916, -0.3216806552098314, 1.011938530550225], quaternion: [0.3657884217823864, -0.5848445286150752, 0.08292905274134867, 0.7192207450083627]} - solutions: [[103.000000, -83.352609, 35.214854, 48.404081, 56.056924, 175.469369], [103.000000, -51.309183, -24.260117, 39.746404, 76.003330, -163.733157], [-77.000000, -121.121163, 13.954737, -139.781013, 73.906930, -165.553311], [-77.000000, -112.000000, -3.000000, -138.000000, 68.000000, -171.000000], [103.000000, -83.352609, 35.214854, -131.595919, -56.056924, -4.530631], [103.000000, -51.309183, -24.260117, -140.253596, -76.003330, 16.266843], [-77.000000, -121.121163, 13.954737, 40.218987, -73.906930, 14.446689], [-77.000000, -112.000000, -3.000000, 42.000000, -68.000000, 9.000000]] + joints: [-77.000000, -111.000000, -3.000000, -138.000000, 68.000000, -171.000000] + pose: {translation: [-0.1227889465641547, -0.3112201738188568, 1.018243394793247], quaternion: [0.3598218429438978, -0.5827052626528949, 0.08718069642138311, 0.7234516876672279]} + solutions: [[103.000000, -84.090744, 34.677470, 48.266025, 56.240082, 175.717206], [103.000000, -52.628239, -23.722733, 39.781431, 75.835504, -163.877131], [-77.000000, -120.121163, 13.954737, -139.781013, 73.906930, -165.553311], [-77.000000, -111.000000, -3.000000, -138.000000, 68.000000, -171.000000], [103.000000, -84.090744, 34.677470, -131.733975, -56.240082, -4.282794], [103.000000, -52.628239, -23.722733, -140.218569, -75.835504, 16.122869], [-77.000000, -120.121163, 13.954737, 40.218987, -73.906930, 14.446689], [-77.000000, -111.000000, -3.000000, 42.000000, -68.000000, 9.000000]] - id: 2016 parameters: KukaKR6_R700_sixx - joints: [122.000000, 144.000000, 4.000000, 136.000000, -50.000000, -104.000000] - pose: {translation: [0.3475892953353363, 0.4759240178858679, 0.001880486058020346], quaternion: [0.5569298081262927, 0.3556474278562404, 0.7449602530237435, 0.09153314860995132]} - solutions: [[-58.000000, 18.284595, 44.744413, 146.485545, 74.528445, 54.189349], [-58.000000, 60.649772, -33.789675, 132.711658, 46.403918, 80.929577], [122.000000, 142.410633, 6.954737, -44.815709, 49.024564, 77.256244], [122.000000, 144.000000, 4.000000, -44.000000, 50.000000, 76.000000], [-58.000000, 18.284595, 44.744413, -33.514455, -74.528445, -125.810651], [-58.000000, 60.649772, -33.789675, -47.288342, -46.403918, -99.070423], [122.000000, 142.410633, 6.954737, 135.184291, -49.024564, -102.743756], [122.000000, 144.000000, 4.000000, 136.000000, -50.000000, -104.000000]] + joints: [122.000000, 144.000000, 4.000000, 136.000000, -49.000000, -104.000000] + pose: {translation: [0.3473490611747901, 0.4767282507141312, 0.0007646907791979008], quaternion: [0.5592563578105593, 0.3617484635232839, 0.7407447498052769, 0.08756478186422048]} + solutions: [[-58.000000, 18.284595, 44.744413, 146.872826, 73.600370, 54.083014], [-58.000000, 60.649772, -33.789675, 132.590994, 45.407680, 81.013542], [122.000000, 142.410633, 6.954737, -44.845197, 48.024808, 77.275775], [122.000000, 144.000000, 4.000000, -44.000000, 49.000000, 76.000000], [-58.000000, 18.284595, 44.744413, -33.127174, -73.600370, -125.916986], [-58.000000, 60.649772, -33.789675, -47.409006, -45.407680, -98.986458], [122.000000, 142.410633, 6.954737, 135.154803, -48.024808, -102.724225], [122.000000, 144.000000, 4.000000, 136.000000, -49.000000, -104.000000]] - id: 2017 parameters: KukaKR6_R700_sixx - joints: [-136.000000, -167.000000, -114.000000, -70.000000, -70.000000, -114.000000] - pose: {translation: [0.1551489016252645, -0.05162192532551177, 0.097291059721879], quaternion: [0.3711908704707176, 0.7066987039436025, 0.597788573201296, -0.07377737643466471]} - solutions: [[44.000000, -9.151449, 130.164975, -78.171476, 64.446060, 86.883720], [44.000000, 131.998282, -119.210237, -68.272861, 108.093316, -15.149963], [-136.000000, 58.717166, 124.954737, 105.775588, 113.424601, -31.819847], [-136.000000, -167.000000, -114.000000, 110.000000, 70.000000, 66.000000], [44.000000, -9.151449, 130.164975, 101.828524, -64.446060, -93.116280], [44.000000, 131.998282, -119.210237, 111.727139, -108.093316, 164.850037], [-136.000000, 58.717166, 124.954737, -74.224412, -113.424601, 148.180153], [-136.000000, -167.000000, -114.000000, -70.000000, -70.000000, -114.000000]] + joints: [-136.000000, -166.000000, -114.000000, -70.000000, -70.000000, -114.000000] + pose: {translation: [0.1589302783863207, -0.05527355841697999, 0.1003470822580627], quaternion: [0.3678714475387449, 0.7107586919906387, 0.5958119242083295, -0.06708823158104989]} + solutions: [[44.000000, -10.326524, 130.311973, -78.158339, 64.451818, 86.853261], [44.000000, 131.020986, -119.357235, -68.310642, 108.139290, -15.271465], [-136.000000, 59.717166, 124.954737, 105.775588, 113.424601, -31.819847], [-136.000000, -166.000000, -114.000000, 110.000000, 70.000000, 66.000000], [44.000000, -10.326524, 130.311973, 101.841661, -64.451818, -93.146739], [44.000000, 131.020986, -119.357235, 111.689358, -108.139290, 164.728535], [-136.000000, 59.717166, 124.954737, -74.224412, -113.424601, 148.180153], [-136.000000, -166.000000, -114.000000, -70.000000, -70.000000, -114.000000]] - id: 2018 parameters: KukaKR6_R700_sixx - joints: [-83.000000, 136.000000, -105.000000, 14.000000, 171.000000, 172.000000] - pose: {translation: [0.009746486809941005, 0.05453581683428449, 0.05348174385368833], quaternion: [0.4716845272751413, 0.2970166315924912, -0.4979695103968242, 0.6643200990500169]} - solutions: [[-83.000000, 13.055649, 115.954737, 2.264841, 73.265117, 157.513245], [-83.000000, 136.000000, -105.000000, 14.000000, 171.000000, 172.000000], [97.000000, 52.865462, 112.566820, -15.792128, 172.006540, -37.480537], [97.000000, 171.672356, -101.612083, -177.829345, 92.321760, 158.253681], [-83.000000, 13.055649, 115.954737, -177.735159, -73.265117, -22.486755], [-83.000000, 136.000000, -105.000000, -166.000000, -171.000000, -8.000000], [97.000000, 52.865462, 112.566820, 164.207872, -172.006540, 142.519463], [97.000000, 171.672356, -101.612083, 2.170655, -92.321760, -21.746319]] + joints: [-83.000000, 135.000000, -105.000000, 14.000000, 170.000000, 172.000000] + pose: {translation: [0.01075650649261275, 0.06002810235334174, 0.05279122769066881], quaternion: [0.4830106935987075, 0.3057075046829021, -0.491092298712048, 0.6573217975965543]} + solutions: [[-83.000000, 12.055649, 115.954737, 2.527420, 72.297079, 157.435513], [-83.000000, 135.000000, -105.000000, 14.000000, 170.000000, 172.000000], [97.000000, 53.921148, 112.396668, -20.068171, 172.967817, -41.724626], [97.000000, 172.521810, -101.441930, -177.591647, 91.369974, 158.262121], [-83.000000, 12.055649, 115.954737, -177.472580, -72.297079, -22.564487], [-83.000000, 135.000000, -105.000000, -166.000000, -170.000000, -8.000000], [97.000000, 53.921148, 112.396668, 159.931829, -172.967817, 138.275374], [97.000000, 172.521810, -101.441930, 2.408353, -91.369974, -21.737879]] - id: 2019 parameters: KukaKR6_R700_sixx - joints: [-173.000000, -116.000000, -81.000000, -94.000000, 163.000000, -153.000000] - pose: {translation: [0.3726035150803572, -0.06925794410182855, 0.563741209037008], quaternion: [-0.5648870362175923, 0.2255132850140596, 0.670605499423916, -0.4246582846688294]} - solutions: [[7.000000, -72.325592, 103.188754, 49.518826, 157.452450, 168.439460], [7.000000, 35.303065, -92.234016, 162.289200, 106.516946, -64.005552], [-173.000000, 149.368119, 91.954737, -17.370215, 102.329042, -62.639148], [-173.000000, -116.000000, -81.000000, -94.000000, 163.000000, -153.000000], [7.000000, -72.325592, 103.188754, -130.481174, -157.452450, -11.560540], [7.000000, 35.303065, -92.234016, -17.710800, -106.516946, 115.994448], [-173.000000, 149.368119, 91.954737, 162.629785, -102.329042, 117.360852], [-173.000000, -116.000000, -81.000000, 86.000000, -163.000000, 27.000000]] + joints: [-173.000000, -115.000000, -81.000000, -94.000000, 162.000000, -153.000000] + pose: {translation: [0.3699194605613925, -0.07026673894880971, 0.5705492233196581], quaternion: [-0.5736977801297047, 0.2239597131422413, 0.6618991180181238, -0.4273200925890613]} + solutions: [[7.000000, -73.392824, 103.124504, 51.330474, 156.744976, 170.147803], [7.000000, 34.160424, -92.169767, 161.253869, 106.422580, -64.275569], [-173.000000, 150.368119, 91.954737, -18.393822, 102.333432, -62.857758], [-173.000000, -115.000000, -81.000000, -94.000000, 162.000000, -153.000000], [7.000000, -73.392824, 103.124504, -128.669526, -156.744976, -9.852197], [7.000000, 34.160424, -92.169767, -18.746131, -106.422580, 115.724431], [-173.000000, 150.368119, 91.954737, 161.606178, -102.333432, 117.142242], [-173.000000, -115.000000, -81.000000, 86.000000, -162.000000, 27.000000]] - id: 2020 parameters: KukaKR6_R700_sixx - joints: [-152.000000, -145.000000, -88.000000, -27.000000, -34.000000, -136.000000] - pose: {translation: [0.3916956712830399, -0.1852663951982187, 0.1911550996635576], quaternion: [0.05292056166764846, 0.9890269747139205, 0.09471099970317164, 0.1002740443795723]} - solutions: [[28.000000, -39.374370, 109.630954, -47.838704, 20.028219, 67.156052], [28.000000, 75.893345, -98.676217, -15.331064, 106.222906, 16.720238], [-152.000000, 112.312043, 98.954737, 163.814800, 114.389286, 14.265580], [-152.000000, -145.000000, -88.000000, 153.000000, 34.000000, 44.000000], [28.000000, -39.374370, 109.630954, 132.161296, -20.028219, -112.843948], [28.000000, 75.893345, -98.676217, 164.668936, -106.222906, -163.279762], [-152.000000, 112.312043, 98.954737, -16.185200, -114.389286, -165.734420], [-152.000000, -145.000000, -88.000000, -27.000000, -34.000000, -136.000000]] + joints: [-152.000000, -144.000000, -88.000000, -27.000000, -34.000000, -136.000000] + pose: {translation: [0.3948523124637586, -0.1869448110863779, 0.199177039223722], quaternion: [0.05177798265234221, 0.988604714444644, 0.09106324490955221, 0.1081075599429591]} + solutions: [[28.000000, -40.521811, 109.688087, -47.655633, 20.088943, 66.961159], [28.000000, 74.814402, -98.733350, -15.341580, 106.354136, 16.682744], [-152.000000, 113.312043, 98.954737, 163.814800, 114.389286, 14.265580], [-152.000000, -144.000000, -88.000000, 153.000000, 34.000000, 44.000000], [28.000000, -40.521811, 109.688087, 132.344367, -20.088943, -113.038841], [28.000000, 74.814402, -98.733350, 164.658420, -106.354136, -163.317256], [-152.000000, 113.312043, 98.954737, -16.185200, -114.389286, -165.734420], [-152.000000, -144.000000, -88.000000, -27.000000, -34.000000, -136.000000]] - id: 2021 parameters: KukaKR6_R700_sixx - joints: [-85.000000, 177.000000, -165.000000, 33.000000, -53.000000, -67.000000] - pose: {translation: [-0.02307626297575296, 0.1354930229628807, 0.3842640649362912], quaternion: [-0.336070088977694, 0.3493441262879848, 0.8317007133481438, 0.2707203356580333]} - solutions: [[-85.000000, -78.088349, 175.954737, -146.150297, 128.657925, 157.078687], [-85.000000, 177.000000, -165.000000, -147.000000, 53.000000, 113.000000], [95.000000, 42.236544, 168.006416, 78.150494, 26.387447, 57.528686], [95.000000, -102.716105, -157.051679, 28.221008, 113.097369, 146.235678], [-85.000000, -78.088349, 175.954737, 33.849703, -128.657925, -22.921313], [-85.000000, 177.000000, -165.000000, 33.000000, -53.000000, -67.000000], [95.000000, 42.236544, 168.006416, -101.849506, -26.387447, -122.471314], [95.000000, -102.716105, -157.051679, -151.778992, -113.097369, -33.764322]] + joints: [-85.000000, 176.000000, -165.000000, 33.000000, -53.000000, -67.000000] + pose: {translation: [-0.02305376056931108, 0.1357502266454494, 0.386150731638831], quaternion: [-0.3343363963615597, 0.3418946757672001, 0.8344504038976633, 0.2738972949574964]} + solutions: [[-85.000000, -79.088349, 175.954737, -146.150297, 128.657925, 157.078687], [-85.000000, 176.000000, -165.000000, -147.000000, 53.000000, 113.000000], [95.000000, 43.012682, 167.923407, 77.546676, 26.452043, 58.202921], [95.000000, -102.241561, -156.968670, 28.311212, 113.487058, 146.463798], [-85.000000, -79.088349, 175.954737, 33.849703, -128.657925, -22.921313], [-85.000000, 176.000000, -165.000000, 33.000000, -53.000000, -67.000000], [95.000000, 43.012682, 167.923407, -102.453324, -26.452043, -121.797079], [95.000000, -102.241561, -156.968670, -151.688788, -113.487058, -33.536202]] - id: 2022 parameters: KukaKR6_R700_sixx - joints: [176.000000, 0.000000, 21.000000, -155.000000, -136.000000, 88.000000] - pose: {translation: [-0.621649567463133, -0.01992659687711377, 