Pose_1 = [ [1549.9, -66.747, 360.2, -3.1056, -0.0095749, -1.6164], [1549.9, -66.747, 360.2, -3.1056, -0.0095788, -1.6163], [1549.9, -66.747, 360.2, -3.1056, -0.0096731, -1.6137], [1549.9, -66.747, 360.2, -3.1057, -0.0098926, -1.6076], [1549.9, -66.747, 360.2, -3.1058, -0.010237, -1.598], [1549.9, -66.747, 360.2, -3.1059, -0.010705, -1.5849], [1549.9, -66.747, 360.2, -3.1061, -0.011295, -1.5683], [1549.9, -66.747, 360.2, -3.1063, -0.012005, -1.5483], [1549.9, -66.747, 360.2, -3.1066, -0.012833, -1.5247], [1549.9, -66.747, 360.2, -3.107, -0.013774, -1.4977], [1549.9, -66.747, 360.2, -3.1074, -0.014824, -1.4672], [1549.8, -66.704, 360.2, -3.1079, -0.015979, -1.4331], [1548.7, -65.671, 360.33, -3.1086, -0.01723, -1.3956], [1546.2, -63.262, 360.62, -3.1093, -0.01857, -1.3546], [1542.3, -59.476, 361.08, -3.1101, -0.019988, -1.3101], [1536.8, -54.313, 361.7, -3.1111, -0.021474, -1.2622], [1530, -47.773, 362.49, -3.1123, -0.023012, -1.2107], [1521.7, -39.857, 363.44, -3.1136, -0.024587, -1.1557], [1512, -30.564, 364.56, -3.1151, -0.026181, -1.0972], [1500.8, -19.894, 365.85, -3.1168, -0.027772, -1.0353], [1488.2, -7.8477, 367.3, -3.1186, -0.029337, -0.96982], [1474.2, 5.5325, 368.91, -3.1202, -0.030478, -0.91844], [1459.8, 19.3, 370.57, -3.1202, -0.030478, -0.91844], [1445.4, 33.068, 372.23, -3.1202, -0.030478, -0.91844], [1431, 46.835, 373.89, -3.1202, -0.030478, -0.91844], [1416.6, 60.602, 375.55, -3.1202, -0.030478, -0.91844], [1402.2, 74.37, 377.21, -3.1202, -0.030478, -0.91844], [1387.7, 88.137, 378.87, -3.1202, -0.030478, -0.91844], [1373.3, 101.91, 380.53, -3.1202, -0.030478, -0.91844], [1358.9, 115.67, 382.19, -3.1202, -0.030478, -0.91844], [1344.5, 129.44, 383.85, -3.1202, -0.030478, -0.91844], [1330.1, 143.21, 385.51, -3.1202, -0.030478, -0.91844], [1315.7, 156.97, 387.17, -3.1202, -0.030478, -0.91844], [1301.3, 170.74, 388.83, -3.1202, -0.030478, -0.91844], [1286.8, 184.51, 390.49, -3.1202, -0.030478, -0.91844], [1272.4, 198.28, 392.15, -3.1202, -0.030478, -0.91844], [1258, 212.04, 393.81, -3.1202, -0.030478, -0.91844], [1243.6, 225.81, 395.47, -3.1202, -0.030478, -0.91844], [1229.2, 239.58, 397.13, -3.1202, -0.030478, -0.91844], [1214.8, 253.35, 398.79, -3.1202, -0.030478, -0.91844], [1196.8, 270.56, 400.86, -3.1202, -0.030478, -0.91844], [1182.4, 284.32, 402.52, -3.1202, -0.030478, -0.91844], [1168, 298.09, 404.18, -3.1202, -0.030478, -0.91844], [1153.5, 311.86, 405.84, -3.1202, -0.030478, -0.91844], [1139.1, 325.63, 407.5, -3.1202, -0.030478, -0.91844], [1124.7, 339.39, 409.16, -3.1202, -0.030478, -0.91844], [1110.3, 353.16, 410.82, -3.1202, -0.030478, -0.91844], [1095.9, 366.93, 412.48, -3.1202, -0.030478, -0.91844], [1081.5, 380.7, 414.14, -3.1202, -0.030478, -0.91844], [1067.1, 394.46, 415.8, -3.1202, -0.030478, -0.91844], [1052.7, 408.23, 417.46, -3.1202, -0.030478, -0.91844], [1038.2, 422, 419.12, -3.1202, -0.030478, -0.91844], [1023.8, 435.77, 420.78, -3.1202, -0.030478, -0.91844], [1009.4, 449.53, 422.44, -3.1202, -0.030478, -0.91844], [995.01, 463.3, 424.1, -3.1202, -0.030478, -0.91844], [980.6, 477.07, 425.75, -3.1202, -0.030478, -0.91844], [966.19, 490.84, 427.42, -3.1202, -0.030478, -0.91844], [951.77, 504.6, 429.07, -3.1202, -0.030478, -0.91844], [937.36, 518.37, 430.73, -3.1202, -0.030478, -0.91844], [922.95, 532.14, 432.39, -3.1202, -0.030478, -0.91844], [908.54, 545.9, 434.05, -3.1202, -0.030478, -0.91844], [894.13, 559.67, 435.71, -3.1202, -0.030478, -0.91844], [879.72, 573.44, 437.37, -3.1202, -0.030478, -0.91844], [865.3, 587.21, 439.03, -3.1202, -0.030478, -0.91844], [850.89, 600.98, 440.69, -3.1202, -0.030478, -0.91844], [836.48, 614.74, 442.35, -3.1202, -0.030478, -0.91844], [822.07, 628.51, 444.01, -3.1202, -0.030478, -0.91844], [807.66, 642.28, 445.67, -3.1202, -0.030478, -0.91844], [793.24, 656.04, 447.33, -3.1202, -0.030478, -0.91844], [778.83, 669.81, 448.99, -3.1202, -0.030478, -0.91844], [764.42, 683.58, 450.65, -3.1202, -0.030478, -0.91844], [750.01, 697.35, 452.31, -3.1202, -0.030478, -0.91844], [735.6, 711.12, 453.97, -3.1202, -0.030478, -0.91844], [721.18, 724.88, 455.63, -3.1202, -0.030478, -0.91844], [706.77, 738.65, 457.29, -3.1202, -0.030478, -0.91844], [692.36, 752.42, 