Add files using upload-large-folder tool

episode_0029/servo_data.json

@@ -0,0 +1 @@
+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0145, "i": 0, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.0679, "i": 1, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.1149, "i": 2, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.1609, "i": 3, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.2164, "i": 4, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.2631, "i": 5, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 0.4}}, {"t": 0.311, "i": 6, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 0.4}}, {"t": 0.3574, "i": 7, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 0.4}}, {"t": 0.4013, "i": 8, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 0.4}}, {"t": 0.4474, "i": 9, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.0, "gripper.pos": 0.4}}, {"t": 0.493, "i": 10, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -5.9, "gripper.pos": 0.4}}, {"t": 0.54, "i": 11, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.0, "gripper.pos": 0.4}}, {"t": 0.5853, "i": 12, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -5.9, "gripper.pos": 0.4}}, {"t": 0.629, "i": 13, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -5.9, "gripper.pos": 0.4}}, {"t": 0.6799, "i": 14, "pos": {"shoulder_pan.pos": -6.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -5.9, "gripper.pos": 0.4}}, {"t": 0.7322, "i": 15, "pos": {"shoulder_pan.pos": -6.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -5.8, "gripper.pos": 0.4}}, {"t": 0.7811, "i": 16, "pos": {"shoulder_pan.pos": -7.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -5.6, "gripper.pos": 0.4}}, {"t": 0.8253, "i": 17, "pos": {"shoulder_pan.pos": -8.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -4.9, "gripper.pos": 0.4}}, {"t": 0.8794, "i": 18, "pos": {"shoulder_pan.pos": -11.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.0, "wrist_roll.pos": -3.9, "gripper.pos": 0.4}}, {"t": 0.9259, "i": 19, "pos": {"shoulder_pan.pos": -14.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 73.9, "wrist_roll.pos": -2.0, "gripper.pos": 0.4}}, {"t": 0.9742, "i": 20, "pos": {"shoulder_pan.pos": -15.5, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 91.8, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.8, "gripper.pos": 0.4}}, {"t": 1.0186, "i": 21, "pos": {"shoulder_pan.pos": -16.9, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 91.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.5, "gripper.pos": 0.4}}, {"t": 1.0709, "i": 22, "pos": {"shoulder_pan.pos": -18.0, "shoulder_lift.pos": -98.9, "elbow_flex.pos": 91.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": 1.9, "gripper.pos": 0.4}}, {"t": 1.1204, "i": 23, "pos": {"shoulder_pan.pos": -18.8, "shoulder_lift.pos": -98.8, "elbow_flex.pos": 91.3, "wrist_flex.pos": 73.9, "wrist_roll.pos": 3.1, "gripper.pos": 0.4}}, {"t": 1.1686, "i": 24, "pos": {"shoulder_pan.pos": -19.4, "shoulder_lift.pos": -97.3, "elbow_flex.pos": 91.2, "wrist_flex.pos": 72.5, "wrist_roll.pos": 5.2, "gripper.pos": 0.4}}, {"t": 1.2181, "i": 25, "pos": {"shoulder_pan.pos": -20.0, "shoulder_lift.pos": -95.1, "elbow_flex.pos": 91.2, "wrist_flex.pos": 69.9, "wrist_roll.pos": 6.2, "gripper.pos": 0.4}}, {"t": 1.2628, "i": 26, "pos": {"shoulder_pan.pos": -20.1, "shoulder_lift.pos": -91.9, "elbow_flex.pos": 91.0, "wrist_flex.pos": 66.4, "wrist_roll.pos": 7.4, "gripper.pos": 0.4}}, {"t": 1.3157, "i": 27, "pos": {"shoulder_pan.pos": -20.1, "shoulder_lift.pos": -87.5, "elbow_flex.pos": 89.7, "wrist_flex.pos": 63.7, "wrist_roll.pos": 8.8, "gripper.pos": 0.4}}, {"t": 1.3662, "i": 28, "pos": {"shoulder_pan.pos": -20.1, "shoulder_lift.pos": -82.5, "elbow_flex.pos": 87.9, "wrist_flex.pos": 61.4, "wrist_roll.pos": 10.2, "gripper.pos": 0.4}}, {"t": 1.4159, "i": 29, "pos": {"shoulder_pan.pos": -20.1, "shoulder_lift.pos": -72.3, "elbow_flex.pos": 82.0, "wrist_flex.pos": 57.6, "wrist_roll.pos": 12.4, "gripper.pos": 0.4}}, {"t": 1.4656, "i": 30, "pos": {"shoulder_pan.pos": -20.1, "shoulder_lift.pos": -67.8, "elbow_flex.pos": 78.3, "wrist_flex.pos": 57.4, "wrist_roll.pos": 13.1, "gripper.pos": 0.4}}, {"t": 1.5109, "i": 31, "pos": {"shoulder_pan.pos": -20.2, "shoulder_lift.pos": -63.7, "elbow_flex.pos": 74.3, "wrist_flex.pos": 57.5, "wrist_roll.pos": 13.7, "gripper.pos": 0.4}}, {"t": 1.5583, "i": 32, "pos": {"shoulder_pan.pos": -20.2, "shoulder_lift.pos": -60.1, "elbow_flex.pos": 70.5, "wrist_flex.pos": 57.7, "wrist_roll.pos": 13.9, "gripper.pos": 0.4}}, {"t": 1.608, "i": 33, "pos": {"shoulder_pan.pos": -20.2, "shoulder_lift.pos": -57.0, "elbow_flex.pos": 66.9, "wrist_flex.pos": 59.1, "wrist_roll.pos": 14.7, "gripper.pos": 0.4}}, {"t": 1.6538, "i": 34, "pos": {"shoulder_pan.pos": -20.2, "shoulder_lift.pos": -54.2, "elbow_flex.pos": 63.3, "wrist_flex.pos": 61.3, "wrist_roll.pos": 16.3, "gripper.pos": 0.4}}, {"t": 1.6966, "i": 35, "pos": {"shoulder_pan.pos": -21.8, "shoulder_lift.pos": -50.5, "elbow_flex.pos": 56.8, "wrist_flex.pos": 66.4, "wrist_roll.pos": 20.0, "gripper.pos": 0.4}}, {"t": 1.748, "i": 36, "pos": {"shoulder_pan.pos": -23.1, "shoulder_lift.pos": -49.1, "elbow_flex.pos": 53.9, "wrist_flex.pos": 69.5, "wrist_roll.pos": 21.5, "gripper.pos": 0.4}}, {"t": 1.7942, "i": 37, "pos": {"shoulder_pan.pos": -24.5, "shoulder_lift.pos": -48.1, "elbow_flex.pos": 51.2, "wrist_flex.pos": 72.6, "wrist_roll.pos": 22.9, "gripper.pos": 0.4}}, {"t": 1.8378, "i": 38, "pos": {"shoulder_pan.pos": -25.9, "shoulder_lift.pos": -47.1, "elbow_flex.pos": 48.5, "wrist_flex.pos": 75.6, "wrist_roll.pos": 24.0, "gripper.pos": 0.4}}, {"t": 1.8809, "i": 39, "pos": {"shoulder_pan.pos": -27.2, "shoulder_lift.pos": -46.2, "elbow_flex.pos": 46.1, "wrist_flex.pos": 78.6, "wrist_roll.pos": 25.2, "gripper.pos": 0.4}}, {"t": 1.9251, "i": 40, "pos": {"shoulder_pan.pos": -28.6, "shoulder_lift.pos": -45.5, "elbow_flex.pos": 43.9, "wrist_flex.pos": 81.0, "wrist_roll.pos": 26.1, "gripper.pos": 0.5}}, {"t": 1.9754, "i": 41, "pos": {"shoulder_pan.pos": -30.0, "shoulder_lift.pos": -45.1, "elbow_flex.pos": 42.0, "wrist_flex.pos": 83.0, "wrist_roll.pos": 26.9, "gripper.pos": 0.5}}, {"t": 2.0182, "i": 42, "pos": {"shoulder_pan.pos": -31.6, "shoulder_lift.pos": -44.7, "elbow_flex.pos": 40.4, "wrist_flex.pos": 84.4, "wrist_roll.pos": 27.6, "gripper.pos": 0.6}}, {"t": 2.0619, "i": 43, "pos": {"shoulder_pan.pos": -34.7, "shoulder_lift.pos": -44.2, "elbow_flex.pos": 38.6, "wrist_flex.pos": 87.1, "wrist_roll.pos": 29.1, "gripper.pos": 3.4}}, {"t": 2.112, "i": 44, "pos": {"shoulder_pan.pos": -36.5, "shoulder_lift.pos": -44.1, "elbow_flex.pos": 38.2, "wrist_flex.pos": 88.2, "wrist_roll.pos": 29.9, "gripper.pos": 6.4}}, {"t": 2.1605, "i": 45, "pos": {"shoulder_pan.pos": -38.3, "shoulder_lift.pos": -44.1, "elbow_flex.pos": 37.7, "wrist_flex.pos": 89.3, "wrist_roll.pos": 30.7, "gripper.pos": 9.8}}, {"t": 2.2082, "i": 46, "pos": {"shoulder_pan.pos": -40.2, "shoulder_lift.pos": -44.1, "elbow_flex.pos": 37.5, "wrist_flex.pos": 89.9, "wrist_roll.pos": 31.1, "gripper.pos": 13.2}}, {"t": 2.2538, "i": 47, "pos": {"shoulder_pan.pos": -42.1, "shoulder_lift.pos": -44.1, "elbow_flex.pos": 37.5, "wrist_flex.pos": 90.4, "wrist_roll.pos": 31.5, "gripper.pos": 16.6}}, {"t": 2.2989, "i": 48, "pos": {"shoulder_pan.pos": -43.8, "shoulder_lift.pos": -44.1, "elbow_flex.pos": 37.5, "wrist_flex.pos": 90.4, "wrist_roll.pos": 31.6, "gripper.pos": 19.7}}, {"t": 2.3464, "i": 49, "pos": {"shoulder_pan.pos": -46.6, "shoulder_lift.pos": -44.0, "elbow_flex.pos": 37.5, "wrist_flex.pos": 89.4, "wrist_roll.pos": 31.6, "gripper.pos": 26.0}}, {"t": 2.3912, "i": 50, "pos": {"shoulder_pan.pos": -47.6, "shoulder_lift.pos": -44.0, "elbow_flex.pos": 37.5, "wrist_flex.pos": 88.2, "wrist_roll.pos": 31.6, "gripper.pos": 29.4}}, {"t": 2.4386, "i": 51, "pos": {"shoulder_pan.pos": -48.4, "shoulder_lift.pos": -44.0, "elbow_flex.pos": 37.5, "wrist_flex.pos": 86.8, "wrist_roll.pos": 31.6, "gripper.pos": 32.9}}, {"t": 2.4815, "i": 52, "pos": {"shoulder_pan.pos": -48.9, "shoulder_lift.pos": -43.9, "elbow_flex.pos": 37.5, "wrist_flex.pos": 85.5, "wrist_roll.pos": 31.7, "gripper.pos": 36.0}}, {"t": 2.5238, "i": 53, "pos": {"shoulder_pan.pos": -49.2, "shoulder_lift.pos": -43.9, "elbow_flex.pos": 37.5, "wrist_flex.pos": 84.6, "wrist_roll.pos": 31.7, "gripper.pos": 38.5}}, {"t": 2.5732, "i": 54, "pos": {"shoulder_pan.pos": -49.5, "shoulder_lift.pos": -43.9, "elbow_flex.pos": 37.5, "wrist_flex.pos": 84.3, "wrist_roll.pos": 31.9, "gripper.pos": 40.0}}, {"t": 2.6169, "i": 55, "pos": {"shoulder_pan.pos": -49.9, "shoulder_lift.pos": -43.8, "elbow_flex.pos": 