{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0133, "i": 0, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.0565, "i": 1, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.1001, "i": 2, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.1431, "i": 3, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.1884, "i": 4, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.2335, "i": 5, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.0, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.2787, "i": 6, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.1, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.3241, "i": 7, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.3686, "i": 8, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.4117, "i": 9, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.4554, "i": 10, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.5009, "i": 11, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.5456, "i": 12, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.5907, "i": 13, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.6414, "i": 14, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.6907, "i": 15, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.7379, "i": 16, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.786, "i": 17, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.8319, "i": 18, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.8766, "i": 19, "pos": {"shoulder_pan.pos": -7.2, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.3, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.9226, "i": 20, "pos": {"shoulder_pan.pos": -8.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.1, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 0.9721, "i": 21, "pos": {"shoulder_pan.pos": -10.6, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.8, "gripper.pos": 0.3}}, {"t": 1.0229, "i": 22, "pos": {"shoulder_pan.pos": -11.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.7, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 1.0695, "i": 23, "pos": {"shoulder_pan.pos": -12.2, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.7, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 1.1183, "i": 24, "pos": {"shoulder_pan.pos": -12.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 1.1657, "i": 25, "pos": {"shoulder_pan.pos": -13.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.9, "gripper.pos": 0.3}}, {"t": 1.2098, "i": 26, "pos": {"shoulder_pan.pos": -13.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.9, "wrist_roll.pos": -8.6, "gripper.pos": 0.3}}, {"t": 1.2623, "i": 27, "pos": {"shoulder_pan.pos": -12.6, "shoulder_lift.pos": -98.6, "elbow_flex.pos": 92.6, "wrist_flex.pos": 71.6, "wrist_roll.pos": -7.9, "gripper.pos": 0.3}}, {"t": 1.3056, "i": 28, "pos": {"shoulder_pan.pos": -11.8, "shoulder_lift.pos": -98.1, "elbow_flex.pos": 92.6, "wrist_flex.pos": 69.9, "wrist_roll.pos": -6.7, "gripper.pos": 0.3}}, {"t": 1.3486, "i": 29, "pos": {"shoulder_pan.pos": -10.8, "shoulder_lift.pos": -97.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 68.0, "wrist_roll.pos": -5.1, "gripper.pos": 0.3}}, {"t": 1.3992, "i": 30, "pos": {"shoulder_pan.pos": -9.8, "shoulder_lift.pos": -96.