458.95, -3.1202, -0.030478, -0.91844], [677.95, 766.18, 460.61, -3.1202, -0.030478, -0.91844], [663.54, 779.95, 462.27, -3.1202, -0.030478, -0.91844], [649.12, 793.72, 463.93, -3.1202, -0.030478, -0.91844], [634.71, 807.49, 465.59, -3.1202, -0.030478, -0.91844], [620.3, 821.25, 467.25, -3.1202, -0.030478, -0.91844], [605.89, 835.02, 468.91, -3.1202, -0.030478, -0.91844], [591.48, 848.79, 470.57, -3.1202, -0.030478, -0.91844], [577.07, 862.56, 472.23, -3.1202, -0.030478, -0.91844], [562.65, 876.32, 473.88, -3.1202, -0.030478, -0.91844], [548.24, 890.09, 475.54, -3.1202, -0.030478, -0.91844], [533.83, 903.86, 477.2, -3.1202, -0.030478, -0.91844], [519.42, 917.63, 478.86, -3.1202, -0.030478, -0.91844], [505.01, 931.39, 480.52, -3.1202, -0.030478, -0.91844], [490.6, 945.16, 482.18, -3.1202, -0.030478, -0.91844], [476.18, 958.93, 483.84, -3.1202, -0.030478, -0.91844], [461.77, 972.7, 485.5, -3.1202, -0.030478, -0.91844], [447.36, 986.46, 487.16, -3.1202, -0.030478, -0.91844], [432.95, 1000.2, 488.82, -3.1202, -0.030478, -0.91844], [418.54, 1014, 490.48, -3.1202, -0.030478, -0.91844], [404.12, 1027.8, 492.14, -3.1202, -0.030478, -0.91844], [389.71, 1041.5, 493.8, -3.1202, -0.030478, -0.91844], [375.3, 1055.3, 495.46, -3.1202, -0.030478, -0.91844], [360.89, 1069.1, 497.12, -3.1202, -0.030478, -0.91844], [346.48, 1082.8, 498.78, -3.1202, -0.030478, -0.91844], [332.06, 1096.6, 500.44, -3.1202, -0.030478, -0.91844], [317.65, 1110.4, 502.1, -3.1202, -0.030478, -0.91844], [303.24, 1124.1, 503.76, -3.1202, -0.030478, -0.91844], [288.83, 1137.9, 505.42, -3.1202, -0.030478, -0.91844], [274.42, 1151.7, 507.08, -3.1202, -0.030478, -0.91844], [260, 1165.4, 508.74, -3.1202, -0.030478, -0.91844], [245.59, 1179.2, 510.4, -3.1202, -0.030478, -0.91844], [231.18, 1193, 512.06, -3.1202, -0.030478, -0.91844], [216.77, 1206.7, 513.72, -3.1202, -0.030478, -0.91844], [202.36, 1220.5, 515.38, -3.1202, -0.030478, -0.91844], [187.94, 1234.3, 517.04, -3.1202, -0.030478, -0.91844], [173.53, 1248, 518.69, -3.1202, -0.030478, -0.91844], [159.12, 1261.8, 520.36, -3.1202, -0.030478, -0.91844], [144.71, 1275.6, 522.01, -3.1202, -0.030478, -0.91844], [130.3, 1289.3, 523.67, -3.1202, -0.030478, -0.91844], [115.89, 1303.1, 525.33, -3.1202, -0.030478, -0.91844], [97.871, 1320.3, 527.41, -3.1202, -0.030478, -0.91844], [83.459, 1334.1, 529.07, -3.1202, -0.030478, -0.91844], [69.047, 1347.9, 530.73, -3.1202, -0.030478, -0.91844], [54.635, 1361.6, 532.39, -3.1202, -0.030478, -0.91844], [40.223, 1375.4, 534.05, -3.1202, -0.030478, -0.91844], [25.811, 1389.2, 535.71, -3.1202, -0.030478, -0.91844], [11.399, 1402.9, 537.37, -3.1202, -0.030478, -0.91844], [-3.0127, 1416.7, 539.03, -3.1202, -0.030478, -0.91844], [-17.425, 1430.5, 540.69, -3.1202, -0.030478, -0.91844], [-31.836, 1444.2, 542.35, -3.1202, -0.030478, -0.91844], [-46.248, 1458, 544, -3.1202, -0.030478, -0.91844], [-60.66, 1471.8, 545.66, -3.1202, -0.030478, -0.91844], [-75.072, 1485.5, 547.32, -3.1202, -0.030478, -0.91844], [-89.484, 1499.3, 548.98, -3.1202, -0.030478, -0.91844], [-103.9, 1513.1, 550.64, -3.1202, -0.030478, -0.91844], [-118.31, 1526.8, 552.3, -3.1202, -0.030478, -0.91844], [-132.72, 1540.6, 553.96, -3.1202, -0.030478, -0.91844], [-147.13, 1554.4, 555.62, -3.1202, -0.030478, -0.91844], [-161.44, 1568, 557.27, -3.1202, -0.030478, -0.91844], [-174.58, 1580.6, 558.78, -3.1216, -0.031442, -0.87188], [-186.28, 1591.8, 560.13, -3.1231, -0.032338, -0.82532], [-196.54, 1601.6, 561.31, -3.1246, -0.033164, -0.77876], [-205.36, 1610, 562.33, -3.1262, -0.033918, -0.7322], [-212.73, 1617, 563.18, -3.1278, -0.034598, -0.68564], [-218.67, 1622.7, 563.86, -3.1294, -0.035204, -0.63907], [-223.16, 1627, 564.38, -3.1311, -0.035734, -0.5925], [-226.22, 1629.9, 564.73, -3.1327, -0.036186, -0.54593], [-227.83, 1631.5, 564.91, -3.1344, -0.036559, -0.49936], [-228.1, 1631.7, 564.95, -3.1361, -0.036854, -0.45279], [-228.1, 1631.7, 564.95, -3.1378, -0.037059, -0.40854], [-228.1, 1631.7, 564.95, -3.1392, -0.037182, -0.36895], [-228.1, 1631.7, 564.95, -3.1405, -0.037242, -0.33402], [-228.1, 1631.7, 564.95, 3.1415, -0.037257, -0.30375], [-228.1, 1631.7, 564.95, 3.1406, -0.037243, -0.27814], [-228.1, 1631.7, 564.95, 3.1398, -0.037214, -0.25718], [-228.1, 