37.5, "wrist_flex.pos": 84.8, "wrist_roll.pos": 32.7, "gripper.pos": 40.8}}, {"t": 2.6674, "i": 56, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -43.8, "elbow_flex.pos": 38.1, "wrist_flex.pos": 84.9, "wrist_roll.pos": 33.5, "gripper.pos": 40.7}}, {"t": 2.7131, "i": 57, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -41.9, "elbow_flex.pos": 38.5, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.3, "gripper.pos": 40.7}}, {"t": 2.7574, "i": 58, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -39.2, "elbow_flex.pos": 38.3, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.4, "gripper.pos": 40.7}}, {"t": 2.8001, "i": 59, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -36.1, "elbow_flex.pos": 37.9, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.4, "gripper.pos": 40.7}}, {"t": 2.8467, "i": 60, "pos": {"shoulder_pan.pos": -50.0, "shoulder_lift.pos": -33.1, "elbow_flex.pos": 37.6, "wrist_flex.pos": 84.8, "wrist_roll.pos": 34.4, "gripper.pos": 40.7}}, {"t": 2.891, "i": 61, "pos": {"shoulder_pan.pos": -49.7, "shoulder_lift.pos": -30.8, "elbow_flex.pos": 37.5, "wrist_flex.pos": 84.3, "wrist_roll.pos": 34.3, "gripper.pos": 40.7}}, {"t": 2.9375, "i": 62, "pos": {"shoulder_pan.pos": -49.7, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 37.1, "wrist_flex.pos": 84.2, "wrist_roll.pos": 34.2, "gripper.pos": 40.7}}, {"t": 2.9817, "i": 63, "pos": {"shoulder_pan.pos": -49.8, "shoulder_lift.pos": -28.1, "elbow_flex.pos": 36.5, "wrist_flex.pos": 84.2, "wrist_roll.pos": 34.2, "gripper.pos": 40.7}}, {"t": 3.0249, "i": 64, "pos": {"shoulder_pan.pos": -49.9, "shoulder_lift.pos": -27.8, "elbow_flex.pos": 36.1, "wrist_flex.pos": 84.5, "wrist_roll.pos": 34.2, "gripper.pos": 40.7}}, {"t": 3.0712, "i": 65, "pos": {"shoulder_pan.pos": -50.0, "shoulder_lift.pos": -27.8, "elbow_flex.pos": 35.7, "wrist_flex.pos": 84.7, "wrist_roll.pos": 34.2, "gripper.pos": 40.7}}, {"t": 3.1182, "i": 66, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -27.7, "elbow_flex.pos": 35.7, "wrist_flex.pos": 84.8, "wrist_roll.pos": 34.3, "gripper.pos": 40.7}}, {"t": 3.1679, "i": 67, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -26.8, "elbow_flex.pos": 35.7, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.3, "gripper.pos": 40.7}}, {"t": 3.2235, "i": 68, "pos": {"shoulder_pan.pos": -50.1, "shoulder_lift.pos": -26.8, "elbow_flex.pos": 36.1, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.4, "gripper.pos": 40.7}}, {"t": 3.2692, "i": 69, "pos": {"shoulder_pan.pos": -50.2, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.3, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.3, "gripper.pos": 40.7}}, {"t": 3.317, "i": 70, "pos": {"shoulder_pan.pos": -50.4, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.3, "wrist_flex.pos": 84.9, "wrist_roll.pos": 34.2, "gripper.pos": 40.7}}, {"t": 3.3665, "i": 71, "pos": {"shoulder_pan.pos": -51.3, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.5, "wrist_flex.pos": 85.3, "wrist_roll.pos": 33.9, "gripper.pos": 40.7}}, {"t": 3.4101, "i": 72, "pos": {"shoulder_pan.pos": -51.9, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.5, "wrist_flex.pos": 85.5, "wrist_roll.pos": 33.3, "gripper.pos": 40.7}}, {"t": 3.455, "i": 73, "pos": {"shoulder_pan.pos": -52.7, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.5, "wrist_flex.pos": 85.6, "wrist_roll.pos": 32.8, "gripper.pos": 40.7}}, {"t": 3.502, "i": 74, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.6, "wrist_flex.pos": 85.6, "wrist_roll.pos": 32.2, "gripper.pos": 40.7}}, {"t": 3.552, "i": 75, "pos": {"shoulder_pan.pos": -53.7, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.7, "wrist_flex.pos": 85.6, "wrist_roll.pos": 31.7, "gripper.pos": 40.7}}, {"t": 3.5996, "i": 76, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.7, "wrist_flex.pos": 85.6, "wrist_roll.pos": 31.4, "gripper.pos": 40.7}}, {"t": 3.644, "i": 77, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -26.7, "elbow_flex.pos": 36.7, "wrist_flex.pos": 85.4, "wrist_roll.pos": 31.1, "gripper.pos": 40.7}}, {"t": 3.6879, "i": 78, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -26.6, "elbow_flex.pos": 36.7, "wrist_flex.pos": 85.3, "wrist_roll.pos": 31.1, "gripper.pos": 40.7}}, {"t": 3.7358, "i": 79, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -25.8, "elbow_flex.pos": 36.8, "wrist_flex.pos": 85.5, "wrist_roll.pos": 30.6, "gripper.pos": 40.7}}, {"t": 3.7843, "i": 80, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -24.5, "elbow_flex.pos": 36.8, "wrist_flex.pos": 85.5, "wrist_roll.pos": 30.2, "gripper.pos": 40.7}}, {"t": 3.8307, "i": 81, "pos": {"shoulder_pan.pos": -53.6, "shoulder_lift.pos": -22.8, "elbow_flex.pos": 36.8, "wrist_flex.pos": 85.2, "wrist_roll.pos": 30.1, "gripper.pos": 40.7}}, {"t": 3.8818, "i": 82, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -20.8, "elbow_flex.pos": 36.8, "wrist_flex.pos": 84.9, "wrist_roll.pos": 30.0, "gripper.pos": 40.6}}, {"t": 3.9252, "i": 83, "pos": {"shoulder_pan.pos": -53.2, "shoulder_lift.pos": -19.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 84.9, "wrist_roll.pos": 29.9, "gripper.pos": 40.6}}, {"t": 3.9702, "i": 84, "pos": {"shoulder_pan.pos": -53.2, "shoulder_lift.pos": -18.1, "elbow_flex.pos": 36.7, "wrist_flex.pos": 84.9, "wrist_roll.pos": 29.8, "gripper.pos": 40.6}}, {"t": 4.0166, "i": 85, "pos": {"shoulder_pan.pos": -53.2, "shoulder_lift.pos": -17.3, "elbow_flex.pos": 36.5, "wrist_flex.pos": 84.8, "wrist_roll.pos": 29.8, "gripper.pos": 40.6}}, {"t": 4.0666, "i": 86, "pos": {"shoulder_pan.pos": -53.2, "shoulder_lift.pos": -17.3, "elbow_flex.pos": 36.6, "wrist_flex.pos": 84.6, "wrist_roll.pos": 29.7, "gripper.pos": 40.6}}, {"t": 4.1116, "i": 87, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -16.7, "elbow_flex.pos": 36.5, "wrist_flex.pos": 84.4, "wrist_roll.pos": 28.9, "gripper.pos": 40.6}}, {"t": 4.1577, "i": 88, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 36.5, "wrist_flex.pos": 84.2, "wrist_roll.pos": 28.1, "gripper.pos": 40.6}}, {"t": 4.2041, "i": 89, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 83.6, "wrist_roll.pos": 27.3, "gripper.pos": 40.6}}, {"t": 4.249, "i": 90, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 83.2, "wrist_roll.pos": 26.5, "gripper.pos": 40.6}}, {"t": 4.2932, "i": 91, "pos": {"shoulder_pan.pos": -53.4, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 82.5, "wrist_roll.pos": 25.7, "gripper.pos": 40.6}}, {"t": 4.3366, "i": 92, "pos": {"shoulder_pan.pos": -53.7, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 82.1, "wrist_roll.pos": 24.9, "gripper.pos": 40.6}}, {"t": 4.3852, "i": 93, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 81.2, "wrist_roll.pos": 22.9, "gripper.pos": 40.6}}, {"t": 4.4299, "i": 94, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 80.7, "wrist_roll.pos": 22.0, "gripper.pos": 40.6}}, {"t": 4.476, "i": 95, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 80.5, "wrist_roll.pos": 21.2, "gripper.pos": 40.6}}, {"t": 4.5225, "i": 96, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 80.5, "wrist_roll.pos": 20.3, "gripper.pos": 40.6}}, {"t": 4.5741, "i": 97, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 80.5, "wrist_roll.pos": 19.4, "gripper.pos": 40.6}}, {"t": 4.6224, "i": 98, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.7, "wrist_flex.pos": 80.5, "wrist_roll.pos": 18.9, "gripper.pos": 40.6}}, {"t": 4.6722, "i": 99, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.8, "wrist_flex.pos": 80.8, "wrist_roll.pos": 18.2, "gripper.pos": 38.9}}, {"t": 4.7172, "i": 100, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.8, "wrist_flex.pos": 81.2, "wrist_roll.pos": 18.1, "gripper.pos": 36.1}}, {"t": 4.7655, "i": 101, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 36.9, "wrist_flex.pos": 81.3, "wrist_roll.pos": 18.1, "gripper.pos": 32.6}}, {"t": 4.8174, "i": 102, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 37.6, "wrist_flex.pos": 81.3, "wrist_roll.pos": 18.1, "gripper.pos": 29.4}}, {"t": 4.8607, "i": 103, "pos": {"shoulder_pan.pos": -53.9, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 38.7, "wrist_flex.pos": 81.0, "wrist_roll.pos": 18.1, "gripper.pos": 27.5}}, {"t": 4.9064, "i": 104, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 39.7, "wrist_flex.pos": 80.8, "wrist_roll.pos": 18.1, "gripper.pos": 26.7}}, {"t": 4.9537, "i": 105, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 40.8, "wrist_flex.pos": 80.5, "wrist_roll.pos": 18.2, "gripper.pos": 26.7}}, {"t": 4.9998, "i": 106, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -16.2, "elbow_flex.pos": 41.6, "wrist_flex.pos": 