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Huangjiabao_backup/kelaifen/Kelaifen_V6.0/trajectory_data.py

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Pose_1 = [
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joint_positions_assembled_1 = [[-8.303461, -48.278357, 71.508258, -115.343, 89.659, -5.706]]
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[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, 576.94, 3.1398, 0.034928, -1.5584],
[1549.9, -66.747, 576.94, 3.1398, 0.034929, -1.558],
[1549.9, -66.747, 576.94, 3.14, 0.034937, -1.5534],
[1549.9, -66.747, 576.94, 3.1403, 0.03495, -1.544],
[1549.9, -66.747, 576.94, 3.1408, 0.034964, -1.5301],
[1549.9, -66.747, 576.94, 3.1415, 0.034973, -1.5114],
[1549.9, -66.747, 576.94, -3.1409, 0.034966, -1.4882],
[1549.9, -66.747, 576.94, -3.1399, 0.034933, -1.4602],
[1549.9, -66.747, 576.94, -3.1388, 0.034861, -1.4276],
[1549.9, -66.747, 576.94, -3.1375, 0.034732, -1.3904],
[1549.9, -66.747, 576.94, -3.1361, 0.03453, -1.3484],
[1549.9, -66.737, 576.94, -3.1345, 0.034239, -1.3025],
[1549, -65.885, 576.84, -3.1329, 0.03387, -1.2559],
[1546.6, -63.657, 576.57, -3.1313, 0.033428, -1.2093],
[1542.9, -60.051, 576.13, -3.1298, 0.032914, -1.1628],
[1537.6, -55.069, 575.53, -3.1282, 0.032328, -1.1162],
[1531, -48.711, 574.77, -3.1268, 0.031672, -1.0696],
[1522.9, -40.975, 573.83, -3.1253, 0.030947, -1.0231],
[1513.3, -31.862, 572.74, -3.1239, 0.030156, -0.97652],
[1502.4, -21.373, 571.47, -3.1225, 0.029299, -0.92996],
[1490, -9.5074, 570.04, -3.1212, 0.028379, -0.88341],
[1476.1, 3.7255, 568.44, -3.1205, 0.027896, -0.86013],
[1461.7, 17.493, 566.79, -3.1205, 0.027896, -0.86013],
[1447.3, 31.261, 565.13, -3.1205, 0.027896, -0.86013],
[1432.9, 45.028, 563.47, -3.1205, 0.027896, -0.86013],
[1418.5, 58.796, 561.81, -3.1205, 0.027896, -0.86013],
[1404, 72.563, 560.15, -3.1205, 0.027896, -0.86013],
[1389.6, 86.331, 558.49, -3.1205, 0.027896, -0.86013],
[1375.2, 100.1, 556.83, -3.1205, 0.027896, -0.86013],
[1360.8, 113.87, 555.17, -3.1205, 0.027896, -0.86013],
[1346.4, 127.63, 553.51, -3.1205, 0.027896, -0.86013],
[1332, 141.4, 551.85, -3.1205, 0.027896, -0.86013],
[1317.6, 155.17, 550.19, -3.1205, 0.027896, -0.86013],
[1303.2, 168.94, 548.53, -3.1205, 0.027896, -0.86013],
[1288.7, 182.7, 546.87, -3.1205, 0.027896, -0.86013],
[1274.3, 196.47, 545.21, -3.1205, 0.027896, -0.86013],
[1259.9, 210.24, 543.55, -3.1205, 0.027896, -0.86013],
[1245.5, 224.01, 541.89, -3.1205, 0.027896, -0.86013],
[1231.1, 237.77, 540.23, -3.1205, 0.027896, -0.86013],
[1216.7, 251.54, 538.57, -3.1205, 0.027896, -0.86013],
[1198.7, 268.75, 536.5, -3.1205, 0.027896, -0.86013],
[1184.3, 282.52, 534.84, -3.1205, 0.027896, -0.86013],
[1169.8, 296.29, 533.18, -3.1205, 0.027896, -0.86013],
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[1141, 323.82, 529.86, -3.1205, 0.027896, -0.86013],