0.2754734209160339], quaternion: [-0.5530864455621499, 0.5992331235890269, -0.2035303328963187, 0.5418398757200128]} - solutions: [[176.000000, -0.000000, 21.000000, 25.000000, 136.000000, -92.000000], [176.000000, 16.706531, -10.045263, 34.210374, 148.522788, -80.437145], [176.000000, -0.000000, 21.000000, -155.000000, -136.000000, 88.000000], [176.000000, 16.706531, -10.045263, -145.789626, -148.522788, 99.562855]] + joints: [176.000000, 1.000000, 21.000000, -155.000000, -135.000000, 88.000000] + pose: {translation: [-0.6199881855676876, -0.0193885199499453, 0.2638781340407551], quaternion: [-0.5556531997139115, 0.5965751718568301, -0.2029466714938333, 0.542365406807311]} + solutions: [[176.000000, 1.000000, 21.000000, 25.000000, 135.000000, -92.000000], [176.000000, 17.706531, -10.045263, 33.836899, 147.542528, -80.753994], [176.000000, 1.000000, 21.000000, -155.000000, -135.000000, 88.000000], [176.000000, 17.706531, -10.045263, -146.163101, -147.542528, 99.246006]] - id: 2023 parameters: KukaKR6_R700_sixx - joints: [-180.000000, 151.000000, -51.000000, 165.000000, 99.000000, -13.000000] - pose: {translation: [0.202082175559045, 0.02045060425373814, -0.1191762132732439], quaternion: [-0.1553611938974001, -0.6940223822794417, -0.0269139499222756, 0.7024752462724394]} - solutions: [[0.000000, 28.892273, 69.926744, -15.008080, 80.811663, -8.148413], [0.000000, 98.812960, -58.972007, -22.141518, 137.292307, -27.246503], [180.000000, 89.859938, 61.954737, 151.295249, 147.843116, -35.471635], [180.000000, 151.000000, -51.000000, 165.000000, 99.000000, -13.000000], [0.000000, 28.892273, 69.926744, 164.991920, -80.811663, 171.851587], [0.000000, 98.812960, -58.972007, 157.858482, -137.292307, 152.753497], [180.000000, 89.859938, 61.954737, -28.704751, -147.843116, 144.528365], [180.000000, 151.000000, -51.000000, -15.000000, -99.000000, 167.000000]] + joints: [-180.000000, 150.000000, -51.000000, 165.000000, 98.000000, -13.000000] + pose: {translation: [0.1930058455354218, 0.02050401887577685, -0.1244553630852758], quaternion: [-0.157192354557892, -0.6938137478756909, -0.02558353382681791, 0.7023236645053087]} + solutions: [[0.000000, 30.068003, 69.676557, -15.090534, 79.887146, -8.153650], [0.000000, 99.712098, -58.721820, -21.727360, 136.183813, -26.906661], [180.000000, 88.859938, 61.954737, 151.995468, 146.917077, -34.881843], [180.000000, 150.000000, -51.000000, 165.000000, 98.000000, -13.000000], [0.000000, 30.068003, 69.676557, 164.909466, -79.887146, 171.846350], [0.000000, 99.712098, -58.721820, 158.272640, -136.183813, 153.093339], [180.000000, 88.859938, 61.954737, -28.004532, -146.917077, 145.118157], [180.000000, 150.000000, -51.000000, -15.000000, -98.000000, 167.000000]] - id: 2024 parameters: KukaKR6_R700_sixx - joints: [144.000000, -67.000000, 86.000000, 110.000000, -99.000000, -143.000000] - pose: {translation: [-0.3478873774136009, -0.3445328682387616, 0.5827418109690787], quaternion: [0.668656767923359, 0.4325916948405266, 0.1931769812798014, 0.5731013925728249]} - solutions: [[144.000000, -67.000000, 86.000000, -70.000000, 99.000000, 37.000000], [144.000000, 20.869245, -75.045263, -93.204657, 111.631012, -38.378503], [-36.000000, 164.451972, 72.952121, 85.524776, 111.414760, -41.840820], [-36.000000, -122.276791, -61.997384, 107.180083, 103.719287, 22.766200], [144.000000, -67.000000, 86.000000, 110.000000, -99.000000, -143.000000], [144.000000, 20.869245, -75.045263, 86.795343, -111.631012, 141.621497], [-36.000000, 164.451972, 72.952121, -94.475224, -111.414760, 138.159180], [-36.000000, -122.276791, -61.997384, -72.819917, -103.719287, -157.233800]] + joints: [144.000000, -67.000000, 86.000000, 110.000000, -98.000000, -143.000000] + pose: {translation: [-0.3488111088918885, -0.3454437117258159, 0.5822254910137183], quaternion: [0.672987411002594, 0.4295956146048751, 0.1862376741219477, 0.57258281609033]} + solutions: [[144.000000, -67.000000, 86.000000, -70.000000, 98.000000, 37.000000], [144.000000, 20.869245, -75.045263, -92.165562, 111.375357, -37.997610], [-36.000000, 164.451972, 72.952121, 86.577219, 111.217944, -41.458229], [-36.000000, -122.276791, -61.997384, 107.432166, 102.749861, 22.823914], [144.000000, -67.000000, 86.000000, 110.000000, -98.000000, -143.000000], [144.000000, 20.869245, -75.045263, 87.834438, -111.375357, 142.002390], [-36.000000, 164.451972, 72.952121, -93.422781, -111.217944, 138.541771], [-36.000000, -122.276791, -61.997384, -72.567834, -102.749861, -157.176086]] - id: 2025 parameters: KukaKR6_R700_sixx - joints: [-163.000000, -106.000000, -135.000000, -169.000000, 38.000000, 56.000000] - pose: {translation: [0.1851148393847573, -0.06642259235064055, 0.2880165485723628], quaternion: [-0.4065858698192084, 0.9087299678254387, 0.003929718327318482, -0.09424613176784929]} - solutions: [[17.000000, -79.936301, 154.961451, 16.548267, 24.358505, 49.562625], [17.000000, 100.608686, -144.006713, 10.848746, 141.380902, 73.224292], [-163.000000, 89.693006, 145.954737, -164.829457, 153.326928, 78.328131], [-163.000000, -106.000000, -135.000000, -169.000000, 38.000000, 56.000000], [17.000000, -79.936301, 154.961451, -163.451733, -24.358505, -130.437375], [17.000000, 100.608686, -144.006713, -169.151254, -141.380902, -106.775708], [-163.000000, 89.693006, 145.954737, 15.170543, -153.326928, -101.671869], [-163.000000, -106.000000, -135.000000, 11.000000, -38.000000, -124.000000]] + joints: [-163.000000, -105.000000, -135.000000, -169.000000, 37.000000, 56.000000] + pose: {translation: [0.1883203238207737, -0.06718158757072322, 0.2917059522491832], quaternion: [-0.4069903969071139, 0.9098723170815496, -0.006378799356285967, -0.08031496966826514]} + solutions: [[17.000000, -81.228082, 154.988205, 16.655299, 23.618854, 49.495621], [17.000000, 99.370866, -144.033468, 10.442099, 140.685032, 72.938847], [-163.000000, 90.693006, 145.954737, -165.649446, 152.399482, 77.598380], [-163.000000, -105.000000, -135.000000, -169.000000, 37.000000, 56.000000], [17.000000, -81.228082, 154.988205, -163.344701, -23.618854, -130.504379], [17.000000, 99.370866, -144.033468, -169.557901, -140.685032, -107.061153], [-163.000000, 90.693006, 145.954737, 