80.5, "wrist_roll.pos": 18.2, "gripper.pos": 26.7}}, {"t": 5.0436, "i": 107, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 41.5, "wrist_flex.pos": 80.5, "wrist_roll.pos": 18.2, "gripper.pos": 26.7}}, {"t": 5.0874, "i": 108, "pos": {"shoulder_pan.pos": -54.0, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.5, "wrist_flex.pos": 80.8, "wrist_roll.pos": 18.2, "gripper.pos": 26.7}}, {"t": 5.1355, "i": 109, "pos": {"shoulder_pan.pos": -54.1, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.5, "wrist_flex.pos": 81.0, "wrist_roll.pos": 18.1, "gripper.pos": 26.7}}, {"t": 5.1798, "i": 110, "pos": {"shoulder_pan.pos": -54.7, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.4, "wrist_flex.pos": 81.1, "wrist_roll.pos": 18.1, "gripper.pos": 26.7}}, {"t": 5.228, "i": 111, "pos": {"shoulder_pan.pos": -55.2, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.4, "wrist_flex.pos": 81.2, "wrist_roll.pos": 17.9, "gripper.pos": 26.7}}, {"t": 5.279, "i": 112, "pos": {"shoulder_pan.pos": -55.7, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.4, "wrist_flex.pos": 80.6, "wrist_roll.pos": 17.1, "gripper.pos": 26.7}}, {"t": 5.3264, "i": 113, "pos": {"shoulder_pan.pos": -56.6, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.2, "wrist_flex.pos": 79.9, "wrist_roll.pos": 15.8, "gripper.pos": 26.0}}, {"t": 5.3726, "i": 114, "pos": {"shoulder_pan.pos": -56.8, "shoulder_lift.pos": -16.4, "elbow_flex.pos": 41.3, "wrist_flex.pos": 79.2, "wrist_roll.pos": 15.3, "gripper.pos": 26.0}}, {"t": 5.4174, "i": 115, "pos": {"shoulder_pan.pos": -56.9, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 41.4, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.1, "gripper.pos": 26.0}}, {"t": 5.4644, "i": 116, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 41.5, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.5138, "i": 117, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 41.5, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.5574, "i": 118, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -16.3, "elbow_flex.pos": 41.5, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.606, "i": 119, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -16.7, "elbow_flex.pos": 41.5, "wrist_flex.pos": 78.9, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.6503, "i": 120, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.1, "elbow_flex.pos": 41.4, "wrist_flex.pos": 79.1, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.6948, "i": 121, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.4, "elbow_flex.pos": 41.3, "wrist_flex.pos": 79.1, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.7388, "i": 122, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.4, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.0, "gripper.pos": 26.0}}, {"t": 5.7855, "i": 123, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.8, "wrist_roll.pos": 15.2, "gripper.pos": 25.9}}, {"t": 5.8299, "i": 124, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.7, "wrist_roll.pos": 15.4, "gripper.pos": 25.9}}, {"t": 5.8748, "i": 125, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.7, "wrist_roll.pos": 15.5, "gripper.pos": 25.9}}, {"t": 5.9185, "i": 126, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.6, "wrist_roll.pos": 15.6, "gripper.pos": 25.8}}, {"t": 5.9647, "i": 127, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.6, "wrist_roll.pos": 15.8, "gripper.pos": 24.8}}, {"t": 6.0081, "i": 128, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.5, "wrist_roll.pos": 16.2, "gripper.pos": 22.4}}, {"t": 6.0518, "i": 129, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 78.3, "wrist_roll.pos": 16.4, "gripper.pos": 19.4}}, {"t": 6.0972, "i": 130, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.3, "wrist_flex.pos": 77.2, "wrist_roll.pos": 16.6, "gripper.pos": 15.2}}, {"t": 6.1448, "i": 131, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.3, "wrist_flex.pos": 76.9, "wrist_roll.pos": 16.6, "gripper.pos": 14.7}}, {"t": 6.1887, "i": 132, "pos": {"shoulder_pan.pos": -57.0, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.3, "wrist_flex.pos": 76.7, "wrist_roll.pos": 17.2, "gripper.pos": 14.8}}, {"t": 6.2347, "i": 133, "pos": {"shoulder_pan.pos": -56.9, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.3, "wrist_flex.pos": 76.6, "wrist_roll.pos": 18.0, "gripper.pos": 14.8}}, {"t": 6.2794, "i": 134, "pos": {"shoulder_pan.pos": -56.6, "shoulder_lift.pos": -17.5, "elbow_flex.pos": 41.2, "wrist_flex.pos": 76.6, "wrist_roll.pos": 18.9, "gripper.pos": 14.8}}, {"t": 6.3265, "i": 135, "pos": {"shoulder_pan.pos": -56.3, "shoulder_lift.pos": -17.6, "elbow_flex.pos": 41.2, "wrist_flex.pos": 76.6, "wrist_roll.pos": 19.9, "gripper.pos": 14.8}}, {"t": 6.3699, "i": 136, "pos": {"shoulder_pan.pos": -56.2, "shoulder_lift.pos": -17.8, "elbow_flex.pos": 41.2, "wrist_flex.pos": 76.6, "wrist_roll.pos": 20.9, "gripper.pos": 14.8}}, {"t": 6.4157, "i": 137, "pos": {"shoulder_pan.pos": -56.2, "shoulder_lift.pos": -18.8, "elbow_flex.pos": 41.2, "wrist_flex.pos": 76.6, "wrist_roll.pos": 22.1, "gripper.pos": 14.5}}, {"t": 6.4635, "i": 138, "pos": {"shoulder_pan.pos": -56.2, "shoulder_lift.pos": -22.8, "elbow_flex.pos": 41.4, "wrist_flex.pos": 76.6, "wrist_roll.pos": 24.4, "gripper.pos": 14.4}}, {"t": 6.5073, "i": 139, "pos": {"shoulder_pan.pos": -56.1, "shoulder_lift.pos": -25.7, "elbow_flex.pos": 41.6, "wrist_flex.pos": 76.8, "wrist_roll.pos": 25.7, "gripper.pos": 14.4}}, {"t": 6.552, "i": 140, "pos": {"shoulder_pan.pos": -56.0, "shoulder_lift.pos": -28.4, "elbow_flex.pos": 41.8, "wrist_flex.pos": 77.2, "wrist_roll.pos": 27.1, "gripper.pos": 14.5}}, {"t": 6.5964, "i": 141, "pos": {"shoulder_pan.pos": -55.5, "shoulder_lift.pos": -31.5, "elbow_flex.pos": 42.0, "wrist_flex.pos": 77.5, "wrist_roll.pos": 28.5, "gripper.pos": 14.7}}, {"t": 6.6452, "i": 142, "pos": {"shoulder_pan.pos": -54.6, "shoulder_lift.pos": -34.1, "elbow_flex.pos": 42.0, "wrist_flex.pos": 77.5, "wrist_roll.pos": 29.8, "gripper.pos": 14.8}}, {"t": 6.6886, "i": 143, "pos": {"shoulder_pan.pos": -53.3, "shoulder_lift.pos": -36.2, "elbow_flex.pos": 42.0, "wrist_flex.pos": 77.5, "wrist_roll.pos": 31.0, "gripper.pos": 14.8}}, {"t": 6.7319, "i": 144, "pos": {"shoulder_pan.pos": -51.9, "shoulder_lift.pos": -38.1, "elbow_flex.pos": 42.0, "wrist_flex.pos": 77.2, "wrist_roll.pos": 32.3, "gripper.pos": 14.8}}, {"t": 6.7755, "i": 145, "pos": {"shoulder_pan.pos": -50.3, "shoulder_lift.pos": -39.8, "elbow_flex.pos": 42.0, "wrist_flex.pos": 76.8, "wrist_roll.pos": 33.6, "gripper.pos": 14.8}}, {"t": 6.8199, "i": 146, "pos": {"shoulder_pan.pos": -48.4, "shoulder_lift.pos": -41.0, "elbow_flex.pos": 42.0, "wrist_flex.pos": 76.6, "wrist_roll.pos": 34.8, "gripper.pos": 14.8}}, {"t": 6.872, "i": 147, "pos": {"shoulder_pan.pos": -44.7, "shoulder_lift.pos": -42.4, "elbow_flex.pos": 42.0, "wrist_flex.pos": 75.1, "wrist_roll.pos": 37.8, "gripper.pos": 14.8}}, {"t": 6.9156, "i": 148, "pos": {"shoulder_pan.pos": -42.8, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 42.0, "wrist_flex.pos": 74.0, "wrist_roll.pos": 39.5, "gripper.pos": 14.8}}, {"t": 6.9583, "i": 149, "pos": {"shoulder_pan.pos": -41.0, "shoulder_lift.pos": -42.9, "elbow_flex.pos": 42.0, "wrist_flex.pos": 72.4, "wrist_roll.pos": 41.1, "gripper.pos": 14.8}}, {"t": 7.0041, "i": 150, "pos": {"shoulder_pan.pos": -39.1, "shoulder_lift.pos": -42.9, "elbow_flex.pos": 42.0, "wrist_flex.pos": 70.7, "wrist_roll.pos": 42.5, "gripper.pos": 14.8}}, {"t": 7.0473, "i": 151, "pos": {"shoulder_pan.pos": -37.6, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 42.1, "wrist_flex.pos": 69.1, "wrist_roll.pos": 43.6, "gripper.pos": 14.8}}, {"t": 7.0903, "i": 152, "pos": {"shoulder_pan.pos": -36.5, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 42.2, "wrist_flex.pos": 67.5, "wrist_roll.pos": 44.6, "gripper.pos": 14.8}}, {"t": 7.1371, "i": 153, "pos": {"shoulder_pan.pos": -35.8, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 43.3, "wrist_flex.pos": 66.2, "wrist_roll.pos": 45.3, "gripper.pos": 14.8}}, {"t": 7.1828, "i": 154, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 45.0, "wrist_flex.pos": 64.4, "wrist_roll.pos": 46.2, "gripper.pos": 14.8}}, {"t": 7.2292, "i": 155, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.7, "elbow_flex.pos": 47.3, "wrist_flex.pos": 62.5, "wrist_roll.pos": 47.1, "gripper.pos": 14.8}}, {"t": 7.2742, "i": 156, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.0, "elbow_flex.pos": 52.3, "wrist_flex.pos": 57.9, "wrist_roll.pos": 49.0, "gripper.pos": 14.8}}, {"t": 7.3179, "i": 157, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.1, "elbow_flex.pos": 