[1126.6, 337.59, 528.2, -3.1205, 0.027896, -0.86013],
[1112.2, 351.36, 526.54, -3.1205, 0.027896, -0.86013],
[1097.8, 365.12, 524.88, -3.1205, 0.027896, -0.86013],
[1083.4, 378.89, 523.22, -3.1205, 0.027896, -0.86013],
[1069, 392.66, 521.56, -3.1205, 0.027896, -0.86013],
[1054.5, 406.43, 519.9, -3.1205, 0.027896, -0.86013],
[1040.1, 420.19, 518.24, -3.1205, 0.027896, -0.86013],
[1025.7, 433.96, 516.58, -3.1205, 0.027896, -0.86013],
[1011.3, 447.73, 514.92, -3.1205, 0.027896, -0.86013],
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[982.49, 475.26, 511.6, -3.1205, 0.027896, -0.86013],
[968.08, 489.03, 509.94, -3.1205, 0.027896, -0.86013],
[953.67, 502.8, 508.28, -3.1205, 0.027896, -0.86013],
[939.26, 516.57, 506.62, -3.1205, 0.027896, -0.86013],
[924.84, 530.33, 504.96, -3.1205, 0.027896, -0.86013],
[910.43, 544.1, 503.3, -3.1205, 0.027896, -0.86013],
[896.02, 557.87, 501.64, -3.1205, 0.027896, -0.86013],
[881.61, 571.63, 499.99, -3.1205, 0.027896, -0.86013],
[867.2, 585.4, 498.32, -3.1205, 0.027896, -0.86013],
[852.78, 599.17, 496.66, -3.1205, 0.027896, -0.86013],
[838.37, 612.94, 495.01, -3.1205, 0.027896, -0.86013],
[823.96, 626.71, 493.35, -3.1205, 0.027896, -0.86013],
[809.55, 640.47, 491.69, -3.1205, 0.027896, -0.86013],
[795.14, 654.24, 490.03, -3.1205, 0.027896, -0.86013],
[780.73, 668.01, 488.37, -3.1205, 0.027896, -0.86013],
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[751.9, 695.54, 485.05, -3.1205, 0.027896, -0.86013],
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[622.2, 819.45, 470.11, -3.1205, 0.027896, -0.86013],
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[593.37, 846.99, 466.79, -3.1205, 0.027896, -0.86013],
[578.96, 860.75, 465.13, -3.1205, 0.027896, -0.86013],
[564.55, 874.52, 463.47, -3.1205, 0.027896, -0.86013],
[550.14, 888.29, 461.81, -3.1205, 0.027896, -0.86013],
[535.72, 902.05, 460.15, -3.1205, 0.027896, -0.86013],
[521.31, 915.82, 458.49, -3.1205, 0.027896, -0.86013],
[506.9, 929.59, 456.83, -3.1205, 0.027896, -0.86013],
[492.49, 943.36, 455.17, -3.1205, 0.027896, -0.86013],
[478.08, 957.12, 453.51, -3.1205, 0.027896, -0.86013],
[463.67, 970.89, 451.86, -3.1205, 0.027896, -0.86013],
[449.25, 984.66, 450.19, -3.1205, 0.027896, -0.86013],
[434.84, 998.43, 448.54, -3.1205, 0.027896, -0.86013],
[420.43, 1012.2, 446.88, -3.1205, 0.027896, -0.86013],
[406.02, 1026, 445.22, -3.1205, 0.027896, -0.86013],
[391.61, 1039.7, 443.56, -3.1205, 0.027896, -0.86013],
[377.19, 1053.5, 441.9, -3.1205, 0.027896, -0.86013],
[362.78, 1067.3, 440.24, -3.1205, 0.027896, -0.86013],
[348.37, 1081, 438.58, -3.1205, 0.027896, -0.86013],
[333.96, 1094.8, 436.92, -3.1205, 0.027896, -0.86013],
[319.55, 1108.6, 435.26, -3.1205, 0.027896, -0.86013],
[305.13, 1122.3, 433.6, -3.1205, 0.027896, -0.86013],
[290.72, 1136.1, 431.94, -3.1205, 0.027896, -0.86013],