1631.7, 564.95, 3.1392, -0.03718, -0.24088], [-228.1, 1631.7, 564.95, 3.1388, -0.037149, -0.22923], [-228.1, 1631.7, 564.95, 3.1385, -0.037128, -0.22225], [-228.1, 1631.7, 564.95, 3.1384, -0.037122, -0.22006] ] joint_positions_assembled_1 = [[-8.303461, -48.278357, 71.508258, -115.343, 89.659, -5.706]] Pose_2 = [ [-228.1, 1631.7, 372.19, 3.1384, -0.037122, -0.22006], [-228.1, 1631.7, 372.19, 3.1385, -0.037128, -0.22225], [-228.1, 1631.7, 372.19, 3.1388, -0.037149, -0.22923], [-228.1, 1631.7, 372.19, 3.1392, -0.03718, -0.24088], [-228.1, 1631.7, 372.19, 3.1398, -0.037214, -0.25718], [-228.1, 1631.7, 372.19, 3.1406, -0.037243, -0.27814], [-228.1, 1631.7, 372.19, 3.1415, -0.037257, -0.30375], [-228.1, 1631.7, 372.19, -3.1405, -0.037242, -0.33402], [-228.1, 1631.7, 372.19, -3.1392, -0.037182, -0.36895], [-228.1, 1631.7, 372.19, -3.1378, -0.037059, -0.40854], [-228.1, 1631.7, 372.19, -3.1361, -0.036854, -0.45279], [-228.06, 1631.7, 372.2, -3.1344, -0.036559, -0.49936], [-226.98, 1630.7, 372.32, -3.1327, -0.036186, -0.54593], [-224.46, 1628.2, 372.61, -3.1311, -0.035734, -0.5925], [-220.49, 1624.5, 373.07, -3.1294, -0.035204, -0.63907], [-215.09, 1619.3, 373.69, -3.1278, -0.034598, -0.68564], [-208.24, 1612.8, 374.48, -3.1262, -0.033918, -0.7322], [-199.96, 1604.8, 375.43, -3.1246, -0.033164, -0.77876], [-190.23, 1595.5, 376.55, -3.1231, -0.032338, -0.82532], [-179.06, 1584.9, 377.84, -3.1216, -0.031442, -0.87188], [-166.45, 1572.8, 379.29, -3.1202, -0.030478, -0.91844], [-152.44, 1559.5, 380.91, -3.1202, -0.030478, -0.91844], [-138.03, 1545.7, 382.56, -3.1202, -0.030478, -0.91844], [-123.62, 1531.9, 384.22, -3.1202, -0.030478, -0.91844], [-109.21, 1518.2, 385.88, -3.1202, -0.030478, -0.91844], [-94.794, 1504.4, 387.54, -3.1202, -0.030478, -0.91844], [-80.382, 1490.6, 389.2, -3.1202, -0.030478, -0.91844], [-65.971, 1476.8, 390.86, -3.1202, -0.030478, -0.91844], [-51.559, 1463.1, 392.52, -3.1202, -0.030478, -0.91844], [-37.147, 1449.3, 394.18, -3.1202, -0.030478, -0.91844], [-22.735, 1435.5, 395.84, -3.1202, -0.030478, -0.91844], [-8.3231, 1421.8, 397.5, -3.1202, -0.030478, -0.91844], [6.0887, 1408, 399.16, -3.1202, -0.030478, -0.91844], [20.501, 1394.2, 400.82, -3.1202, -0.030478, -0.91844], [34.912, 1380.5, 402.48, -3.1202, -0.030478, -0.91844], [49.324, 1366.7, 404.14, -3.1202, -0.030478, -0.91844], [63.736, 1352.9, 405.8, -3.1202, -0.030478, -0.91844], [78.148, 1339.2, 407.46, -3.1202, -0.030478, -0.91844], [92.56, 1325.4, 409.12, -3.1202, -0.030478, -0.91844], [106.97, 1311.6, 410.78, -3.1202, -0.030478, -0.91844], [124.99, 1294.4, 412.85, -3.1202, -0.030478, -0.91844], [139.4, 1280.7, 414.51, -3.1202, -0.030478, -0.91844], [153.81, 1266.9, 416.17, -3.1202, -0.030478, -0.91844], [168.22, 1253.1, 417.83, -3.1202, -0.030478, -0.91844], [182.63, 1239.4, 419.49, -3.1202, -0.030478, -0.91844], [197.05, 1225.6, 421.15, -3.1202, -0.030478, -0.91844], [211.46, 1211.8, 422.81, -3.1202, -0.030478, -0.91844], [225.87, 1198.1, 424.47, -3.1202, -0.030478, -0.91844], [240.28, 1184.3, 426.13, -3.1202, -0.030478, -0.91844], [254.69, 1170.5, 427.79, -3.1202, -0.030478, -0.91844], [269.11, 1156.8, 429.45, -3.1202, -0.030478, -0.91844], [283.52, 1143, 431.11, -3.1202, -0.030478, -0.91844], [297.93, 1129.2, 432.77, -3.1202, -0.030478, -0.91844], [312.34, 1115.5, 434.43, -3.1202, -0.030478, -0.91844], [326.75, 1101.7, 436.09, -3.1202, -0.030478, -0.91844], [341.16, 1087.9, 437.75, -3.1202, -0.030478, -0.91844], [355.58, 1074.2, 439.41, -3.1202, -0.030478, -0.91844], [369.99, 1060.4, 441.07, -3.1202, -0.030478, -0.91844], [384.4, 1046.6, 442.73, -3.1202, -0.030478, -0.91844], [398.81, 1032.8, 444.39, -3.1202, -0.030478, -0.91844], [413.22, 1019.1, 446.05, -3.1202, -0.030478, -0.91844], [427.63, 1005.3, 447.71, -3.1202, -0.030478, -0.91844], [442.05, 991.54, 449.37, -3.1202, -0.030478, -0.91844], [456.46, 977.78, 451.02, -3.1202, -0.030478, -0.91844], [470.87, 964.01, 452.69, -3.1202, -0.030478, -0.91844], [485.28, 950.24, 454.35, -3.1202, -0.030478, -0.91844], [499.69, 936.47, 456, -3.1202, -0.030478, -0.91844], [514.11, 922.71, 457.66, -3.1202, -0.030478, -0.91844], [528.52, 908.94, 459.32, -3.1202, -0.030478, -0.91844], [542.93, 895.17, 