54.5, "wrist_flex.pos": 54.8, "wrist_roll.pos": 49.8, "gripper.pos": 14.8}}, {"t": 7.3645, "i": 158, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.2, "elbow_flex.pos": 55.9, "wrist_flex.pos": 51.9, "wrist_roll.pos": 50.3, "gripper.pos": 14.8}}, {"t": 7.4153, "i": 159, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.3, "elbow_flex.pos": 56.9, "wrist_flex.pos": 49.7, "wrist_roll.pos": 50.5, "gripper.pos": 14.8}}, {"t": 7.4643, "i": 160, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.3, "elbow_flex.pos": 57.7, "wrist_flex.pos": 47.7, "wrist_roll.pos": 50.7, "gripper.pos": 14.8}}, {"t": 7.5081, "i": 161, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.3, "elbow_flex.pos": 58.3, "wrist_flex.pos": 46.3, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.5608, "i": 162, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.3, "elbow_flex.pos": 59.0, "wrist_flex.pos": 44.3, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.6053, "i": 163, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.3, "elbow_flex.pos": 59.5, "wrist_flex.pos": 43.3, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.648, "i": 164, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -43.2, "elbow_flex.pos": 60.1, "wrist_flex.pos": 42.0, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.6906, "i": 165, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.9, "elbow_flex.pos": 60.6, "wrist_flex.pos": 40.5, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.7347, "i": 166, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.6, "elbow_flex.pos": 61.4, "wrist_flex.pos": 38.9, "wrist_roll.pos": 50.8, "gripper.pos": 14.8}}, {"t": 7.7884, "i": 167, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.6, "elbow_flex.pos": 62.0, "wrist_flex.pos": 37.0, "wrist_roll.pos": 50.9, "gripper.pos": 14.8}}, {"t": 7.8329, "i": 168, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.6, "elbow_flex.pos": 62.8, "wrist_flex.pos": 35.1, "wrist_roll.pos": 50.9, "gripper.pos": 14.8}}, {"t": 7.8766, "i": 169, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.6, "elbow_flex.pos": 63.3, "wrist_flex.pos": 33.6, "wrist_roll.pos": 50.9, "gripper.pos": 14.8}}, {"t": 7.9269, "i": 170, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.6, "elbow_flex.pos": 63.9, "wrist_flex.pos": 32.5, "wrist_roll.pos": 50.9, "gripper.pos": 14.8}}, {"t": 7.9794, "i": 171, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.5, "elbow_flex.pos": 64.6, "wrist_flex.pos": 30.6, "wrist_roll.pos": 50.9, "gripper.pos": 14.8}}, {"t": 8.0272, "i": 172, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.4, "elbow_flex.pos": 65.1, "wrist_flex.pos": 29.5, "wrist_roll.pos": 51.0, "gripper.pos": 14.8}}, {"t": 8.0713, "i": 173, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -42.4, "elbow_flex.pos": 65.5, "wrist_flex.pos": 28.7, "wrist_roll.pos": 51.5, "gripper.pos": 14.8}}, {"t": 8.1189, "i": 174, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -41.9, "elbow_flex.pos": 66.4, "wrist_flex.pos": 27.8, "wrist_roll.pos": 52.6, "gripper.pos": 14.8}}, {"t": 8.1663, "i": 175, "pos": {"shoulder_pan.pos": -35.4, "shoulder_lift.pos": -40.9, "elbow_flex.pos": 67.3, "wrist_flex.pos": 26.8, "wrist_roll.pos": 53.7, "gripper.pos": 14.8}}, {"t": 8.2145, "i": 176, "pos": {"shoulder_pan.pos": -34.3, "shoulder_lift.pos": -38.6, "elbow_flex.pos": 68.8, "wrist_flex.pos": 23.9, "wrist_roll.pos": 55.6, "gripper.pos": 14.8}}, {"t": 8.2667, "i": 177, "pos": {"shoulder_pan.pos": -33.9, "shoulder_lift.pos": -37.6, "elbow_flex.pos": 69.4, "wrist_flex.pos": 21.7, "wrist_roll.pos": 55.9, "gripper.pos": 14.8}}, {"t": 8.3114, "i": 178, "pos": {"shoulder_pan.pos": -33.6, "shoulder_lift.pos": -36.8, "elbow_flex.pos": 69.7, "wrist_flex.pos": 19.5, "wrist_roll.pos": 56.1, "gripper.pos": 14.8}}, {"t": 8.3544, "i": 179, "pos": {"shoulder_pan.pos": -33.2, "shoulder_lift.pos": -35.9, "elbow_flex.pos": 70.1, "wrist_flex.pos": 17.9, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.4005, "i": 180, "pos": {"shoulder_pan.pos": -33.1, "shoulder_lift.pos": -35.2, "elbow_flex.pos": 70.6, "wrist_flex.pos": 16.5, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.4435, "i": 181, "pos": {"shoulder_pan.pos": -33.1, "shoulder_lift.pos": -34.7, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.5, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.4873, "i": 182, "pos": {"shoulder_pan.pos": -33.1, "shoulder_lift.pos": -34.0, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.4, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.5304, "i": 183, "pos": {"shoulder_pan.pos": -33.1, "shoulder_lift.pos": -33.1, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.4, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.5843, "i": 184, "pos": {"shoulder_pan.pos": -32.9, "shoulder_lift.pos": -31.1, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.7, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.6299, "i": 185, "pos": {"shoulder_pan.pos": -32.8, "shoulder_lift.pos": -30.3, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.7, "wrist_roll.pos": 56.4, "gripper.pos": 14.8}}, {"t": 8.6729, "i": 186, "pos": {"shoulder_pan.pos": -32.8, "shoulder_lift.pos": -29.4, "elbow_flex.pos": 71.0, "wrist_flex.pos": 15.8, "wrist_roll.pos": 56.1, "gripper.pos": 14.8}}, {"t": 8.7162, "i": 187, "pos": {"shoulder_pan.pos": -32.4, "shoulder_lift.pos": -28.8, "elbow_flex.pos": 71.0, "wrist_flex.pos": 16.7, "wrist_roll.pos": 56.0, "gripper.pos": 14.8}}, {"t": 8.7595, "i": 188, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -28.7, "elbow_flex.pos": 71.0, "wrist_flex.pos": 19.0, "wrist_roll.pos": 56.0, "gripper.pos": 14.8}}, {"t": 8.8064, "i": 189, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -28.8, "elbow_flex.pos": 70.7, "wrist_flex.pos": 21.6, "wrist_roll.pos": 56.0, "gripper.pos": 14.8}}, {"t": 8.8529, "i": 190, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 70.2, "wrist_flex.pos": 24.6, "wrist_roll.pos": 56.0, "gripper.pos": 14.9}}, {"t": 8.8975, "i": 191, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 69.9, "wrist_flex.pos": 26.9, "wrist_roll.pos": 56.0, "gripper.pos": 14.9}}, {"t": 8.9508, "i": 192, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 67.7, "wrist_flex.pos": 32.2, "wrist_roll.pos": 55.9, "gripper.pos": 15.2}}, {"t": 8.994, "i": 193, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 66.5, "wrist_flex.pos": 34.8, "wrist_roll.pos": 55.5, "gripper.pos": 16.8}}, {"t": 9.0444, "i": 194, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 64.6, "wrist_flex.pos": 37.0, "wrist_roll.pos": 54.6, "gripper.pos": 19.4}}, {"t": 9.0955, "i": 195, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 62.7, "wrist_flex.pos": 39.3, "wrist_roll.pos": 53.5, "gripper.pos": 22.9}}, {"t": 9.1405, "i": 196, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 60.5, "wrist_flex.pos": 41.9, "wrist_roll.pos": 52.7, "gripper.pos": 26.7}}, {"t": 9.1914, "i": 197, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 56.1, "wrist_flex.pos": 47.3, "wrist_roll.pos": 52.0, "gripper.pos": 32.5}}, {"t": 9.2371, "i": 198, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 54.2, "wrist_flex.pos": 49.5, "wrist_roll.pos": 51.8, "gripper.pos": 34.2}}, {"t": 9.2843, "i": 199, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 52.6, "wrist_flex.pos": 51.4, "wrist_roll.pos": 51.8, "gripper.pos": 34.9}}, {"t": 9.334, "i": 200, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 51.3, "wrist_flex.pos": 53.1, "wrist_roll.pos": 51.8, "gripper.pos": 35.2}}, {"t": 9.382, "i": 201, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 50.0, "wrist_flex.pos": 54.7, "wrist_roll.pos": 51.8, "gripper.pos": 35.4}}, {"t": 9.4297, "i": 202, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -29.0, "elbow_flex.pos": 47.0, "wrist_flex.pos": 57.8, "wrist_roll.pos": 51.7, "gripper.pos": 35.2}}, {"t": 9.481, "i": 203, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -29.0, "elbow_flex.pos": 45.1, "wrist_flex.pos": 59.2, "wrist_roll.pos": 51.3, "gripper.pos": 35.2}}, {"t": 9.5264, "i": 204, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -29.0, "elbow_flex.pos": 42.8, "wrist_flex.pos": 60.7, "wrist_roll.pos": 50.4, "gripper.pos": 35.2}}, {"t": 9.5718, "i": 205, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -29.0, "elbow_flex.pos": 40.5, "wrist_flex.pos": 62.1, "wrist_roll.pos": 49.7, "gripper.pos": 35.2}}, {"t": 9.6175, "i": 206, "pos": {"shoulder_pan.pos": -32.1, "shoulder_lift.pos": -29.0, "elbow_flex.pos": 38.3, "wrist_flex.pos": 63.9, "wrist_roll.pos": 49.3, "gripper.pos": 35.2}}, {"t": 9.6628, "i": 207, "pos": {"shoulder_pan.pos": -32.2, "shoulder_lift.pos": -28.9, "elbow_flex.pos": 