14.350554, -152.399482, -102.401620], [-163.000000, -105.000000, -135.000000, 11.000000, -37.000000, -124.000000]] - id: 2026 parameters: KukaKR6_R700_sixx - joints: [-19.000000, 41.000000, 79.000000, 37.000000, -153.000000, 50.000000] - pose: {translation: [0.1548554524637306, 0.07643791457968915, -0.0930300410951905], quaternion: [-0.2494541066039714, 0.3776224832223894, 0.08294237257567241, 0.8878594887114115]} - solutions: [[-19.000000, 41.000000, 79.000000, -143.000000, 153.000000, -130.000000], [-19.000000, 121.004973, -68.045263, -164.142604, 90.785978, -163.655012], [161.000000, 65.689175, 76.118111, 16.312444, 76.590954, -167.760826], [161.000000, 142.479102, -65.163374, 24.080780, 137.962800, -145.515638], [-19.000000, 41.000000, 79.000000, 37.000000, -153.000000, 50.000000], [-19.000000, 121.004973, -68.045263, 15.857396, -90.785978, 16.344988], [161.000000, 65.689175, 76.118111, -163.687556, -76.590954, 12.239174], [161.000000, 142.479102, -65.163374, -155.919220, -137.962800, 34.484362]] + joints: [-19.000000, 41.000000, 79.000000, 37.000000, -152.000000, 50.000000] + pose: {translation: [0.1551179152699084, 0.07731657361200556, -0.09408292930316617], quaternion: [-0.2558451218935177, 0.3820339200120432, 0.08406432308020025, 0.8840399013328474]} + solutions: [[-19.000000, 41.000000, 79.000000, -143.000000, 152.000000, -130.000000], [-19.000000, 121.004973, -68.045263, -163.588432, 89.953565, -163.651435], [161.000000, 65.689175, 76.118111, 16.944089, 75.801178, -167.911542], [161.000000, 142.479102, -65.163374, 24.472984, 136.998566, -145.226554], [-19.000000, 41.000000, 79.000000, 37.000000, -152.000000, 50.000000], [-19.000000, 121.004973, -68.045263, 16.411568, -89.953565, 16.348565], [161.000000, 65.689175, 76.118111, -163.055911, -75.801178, 12.088458], [161.000000, 142.479102, -65.163374, -155.527016, -136.998566, 34.773446]] - id: 2027 parameters: KukaKR6_R700_sixx joints: [-6.000000, 33.000000, -161.000000, 88.000000, 153.000000, 89.000000] @@ -10141,19 +10141,19 @@ cases: solutions: [[-6.000000, 161.333714, 171.954737, 27.524484, 79.050093, -4.408607], [-6.000000, 33.000000, -161.000000, 88.000000, 153.000000, 89.000000], [174.000000, 128.387448, 168.478531, -112.464294, 150.595657, 65.854154], [174.000000, -14.817895, -157.523794, -149.194962, 62.369295, -14.212675], [-6.000000, 161.333714, 171.954737, -152.475516, -79.050093, 175.591393], [-6.000000, 33.000000, -161.000000, -92.000000, -153.000000, -91.000000], [174.000000, 128.387448, 168.478531, 67.535706, -150.595657, -114.145846], [174.000000, -14.817895, -157.523794, 30.805038, -62.369295, 165.787325]] - id: 2028 parameters: KukaKR6_R700_sixx - joints: [-147.000000, -2.000000, -71.000000, 48.000000, -180.000000, 155.000000] - pose: {translation: [-0.3267992081268314, 0.212225887208498, 0.6937732065760487], quaternion: [0.7898631884809082, 0.595204604706895, 0.0505537959794321, 0.1388954129212057]} - solutions: [[-147.000000, -85.314427, 81.954737, -0.000000, 110.359689, 107.000000], [-147.000000, -2.000000, -71.000000, -168.690068, 180.000000, -55.007980], [33.000000, -175.405961, 71.106799, 0.000000, 177.299162, -73.000000], [33.000000, -104.179695, -60.152061, 180.000000, 122.668244, 107.000000], [-147.000000, -85.314427, 81.954737, -180.000000, -110.359689, -73.000000], [-147.000000, -2.000000, -71.000000, 11.309932, -180.000000, 124.992020], [33.000000, -175.405961, 71.106799, -180.000000, -177.299162, 107.000000], [33.000000, -104.179695, -60.152061, -0.000000, -122.668244, -73.000000]] + joints: [-147.000000, -2.000000, -71.000000, 48.000000, -179.000000, 155.000000] + pose: {translation: [-0.3266180190544529, 0.2108710574006526, 0.6940580024854579], quaternion: [0.7897206938496223, 0.5938969853883594, 0.04650001126052097, 0.1465105641415027]} + solutions: [[-147.000000, -85.314427, 81.954737, -0.796145, 111.027005, 106.718660], [-147.000000, -2.000000, -71.000000, -132.000000, 179.000000, -25.000000], [33.000000, -175.405961, 71.106799, 12.443040, 176.549124, -60.574481], [33.000000, -104.179695, -60.152061, 179.110526, 123.334242, 106.515527], [-147.000000, -85.314427, 81.954737, 179.203855, -111.027005, -73.281340], [-147.000000, -2.000000, -71.000000, 48.000000, -179.000000, 155.000000], [33.000000, -175.405961, 71.106799, -167.556960, -176.549124, 119.425519], [33.000000, -104.179695, -60.152061, -0.889474, -123.334242, -73.484473]] - id: 2029 parameters: KukaKR6_R700_sixx - joints: [88.000000, -79.000000, -89.000000, -110.000000, 99.000000, 34.000000] - pose: {translation: [0.06469196906580751, 0.2749986694399369, 0.7218290104632136], quaternion: [0.68216589513812, -0.4648931603555863, 0.4828651661456101, -0.2921733599905628]} - solutions: [[-92.000000, -110.112743, 106.951581, 68.916033, 95.892965, 25.653676], [-92.000000, 1.958147, -95.996843, 96.645754, 110.868251, 118.853952], [88.000000, 177.150197, 99.954737, -82.205990, 110.482784, 122.105328], [88.000000, -79.000000, -89.000000, -110.000000, 99.000000, 34.000000], [-92.000000, -110.112743, 106.951581, -111.083967, -95.892965, -154.346324], [-92.000000, 1.958147, -95.996843, -83.354246, -110.868251, -61.146048], [88.000000, 177.150197, 99.954737, 97.794010, -110.482784, -57.894672], [88.000000, -79.000000, -89.000000, 70.000000, -99.000000, -146.000000]] + joints: [88.000000, -79.000000, -89.000000, -110.000000, 98.000000, 34.000000] + pose: {translation: [0.0648381309782618, 0.276370014306842, 0.7220470745582698], quaternion: [0.6842075166951356, -0.4604054002059187, 0.4801801585485759, -0.2988544075220713]} + solutions: [[-92.000000, -110.112743, 106.951581, 69.061715, 94.903538, 25.667382], [-92.000000, 1.958147, -95.996843, 95.580515, 110.775263, 118.475290], [88.000000, 177.150197, 99.954737, -83.272651, 110.446469, 121.732383], [88.000000, -79.000000, -89.000000, -110.000000, 98.000000, 34.000000], [-92.000000, -110.112743, 106.951581, -110.938285, -94.903538, -154.332618], [-92.000000, 1.958147, -95.996843, -84.419485, -110.775263, -61.524710], [88.000000, 177.150197, 99.954737, 96.727349, -110.446469, -58.267617], [88.000000, -79.000000, -89.000000, 70.000000, -98.000000, -146.000000]] - id: 2030 parameters: KukaKR6_R700_sixx - joints: [-94.000000, 