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 65.5, "wrist_roll.pos": -3.3, "gripper.pos": 0.3}}, {"t": 1.4442, "i": 31, "pos": {"shoulder_pan.pos": -8.8, "shoulder_lift.pos": -95.4, "elbow_flex.pos": 92.5, "wrist_flex.pos": 62.5, "wrist_roll.pos": -1.1, "gripper.pos": 0.3}}, {"t": 1.4909, "i": 32, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -94.4, "elbow_flex.pos": 92.5, "wrist_flex.pos": 59.9, "wrist_roll.pos": 1.3, "gripper.pos": 0.3}}, {"t": 1.5357, "i": 33, "pos": {"shoulder_pan.pos": -6.9, "shoulder_lift.pos": -93.4, "elbow_flex.pos": 92.5, "wrist_flex.pos": 57.4, "wrist_roll.pos": 3.6, "gripper.pos": 0.3}}, {"t": 1.5837, "i": 34, "pos": {"shoulder_pan.pos": -5.8, "shoulder_lift.pos": -91.6, "elbow_flex.pos": 92.5, "wrist_flex.pos": 53.3, "wrist_roll.pos": 7.2, "gripper.pos": 0.3}}, {"t": 1.6324, "i": 35, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -90.7, "elbow_flex.pos": 92.5, "wrist_flex.pos": 51.6, "wrist_roll.pos": 8.6, "gripper.pos": 0.3}}, {"t": 1.6791, "i": 36, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -89.9, "elbow_flex.pos": 92.1, "wrist_flex.pos": 50.8, "wrist_roll.pos": 9.9, "gripper.pos": 0.3}}, {"t": 1.7228, "i": 37, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -88.9, "elbow_flex.pos": 90.7, "wrist_flex.pos": 50.8, "wrist_roll.pos": 10.9, "gripper.pos": 0.3}}, {"t": 1.7664, "i": 38, "pos": {"shoulder_pan.pos": -5.5, "shoulder_lift.pos": -87.6, "elbow_flex.pos": 89.0, "wrist_flex.pos": 51.2, "wrist_roll.pos": 11.8, "gripper.pos": 0.3}}, {"t": 1.8098, "i": 39, "pos": {"shoulder_pan.pos": -5.5, "shoulder_lift.pos": -85.7, "elbow_flex.pos": 86.6, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.1, "gripper.pos": 0.3}}, {"t": 1.8538, "i": 40, "pos": {"shoulder_pan.pos": -5.5, "shoulder_lift.pos": -83.3, "elbow_flex.pos": 84.1, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.2, "gripper.pos": 0.3}}, {"t": 1.8978, "i": 41, "pos": {"shoulder_pan.pos": -5.4, "shoulder_lift.pos": -80.3, "elbow_flex.pos": 81.3, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.2, "gripper.pos": 0.4}}, {"t": 1.9408, "i": 42, "pos": {"shoulder_pan.pos": -5.3, "shoulder_lift.pos": -76.8, "elbow_flex.pos": 78.4, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.2, "gripper.pos": 0.4}}, {"t": 1.9845, "i": 43, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -68.2, "elbow_flex.pos": 71.8, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.3, "gripper.pos": 0.5}}, {"t": 2.0273, "i": 44, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -63.7, "elbow_flex.pos": 68.3, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.4, "gripper.pos": 0.5}}, {"t": 2.0704, "i": 45, "pos": {"shoulder_pan.pos": -1.9, "shoulder_lift.pos": -59.0, "elbow_flex.pos": 64.5, "wrist_flex.pos": 51.3, "wrist_roll.pos": 12.5, "gripper.pos": 0.5}}, {"t": 2.1183, "i": 46, "pos": {"shoulder_pan.pos": -0.8, "shoulder_lift.pos": -54.8, "elbow_flex.pos": 60.8, "wrist_flex.pos": 51.7, "wrist_roll.pos": 12.5, "gripper.pos": 0.5}}, {"t": 2.1623, "i": 47, "pos": {"shoulder_pan.pos": 0.1, "shoulder_lift.pos": -51.0, "elbow_flex.pos": 57.0, "wrist_flex.pos": 52.9, "wrist_roll.pos": 12.6, "gripper.pos": 0.6}}, {"t": 2.2059, "i": 48, "pos": {"shoulder_pan.pos": 1.0, "shoulder_lift.pos": -47.5, "elbow_flex.pos": 53.1, "wrist_flex.pos": 55.0, "wrist_roll.pos": 12.6, "gripper.pos": 1.9}}, {"t": 2.2505, "i": 49, "pos": {"shoulder_pan.pos": 1.7, "shoulder_lift.pos": -44.2, "elbow_flex.pos": 49.0, "wrist_flex.pos": 57.7, "wrist_roll.pos": 12.7, "gripper.pos": 4.0}}, {"t": 2.2944, "i": 