460.98, -3.1202, -0.030478, -0.91844], [557.34, 881.4, 462.64, -3.1202, -0.030478, -0.91844], [571.75, 867.64, 464.3, -3.1202, -0.030478, -0.91844], [586.17, 853.87, 465.96, -3.1202, -0.030478, -0.91844], [600.58, 840.1, 467.62, -3.1202, -0.030478, -0.91844], [614.99, 826.33, 469.28, -3.1202, -0.030478, -0.91844], [629.4, 812.57, 470.94, -3.1202, -0.030478, -0.91844], [643.81, 798.8, 472.6, -3.1202, -0.030478, -0.91844], [658.23, 785.03, 474.26, -3.1202, -0.030478, -0.91844], [672.64, 771.26, 475.92, -3.1202, -0.030478, -0.91844], [687.05, 757.5, 477.58, -3.1202, -0.030478, -0.91844], [701.46, 743.73, 479.24, -3.1202, -0.030478, -0.91844], [715.87, 729.96, 480.9, -3.1202, -0.030478, -0.91844], [730.28, 716.19, 482.56, -3.1202, -0.030478, -0.91844], [744.7, 702.43, 484.22, -3.1202, -0.030478, -0.91844], [759.11, 688.66, 485.88, -3.1202, -0.030478, -0.91844], [773.52, 674.89, 487.54, -3.1202, -0.030478, -0.91844], [787.93, 661.12, 489.2, -3.1202, -0.030478, -0.91844], [802.34, 647.36, 490.86, -3.1202, -0.030478, -0.91844], [816.75, 633.59, 492.52, -3.1202, -0.030478, -0.91844], [831.17, 619.82, 494.18, -3.1202, -0.030478, -0.91844], [845.58, 606.05, 495.84, -3.1202, -0.030478, -0.91844], [859.99, 592.29, 497.5, -3.1202, -0.030478, -0.91844], [874.4, 578.52, 499.15, -3.1202, -0.030478, -0.91844], [888.81, 564.75, 500.81, -3.1202, -0.030478, -0.91844], [903.23, 550.98, 502.47, -3.1202, -0.030478, -0.91844], [917.64, 537.22, 504.13, -3.1202, -0.030478, -0.91844], [932.05, 523.45, 505.79, -3.1202, -0.030478, -0.91844], [946.46, 509.68, 507.45, -3.1202, -0.030478, -0.91844], [960.87, 495.91, 509.11, -3.1202, -0.030478, -0.91844], [975.28, 482.15, 510.77, -3.1202, -0.030478, -0.91844], [989.7, 468.38, 512.43, -3.1202, -0.030478, -0.91844], [1004.1, 454.61, 514.09, -3.1202, -0.030478, -0.91844], [1018.5, 440.84, 515.75, -3.1202, -0.030478, -0.91844], [1032.9, 427.08, 517.41, -3.1202, -0.030478, -0.91844], [1047.3, 413.31, 519.07, -3.1202, -0.030478, -0.91844], [1061.8, 399.54, 520.73, -3.1202, -0.030478, -0.91844], [1076.2, 385.77, 522.39, -3.1202, -0.030478, -0.91844], [1090.6, 372.01, 524.05, -3.1202, -0.030478, -0.91844], [1105, 358.24, 525.71, -3.1202, -0.030478, -0.91844], [1119.4, 344.47, 527.37, -3.1202, -0.030478, -0.91844], [1133.8, 330.7, 529.03, -3.1202, -0.030478, -0.91844], [1148.2, 316.94, 530.69, -3.1202, -0.030478, -0.91844], [1162.6, 303.17, 532.35, -3.1202, -0.030478, -0.91844], [1177, 289.4, 534.01, -3.1202, -0.030478, -0.91844], [1191.5, 275.63, 535.67, -3.1202, -0.030478, -0.91844], [1205.9, 261.87, 537.33, -3.1202, -0.030478, -0.91844], [1223.9, 244.66, 539.4, -3.1202, -0.030478, -0.91844], [1238.3, 230.89, 541.06, -3.1202, -0.030478, -0.91844], [1252.7, 217.12, 542.72, -3.1202, -0.030478, -0.91844], [1267.1, 203.35, 544.38, -3.1202, -0.030478, -0.91844], [1281.5, 189.59, 546.04, -3.1202, -0.030478, -0.91844], [1296, 175.82, 547.7, -3.1202, -0.030478, -0.91844], [1310.4, 162.05, 549.36, -3.1202, -0.030478, -0.91844], [1324.8, 148.28, 551.02, -3.1202, -0.030478, -0.91844], [1339.2, 134.52, 552.68, -3.1202, -0.030478, -0.91844], [1353.6, 120.75, 554.34, -3.1202, -0.030478, -0.91844], [1368, 106.98, 556, -3.1202, -0.030478, -0.91844], [1382.4, 93.214, 557.66, -3.1202, -0.030478, -0.91844], [1396.8, 79.447, 559.32, -3.1202, -0.030478, -0.91844], [1411.2, 65.679, 560.98, -3.1202, -0.030478, -0.91844], [1425.7, 51.912, 562.64, -3.1202, -0.030478, -0.91844], [1440.1, 38.144, 564.3, -3.1202, -0.030478, -0.91844], [1454.5, 24.377, 565.96, -3.1202, -0.030478, -0.91844], [1468.9, 10.609, 567.62, -3.1202, -0.030478, -0.91844], [1483.2, -3.0582, 569.26, -3.1186, -0.029337, -0.96982], [1496.3, -15.613, 570.78, -3.1168, -0.027772, -1.0353], [1508, -26.79, 572.12, -3.1151, -0.026181, -1.0972], [1518.3, -36.591, 573.31, -3.1136, -0.024587, -1.1557], [1527.1, -45.015, 574.32, -3.1123, -0.023012, -1.2107], [1534.5, -52.062, 575.17, -3.1111, -0.021474, -1.2622], [1540.4, -57.733, 575.85, -3.1101, -0.019988, -1.3101], [1544.9, -62.026, 576.37, -3.1093, -0.01857, -1.3546], [1548, -64.943, 576.72, -3.1086, -0.01723, -1.3956], [1549.6, -66.484, 576.91, -3.1079, -0.015979, -1.4331], [1549.9, -66.747, 576.94, -3.1074, -0.014824, -1.4672], [1549.9, -66.747, 