159.000000, -166.000000, -157.000000, -44.000000, 44.000000] - pose: {translation: [0.01103796654239994, 0.1534322584726349, 0.3225751479135862], quaternion: [0.2521471919881844, 0.8425699548166801, 0.4756979536079395, -0.01446104235212853]} - solutions: [[-94.000000, -103.463401, 176.954737, 155.795618, 41.454340, 79.598291], [-94.000000, 159.000000, -166.000000, 23.000000, 44.000000, -136.000000], [86.000000, 57.157030, 167.366675, -163.979286, 79.569929, -121.996052], [86.000000, -90.078489, -156.411937, -28.116979, 35.165417, 84.575885], [-94.000000, -103.463401, 176.954737, -24.204382, -41.454340, -100.401709], [-94.000000, 159.000000, -166.000000, -157.000000, -44.000000, 44.000000], [86.000000, 57.157030, 167.366675, 16.020714, -79.569929, 58.003948], [86.000000, -90.078489, -156.411937, 151.883021, -35.165417, -95.424115]] + joints: [-94.000000, 158.000000, -166.000000, -157.000000, -44.000000, 44.000000] + pose: {translation: [0.01094506045323738, 0.1547608774469649, 0.3248084313513089], quaternion: [0.2523012763310067, 0.8383879864542761, 0.4828611561086105, -0.01716840273134493]} + solutions: [[-94.000000, -104.463401, 176.954737, 155.795618, 41.454340, 79.598291], [-94.000000, 158.000000, -166.000000, 23.000000, 44.000000, -136.000000], [86.000000, 57.833586, 167.320630, -163.960177, 79.214807, -122.099859], [86.000000, -89.562654, -156.365892, -27.827374, 35.552356, 84.220782], [-94.000000, -104.463401, 176.954737, -24.204382, -41.454340, -100.401709], [-94.000000, 158.000000, -166.000000, -157.000000, -44.000000, 44.000000], [86.000000, 57.833586, 167.320630, 16.039823, -79.214807, 57.900141], [86.000000, -89.562654, -156.365892, 152.172626, -35.552356, -95.779218]] - id: 2031 parameters: KukaKR6_R700_sixx joints: [112.000000, -36.000000, 103.000000, 129.000000, -9.000000, 143.000000] @@ -10166,14 +10166,14 @@ cases: solutions: [[92.000000, -105.000000, 111.000000, -84.000000, 58.000000, 171.000000], [92.000000, 11.913111, -100.045263, -58.238164, 97.273117, 80.661506], [-88.000000, 168.134813, 103.141508, 121.380664, 98.919582, 77.955825], [-88.000000, -84.291983, -92.186771, 101.727323, 59.472212, 159.990000], [92.000000, -105.000000, 111.000000, 96.000000, -58.000000, -9.000000], [92.000000, 11.913111, -100.045263, 121.761836, -97.273117, -99.338494], [-88.000000, 168.134813, 103.141508, -58.619336, -98.919582, -102.044175], [-88.000000, -84.291983, -92.186771, -78.272677, -59.472212, -20.010000]] - id: 2033 parameters: KukaKR6_R700_sixx - joints: [124.000000, 157.000000, 15.000000, 45.000000, 46.000000, -92.000000] - pose: {translation: [0.3477634708381382, 0.5883497192269436, 0.2240239017849591], quaternion: [-0.4976477539243529, -0.2209878753290009, -0.342557696713884, 0.7656143261418894]} - solutions: [[-56.000000, -4.583116, 49.656641, -148.331872, 75.664011, -65.897881], [-56.000000, 43.120477, -38.701904, -132.387844, 43.524866, -95.677441], [124.000000, 157.000000, 15.000000, 45.000000, 46.000000, -92.000000], [124.000000, 167.246150, -4.045263, 39.872798, 52.506293, -84.164500], [-56.000000, -4.583116, 49.656641, 31.668128, -75.664011, 114.102119], [-56.000000, 43.120477, -38.701904, 47.612156, -43.524866, 84.322559], [124.000000, 157.000000, 15.000000, -135.000000, -46.000000, 88.000000], [124.000000, 167.246150, -4.045263, -140.127202, -52.506293, 95.835500]] + joints: [124.000000, 156.000000, 15.000000, 45.000000, 46.000000, -92.000000] + pose: {translation: [0.3459858407300166, 0.5857142742121894, 0.2117078228943434], quaternion: [-0.5048393569612795, -0.2197216799489248, -0.3385174587491421, 0.7630632589408084]} + solutions: [[-56.000000, -3.436225, 49.523448, -148.333709, 75.675670, -65.890459], [-56.000000, 44.122432, -38.568711, -132.492686, 43.616067, -95.532736], [124.000000, 156.000000, 15.000000, 45.000000, 46.000000, -92.000000], [124.000000, 166.246150, -4.045263, 39.872798, 52.506293, -84.164500], [-56.000000, -3.436225, 49.523448, 31.666291, -75.675670, 114.109541], [-56.000000, 44.122432, -38.568711, 47.507314, -43.616067, 84.467264], [124.000000, 156.000000, 15.000000, -135.000000, -46.000000, 88.000000], [124.000000, 166.246150, -4.045263, -140.127202, -52.506293, 95.835500]] - id: 2034 parameters: KukaKR6_R700_sixx - joints: [-179.000000, -156.000000, 158.000000, 169.000000, 45.000000, 175.000000] - pose: {translation: [-0.1614913334455121, 0.01361427267043166, 0.6038835836970068], quaternion: [-0.3917022102494649, 0.1098271960523466, 0.9110561003362664, -0.0669637777685704]} - solutions: [[-179.000000, -156.000000, 158.000000, 169.000000, 45.000000, 175.000000], [-179.000000, 30.975174, -147.045263, 8.078686, 73.755415, -15.099951], [1.000000, 141.303422, 152.882938, -171.839063, 71.890567, -15.378425], [1.000000, -42.219948, -141.928200, -10.611779, 47.110078, 174.440675], [-179.000000, -156.000000, 158.000000, -11.000000, -45.000000, -5.000000], [-179.000000, 30.975174, -147.045263, -171.921314, -73.755415, 164.900049], [1.000000, 141.303422, 152.882938, 8.160937, -71.890567, 164.621575], [1.000000, -42.219948, -141.928200, 169.388221, -47.110078, -5.559325]] + joints: [-179.000000, -155.000000, 158.000000, 169.000000, 44.000000, 175.000000] + pose: {translation: [-0.1659575463592561, 0.0135021802616243, 0.6004392572720219], quaternion: [-0.4075512298288103, 0.1106578079723135, 0.9039942828014871, -0.0667171736662456]} + solutions: [[-179.000000, -155.000000, 158.000000, 169.000000, 44.000000, 175.000000], [-179.000000, 31.975174, -147.045263, 7.896920, 74.739995, -15.050604], [1.000000, 140.582737, 152.762858, -172.034330, 73.031994, -15.298281], [1.000000, -43.168664, -141.808120, -10.628686, 45.941694, 174.475227], [-179.000000, -155.000000, 158.000000, -11.000000, -44.000000, -5.000000], [-179.000000, 31.975174, -147.045263, -172.103080, -74.739995, 164.949396], [1.000000, 140.582737, 152.762858, 7.965670, -73.031994, 164.701719], [1.000000, -43.168664, -141.808120, 169.371314, -45.941694, -5.524773]] - id: 2035 parameters: KukaKR6_R700_sixx joints: [102.000000, 53.000000, -20.000000, 52.000000, 9.000000, -138.000000] @@ -10191,24 +10191,24 @@ cases: solutions: [[154.000000, -63.631881, 91.954737, -95.736974, 57.742115, 160.042408], [154.000000, 