50, "pos": {"shoulder_pan.pos": 2.2, "shoulder_lift.pos": -41.6, "elbow_flex.pos": 45.1, "wrist_flex.pos": 60.5, "wrist_roll.pos": 12.7, "gripper.pos": 6.6}}, {"t": 2.3374, "i": 51, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -39.4, "elbow_flex.pos": 41.7, "wrist_flex.pos": 63.3, "wrist_roll.pos": 12.7, "gripper.pos": 9.8}}, {"t": 2.3832, "i": 52, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -37.8, "elbow_flex.pos": 38.5, "wrist_flex.pos": 66.2, "wrist_roll.pos": 12.7, "gripper.pos": 13.2}}, {"t": 2.4261, "i": 53, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -36.7, "elbow_flex.pos": 36.3, "wrist_flex.pos": 68.5, "wrist_roll.pos": 13.1, "gripper.pos": 16.6}}, {"t": 2.47, "i": 54, "pos": {"shoulder_pan.pos": 2.2, "shoulder_lift.pos": -35.7, "elbow_flex.pos": 34.1, "wrist_flex.pos": 70.9, "wrist_roll.pos": 13.7, "gripper.pos": 19.8}}, {"t": 2.5145, "i": 55, "pos": {"shoulder_pan.pos": 2.1, "shoulder_lift.pos": -33.9, "elbow_flex.pos": 30.6, "wrist_flex.pos": 74.4, "wrist_roll.pos": 14.1, "gripper.pos": 27.3}}, {"t": 2.5585, "i": 56, "pos": {"shoulder_pan.pos": 2.0, "shoulder_lift.pos": -33.1, "elbow_flex.pos": 29.5, "wrist_flex.pos": 75.8, "wrist_roll.pos": 14.2, "gripper.pos": 31.1}}, {"t": 2.6032, "i": 57, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -32.3, "elbow_flex.pos": 28.6, "wrist_flex.pos": 77.0, "wrist_roll.pos": 14.4, "gripper.pos": 33.7}}, {"t": 2.6579, "i": 58, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -31.2, "elbow_flex.pos": 27.9, "wrist_flex.pos": 78.1, "wrist_roll.pos": 14.5, "gripper.pos": 35.7}}, {"t": 2.7043, "i": 59, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -29.7, "elbow_flex.pos": 27.3, "wrist_flex.pos": 79.1, "wrist_roll.pos": 14.6, "gripper.pos": 36.7}}, {"t": 2.7512, "i": 60, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -27.8, "elbow_flex.pos": 26.6, "wrist_flex.pos": 79.7, "wrist_roll.pos": 14.6, "gripper.pos": 36.7}}, {"t": 2.8015, "i": 61, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -22.9, "elbow_flex.pos": 25.1, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 36.8}}, {"t": 2.8489, "i": 62, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -20.1, "elbow_flex.pos": 23.7, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 36.9}}, {"t": 2.8943, "i": 63, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -17.4, "elbow_flex.pos": 22.1, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 36.9}}, {"t": 2.9393, "i": 64, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -14.7, "elbow_flex.pos": 20.3, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 36.9}}, {"t": 2.9842, "i": 65, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -12.2, "elbow_flex.pos": 18.5, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.0}}, {"t": 3.0323, "i": 66, "pos": {"shoulder_pan.pos": 1.9, "shoulder_lift.pos": -9.9, "elbow_flex.pos": 16.8, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.1}}, {"t": 3.0776, "i": 67, "pos": {"shoulder_pan.pos": 1.8, "shoulder_lift.pos": -7.8, "elbow_flex.pos": 15.2, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.1}}, {"t": 3.1337, "i": 68, "pos": {"shoulder_pan.pos": 1.8, "shoulder_lift.pos": -4.2, "elbow_flex.pos": 11.9, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.1}}, {"t": 3.1778, "i": 69, "pos": {"shoulder_pan.pos": 1.8, "shoulder_lift.pos": -2.4, "elbow_flex.pos": 