576.94, -3.107, -0.013774, -1.4977], [1549.9, -66.747, 576.94, -3.1066, -0.012833, -1.5247], [1549.9, -66.747, 576.94, -3.1063, -0.012005, -1.5483], [1549.9, -66.747, 576.94, -3.1061, -0.011295, -1.5683], [1549.9, -66.747, 576.94, -3.1059, -0.010705, -1.5849], [1549.9, -66.747, 576.94, -3.1058, -0.010237, -1.598], [1549.9, -66.747, 576.94, -3.1057, -0.0098926, -1.6076], [1549.9, -66.747, 576.94, -3.1056, -0.0096731, -1.6137], [1549.9, -66.747, 576.94, -3.1056, -0.0095788, -1.6163], [1549.9, -66.747, 576.94, -3.1056, -0.0095749, -1.6164] ] joint_positions_assembled_2 = [[92.442,-41.967,60.096,-110.133,90.041,11.741]] Pose_3 = [ [1549.9, -66.747, 564.95, 3.1398, 0.034928, -1.5584], [1549.9, -66.747, 564.95, 3.1398, 0.034929, -1.558], [1549.9, -66.747, 564.95, 3.14, 0.034937, -1.5534], [1549.9, -66.747, 564.95, 3.1403, 0.03495, -1.544], [1549.9, -66.747, 564.95, 3.1408, 0.034964, -1.5301], [1549.9, -66.747, 564.95, 3.1415, 0.034973, -1.5114], [1549.9, -66.747, 564.95, -3.1409, 0.034966, -1.4882], [1549.9, -66.747, 564.95, -3.1399, 0.034933, -1.4602], [1549.9, -66.747, 564.95, -3.1388, 0.034861, -1.4276], [1549.9, -66.747, 564.95, -3.1375, 0.034732, -1.3904], [1549.9, -66.747, 564.95, -3.1361, 0.03453, -1.3484], [1549.5, -66.359, 564.95, -3.1345, 0.034239, -1.3025], [1547.7, -64.638, 564.84, -3.1329, 0.03387, -1.2559], [1544.4, -61.541, 564.58, -3.1313, 0.033428, -1.2093], [1539.7, -57.066, 564.14, -3.1298, 0.032914, -1.1628], [1533.6, -51.215, 563.54, -3.1282, 0.032328, -1.1162], [1526, -43.987, 562.77, -3.1268, 0.031672, -1.0696], [1517, -35.383, 561.84, -3.1253, 0.030947, -1.0231], [1506.6, -25.401, 560.74, -3.1239, 0.030156, -0.97652], [1494.7, -14.043, 559.48, -3.1225, 0.029299, -0.92996], [1481.4, -1.3082, 558.05, -3.1212, 0.028379, -0.88341], [1467, 12.416, 556.45, -3.1205, 0.027896, -0.86013], [1452.6, 26.184, 554.79, -3.1205, 0.027896, -0.86013], [1438.2, 39.951, 553.13, -3.1205, 0.027896, -0.86013], [1423.8, 53.719, 551.47, -3.1205, 0.027896, -0.86013], [1409.3, 67.486, 549.81, -3.1205, 0.027896, -0.86013], [1394.9, 81.254, 548.15, -3.1205, 0.027896, -0.86013], [1380.5, 95.021, 546.49, -3.1205, 0.027896, -0.86013], [1366.1, 108.79, 544.84, -3.1205, 0.027896, -0.86013], [1351.7, 122.56, 543.17, -3.1205, 0.027896, -0.86013], [1337.3, 136.32, 541.51, -3.1205, 0.027896, -0.86013], [1322.9, 150.09, 539.86, -3.1205, 0.027896, -0.86013], [1308.5, 163.86, 538.2, -3.1205, 0.027896, -0.86013], [1294.1, 177.63, 536.54, -3.1205, 0.027896, -0.86013], [1279.7, 191.39, 534.88, -3.1205, 0.027896, -0.86013], [1265.2, 205.16, 533.22, -3.1205, 0.027896, -0.86013], [1250.8, 218.93, 531.56, -3.1205, 0.027896, -0.86013], [1236.4, 232.7, 529.9, -3.1205, 0.027896, -0.86013], [1222, 246.46, 528.24, -3.1205, 0.027896, -0.86013], [1204, 263.67, 526.58, -3.1205, 0.027896, -0.86013], [1189.6, 277.44, 524.5, -3.1205, 0.027896, -0.86013], [1175.2, 291.21, 522.84, -3.1205, 0.027896, -0.86013], [1160.8, 304.98, 521.18, -3.1205, 0.027896, -0.86013], [1146.3, 318.74, 519.52, -3.1205, 0.027896, -0.86013], [1131.9, 332.51, 517.87, -3.1205, 0.027896, -0.86013], [1117.5, 346.28, 516.21, -3.1205, 0.027896, -0.86013], [1103.1, 360.05, 514.55, -3.1205, 0.027896, -0.86013], [1088.7, 373.81, 512.89, -3.1205, 0.027896, -0.86013], [1074.3, 387.58, 511.23, -3.1205, 0.027896, -0.86013], [1059.9, 401.35, 509.57, -3.1205, 0.027896, -0.86013], [1045.5, 415.11, 507.91, -3.1205, 0.027896, -0.86013], [1031, 428.88, 506.25, -3.1205, 0.027896, -0.86013], [1016.6, 442.65, 504.59, -3.1205, 0.027896, -0.86013], [1002.2, 456.42, 502.93, -3.1205, 0.027896, -0.86013], [987.8, 470.18, 501.27, -3.1205, 0.027896, -0.86013], [973.39, 483.95, 499.61, -3.1205, 0.027896, -0.86013], [958.98, 497.72, 497.95, -3.1205, 0.027896, -0.86013], [944.57, 511.49, 496.29, -3.1205, 0.027896, -0.86013], [930.16, 525.25, 494.63, -3.1205, 0.027896, -0.86013], [915.75, 539.02, 492.97, -3.1205, 0.027896, -0.86013], [901.33, 552.79, 491.31, -3.1205, 0.027896, -0.86013], [886.92, 566.56, 489.65, -3.1205, 0.027896, -0.86013], [872.51, 580.32, 487.99, -3.1205, 0.027896, -0.86013], [858.1, 594.09, 486.33, -3.1205, 0.027896, -0.86013], [843.69, 607.86, 484.67, -3.1205, 0.027896, -0.86013], [829.27, 