31.000000, -81.000000, -59.000000, 79.000000, 77.000000], [-26.000000, 154.688163, 79.270482, 121.594944, 81.057067, 73.565699], [-26.000000, -125.004482, -68.315745, 93.842345, 57.491776, 142.258850], [154.000000, -63.631881, 91.954737, 84.263026, -57.742115, -19.957592], [154.000000, 31.000000, -81.000000, 121.000000, -79.000000, -103.000000], [-26.000000, 154.688163, 79.270482, -58.405056, -81.057067, -106.434301], [-26.000000, -125.004482, -68.315745, -86.157655, -57.491776, -37.741150]] - id: 2038 parameters: KukaKR6_R700_sixx - joints: [104.000000, -38.000000, -47.000000, 173.000000, 93.000000, 5.000000] - pose: {translation: [-0.05560818795101731, -0.1827870972520725, 0.9633349398335824], quaternion: [-0.4853379293108998, 0.4973145118610074, 0.4495501144579164, 0.5612753916354524]} - solutions: [[104.000000, -94.757003, 57.954737, 168.923526, 140.693137, -3.245309], [104.000000, -38.000000, -47.000000, 173.000000, 93.000000, 5.000000], [-76.000000, -141.220674, 48.922906, -6.990467, 90.317875, 5.329204], [-76.000000, -94.315371, -37.968169, -9.134058, 129.945720, -0.525762], [104.000000, -94.757003, 57.954737, -11.076474, -140.693137, 176.754691], [104.000000, -38.000000, -47.000000, -7.000000, -93.000000, -175.000000], [-76.000000, -141.220674, 48.922906, 173.009533, -90.317875, -174.670796], [-76.000000, -94.315371, -37.968169, 170.865942, -129.945720, 179.474238]] + joints: [104.000000, -37.000000, -47.000000, 173.000000, 93.000000, 5.000000] + pose: {translation: [-0.0579805458149182, -0.1923021049401301, 0.9603553510936375], quaternion: [-0.4815160139579261, 0.4923041599926858, 0.4527193018081607, 0.5664134321556102]} + solutions: [[104.000000, -93.757003, 57.954737, 168.923526, 140.693137, -3.245309], [104.000000, -37.000000, -47.000000, 173.000000, 93.000000, 5.000000], [-76.000000, -141.991546, 48.570223, -6.990566, 90.440511, 5.314166], [-76.000000, -95.469838, -37.615486, -9.107835, 129.750010, -0.484836], [104.000000, -93.757003, 57.954737, -11.076474, -140.693137, 176.754691], [104.000000, -37.000000, -47.000000, -7.000000, -93.000000, -175.000000], [-76.000000, -141.991546, 48.570223, 173.009434, -90.440511, -174.685834], [-76.000000, -95.469838, -37.615486, 170.892165, -129.750010, 179.515164]] - id: 2039 parameters: KukaKR6_R700_sixx - joints: [-108.000000, 17.000000, -32.000000, 169.000000, -65.000000, -57.000000] - pose: {translation: [-0.23590258736201, 0.6812640161737384, 0.3761824363937482], quaternion: [0.8478442821878156, 0.3951458884620634, -0.05022711568713632, -0.3499957668925515]} - solutions: [[-108.000000, -23.423510, 42.954737, -19.316823, 31.519016, 134.940477], [-108.000000, 17.000000, -32.000000, -11.000000, 65.000000, 123.000000], [-108.000000, -23.423510, 42.954737, 160.683177, -31.519016, -45.059523], [-108.000000, 17.000000, -32.000000, 169.000000, -65.000000, -57.000000]] + joints: [-108.000000, 17.000000, -32.000000, 169.000000, -64.000000, -57.000000] + pose: {translation: [-0.2361224766089574, 0.6823119269773454, 0.3770785578503335], quaternion: [0.845489208919146, 0.3930997818679937, -0.04908750848459863, -0.3580656023794898]} + solutions: [[-108.000000, -23.423510, 42.954737, -19.723952, 30.541282, 135.289358], [-108.000000, 17.000000, -32.000000, -11.000000, 64.000000, 123.000000], [-108.000000, -23.423510, 42.954737, 160.276048, -30.541282, -44.710642], [-108.000000, 17.000000, -32.000000, 169.000000, -64.000000, -57.000000]] - id: 2040 parameters: KukaKR6_R700_sixx - joints: [-80.000000, -30.000000, -136.000000, 64.000000, -87.000000, -6.000000] - pose: {translation: [-0.08414791048169185, -0.06371810154953939, 0.578872700706458], quaternion: [-0.4641990264623866, 0.7004084655612592, 0.3002860269786159, -0.4514150498187813]} - solutions: [[100.000000, -164.605492, 149.614879, 63.956731, 87.434601, 174.891241], [100.000000, 5.900706, -138.660142, 100.400750, 114.138948, -65.703541], [-80.000000, 164.043103, 146.954737, -80.382313, 114.445155, -67.606854], [-80.000000, -30.000000, -136.000000, -116.000000, 87.000000, 174.000000], [100.000000, -164.605492, 149.614879, -116.043269, -87.434601, -5.108759], [100.000000, 5.900706, -138.660142, -79.599250, -114.138948, 114.296459], [-80.000000, 164.043103, 146.954737, 99.617687, -114.445155, 112.393146], [-80.000000, -30.000000, -136.000000, 64.000000, -87.000000, -6.000000]] + joints: [-80.000000, -30.000000, -136.000000, 64.000000, -86.000000, -6.000000] + pose: {translation: [-0.08430570733104606, -0.06505420339285591, 0.5792461093523303], quaternion: [-0.4671992205973751, 0.6967379988453398, 0.2956070421680325, -0.4570530886657083]} + solutions: [[100.000000, -164.605492, 149.614879, 63.941147, 86.434722, 174.892075], [100.000000, 5.900706, -138.660142, 99.450830, 114.640476, -66.095813], [-80.000000, 164.043103, 146.954737, -81.352308, 114.917574, -68.011908], [-80.000000, -30.000000, -136.000000, -116.000000, 86.000000, 174.000000], [100.000000, -164.605492, 149.614879, -116.058853, -86.434722, -5.107925], [100.000000, 5.900706, -138.660142, -80.549170, -114.640476, 113.904187], [-80.000000, 164.043103, 146.954737, 98.647692, -114.917574, 111.988092], [-80.000000, -30.000000, -136.000000, 64.000000, -86.000000, -6.000000]] - id: 2041 parameters: KukaKR6_R700_sixx - joints: [67.000000, 137.000000, 137.000000, 61.000000, 104.000000, -134.000000] - pose: {translation: [-0.1322940069309381, 0.1379109326523726, 0.5297911404396618], quaternion: [0.6145474728138475, -0.5093178995715105, 0.00748370805004115, 0.6023874790763831]} - solutions: [[-113.000000, -119.679114, 144.582659, -62.639423, 107.150484, -7.254757], [-113.000000, 42.411476, -133.627922, -118.360668, 105.336113, -131.475732], [67.000000, 137.000000, 137.000000, 61.000000, 104.000000, -134.000000], [67.000000, -72.362931, -126.045263, 115.400659, 110.039483, -13.393847], [-113.000000, -119.679114, 144.582659, 117.360577, -107.150484, 172.745243], [-113.000000, 42.411476, -133.627922, 61.639332, -105.336113, 48.524268], [67.000000, 137.000000, 137.000000, -119.000000, -104.000000, 46.000000], [67.000000, -72.362931, -126.045263, -64.599341, -110.039483, 166.606153]] + joints: [67.000000, 136.000000, 137.000000, 61.000000, 103.000000, -134.000000] + pose: {translation: [-0.1333399542159349, 0.1396454241289444, 0.5275649172308544], quaternion: [0.6057522678665901, -0.5076878046866088, 0.01415577604670753, 0.6124678742199384]} + solutions: [[-113.000000, -118.596038, 144.681694, -63.428740, 107.665602, -7.336025], [-113.000000, 43.652789, -133.726956, -118.374054, 104.404728, -131.358162], [67.000000, 136.000000, 137.000000, 61.000000, 103.000000, -134.000000], [67.000000, -73.362931, -126.045263, 114.481511, 110.546232, -13.712634], [-113.000000, -118.596038, 144.681694, 116.571260, -107.665602, 172.663975], [-113.000000, 43.652789, -133.726956, 61.625946, -104.404728, 48.641838], [67.000000, 136.000000, 137.000000, -119.000000, -103.000000, 46.000000], [67.000000, -73.362931, -126.045263, -65.518489, -110.546232, 166.287366]] - id: 2042 parameters: KukaKR6_R700_sixx joints: [73.000000, 27.000000, 88.000000, 180.000000, 2.000000, -15.000000] @@ -10216,14 +10216,14 @@ cases: solutions: [[73.000000, 27.000000, 88.000000, -180.000000, 2.000000, -15.000000], [73.000000, 117.132405, -77.045263, -0.000000, 72.912857, 165.000000], [-107.000000, 70.609505, 83.389536, 180.000000, 86.999040, 165.000000], [-107.000000, 155.536150, -72.434798, 180.000000, 16.101352, 165.000000], [73.000000, 27.000000, 88.000000, 0.000000, -2.000000, 165.000000], [73.000000, 117.132405, -77.045263, -180.000000, -72.912857, -15.000000], [-107.000000, 70.609505, 83.389536, -0.000000, -86.999040, -15.000000], [-107.000000, 155.536150, -72.434798, -0.000000, -16.101352, -15.000000]] - id: 2043 parameters: KukaKR6_R700_sixx - joints: [124.000000, 126.000000, 128.000000, 92.000000, -115.000000, 143.000000] - pose: {translation: [0.2181297935239578, 0.1938102911298331, 0.4545705844074362], quaternion: [0.4351600253866991, 0.713722610232865, -0.1126225521826353, 0.5371703162756696]} - solutions: [[-56.000000, -93.213919, 137.165659, 66.803469, 80.203283, -153.379799], [-56.000000, 57.661490, -126.210922, 89.452426, 115.069152, -43.015742], [124.000000, 126.000000, 128.000000, -88.000000, 115.000000, -37.000000], [124.000000, -95.736134, -117.045263, -114.551093, 84.736511, -143.078787], [-56.000000, -93.213919, 137.165659, -113.196531, -80.203283, 26.620201], [-56.000000, 57.661490, -126.210922, -90.547574, -115.069152, 136.984258], [124.000000, 126.000000, 128.000000, 92.000000, -115.000000, 143.000000], [124.000000, -95.736134, -117.045263, 65.448907, -84.736511, 36.921213]] + joints: [124.000000, 125.000000, 128.000000, 92.000000, -115.000000, 143.000000] + pose: {translation: [0.2186361600500767, 0.1945610103772185, 0.4491929940259081], quaternion: [0.430707652180304, 0.7155019445326676, -0.1199052810444145, 0.5368152468968833]} + solutions: [[-56.000000, -92.079916, 137.214128, 66.832541, 80.131453, -153.550038], [-56.000000, 58.865312, -126.259390, 89.379762, 115.067569, -43.187242], [124.000000, 125.000000, 128.000000, -88.000000, 115.000000, -37.000000], [124.000000, -96.736134, -117.045263, -114.551093, 84.736511, -143.078787], [-56.000000, -92.079916, 137.214128, -113.167459, -80.131453, 26.449962], [-56.000000, 58.865312, -126.259390, -90.620238, -115.067569, 136.812758], [124.000000, 125.000000, 128.000000, 92.000000, -115.000000, 143.000000], [124.000000, -96.736134, -117.045263, 65.448907, -84.736511, 36.921213]] - id: 2044 parameters: KukaKR6_R700_sixx - joints: [144.000000, 133.000000, 71.000000, -158.000000, 129.000000, -118.000000] - pose: {translation: [0.4303028824044802, 0.2838454195601265, 0.2129700149399754], quaternion: [0.7137384242199323, 0.6690980245911723, -0.1614417495253382, 0.1296991009623313]} - solutions: [[-36.000000, -30.847852, 85.011454, 20.865988, 54.819699, -144.652434], [-36.000000, 55.905608, -74.056716, 20.444853, 123.546645, -120.625271], [144.000000, 133.000000, 71.000000, -158.000000, 129.000000, -118.000000], [144.000000, -155.891961, -60.045263, -162.179366, 72.039060, -137.927008], [-36.000000, -30.847852, 85.011454, -159.134012, -54.819699, 35.347566], [-36.000000, 55.905608, -74.056716, -159.555147, -123.546645, 59.374729], [144.000000, 133.000000, 71.000000, 22.000000, -129.000000, 62.000000], [144.000000, -155.891961, -60.045263, 17.820634, -72.039060, 42.072992]] + joints: [144.000000, 132.000000, 71.000000, -158.000000, 129.000000, -118.000000] + pose: {translation: [0.4275956185001722, 0.281878477199113, 0.2035748555690406], quaternion: [0.7119062127917517, 0.6691601242578757, -0.1699065591108102, 0.1286313859942992]} + solutions: [[-36.000000, -29.725613, 84.959154, 20.883577, 54.754350, -144.682937], [-36.000000, 56.968866, -74.004417, 20.418161, 123.438357, -120.673642], [144.000000, 132.000000, 71.000000, -158.000000, 129.000000, -118.000000], [144.000000, -156.891961, -60.045263, -162.179366, 72.039060, -137.927008], [-36.000000, -29.725613, 84.959154, -159.116423, -54.754350, 35.317063], [-36.000000, 56.968866, -74.004417, -159.581839, -123.438357, 59.326358], [144.000000, 132.000000, 71.000000, 22.000000, -129.000000, 62.000000], [144.000000, -156.891961, -60.045263, 17.820634, -72.039060, 42.072992]] - id: 2045 parameters: KukaKR6_R700_sixx joints: [115.000000, -64.000000, -61.000000, -167.000000, -116.000000, -143.000000] @@ -10231,11 +10231,11 @@ cases: solutions: [[-65.000000, -122.121228, 73.966920, -166.104450, 122.658630, 38.825090], [-65.000000, -47.723581, -63.012183, -166.700768, 61.512786, 24.788500], [115.000000, -136.165425, 71.954737, 14.015023, 56.601847, 23.397726], [115.000000, -64.000000, -61.000000, 13.000000, 116.000000, 37.000000], [-65.000000, -122.121228, 73.966920, 13.895550, -122.658630, -141.174910], [-65.000000, -47.723581, -63.012183, 13.299232, -61.512786, -155.211500], [115.000000, -136.165425, 71.954737, -165.984977, -56.601847, -156.602274], [115.000000, -64.000000, -61.000000, -167.000000, -116.000000, -143.000000]] - id: 2046 parameters: KukaKR6_R700_sixx - joints: [-34.000000, -66.000000, -66.000000, -49.000000, 126.000000, 121.000000] - pose: {translation: [-0.07216649490547045, 0.01024180152868021, 0.9290623200258645], quaternion: [-0.6837143324781034, -0.2708590853479796, -0.4340451042512005, 0.5203603702474296]} - solutions: [[146.000000, -120.798505, 79.992811, 126.571066, 