10.5, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.1}}, {"t": 3.2281, "i": 70, "pos": {"shoulder_pan.pos": 1.7, "shoulder_lift.pos": -1.0, "elbow_flex.pos": 9.5, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.3, "gripper.pos": 37.1}}, {"t": 3.2804, "i": 71, "pos": {"shoulder_pan.pos": 1.3, "shoulder_lift.pos": 0.4, "elbow_flex.pos": 8.6, "wrist_flex.pos": 79.7, "wrist_roll.pos": 15.4, "gripper.pos": 37.1}}, {"t": 3.3259, "i": 72, "pos": {"shoulder_pan.pos": 0.4, "shoulder_lift.pos": 3.2, "elbow_flex.pos": 7.5, "wrist_flex.pos": 79.8, "wrist_roll.pos": 15.8, "gripper.pos": 37.1}}, {"t": 3.3697, "i": 73, "pos": {"shoulder_pan.pos": -0.0, "shoulder_lift.pos": 4.5, "elbow_flex.pos": 7.2, "wrist_flex.pos": 79.7, "wrist_roll.pos": 15.9, "gripper.pos": 37.0}}, {"t": 3.416, "i": 74, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 5.6, "elbow_flex.pos": 6.9, "wrist_flex.pos": 79.4, "wrist_roll.pos": 15.8, "gripper.pos": 36.8}}, {"t": 3.4619, "i": 75, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 6.7, "elbow_flex.pos": 6.6, "wrist_flex.pos": 79.2, "wrist_roll.pos": 15.7, "gripper.pos": 36.7}}, {"t": 3.5081, "i": 76, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 7.5, "elbow_flex.pos": 6.5, "wrist_flex.pos": 79.0, "wrist_roll.pos": 15.7, "gripper.pos": 36.7}}, {"t": 3.5528, "i": 77, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 8.2, "elbow_flex.pos": 6.5, "wrist_flex.pos": 79.0, "wrist_roll.pos": 15.8, "gripper.pos": 36.7}}, {"t": 3.5987, "i": 78, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 8.8, "elbow_flex.pos": 6.5, "wrist_flex.pos": 78.9, "wrist_roll.pos": 16.0, "gripper.pos": 36.6}}, {"t": 3.6456, "i": 79, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 9.3, "elbow_flex.pos": 6.5, "wrist_flex.pos": 78.8, "wrist_roll.pos": 16.0, "gripper.pos": 36.6}}, {"t": 3.6886, "i": 80, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 9.8, "elbow_flex.pos": 6.5, "wrist_flex.pos": 78.5, "wrist_roll.pos": 16.0, "gripper.pos": 36.6}}, {"t": 3.7347, "i": 81, "pos": {"shoulder_pan.pos": -0.3, "shoulder_lift.pos": 10.6, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.9, "wrist_roll.pos": 15.7, "gripper.pos": 35.9}}, {"t": 3.7813, "i": 82, "pos": {"shoulder_pan.pos": -0.2, "shoulder_lift.pos": 10.9, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.7, "gripper.pos": 34.0}}, {"t": 3.8262, "i": 83, "pos": {"shoulder_pan.pos": -0.2, "shoulder_lift.pos": 11.2, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 31.2}}, {"t": 3.872, "i": 84, "pos": {"shoulder_pan.pos": -0.3, "shoulder_lift.pos": 11.4, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 28.3}}, {"t": 3.9169, "i": 85, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 11.4, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 25.5}}, {"t": 3.9598, "i": 86, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 11.3, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 23.0}}, {"t": 4.0041, "i": 87, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 10.9, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 21.2}}, {"t": 4.0473, "i": 88, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 10.6, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.8, "gripper.pos": 20.0}}, {"t": 4.0905, "i": 89, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 10.4, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 15.9, "gripper.pos": 19.4}}, {"t": 4.1361, "i": 90, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 10.3, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.0, "gripper.pos": 19.4}}, {"t": 4.1821, "i": 91, "pos": {"shoulder_pan.pos": -0.4, "shoulder_lift.pos": 9.8, "elbow_flex.pos": 6.