621.63, 483.01, -3.1205, 0.027896, -0.86013], [814.86, 635.39, 481.35, -3.1205, 0.027896, -0.86013], [800.45, 649.16, 479.69, -3.1205, 0.027896, -0.86013], [786.04, 662.93, 478.03, -3.1205, 0.027896, -0.86013], [771.63, 676.7, 476.37, -3.1205, 0.027896, -0.86013], [757.22, 690.46, 474.72, -3.1205, 0.027896, -0.86013], [742.8, 704.23, 473.06, -3.1205, 0.027896, -0.86013], [728.39, 718, 471.39, -3.1205, 0.027896, -0.86013], [713.98, 731.77, 469.74, -3.1205, 0.027896, -0.86013], [699.57, 745.53, 468.08, -3.1205, 0.027896, -0.86013], [685.15, 759.3, 466.42, -3.1205, 0.027896, -0.86013], [670.74, 773.07, 464.76, -3.1205, 0.027896, -0.86013], [656.33, 786.84, 463.1, -3.1205, 0.027896, -0.86013], [641.92, 800.6, 461.44, -3.1205, 0.027896, -0.86013], [627.51, 814.37, 459.78, -3.1205, 0.027896, -0.86013], [613.1, 828.14, 458.12, -3.1205, 0.027896, -0.86013], [598.68, 841.91, 456.46, -3.1205, 0.027896, 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[324.86, 1103.5, 424.93, -3.1205, 0.027896, -0.86013], [310.45, 1117.2, 423.27, -3.1205, 0.027896, -0.86013], [296.03, 1131, 421.61, -3.1205, 0.027896, -0.86013], [281.62, 1144.8, 419.95, -3.1205, 0.027896, -0.86013], [267.21, 1158.6, 418.29, -3.1205, 0.027896, -0.86013], [252.8, 1172.3, 416.63, -3.1205, 0.027896, -0.86013], [238.39, 1186.1, 414.97, -3.1205, 0.027896, -0.86013], [223.97, 1199.9, 413.31, -3.1205, 0.027896, -0.86013], [209.56, 1213.6, 411.65, -3.1205, 0.027896, -0.86013], [195.15, 1227.4, 409.99, -3.1205, 0.027896, -0.86013], [180.74, 1241.2, 408.33, -3.1205, 0.027896, -0.86013], [166.33, 1254.9, 406.67, -3.1205, 0.027896, -0.86013], [151.91, 1268.7, 405.01, -3.1205, 0.027896, -0.86013], [137.5, 1282.5, 403.35, -3.1205, 0.027896, -0.86013], [123.09, 1296.2, 401.69, -3.1205, 0.027896, -0.86013], [105.08, 1313.4, 400.03, -3.1205, 0.027896, -0.86013], [90.665, 1327.2, 397.96, -3.1205, 0.027896, -0.86013], [76.253, 1341, 396.3, -3.1205, 0.027896, -0.86013], [61.841, 1354.7, 394.64, -3.1205, 0.027896, -0.86013], [47.429, 1368.5, 392.98, -3.1205, 0.027896, -0.86013], [33.017, 1382.3, 391.32, -3.1205, 0.027896, -0.86013], [18.605, 1396, 389.66, -3.1205, 0.027896, -0.86013], [4.1933, 1409.8, 388, -3.1205, 0.027896, -0.86013], [-10.219, 1423.6, 386.34, -3.1205, 0.027896, -0.86013], [-24.631, 1437.3, 384.68, -3.1205, 0.027896, -0.86013], [-39.042, 1451.1, 383.02, -3.1205, 0.027896, -0.86013], [-53.454, 1464.9, 381.36, -3.1205, 0.027896, -0.86013], [-67.866, 1478.7, 379.7, -3.1205, 0.027896, -0.86013], [-82.278, 1492.4, 378.04, -3.1205, 0.027896, -0.86013], [-96.69, 1506.2, 376.38, -3.1205, 0.027896, -0.86013], [-111.1, 1520, 374.72, -3.1205, 0.027896, -0.86013], [-125.51, 1533.7, 373.06, -3.1205, 0.027896, -0.86013], [-139.93, 1547.5, 371.4, -3.1205, 0.027896, -0.86013], [-154.34, 1561.3, 369.74, -3.1205, 0.027896, -0.86013], [-168.19, 1574.5, 368.09, -3.12, 0.027526, -0.84279], [-180.61, 1586.3, 366.55, -3.1182, 0.026015, -0.77558], [-191.59, 1596.8, 365.18, -3.1166, 0.024474, -0.71188], [-201.13, 1606, 363.98, -3.1152, 0.022926, -0.65167], [-209.23, 1613.7, 362.94, -3.1139, 0.021392, -0.59495], [-215.88, 1620, 362.07, -3.1128, 0.01989, -0.54173], [-221.1, 1625, 361.37, -3.1119, 0.018435, -0.492], [-224.87, 1628.6, 360.83, -3.1111, 0.017042, -0.44576], [-227.2, 1630.9, 360.45, -3.1103, 0.01572, -0.40302], [-228.09, 1631.7, 360.25, -3.1098, 0.014482, -0.36376], [-228.1, 1631.7, 360.2, -3.1093, 0.013334, -0.328], [-228.1, 1631.7, 360.2, -3.1088, 0.012284, -0.29572], [-228.1, 1631.7, 360.2, -3.1085, 0.011336, -0.26694], [-228.1, 1631.7, 360.2, -3.1082, 0.010495, -0.24164], [-228.1, 1631.7, 360.2, -3.108, 0.0097651, -0.21984], [-228.1, 1631.7, 360.2, -3.1078, 0.0091482, -0.20152], [-228.1, 1631.7, 360.2, -3.1077, 0.0086465, -0.18669], [-228.1, 1631.7, 360.2, -3.1076, 0.0082616, -0.17536], [-228.1, 1631.7, 360.2, -3.1075, 0.0079945, -0.16751], [-228.1, 1631.7, 360.2, -3.1075, 0.0078459, -0.16315], [-228.1, 1631.7, 360.2, -3.1075, 0.0078124, -0.16216] ] joint_positions_assembled_3 = [[-8.437,-52.830,64.769,-101.519,91.959,-9.155]] Pose_4 = [ [-228.1, 1631.7, 564.95, -3.1075, 0.0078124, -0.16216], [-228.1, 1631.7, 564.95, -3.1075, 0.0078459, -0.16315], [-228.1, 1631.7, 