[276.31, 1149.9, 430.28, -3.1205, 0.027896, -0.86013],
[261.9, 1163.6, 428.62, -3.1205, 0.027896, -0.86013],
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[233.07, 1191.2, 425.3, -3.1205, 0.027896, -0.86013],
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[204.25, 1218.7, 421.98, -3.1205, 0.027896, -0.86013],
[189.84, 1232.5, 420.32, -3.1205, 0.027896, -0.86013],
[175.43, 1246.2, 418.66, -3.1205, 0.027896, -0.86013],
[161.02, 1260, 417, -3.1205, 0.027896, -0.86013],
[146.6, 1273.8, 415.34, -3.1205, 0.027896, -0.86013],
[132.19, 1287.5, 413.68, -3.1205, 0.027896, -0.86013],
[117.78, 1301.3, 412.02, -3.1205, 0.027896, -0.86013],
[99.766, 1318.5, 409.95, -3.1205, 0.027896, -0.86013],
[85.354, 1332.3, 408.29, -3.1205, 0.027896, -0.86013],
[70.942, 1346.1, 406.63, -3.1205, 0.027896, -0.86013],
[56.53, 1359.8, 404.97, -3.1205, 0.027896, -0.86013],
[42.118, 1373.6, 403.31, -3.1205, 0.027896, -0.86013],
[27.706, 1387.4, 401.65, -3.1205, 0.027896, -0.86013],
[13.295, 1401.1, 399.99, -3.1205, 0.027896, -0.86013],
[-1.1172, 1414.9, 398.33, -3.1205, 0.027896, -0.86013],
[-15.529, 1428.7, 396.67, -3.1205, 0.027896, -0.86013],
[-29.941, 1442.4, 395.01, -3.1205, 0.027896, -0.86013],
[-44.353, 1456.2, 393.35, -3.1205, 0.027896, -0.86013],
[-58.765, 1470, 391.69, -3.1205, 0.027896, -0.86013],
[-73.176, 1483.7, 390.03, -3.1205, 0.027896, -0.86013],
[-87.588, 1497.5, 388.37, -3.1205, 0.027896, -0.86013],
[-102, 1511.3, 386.71, -3.1205, 0.027896, -0.86013],
[-116.41, 1525, 385.05, -3.1205, 0.027896, -0.86013],
[-130.82, 1538.8, 383.39, -3.1205, 0.027896, -0.86013],
[-145.24, 1552.6, 381.74, -3.1205, 0.027896, -0.86013],
[-159.6, 1566.3, 380.08, -3.12, 0.027526, -0.84279],
[-172.93, 1579, 378.55, -3.1182, 0.026015, -0.77558],
[-184.82, 1590.4, 377.18, -3.1166, 0.024474, -0.71188],
[-195.27, 1600.4, 375.97, -3.1152, 0.022926, -0.65167],
[-204.28, 1609, 374.94, -3.1139, 0.021392, -0.59495],
[-211.84, 1616.2, 374.06, -3.1128, 0.01989, -0.54173],
[-217.97, 1622, 373.36, -3.1119, 0.018435, -0.492],
[-222.65, 1626.5, 372.82, -3.1111, 0.017042, -0.44576],
[-225.9, 1629.6, 372.45, -3.1103, 0.01572, -0.40302],
[-227.7, 1631.3, 372.24, -3.1098, 0.014482, -0.36376],
[-228.1, 1631.7, 372.19, -3.1093, 0.013334, -0.328],
[-228.1, 1631.7, 372.19, -3.1088, 0.012284, -0.29572],
[-228.1, 1631.7, 372.19, -3.1085, 0.011336, -0.26694],
[-228.1, 1631.7, 372.19, -3.1082, 0.010495, -0.24164],
[-228.1, 1631.7, 372.19, -3.108, 0.0097651, -0.21984],
[-228.1, 1631.7, 372.19, -3.1078, 0.0091482, -0.20152],
[-228.1, 1631.7, 372.19, -3.1077, 0.0086465, -0.18669],
[-228.1, 1631.7, 372.19, -3.1076, 0.0082616, -0.17536],
[-228.1, 1631.7, 372.19, -3.1075, 0.0079945, -0.16751],
[-228.1, 1631.7, 372.19, -3.1075, 0.0078459, -0.16315],
[-228.1, 1631.7, 372.19, -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]]