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.0, "gripper.pos": 19.4}}, {"t": 4.2316, "i": 92, "pos": {"shoulder_pan.pos": -0.2, "shoulder_lift.pos": 7.3, "elbow_flex.pos": 7.3, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.0, "gripper.pos": 19.4}}, {"t": 4.2765, "i": 93, "pos": {"shoulder_pan.pos": 0.0, "shoulder_lift.pos": 6.1, "elbow_flex.pos": 7.3, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.0, "gripper.pos": 19.4}}, {"t": 4.3388, "i": 94, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": 4.8, "elbow_flex.pos": 7.3, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.2, "gripper.pos": 19.4}}, {"t": 4.3875, "i": 95, "pos": {"shoulder_pan.pos": 0.4, "shoulder_lift.pos": 3.5, "elbow_flex.pos": 7.3, "wrist_flex.pos": 76.6, "wrist_roll.pos": 16.8, "gripper.pos": 19.4}}, {"t": 4.4316, "i": 96, "pos": {"shoulder_pan.pos": 0.5, "shoulder_lift.pos": 1.2, "elbow_flex.pos": 7.4, "wrist_flex.pos": 76.6, "wrist_roll.pos": 18.1, "gripper.pos": 19.4}}, {"t": 4.4745, "i": 97, "pos": {"shoulder_pan.pos": 0.8, "shoulder_lift.pos": 0.1, "elbow_flex.pos": 7.4, "wrist_flex.pos": 76.6, "wrist_roll.pos": 18.7, "gripper.pos": 19.4}}, {"t": 4.5278, "i": 98, "pos": {"shoulder_pan.pos": 1.7, "shoulder_lift.pos": -1.3, "elbow_flex.pos": 7.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 19.4, "gripper.pos": 19.4}}, {"t": 4.5756, "i": 99, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -2.6, "elbow_flex.pos": 7.5, "wrist_flex.pos": 76.6, "wrist_roll.pos": 20.3, "gripper.pos": 19.4}}, {"t": 4.6213, "i": 100, "pos": {"shoulder_pan.pos": 4.4, "shoulder_lift.pos": -4.3, "elbow_flex.pos": 8.5, "wrist_flex.pos": 76.5, "wrist_roll.pos": 21.8, "gripper.pos": 19.4}}, {"t": 4.6732, "i": 101, "pos": {"shoulder_pan.pos": 6.9, "shoulder_lift.pos": -8.6, "elbow_flex.pos": 12.3, "wrist_flex.pos": 73.0, "wrist_roll.pos": 24.8, "gripper.pos": 19.4}}, {"t": 4.7214, "i": 102, "pos": {"shoulder_pan.pos": 8.4, "shoulder_lift.pos": -10.9, "elbow_flex.pos": 15.3, "wrist_flex.pos": 70.3, "wrist_roll.pos": 26.1, "gripper.pos": 19.4}}, {"t": 4.7667, "i": 103, "pos": {"shoulder_pan.pos": 9.7, "shoulder_lift.pos": -13.3, "elbow_flex.pos": 18.8, "wrist_flex.pos": 67.3, "wrist_roll.pos": 27.4, "gripper.pos": 19.4}}, {"t": 4.8101, "i": 104, "pos": {"shoulder_pan.pos": 10.9, "shoulder_lift.pos": -15.2, "elbow_flex.pos": 22.4, "wrist_flex.pos": 64.0, "wrist_roll.pos": 28.6, "gripper.pos": 19.4}}, {"t": 4.8619, "i": 105, "pos": {"shoulder_pan.pos": 12.2, "shoulder_lift.pos": -16.7, "elbow_flex.pos": 25.8, "wrist_flex.pos": 60.9, "wrist_roll.pos": 30.0, "gripper.pos": 19.4}}, {"t": 4.9118, "i": 106, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": -18.1, "elbow_flex.pos": 29.4, "wrist_flex.pos": 57.8, "wrist_roll.pos": 31.5, "gripper.pos": 19.4}}, {"t": 4.9547, "i": 107, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -19.3, "elbow_flex.pos": 33.0, "wrist_flex.pos": 54.4, "wrist_roll.pos": 33.0, "gripper.pos": 19.4}}, {"t": 5.0031, "i": 108, "pos": {"shoulder_pan.pos": 14.9, "shoulder_lift.pos": -21.1, "elbow_flex.pos": 39.8, "wrist_flex.pos": 46.4, "wrist_roll.pos": 35.6, "gripper.pos": 19.4}}, {"t": 