564.95, -3.1075, 0.0079945, -0.16751], [-228.1, 1631.7, 564.95, -3.1076, 0.0082616, -0.17536], [-228.1, 1631.7, 564.95, -3.1077, 0.0086465, -0.18669], [-228.1, 1631.7, 564.95, -3.1078, 0.0091482, -0.20152], [-228.1, 1631.7, 564.95, -3.108, 0.0097651, -0.21984], [-228.1, 1631.7, 564.95, -3.1082, 0.010495, -0.24164], [-228.1, 1631.7, 564.95, -3.1085, 0.011336, -0.26694], [-228.1, 1631.7, 564.95, -3.1088, 0.012284, -0.29572], [-228.1, 1631.7, 564.95, -3.1093, 0.013334, -0.328], [-228.09, 1631.7, 564.95, -3.1098, 0.014482, -0.36376], [-227.2, 1630.9, 564.84, -3.1103, 0.01572, -0.40302], [-224.87, 1628.6, 564.58, -3.1111, 0.017042, -0.44576], [-221.1, 1625, 564.14, -3.1119, 0.018435, -0.492], [-215.88, 1620, 563.54, -3.1128, 0.01989, -0.54173], [-209.23, 1613.7, 562.77, -3.1139, 0.021392, -0.59495], [-201.13, 1606, 561.84, -3.1152, 0.022926, -0.65167], [-191.59, 1596.8, 560.74, -3.1166, 0.024474, -0.71188], [-180.61, 1586.3, 559.48, -3.1182, 0.026015, -0.77558], [-168.19, 1574.5, 558.05, -3.12, 0.027526, -0.84279], [-154.34, 1561.3, 556.45, -3.1205, 0.027896, -0.86013], [-139.93, 1547.5, 554.79, -3.1205, 0.027896, -0.86013], [-125.51, 1533.7, 553.13, -3.1205, 0.027896, -0.86013], [-111.1, 1520, 551.47, -3.1205, 0.027896, -0.86013], [-96.69, 1506.2, 549.81, -3.1205, 0.027896, -0.86013], [-82.278, 1492.4, 548.15, -3.1205, 0.027896, -0.86013], [-67.866, 1478.7, 546.49, -3.1205, 0.027896, -0.86013], [-53.454, 1464.9, 544.84, -3.1205, 0.027896, -0.86013], [-39.042, 1451.1, 543.17, -3.1205, 0.027896, -0.86013], [-24.631, 1437.3, 541.51, -3.1205, 0.027896, -0.86013], [-10.219, 1423.6, 539.86, -3.1205, 0.027896, -0.86013], [4.1933, 1409.8, 538.2, -3.1205, 0.027896, -0.86013], [18.605, 1396, 536.54, -3.1205, 0.027896, -0.86013], [33.017, 1382.3, 534.88, -3.1205, 0.027896, -0.86013], [47.429, 1368.5, 533.22, -3.1205, 0.027896, -0.86013], [61.841, 1354.7, 531.56, -3.1205, 0.027896, -0.86013], [76.253, 1341, 529.9, -3.1205, 0.027896, -0.86013], [90.665, 1327.2, 528.24, -3.1205, 0.027896, -0.86013], [105.08, 1313.4, 526.58, -3.1205, 0.027896, -0.86013], [123.09, 1296.2, 524.5, -3.1205, 0.027896, -0.86013], [137.5, 1282.5, 522.84, -3.1205, 0.027896, -0.86013], [151.91, 1268.7, 521.18, -3.1205, 0.027896, -0.86013], [166.33, 1254.9, 519.52, -3.1205, 0.027896, -0.86013], [180.74, 1241.2, 517.87, -3.1205, 0.027896, -0.86013], [195.15, 1227.4, 516.21, -3.1205, 0.027896, -0.86013], [209.56, 1213.6, 514.55, -3.1205, 0.027896, -0.86013], [223.97, 1199.9, 512.89, -3.1205, 0.027896, -0.86013], [238.39, 1186.1, 511.23, -3.1205, 0.027896, -0.86013], [252.8, 1172.3, 509.57, -3.1205, 0.027896, -0.86013], [267.21, 1158.6, 507.91, -3.1205, 0.027896, -0.86013], [281.62, 1144.8, 506.25, -3.1205, 0.027896, -0.86013], [296.03, 1131, 504.59, -3.1205, 0.027896, -0.86013], [310.45, 1117.2, 502.93, -3.1205, 0.027896, -0.86013], [324.86, 1103.5, 501.27, -3.1205, 0.027896, -0.86013], [339.27, 1089.7, 499.61, -3.1205, 0.027896, -0.86013], [353.68, 1076, 497.95, -3.1205, 0.027896, -0.86013], [368.09, 1062.2, 496.29, -3.1205, 0.027896, -0.86013], [382.5, 1048.4, 494.63, -3.1205, 0.027896, -0.86013], [396.92, 1034.7, 492.97, -3.1205, 0.027896, -0.86013], [411.33, 1020.9, 491.31, -3.1205, 0.027896, -0.86013], [425.74, 1007.1, 489.65, -3.1205, 0.027896, -0.86013], [440.15, 993.35, 487.99, -3.1205, 0.027896, -0.86013], [454.56, 979.58, 486.33, -3.1205, 0.027896, -0.86013], [468.98, 965.81, 484.67, -3.1205, 0.027896, -0.86013], [483.39, 952.04, 483.01, -3.1205, 0.027896, -0.86013], [497.8, 938.28, 481.35, -3.1205, 0.027896, -0.86013], [512.21, 924.51, 479.69, -3.1205, 0.027896, -0.86013], [526.62, 910.74, 478.03, -3.1205, 0.027896, -0.86013], [541.04, 896.98, 476.37, -3.1205, 0.027896, -0.86013], [555.45, 883.21, 474.72, -3.1205, 0.027896, -0.86013], [569.86, 869.44, 473.06, -3.1205, 0.027896, -0.86013], [584.27, 855.67, 471.39, -3.1205, 0.027896, -0.86013], [598.68, 841.91, 469.74, -3.1205, 0.027896, -0.86013], [613.1, 828.14, 468.08, -3.1205, 0.027896, -0.86013], [627.51, 814.37, 466.42, -3.1205, 0.027896, -0.86013], [641.92, 800.6, 464.76, -3.1205, 0.027896, -0.86013], [656.33, 786.84, 463.1, -3.1205, 0.027896, -0.86013], [670.74, 773.07, 461.44, -3.1205, 0.027896, -0.86013], [685.15, 