36.5, "wrist_flex.pos": 65.6, "wrist_roll.pos": 49.1, "gripper.pos": 35.3}}, {"t": 9.7073, "i": 208, "pos": {"shoulder_pan.pos": -32.3, "shoulder_lift.pos": -28.7, "elbow_flex.pos": 35.1, "wrist_flex.pos": 67.0, "wrist_roll.pos": 49.1, "gripper.pos": 35.2}}, {"t": 9.751, "i": 209, "pos": {"shoulder_pan.pos": -32.3, "shoulder_lift.pos": -28.0, "elbow_flex.pos": 33.9, "wrist_flex.pos": 68.1, "wrist_roll.pos": 49.1, "gripper.pos": 35.2}}, {"t": 9.7956, "i": 210, "pos": {"shoulder_pan.pos": -32.3, "shoulder_lift.pos": -27.9, "elbow_flex.pos": 33.4, "wrist_flex.pos": 68.8, "wrist_roll.pos": 49.1, "gripper.pos": 35.2}}, {"t": 9.8556, "i": 211, "pos": {"shoulder_pan.pos": -32.4, "shoulder_lift.pos": -27.8, "elbow_flex.pos": 33.4, "wrist_flex.pos": 69.3, "wrist_roll.pos": 49.1, "gripper.pos": 35.1}}, {"t": 9.9022, "i": 212, "pos": {"shoulder_pan.pos": -32.5, "shoulder_lift.pos": -27.1, "elbow_flex.pos": 33.4, "wrist_flex.pos": 69.2, "wrist_roll.pos": 49.1, "gripper.pos": 35.1}}, {"t": 9.9466, "i": 213, "pos": {"shoulder_pan.pos": -32.5, "shoulder_lift.pos": -25.5, "elbow_flex.pos": 32.9, "wrist_flex.pos": 69.1, "wrist_roll.pos": 49.1, "gripper.pos": 35.1}}, {"t": 9.9938, "i": 214, "pos": {"shoulder_pan.pos": -32.4, "shoulder_lift.pos": -23.4, "elbow_flex.pos": 32.6, "wrist_flex.pos": 68.6, "wrist_roll.pos": 49.1, "gripper.pos": 35.1}}, {"t": 10.0376, "i": 215, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -20.6, "elbow_flex.pos": 31.5, "wrist_flex.pos": 68.5, "wrist_roll.pos": 49.1, "gripper.pos": 35.1}}, {"t": 10.0823, "i": 216, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -15.6, "elbow_flex.pos": 27.8, "wrist_flex.pos": 69.0, "wrist_roll.pos": 48.7, "gripper.pos": 35.1}}, {"t": 10.1254, "i": 217, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -13.5, "elbow_flex.pos": 26.0, "wrist_flex.pos": 69.0, "wrist_roll.pos": 48.6, "gripper.pos": 35.1}}, {"t": 10.1698, "i": 218, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -11.9, "elbow_flex.pos": 24.0, "wrist_flex.pos": 68.9, "wrist_roll.pos": 48.0, "gripper.pos": 35.1}}, {"t": 10.2125, "i": 219, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -10.8, "elbow_flex.pos": 22.5, "wrist_flex.pos": 68.9, "wrist_roll.pos": 47.7, "gripper.pos": 35.1}}, {"t": 10.2565, "i": 220, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -10.0, "elbow_flex.pos": 21.4, "wrist_flex.pos": 69.0, "wrist_roll.pos": 47.5, "gripper.pos": 35.1}}, {"t": 10.3033, "i": 221, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -9.2, "elbow_flex.pos": 20.7, "wrist_flex.pos": 69.1, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.348, "i": 222, "pos": {"shoulder_pan.pos": -32.0, "shoulder_lift.pos": -8.7, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.1, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.4016, "i": 223, "pos": {"shoulder_pan.pos": -31.9, "shoulder_lift.pos": -8.3, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.2, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.4516, "i": 224, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -7.2, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.2, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.4995, "i": 225, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -6.6, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.5456, "i": 226, "pos": {"shoulder_pan.pos": -31.8, "shoulder_lift.pos": -5.9, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.5968, "i": 227, "pos": {"shoulder_pan.pos": -31.7, "shoulder_lift.pos": -5.2, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 47.4, "gripper.pos": 35.1}}, {"t": 10.6435, "i": 228, "pos": {"shoulder_pan.pos": -31.7, "shoulder_lift.pos": -4.7, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 47.3, "gripper.pos": 35.1}}, {"t": 10.6877, "i": 229, "pos": {"shoulder_pan.pos": -31.5, "shoulder_lift.pos": -4.3, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 47.2, "gripper.pos": 35.1}}, {"t": 10.7362, "i": 230, "pos": {"shoulder_pan.pos": -30.7, "shoulder_lift.pos": -3.4, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.2, "wrist_roll.pos": 47.3, "gripper.pos": 35.1}}, {"t": 10.7881, "i": 231, "pos": {"shoulder_pan.pos": -30.3, "shoulder_lift.pos": -2.9, "elbow_flex.pos": 20.5, "wrist_flex.pos": 69.0, "wrist_roll.pos": 47.2, "gripper.pos": 35.1}}, {"t": 10.8355, "i": 232, "pos": {"shoulder_pan.pos": -30.0, "shoulder_lift.pos": -2.2, "elbow_flex.pos": 20.3, "wrist_flex.pos": 68.9, "wrist_roll.pos": 47.1, "gripper.pos": 35.1}}, {"t": 10.8804, "i": 233, "pos": {"shoulder_pan.pos": -29.8, "shoulder_lift.pos": -1.4, "elbow_flex.pos": 20.1, "wrist_flex.pos": 68.8, "wrist_roll.pos": 47.0, "gripper.pos": 35.1}}, {"t": 10.924, "i": 234, "pos": {"shoulder_pan.pos": -29.5, "shoulder_lift.pos": -0.8, "elbow_flex.pos": 20.0, "wrist_flex.pos": 68.6, "wrist_roll.pos": 47.0, "gripper.pos": 35.1}}, {"t": 10.9696, "i": 235, "pos": {"shoulder_pan.pos": -29.4, "shoulder_lift.pos": -0.2, "elbow_flex.pos": 19.9, "wrist_flex.pos": 68.5, "wrist_roll.pos": 46.9, "gripper.pos": 35.1}}, {"t": 11.025, "i": 236, "pos": {"shoulder_pan.pos": -29.6, "shoulder_lift.pos": 0.5, "elbow_flex.pos": 19.7, "wrist_flex.pos": 68.2, "wrist_roll.pos": 46.1, "gripper.pos": 35.1}}, {"t": 11.0703, "i": 237, "pos": {"shoulder_pan.pos": -29.8, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 19.2, "wrist_flex.pos": 67.4, "wrist_roll.pos": 45.6, "gripper.pos": 35.1}}, {"t": 11.1208, "i": 238, "pos": {"shoulder_pan.pos": -29.8, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.8, "wrist_flex.pos": 66.8, "wrist_roll.pos": 45.3, "gripper.pos": 35.1}}, {"t": 11.1663, "i": 239, "pos": {"shoulder_pan.pos": -30.0, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 66.7, "wrist_roll.pos": 45.2, "gripper.pos": 35.0}}, {"t": 11.2092, "i": 240, "pos": {"shoulder_pan.pos": -30.0, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 66.9, "wrist_roll.pos": 45.2, "gripper.pos": 34.9}}, {"t": 11.2522, "i": 241, "pos": {"shoulder_pan.pos": -30.1, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 66.9, "wrist_roll.pos": 45.2, "gripper.pos": 33.9}}, {"t": 11.2959, "i": 242, "pos": {"shoulder_pan.pos": -30.1, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 67.0, "wrist_roll.pos": 45.2, "gripper.pos": 31.1}}, {"t": 11.3398, "i": 243, "pos": {"shoulder_pan.pos": -30.1, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 67.2, "wrist_roll.pos": 45.1, "gripper.pos": 27.1}}, {"t": 11.3842, "i": 244, "pos": {"shoulder_pan.pos": -30.2, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 67.2, "wrist_roll.pos": 44.8, "gripper.pos": 23.2}}, {"t": 11.431, "i": 245, "pos": {"shoulder_pan.pos": -30.7, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.6, "wrist_flex.pos": 67.3, "wrist_roll.pos": 44.3, "gripper.pos": 18.8}}, {"t": 11.4876, "i": 246, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 67.8, "wrist_roll.pos": 44.3, "gripper.pos": 18.5}}, {"t": 11.5333, "i": 247, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 69.0, "wrist_roll.pos": 44.3, "gripper.pos": 18.4}}, {"t": 11.5785, "i": 248, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 70.1, "wrist_roll.pos": 44.2, "gripper.pos": 18.0}}, {"t": 11.6223, "i": 249, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 70.6, "wrist_roll.pos": 44.2, "gripper.pos": 18.0}}, {"t": 11.6668, "i": 250, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": 0.9, "elbow_flex.pos": 18.7, "wrist_flex.pos": 70.6, "wrist_roll.pos": 44.2, "gripper.pos": 18.0}}, {"t": 11.7112, "i": 251, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": 0.5, "elbow_flex.pos": 18.6, "wrist_flex.pos": 70.4, "wrist_roll.pos": 43.3, "gripper.pos": 18.0}}, {"t": 11.7618, "i": 252, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": 0.0, "elbow_flex.pos": 18.5, "wrist_flex.pos": 70.3, "wrist_roll.pos": 42.6, "gripper.pos": 17.9}}, {"t": 11.8076, "i": 253, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -0.1, "elbow_flex.pos": 18.4, "wrist_flex.pos": 69.9, "wrist_roll.pos": 42.2, "gripper.pos": 17.9}}, {"t": 11.8527, "i": 254, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -0.1, "elbow_flex.pos": 17.7, "wrist_flex.pos": 68.4, "wrist_roll.pos": 41.8, "gripper.pos": 17.9}}, {"t": 11.9017, "i": 255, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -0.2, "elbow_flex.pos": 17.5, "wrist_flex.pos": 66.8, "wrist_roll.pos": 41.9, "gripper.pos": 17.9}}, {"t": 11.9529, "i": 256, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -0.8, "elbow_flex.pos": 17.5, "wrist_flex.pos": 65.2, "wrist_roll.pos": 41.9, "gripper.pos": 17.9}}, {"t": 12.0069, "i": 257, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -4.0, "elbow_flex.pos": 17.8, "wrist_flex.pos": 62.6, "wrist_roll.pos": 42.2, "gripper.pos": 17.9}}, {"t": 12.0541, "i": 258, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -5.8, "elbow_flex.pos": 18.6, "wrist_flex.pos": 61.1, "wrist_roll.pos": 42.3, "gripper.pos": 17.9}}, {"t": 12.103, "i": 259, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -7.7, "elbow_flex.pos": 20.4, "wrist_flex.pos": 58.6, "wrist_roll.pos": 42.4, "gripper.pos": 17.9}}, {"t": 12.1499, "i": 260, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -9.5, "elbow_flex.pos": 22.8, "wrist_flex.pos": 55.5, "wrist_roll.pos": 43.0, "gripper.pos": 17.9}}, {"t": 12.1963, "i": 261, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -11.6, "elbow_flex.pos": 26.3, "wrist_flex.pos": 51.5, "wrist_roll.pos": 44.0, "gripper.pos": 17.9}}, {"t": 12.2397, "i": 262, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -13.9, "elbow_flex.pos": 30.4, "wrist_flex.pos": 47.0, "wrist_roll.pos": 45.1, "gripper.pos": 18.3}}, {"t": 12.2831, "i": 263, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -16.1, "elbow_flex.pos": 34.5, "wrist_flex.pos": 42.7, "wrist_roll.pos": 46.0, "gripper.pos": 18.4}}, {"t": 12.3276, "i": 264, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -18.7, "elbow_flex.pos": 39.2, "wrist_flex.pos": 38.1, "wrist_roll.pos": 46.7, "gripper.pos": 18.4}}, {"t": 12.3721, "i": 265, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -23.3, "elbow_flex.pos": 47.9, "wrist_flex.pos": 29.4, "wrist_roll.pos": 47.8, "gripper.pos": 18.5}}, {"t": 12.4183, "i": 266, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -25.3, "elbow_flex.pos": 51.8, "wrist_flex.pos": 25.5, "wrist_roll.pos": 48.3, "gripper.pos": 18.5}}, {"t": 12.4662, "i": 267, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -26.9, "elbow_flex.pos": 54.9, "wrist_flex.pos": 22.5, "wrist_roll.pos": 48.6, "gripper.pos": 18.5}}, {"t": 12.5097, "i": 268, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -28.3, "elbow_flex.pos": 57.5, "wrist_flex.pos": 20.1, "wrist_roll.pos": 48.9, "gripper.pos": 18.5}}, {"t": 12.5526, "i": 269, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -29.4, "elbow_flex.pos": 59.4, "wrist_flex.pos": 18.4, "wrist_roll.pos": 49.0, "gripper.pos": 18.5}}, {"t": 12.6119, "i": 270, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -30.3, "elbow_flex.pos": 61.1, "wrist_flex.pos": 16.8, "wrist_roll.pos": 49.2, "gripper.pos": 18.5}}, {"t": 12.655, "i": 271, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -32.0, "elbow_flex.pos": 63.4, "wrist_flex.pos": 14.5, "wrist_roll.pos": 49.2, "gripper.pos": 18.5}}, {"t": 12.6979, "i": 272, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -32.5, "elbow_flex.pos": 64.5, "wrist_flex.pos": 12.9, "wrist_roll.pos": 49.2, "gripper.pos": 18.3}}, {"t": 12.7407, "i": 273, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 65.9, "wrist_flex.pos": 11.1, "wrist_roll.pos": 49.4, "gripper.pos": 18.3}}, {"t": 12.7884, "i": 274, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -33.3, "elbow_flex.pos": 67.6, "wrist_flex.pos": 9.5, "wrist_roll.pos": 50.3, "gripper.pos": 18.1}}, {"t": 12.8317, "i": 275, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -33.6, "elbow_flex.pos": 69.8, "wrist_flex.pos": 8.0, "wrist_roll.pos": 51.7, "gripper.pos": 18.1}}, {"t": 12.8758, "i": 276, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -33.9, "elbow_flex.pos": 72.1, "wrist_flex.pos": 6.3, "wrist_roll.pos": 53.3, "gripper.pos": 18.1}}, {"t": 12.9191, "i": 277, "pos": {"shoulder_pan.pos": -31.0, "shoulder_lift.pos": -33.9, "elbow_flex.pos": 74.1, "wrist_flex.pos": 4.1, "wrist_roll.pos": 54.3, "gripper.pos": 18.1}}, {"t": 12.9629, "i": 278, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -33.5, "elbow_flex.pos": 75.8, "wrist_flex.pos": 1.5, "wrist_roll.pos": 55.0, "gripper.pos": 18.1}}, {"t": 13.0135, "i": 279, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -33.1, "elbow_flex.pos": 76.9, "wrist_flex.pos": -0.9, "wrist_roll.pos": 55.1, "gripper.pos": 18.1}}, {"t": 13.0633, "i": 280, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -33.1, "elbow_flex.pos": 78.9, "wrist_flex.pos": -3.4, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.1094, "i": 281, "pos": {"shoulder_pan.pos": -30.9, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 79.4, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.1595, "i": 282, "pos": {"shoulder_pan.pos": -30.7, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 79.7, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.2077, "i": 283, "pos": {"shoulder_pan.pos": -30.6, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 80.2, "wrist_flex.pos": -3.4, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.2533, "i": 284, "pos": {"shoulder_pan.pos": -30.5, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 80.5, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.3023, "i": 285, "pos": {"shoulder_pan.pos": -30.4, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 81.1, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.4, "gripper.pos": 18.1}}, {"t": 13.346, "i": 286, "pos": {"shoulder_pan.pos": -30.3, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 82.9, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.5, "gripper.pos": 18.4}}, {"t": 13.3965, "i": 287, "pos": {"shoulder_pan.pos": -30.3, "shoulder_lift.pos": -33.0, "elbow_flex.pos": 83.7, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.5, "gripper.pos": 18.5}}, {"t": 13.4452, "i": 288, "pos": {"shoulder_pan.pos": -30.2, "shoulder_lift.pos": -32.8, "elbow_flex.pos": 84.5, "wrist_flex.pos": -3.3, "wrist_roll.pos": 55.5, "gripper.pos": 18.5}}, {"t": 13.4945, "i": 289, "pos": {"shoulder_pan.pos": -30.1, "shoulder_lift.pos": -32.3, "elbow_flex.pos": 84.9, "wrist_flex.pos": -3.5, "wrist_roll.pos": 55.5, "gripper.pos": 18.6}}, {"t": 13.5439, "i": 290, "pos": {"shoulder_pan.pos": -29.8, "shoulder_lift.pos": -31.0, "elbow_flex.pos": 85.0, "wrist_flex.pos": -3.9, "wrist_roll.pos": 55.5, "gripper.pos": 18.7}}, {"t": 13.587, "i": 291, "pos": {"shoulder_pan.pos": -29.2, "shoulder_lift.pos": -29.4, "elbow_flex.pos": 84.8, "wrist_flex.pos": -4.1, "wrist_roll.pos": 55.5, "gripper.pos": 19.4}}, {"t": 13.6332, "i": 292, "pos": {"shoulder_pan.pos": -28.7, "shoulder_lift.pos": -27.4, "elbow_flex.pos": 84.5, "wrist_flex.pos": -5.4, "wrist_roll.pos": 55.5, "gripper.pos": 24.4}}, {"t": 13.679, "i": 293, "pos": {"shoulder_pan.pos": -28.2, "shoulder_lift.pos": -26.6, "elbow_flex.pos": 84.6, "wrist_flex.pos": -7.8, "wrist_roll.pos": 55.5, "gripper.pos": 28.0}}, {"t": 13.7243, "i": 294, "pos": {"shoulder_pan.pos": -27.7, "shoulder_lift.pos": -26.1, "elbow_flex.pos": 84.7, "wrist_flex.pos": -9.9, "wrist_roll.pos": 55.5, "gripper.pos": 31.2}}, {"t": 13.7773, "i": 295, "pos": {"shoulder_pan.pos": -27.6, "shoulder_lift.pos": -25.7, "elbow_flex.pos": 84.9, "wrist_flex.pos": -11.7, "wrist_roll.pos": 55.5, "gripper.pos": 34.0}}, {"t": 13.8237, "i": 296, "pos": {"shoulder_pan.pos": -27.3, "shoulder_lift.pos": -25.7, "elbow_flex.pos": 85.0, "wrist_flex.pos": -12.7, "wrist_roll.pos": 55.5, "gripper.pos": 36.3}}, {"t": 13.8668, "i": 297, "pos": {"shoulder_pan.pos": -26.9, "shoulder_lift.pos": -25.7, "elbow_flex.pos": 85.2, "wrist_flex.pos": -13.5, "wrist_roll.pos": 55.6, "gripper.pos": 38.4}}, {"t": 13.9107, "i": 298, "pos": {"shoulder_pan.pos": -26.8, "shoulder_lift.pos": -25.7, "elbow_flex.pos": 85.2, "wrist_flex.pos": -13.9, "wrist_roll.pos": 56.2, "gripper.pos": 40.4}}, {"t": 13.9564, "i": 299, "pos": {"shoulder_pan.pos": -26.8, "shoulder_lift.pos": -25.8, "elbow_flex.pos": 85.2, "wrist_flex.pos": -13.9, "wrist_roll.pos": 56.7, "gripper.pos": 41.9}}, {"t": 14.0026, "i": 300, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.1, "elbow_flex.pos": 85.0, "wrist_flex.pos": -13.9, "wrist_roll.pos": 57.1, "gripper.pos": 43.2}}, {"t": 14.048, "i": 301, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.2, "elbow_flex.pos": 84.9, "wrist_flex.pos": -13.9, "wrist_roll.pos": 57.0, "gripper.pos": 43.4}}, {"t": 14.0927, "i": 302, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.2, "elbow_flex.pos": 84.7, "wrist_flex.pos": -13.9, "wrist_roll.pos": 57.0, "gripper.pos": 43.4}}, {"t": 14.1419, "i": 303, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.3, "elbow_flex.pos": 84.5, "wrist_flex.pos": -13.9, "wrist_roll.pos": 57.0, "gripper.pos": 43.4}}, {"t": 14.1889, "i": 304, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.3, "elbow_flex.pos": 84.4, "wrist_flex.pos": -14.2, "wrist_roll.pos": 57.0, "gripper.pos": 43.4}}, {"t": 14.2366, "i": 305, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -26.3, "elbow_flex.pos": 84.4, "wrist_flex.pos": -15.8, "wrist_roll.pos": 57.0, "gripper.pos": 43.4}}, {"t": 14.2851, "i": 306, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -26.3, "elbow_flex.pos": 84.4, "wrist_flex.pos": -19.5, "wrist_roll.pos": 56.7, "gripper.pos": 43.4}}, {"t": 14.3309, "i": 307, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -26.3, "elbow_flex.pos": 84.4, "wrist_flex.pos": -21.1, "wrist_roll.pos": 56.2, "gripper.pos": 43.4}}, {"t": 14.3737, "i": 308, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -26.4, "elbow_flex.pos": 84.4, "wrist_flex.pos": -22.3, "wrist_roll.pos": 55.9, "gripper.pos": 43.4}}, {"t": 14.4162, "i": 309, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -26.5, "elbow_flex.pos": 84.4, "wrist_flex.pos": -22.8, "wrist_roll.pos": 55.8, "gripper.pos": 43.4}}, {"t": 14.459, "i": 310, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -26.9, "elbow_flex.pos": 84.4, "wrist_flex.pos": -22.8, "wrist_roll.pos": 55.7, "gripper.pos": 43.4}}, {"t": 14.5022, "i": 311, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -28.0, "elbow_flex.pos": 84.4, "wrist_flex.pos": -22.7, "wrist_roll.pos": 55.5, "gripper.pos": 43.4}}, {"t": 14.5513, "i": 312, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -29.7, "elbow_flex.pos": 84.4, "wrist_flex.pos": -21.7, "wrist_roll.pos": 55.4, "gripper.pos": 43.4}}, {"t": 14.5979, "i": 313, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -31.9, "elbow_flex.pos": 84.4, "wrist_flex.pos": -19.1, "wrist_roll.pos": 54.8, "gripper.pos": 43.4}}, {"t": 14.6443, "i": 314, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -34.2, "elbow_flex.pos": 83.7, "wrist_flex.pos": -15.7, "wrist_roll.pos": 54.1, "gripper.pos": 43.4}}, {"t": 14.6935, "i": 315, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -38.8, "elbow_flex.pos": 81.1, "wrist_flex.pos": -5.3, "wrist_roll.pos": 53.0, "gripper.pos": 43.4}}, {"t": 14.7438, "i": 316, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -40.7, "elbow_flex.pos": 79.1, "wrist_flex.pos": 0.3, "wrist_roll.pos": 52.2, "gripper.pos": 43.4}}, {"t": 14.7923, "i": 317, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -42.5, "elbow_flex.pos": 77.0, "wrist_flex.pos": 5.2, "wrist_roll.pos": 51.2, "gripper.pos": 43.4}}, {"t": 14.8653, "i": 318, "pos": {"shoulder_pan.pos": -26.6, "shoulder_lift.pos": -45.9, "elbow_flex.pos": 72.9, "wrist_flex.pos": 13.4, "wrist_roll.pos": 48.6, "gripper.pos": 43.3}}, {"t": 14.9103, "i": 319, "pos": {"shoulder_pan.pos": -26.5, "shoulder_lift.pos": -47.5, "elbow_flex.pos": 71.1, "wrist_flex.pos": 16.7, "wrist_roll.pos": 47.3, "gripper.pos": 43.3}}, {"t": 14.9563, "i": 320, "pos": {"shoulder_pan.pos": -26.4, "shoulder_lift.pos": -49.0, "elbow_flex.pos": 69.5, "wrist_flex.pos": 19.5, "wrist_roll.pos": 46.1, "gripper.pos": 43.1}}, {"t": 15.0032, "i": 321, "pos": {"shoulder_pan.pos": -26.0, "shoulder_lift.pos": -50.6, "elbow_flex.pos": 68.8, "wrist_flex.pos": 21.6, "wrist_roll.pos": 44.9, "gripper.pos": 43.1}}, {"t": 15.0485, "i": 322, "pos": {"shoulder_pan.pos": -25.7, "shoulder_lift.pos": -52.2, "elbow_flex.pos": 68.1, "wrist_flex.pos": 23.1, "wrist_roll.pos": 43.5, "gripper.pos": 43.1}}, {"t": 15.0956, "i": 323, "pos": {"shoulder_pan.pos": -24.6, "shoulder_lift.pos": -55.8, "elbow_flex.pos": 67.7, "wrist_flex.pos": 25.0, "wrist_roll.pos": 40.1, "gripper.pos": 43.1}}, {"t": 15.1381, "i": 324, "pos": {"shoulder_pan.pos": -23.8, "shoulder_lift.pos": -57.9, "elbow_flex.pos": 67.7, "wrist_flex.pos": 25.5, "wrist_roll.pos": 38.0, "gripper.pos": 43.1}}, {"t": 15.1839, "i": 325, "pos": {"shoulder_pan.pos": -22.5, "shoulder_lift.pos": -60.0, "elbow_flex.pos": 67.7, "wrist_flex.pos": 26.2, "wrist_roll.pos": 36.0, "gripper.pos": 43.1}}, {"t": 15.2295, "i": 326, "pos": {"shoulder_pan.pos": -21.1, "shoulder_lift.pos": -62.0, "elbow_flex.pos": 67.7, "wrist_flex.pos": 27.0, "wrist_roll.pos": 34.0, "gripper.pos": 43.0}}, {"t": 15.2745, "i": 327, "pos": {"shoulder_pan.pos": -19.7, "shoulder_lift.pos": -64.2, "elbow_flex.pos": 67.7, "wrist_flex.pos": 27.8, "wrist_roll.pos": 32.1, "gripper.pos": 43.0}}, {"t": 15.3194, "i": 328, "pos": {"shoulder_pan.pos": -18.2, "shoulder_lift.pos": -66.2, "elbow_flex.pos": 67.7, "wrist_flex.pos": 28.8, "wrist_roll.pos": 30.5, "gripper.pos": 42.9}}, {"t": 15.3619, "i": 329, "pos": {"shoulder_pan.pos": -16.7, "shoulder_lift.pos": -68.1, "elbow_flex.pos": 67.7, "wrist_flex.pos": 30.3, "wrist_roll.pos": 28.9, "gripper.pos": 42.9}}, {"t": 15.4059, "i": 330, "pos": {"shoulder_pan.pos": -15.0, "shoulder_lift.pos": -70.2, "elbow_flex.pos": 67.8, "wrist_flex.pos": 32.1, "wrist_roll.pos": 27.5, "gripper.pos": 42.9}}, {"t": 15.4489, "i": 331, "pos": {"shoulder_pan.pos": -13.6, "shoulder_lift.pos": -72.3, "elbow_flex.pos": 67.9, "wrist_flex.pos": 34.8, "wrist_roll.pos": 26.1, "gripper.pos": 42.9}}, {"t": 15.4948, "i": 332, "pos": {"shoulder_pan.pos": -12.5, "shoulder_lift.pos": -74.3, "elbow_flex.pos": 68.0, "wrist_flex.pos": 38.2, "wrist_roll.pos": 24.7, "gripper.pos": 42.9}}, {"t": 15.5404, "i": 333, "pos": {"shoulder_pan.pos": -11.5, "shoulder_lift.pos": -76.1, "elbow_flex.pos": 68.0, "wrist_flex.pos": 41.5, "wrist_roll.pos": 23.2, "gripper.pos": 42.9}}, {"t": 15.5868, "i": 334, "pos": {"shoulder_pan.pos": -10.1, "shoulder_lift.pos": -79.9, "elbow_flex.pos": 68.0, "wrist_flex.pos": 47.5, "wrist_roll.pos": 19.9, "gripper.pos": 42.9}}, {"t": 15.6356, "i": 335, "pos": {"shoulder_pan.pos": -9.5, "shoulder_lift.pos": -81.9, "elbow_flex.pos": 68.1, "wrist_flex.pos": 50.4, "wrist_roll.pos": 18.1, "gripper.pos": 42.9}}, {"t": 15.6927, "i": 336, "pos": {"shoulder_pan.pos": -8.9, "shoulder_lift.pos": -83.9, "elbow_flex.pos": 68.1, "wrist_flex.pos": 53.2, "wrist_roll.pos": 16.3, "gripper.pos": 42.9}}, {"t": 15.746, "i": 337, "pos": {"shoulder_pan.pos": -8.6, "shoulder_lift.pos": -85.9, "elbow_flex.pos": 68.1, "wrist_flex.pos": 55.8, "wrist_roll.pos": 14.2, "gripper.pos": 42.9}}, {"t": 15.7903, "i": 338, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -89.9, "elbow_flex.pos": 68.2, "wrist_flex.pos": 60.7, "wrist_roll.pos": 9.7, "gripper.pos": 42.9}}, {"t": 15.8335, "i": 339, "pos": {"shoulder_pan.pos": -7.3, "shoulder_lift.pos": -91.9, "elbow_flex.pos": 68.2, "wrist_flex.pos": 63.6, "wrist_roll.pos": 8.0, "gripper.pos": 42.9}}, {"t": 15.8771, "i": 340, "pos": {"shoulder_pan.pos": -6.8, "shoulder_lift.pos": -93.9, "elbow_flex.pos": 68.2, "wrist_flex.pos": 66.2, "wrist_roll.pos": 6.5, "gripper.pos": 42.9}}, {"t": 15.9254, "i": 341, "pos": {"shoulder_pan.pos": -6.2, "shoulder_lift.pos": -95.8, "elbow_flex.pos": 68.3, "wrist_flex.pos": 68.4, "wrist_roll.pos": 5.5, "gripper.pos": 42.9}}, {"t": 15.9727, "i": 342, "pos": {"shoulder_pan.pos": -6.2, "shoulder_lift.pos": -95.8, "elbow_flex.pos": 68.3, "wrist_flex.pos": 68.4, "wrist_roll.pos": 5.5, "gripper.pos": 42.9}}, {"t": 16.0197, "i": 343, "pos": {"shoulder_pan.pos": -6.2, "shoulder_lift.pos": -95.8, "elbow_flex.pos": 68.3, "wrist_flex.pos": 68.4, "wrist_roll.pos": 5.5, "gripper.pos": 42.9}}, {"t": 16.0673, "i": 344, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.7, "elbow_flex.pos": 71.5, "wrist_flex.pos": 70.6, "wrist_roll.pos": 4.1, "gripper.pos": 42.9}}, {"t": 16.1115, "i": 345, "pos": {"shoulder_pan.pos": -1.0, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 72.5, "wrist_flex.pos": 70.7, "wrist_roll.pos": 3.9, "gripper.pos": 42.9}}, {"t": 16.1556, "i": 346, "pos": {"shoulder_pan.pos": -0.1, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 73.4, "wrist_flex.pos": 71.0, "wrist_roll.pos": 3.9, "gripper.pos": 42.9}}, {"t": 16.2046, "i": 347, "pos": {"shoulder_pan.pos": 0.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 74.0, "wrist_flex.pos": 71.3, "wrist_roll.pos": 3.9, "gripper.pos": 42.9}}, {"t": 16.2477, "i": 348, "pos": {"shoulder_pan.pos": 0.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 74.6, "wrist_flex.pos": 72.0, "wrist_roll.pos": 3.4, "gripper.pos": 42.9}}, {"t": 16.2949, "i": 349, "pos": {"shoulder_pan.pos": 0.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 74.6, "wrist_flex.pos": 73.4, "wrist_roll.pos": 2.3, "gripper.pos": 42.9}}, {"t": 16.3383, "i": 350, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 74.6, "wrist_flex.pos": 74.8, "wrist_roll.pos": 1.0, "gripper.pos": 42.9}}, {"t": 16.3851, "i": 351, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 74.9, "wrist_flex.pos": 76.5, "wrist_roll.pos": -1.4, "gripper.pos": 42.9}}, {"t": 16.4364, "i": 352, "pos": {"shoulder_pan.pos": -1.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.1, "wrist_flex.pos": 77.2, "wrist_roll.pos": -2.4, "gripper.pos": 42.9}}, {"t": 16.4815, "i": 353, "pos": {"shoulder_pan.pos": -1.