130.513531, 113.858422], [146.000000, -39.683078, -69.038073, 141.669391, 79.892515, 162.964726], [-34.000000, -143.722033, 76.954737, -38.922875, 76.367202, 165.842135], [-34.000000, -66.000000, -66.000000, -49.000000, 126.000000, 121.000000], [146.000000, -120.798505, 79.992811, -53.428934, -130.513531, -66.141578], [146.000000, -39.683078, -69.038073, -38.330609, -79.892515, -17.035274], [-34.000000, -143.722033, 76.954737, 141.077125, -76.367202, -14.157865], [-34.000000, -66.000000, -66.000000, 131.000000, -126.000000, -59.000000]] + joints: [-34.000000, -66.000000, -66.000000, -49.000000, 125.000000, 121.000000] + pose: {translation: [-0.0728115239660878, 0.01054483467986697, 0.930262990846045], quaternion: [-0.6778451357972309, -0.2717567143631005, -0.4350754765913795, 0.5266721843266357]} + solutions: [[146.000000, -120.798505, 79.992811, 126.732224, 129.521176, 113.962053], [146.000000, -39.683078, -69.038073, 140.988565, 79.149673, 163.088554], [-34.000000, -143.722033, 76.954737, -39.650693, 75.659223, 166.018053], [-34.000000, -66.000000, -66.000000, -49.000000, 125.000000, 121.000000], [146.000000, -120.798505, 79.992811, -53.267776, -129.521176, -66.037947], [146.000000, -39.683078, -69.038073, -39.011435, -79.149673, -16.911446], [-34.000000, -143.722033, 76.954737, 140.349307, -75.659223, -13.981947], [-34.000000, -66.000000, -66.000000, 131.000000, -125.000000, -59.000000]] - id: 2047 parameters: KukaKR6_R700_sixx - joints: [152.000000, 9.000000, -23.000000, -40.000000, -138.000000, -63.000000] - pose: {translation: [-0.558466027504228, -0.2579713807422654, 0.4983909737337859], quaternion: [-0.5599310215741833, -0.1664026041094057, -0.6358869536086469, 0.504415708176118]} - solutions: [[152.000000, -21.681386, 33.954737, 106.899605, 153.287033, 77.730546], [152.000000, 9.000000, -23.000000, 140.000000, 138.000000, 117.000000], [152.000000, -21.681386, 33.954737, -73.100395, -153.287033, -102.269454], [152.000000, 9.000000, -23.000000, -40.000000, -138.000000, -63.000000]] \ No newline at end of file + joints: [152.000000, 9.000000, -23.000000, -40.000000, -137.000000, -63.000000] + pose: {translation: [-0.559416367291112, -0.2577272653401361, 0.4993843336675967], quaternion: [-0.5534684330120491, -0.1693421673664574, -0.636787208845915, 0.5094094371535013]} + solutions: [[152.000000, -21.681386, 33.954737, 108.270754, 152.506105, 78.951163], [152.000000, 9.000000, -23.000000, 140.000000, 137.000000, 117.000000], [152.000000, -21.681386, 33.954737, -71.729246, -152.506105, -101.048837], [152.000000, 9.000000, -23.000000, -40.000000, -137.000000, -63.000000]] \ No newline at end of file diff --git a/src/tests/testcases.rs b/src/tests/testcases.rs index 227b8ce..109faaa 100644 --- a/src/tests/testcases.rs +++ b/src/tests/testcases.rs @@ -91,7 +91,7 @@ fn are_isometries_approx_equal(a: &Isometry3, b: &Isometry3, tolerance mod tests { use std::collections::HashMap; use std::f64::consts::PI; - use crate::kinematic_traits::kinematics_traits::{Kinematics, Solutions}; + use crate::kinematic_traits::kinematics_traits::{Kinematics, Singularity, Solutions}; use crate::parameters::opw_kinematics::Parameters; use crate::kinematics_impl::OPWKinematics; use super::*; @@ -184,7 +184,7 @@ mod tests { } println!("---"); - // panic!("Inverse kinematics does not produce valid solution"); + panic!("Inverse kinematics does not produce valid solution"); } } } @@ -202,7 +202,7 @@ mod tests { //println!("Column value: {}, Expected value: {}, Difference: {}", // computed, asserted, diff); - if diff >= tolerance && (diff - 2.* PI).abs() > tolerance { + if diff >= tolerance && (diff - 2. * PI).abs() > tolerance { // For angles, 360 degree difference means the same angle. solution_matches = false; break; @@ -227,9 +227,64 @@ mod tests { (String::from("Staubli_tx40"), Parameters::staubli_tx40()), (String::from("Irb2600_12_165"), Parameters::irb2600_12_165()), (String::from("Irb4600_60_205"), Parameters::irb4600_60_205()), + (String::from("Staubli_tx2_140"), Parameters::staubli_tx2_140()), + (String::from("Staubli_tx2_160"), Parameters::staubli_tx2_160()), + (String::from("Staubli_tx2_160l"), Parameters::staubli_tx2_160l()), ] .into_iter() .collect(); all_parameters } + + + #[test] + fn test_singularity_a() { + // Assuming joint[4] close to π triggers A type singularity + let robot = OPWKinematics::new(Parameters::irb2400_10()); + assert_eq!(robot.kinematic_singularity(&[0.0, 0.8, 0.0, 0.0, PI, 0.0]).unwrap(), + Singularity::A); + assert_eq!(robot.kinematic_singularity(&[0.0, 0.8, 0.0, 0.0, -PI, 0.0]).unwrap(), + Singularity::A); + assert_eq!(robot.kinematic_singularity(&[0.0, 0.8, 0.0, 0.0, 0.0, PI]).unwrap(), + Singularity::A); + assert_eq!(robot.kinematic_singularity(&[0.0, 0.8, 0.0, 0.0, 3. * PI, 0.0]).unwrap(), + Singularity::A); + } + + #[test] + fn test_singularity_b() { + let robot_vulnerable = OPWKinematics::new(Parameters::irb2400_10()); + let robot_immune = OPWKinematics::new(Parameters::staubli_tx40()); + + // Assuming joint[1] close to 0 triggers B type singularity if b = 0 + let joints = [0.0, 0.00001 * PI / 180.0, 0.0, 0.0, 0.9, PI]; + + // This robot has b = 0. + assert_eq!(robot_vulnerable.kinematic_singularity(&joints), Some(Singularity::B)); + + // This robot has b = 0.035 and is immune to the B type singularity . + assert_eq!(robot_immune.kinematic_singularity(&joints), None); + } + + #[test] + fn test_singularity_ab() { + let robot_vulnerable = OPWKinematics::new(Parameters::irb2400_10()); + let robot_immune = OPWKinematics::new(Parameters::staubli_tx40()); + + // These joints have both A and (for vulnerable robot) B singularity + let joints = [0.0, 0.00001 * PI / 180.0, 0.0, 0.0, 0.0, PI]; + + // This robot has b = 0. + assert_eq!(robot_vulnerable.kinematic_singularity(&joints).unwrap(), Singularity::AB); + + // This robot has b = 0.035 and is immune to the B type singularity but A applies + assert_eq!(robot_immune.kinematic_singularity(&joints).unwrap(), Singularity::A); + } + + #[test] + fn test_no_singularity() { + let robot = OPWKinematics::new(Parameters::irb2400_10()); + let joints = [0.0, 0.1, 0.2, 0.3, 0.4, PI]; + assert_eq!(robot.kinematic_singularity(&joints), None); + } }