759.3, 459.78, -3.1205, 0.027896, -0.86013], [699.57, 745.53, 458.12, -3.1205, 0.027896, -0.86013], [713.98, 731.77, 456.46, -3.1205, 0.027896, -0.86013], [728.39, 718, 454.8, -3.1205, 0.027896, -0.86013], [742.8, 704.23, 453.14, -3.1205, 0.027896, -0.86013], [757.22, 690.46, 451.48, -3.1205, 0.027896, -0.86013], [771.63, 676.7, 449.82, -3.1205, 0.027896, -0.86013], [786.04, 662.93, 448.16, -3.1205, 0.027896, -0.86013], [800.45, 649.16, 446.5, -3.1205, 0.027896, -0.86013], [814.86, 635.39, 444.84, -3.1205, 0.027896, -0.86013], [829.27, 621.63, 443.18, -3.1205, 0.027896, -0.86013], [843.69, 607.86, 441.52, -3.1205, 0.027896, -0.86013], [858.1, 594.09, 439.86, -3.1205, 0.027896, -0.86013], [872.51, 580.32, 438.2, -3.1205, 0.027896, -0.86013], [886.92, 566.56, 436.54, -3.1205, 0.027896, -0.86013], [901.33, 552.79, 434.88, -3.1205, 0.027896, -0.86013], [915.75, 539.02, 433.22, -3.1205, 0.027896, -0.86013], [930.16, 525.25, 431.56, -3.1205, 0.027896, -0.86013], [944.57, 511.49, 429.9, -3.1205, 0.027896, -0.86013], [958.98, 497.72, 428.25, -3.1205, 0.027896, -0.86013], [973.39, 483.95, 426.58, -3.1205, 0.027896, -0.86013], [987.8, 470.18, 424.93, -3.1205, 0.027896, -0.86013], [1002.2, 456.42, 423.27, -3.1205, 0.027896, -0.86013], [1016.6, 442.65, 421.61, -3.1205, 0.027896, -0.86013], [1031, 428.88, 419.95, -3.1205, 0.027896, -0.86013], [1045.5, 415.11, 418.29, -3.1205, 0.027896, -0.86013], [1059.9, 401.35, 416.63, -3.1205, 0.027896, -0.86013], [1074.3, 387.58, 414.97, -3.1205, 0.027896, -0.86013], [1088.7, 373.81, 413.31, -3.1205, 0.027896, -0.86013], [1103.1, 360.05, 411.65, -3.1205, 0.027896, -0.86013], [1117.5, 346.28, 409.99, -3.1205, 0.027896, -0.86013], [1131.9, 332.51, 408.33, -3.1205, 0.027896, -0.86013], [1146.3, 318.74, 406.67, -3.1205, 0.027896, -0.86013], [1160.8, 304.98, 405.01, -3.1205, 0.027896, -0.86013], [1175.2, 291.21, 403.35, -3.1205, 0.027896, -0.86013], [1189.6, 277.44, 401.69, -3.1205, 0.027896, -0.86013], [1204, 263.67, 400.03, -3.1205, 0.027896, -0.86013], [1222, 246.46, 397.96, -3.1205, 0.027896, -0.86013], [1236.4, 232.7, 396.3, -3.1205, 0.027896, -0.86013], [1250.8, 218.93, 394.64, -3.1205, 0.027896, -0.86013], [1265.2, 205.16, 392.98, -3.1205, 0.027896, -0.86013], [1279.7, 191.39, 391.32, -3.1205, 0.027896, -0.86013], [1294.1, 177.63, 389.66, -3.1205, 0.027896, -0.86013], [1308.5, 163.86, 388, -3.1205, 0.027896, -0.86013], [1322.9, 150.09, 386.34, -3.1205, 0.027896, -0.86013], [1337.3, 136.32, 384.68, -3.1205, 0.027896, -0.86013], [1351.7, 122.56, 383.02, -3.1205, 0.027896, -0.86013], [1366.1, 108.79, 381.36, -3.1205, 0.027896, -0.86013], [1380.5, 95.021, 379.7, -3.1205, 0.027896, -0.86013], [1394.9, 81.254, 378.04, -3.1205, 0.027896, -0.86013], [1409.3, 67.486, 376.38, -3.1205, 0.027896, -0.86013], [1423.8, 53.719, 374.72, -3.1205, 0.027896, -0.86013], [1438.2, 39.951, 373.06, -3.1205, 0.027896, -0.86013], [1452.6, 26.184, 371.4, -3.1205, 0.027896, -0.86013], [1467, 12.416, 369.74, -3.1205, 0.027896, -0.86013], [1481.4, -1.3082, 368.09, -3.1212, 0.028379, -0.88341], [1494.7, -14.043, 366.55, -3.1225, 0.029299, -0.92996], [1506.6, -25.401, 365.18, -3.1239, 0.030156, -0.97652], [1517, -35.383, 363.98, -3.1253, 0.030947, -1.0231], [1526, -43.987, 362.94, -3.1268, 0.031672, -1.0696], [1533.6, -51.215, 362.07, -3.1282, 0.032328, -1.1162], [1539.7, -57.066, 361.37, -3.1298, 0.032914, -1.1628], [1544.4, -61.541, 360.83, -3.1313, 0.033428, -1.2093], [1547.7, -64.638, 360.45, -3.1329, 0.03387, -1.2559], [1549.5, -66.359, 360.25, -3.1345, 0.034239, -1.3025], [1549.9, -66.747, 360.2, -3.1361, 0.03453, -1.3484], [1549.9, -66.747, 360.2, -3.1375, 0.034732, -1.3904], [1549.9, -66.747, 360.2, -3.1388, 0.034861, -1.4276], [1549.9, -66.747, 360.2, -3.1399, 0.034933, -1.4602], [1549.9, -66.747, 360.2, -3.1409, 0.034966, -1.4882], [1549.9, -66.747, 360.2, 3.1415, 0.034973, -1.5114], [1549.9, -66.747, 360.2, 3.1408, 0.034964, -1.5301], [1549.9, -66.747, 360.2, 3.1403, 0.03495, -1.544], [1549.9, -66.747, 360.2, 3.14, 0.034937, -1.5534], [1549.9, -66.747, 360.2, 3.1398, 0.034929, -1.558], [1549.9, -66.747, 360.2, 3.1398, 0.034928, -1.5584] ] joint_positions_assembled_4 = [[92.553,-45.178,53.196,-97.284,97.995,15.177]]