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.4, "wrist_flex.pos": 77.7, "wrist_roll.pos": -3.2, "gripper.pos": 42.9}}, {"t": 16.5239, "i": 354, "pos": {"shoulder_pan.pos": -2.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.5, "wrist_flex.pos": 78.0, "wrist_roll.pos": -4.1, "gripper.pos": 42.9}}, {"t": 16.5691, "i": 355, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.6, "wrist_flex.pos": 78.8, "wrist_roll.pos": -5.1, "gripper.pos": 42.9}}, {"t": 16.6124, "i": 356, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.6, "wrist_flex.pos": 80.0, "wrist_roll.pos": -6.0, "gripper.pos": 42.9}}, {"t": 16.6577, "i": 357, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.6, "wrist_flex.pos": 80.5, "wrist_roll.pos": -6.5, "gripper.pos": 42.9}}, {"t": 16.7034, "i": 358, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.6, "wrist_flex.pos": 80.6, "wrist_roll.pos": -6.6, "gripper.pos": 42.9}}, {"t": 16.7476, "i": 359, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 75.7, "wrist_flex.pos": 80.6, "wrist_roll.pos": -6.6, "gripper.pos": 42.9}}, {"t": 16.7936, "i": 360, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 77.9, "wrist_flex.pos": 80.5, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 16.8376, "i": 361, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 80.2, "wrist_flex.pos": 79.7, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 16.8852, "i": 362, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 82.5, "wrist_flex.pos": 78.8, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 16.9282, "i": 363, "pos": {"shoulder_pan.pos": -2.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 83.8, "wrist_flex.pos": 78.0, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 16.9719, "i": 364, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 83.8, "wrist_flex.pos": 77.9, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 17.0154, "i": 365, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 83.9, "wrist_flex.pos": 77.8, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 17.0581, "i": 366, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 84.5, "wrist_flex.pos": 77.4, "wrist_roll.pos": -6.6, "gripper.pos": 42.8}}, {"t": 17.1027, "i": 367, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.7, "wrist_flex.pos": 77.2, "wrist_roll.pos": -6.5, "gripper.pos": 42.8}}, {"t": 17.1453, "i": 368, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 87.6, "wrist_flex.pos": 75.4, "wrist_roll.pos": -6.5, "gripper.pos": 42.8}}, {"t": 17.1891, "i": 369, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 89.5, "wrist_flex.pos": 73.4, "wrist_roll.pos": -6.5, "gripper.pos": 42.8}}, {"t": 17.2322, "i": 370, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 91.4, "wrist_flex.pos": 72.0, "wrist_roll.pos": -6.4, "gripper.pos": 42.7}}, {"t": 17.2754, "i": 371, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 71.4, "wrist_roll.pos": -5.8, "gripper.pos": 42.7}}, {"t": 17.3187, "i": 372, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.1, "wrist_flex.pos": 71.2, "wrist_roll.pos": -4.8, "gripper.pos": 42.7}}, {"t": 17.3616, "i": 373, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.0, "wrist_flex.pos": 71.2, "wrist_roll.pos": -4.1, "gripper.pos": 42.7}}, {"t": 17.4064, "i": 374, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 71.3, "wrist_roll.pos": -3.9, "gripper.pos": 42.7}}, {"t": 17.4516, "i": 375, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 72.1, "wrist_roll.pos": -3.9, "gripper.pos": 42.7}}, {"t": 17.4961, "i": 376, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.4, "wrist_roll.pos": -3.8, "gripper.pos": 42.7}}, {"t": 17.5394, "i": 377, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.2, "wrist_roll.pos": -3.9, "gripper.pos": 42.7}}, {"t": 17.5831, "i": 378, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.9, "gripper.pos": 42.7}}, {"t": 17.6271, "i": 379, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.8, "gripper.pos": 42.7}}, {"t": 17.6714, "i": 380, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.8, "gripper.pos": 41.9}}, {"t": 17.7157, "i": 381, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 39.2}}, {"t": 17.7619, "i": 382, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 35.0}}, {"t": 17.8064, "i": 383, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 25.4}}, {"t": 17.8557, "i": 384, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 21.2}}, {"t": 17.8998, "i": 385, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 17.9}}, {"t": 17.9443, "i": 386, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 15.2}}, {"t": 17.9886, "i": 387, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 13.3}}, {"t": 18.0325, "i": 388, "pos": {"shoulder_pan.pos": -2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 12.1}}, {"t": 18.0755, "i": 389, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 11.2}}, {"t": 18.124, "i": 390, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 10.6}}, {"t": 18.1675, "i": 391, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 10.1}}, {"t": 18.2121, "i": 392, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 9.4}}, {"t": 18.2564, "i": 393, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 8.0}}, {"t": 18.2996, "i": 394, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 7.1}}, {"t": 18.3428, "i": 395, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 6.2}}, {"t": 18.3872, "i": 396, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 5.5}}, {"t": 18.4314, "i": 397, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.8}}, {"t": 18.4744, "i": 398, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.5207, "i": 399, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.564, "i": 400, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.6084, "i": 401, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.6522, "i": 402, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.6961, "i": 403, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.7402, "i": 404, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.791, "i": 405, "pos": {"shoulder_pan.pos": -2.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.6, "gripper.pos": 4.7}}, {"t": 18.8393, "i": 406, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.3, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 18.883, "i": 407, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 18.9269, "i": 408, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 18.9727, "i": 409, "pos": {"shoulder_pan.pos": -2.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.8, "gripper.pos": 4.7}}, {"t": 19.0193, "i": 410, "pos": {"shoulder_pan.pos": -2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.0669, "i": 411, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.1125, "i": 412, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.1587, "i": 413, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.2054, "i": 414, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.2517, "i": 415, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.2948, "i": 416, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.3441, "i": 417, "pos": {"shoulder_pan.pos": -2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.3875, "i": 418, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -4.0, "gripper.pos": 4.7}}, {"t": 19.4314, "i": 419, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.9, "gripper.pos": 4.7}}, {"t": 19.475, "i": 420, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.9, "gripper.pos": 4.7}}, {"t": 19.5207, "i": 421, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.9, "gripper.pos": 4.7}}, {"t": 19.5651, "i": 422, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.9, "gripper.pos": 4.7}}, {"t": 19.6161, "i": 423, "pos": {"shoulder_pan.pos": -2.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.8, "gripper.pos": 4.7}}, {"t": 19.6601, "i": 424, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.7067, "i": 425, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.7544, "i": 426, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.8034, "i": 427, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.8647, "i": 428, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.9112, "i": 429, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 19.9578, "i": 430, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 20.005, "i": 431, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}, {"t": 20.0598, "i": 432, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -3.7, "gripper.pos": 4.7}}]}