5.0556, "i": 109, "pos": {"shoulder_pan.pos": 15.2, "shoulder_lift.pos": -21.6, "elbow_flex.pos": 42.6, "wrist_flex.pos": 42.6, "wrist_roll.pos": 36.7, "gripper.pos": 19.4}}, {"t": 5.1165, "i": 110, "pos": {"shoulder_pan.pos": 15.4, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 45.3, "wrist_flex.pos": 38.6, "wrist_roll.pos": 37.8, "gripper.pos": 19.4}}, {"t": 5.1643, "i": 111, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 49.5, "wrist_flex.pos": 31.6, "wrist_roll.pos": 39.9, "gripper.pos": 19.4}}, {"t": 5.2176, "i": 112, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 51.4, "wrist_flex.pos": 28.4, "wrist_roll.pos": 41.1, "gripper.pos": 19.4}}, {"t": 5.2676, "i": 113, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 53.1, "wrist_flex.pos": 25.4, "wrist_roll.pos": 42.4, "gripper.pos": 19.4}}, {"t": 5.3115, "i": 114, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 54.8, "wrist_flex.pos": 22.2, "wrist_roll.pos": 43.8, "gripper.pos": 19.4}}, {"t": 5.3558, "i": 115, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 56.5, "wrist_flex.pos": 18.6, "wrist_roll.pos": 45.3, "gripper.pos": 19.4}}, {"t": 5.3984, "i": 116, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -21.9, "elbow_flex.pos": 58.6, "wrist_flex.pos": 14.8, "wrist_roll.pos": 46.7, "gripper.pos": 19.4}}, {"t": 5.4409, "i": 117, "pos": {"shoulder_pan.pos": 15.6, "shoulder_lift.pos": -21.9, "elbow_flex.pos": 60.9, "wrist_flex.pos": 10.6, "wrist_roll.pos": 47.8, "gripper.pos": 19.4}}, {"t": 5.4836, "i": 118, "pos": {"shoulder_pan.pos": 15.4, "shoulder_lift.pos": -21.9, "elbow_flex.pos": 63.5, "wrist_flex.pos": 6.3, "wrist_roll.pos": 49.0, "gripper.pos": 19.4}}, {"t": 5.5276, "i": 119, "pos": {"shoulder_pan.pos": 15.3, "shoulder_lift.pos": -21.7, "elbow_flex.pos": 66.5, "wrist_flex.pos": 1.5, "wrist_roll.pos": 50.3, "gripper.pos": 19.4}}, {"t": 5.5723, "i": 120, "pos": {"shoulder_pan.pos": 15.0, "shoulder_lift.pos": -21.7, "elbow_flex.pos": 73.2, "wrist_flex.pos": -8.5, "wrist_roll.pos": 52.8, "gripper.pos": 19.7}}, {"t": 5.6193, "i": 121, "pos": {"shoulder_pan.pos": 14.9, "shoulder_lift.pos": -21.6, "elbow_flex.pos": 76.7, "wrist_flex.pos": -13.3, "wrist_roll.pos": 53.9, "gripper.pos": 19.8}}, {"t": 5.6659, "i": 122, "pos": {"shoulder_pan.pos": 14.9, "shoulder_lift.pos": -21.6, "elbow_flex.pos": 80.1, "wrist_flex.pos": -17.6, "wrist_roll.pos": 54.8, "gripper.pos": 19.9}}, {"t": 5.7093, "i": 123, "pos": {"shoulder_pan.pos": 14.8, "shoulder_lift.pos": -21.5, "elbow_flex.pos": 83.1, "wrist_flex.pos": -21.6, "wrist_roll.pos": 55.7, "gripper.pos": 19.9}}, {"t": 5.762, "i": 124, "pos": {"shoulder_pan.pos": 14.7, "shoulder_lift.pos": -21.4, "elbow_flex.pos": 85.7, "wrist_flex.pos": -24.6, "wrist_roll.pos": 56.5, "gripper.pos": 19.9}}, {"t": 5.8056, "i": 125, "pos": {"shoulder_pan.pos": 14.3, "shoulder_lift.pos": -21.4, "elbow_flex.pos": 87.7, "wrist_flex.pos": -26.7, "wrist_roll.pos": 57.0, "gripper.pos": 19.9}}, {"t": 5.8543, "i": 126, "pos": {"shoulder_pan.pos": 14.0, "shoulder_lift.pos": -21.4, "elbow_flex.pos": 89.3, "wrist_flex.pos": -28.1, "wrist_roll.pos": 57.3, "gripper.pos": 19.9}}, {"t": 5.9015, "i": 127, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.4, "elbow_flex.pos": 91.1, "wrist_flex.pos": -29.3, "wrist_roll.pos": 57.6, "gripper.pos": 19.9}}, {"t": 5.9437, "i": 128, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.4, "elbow_flex.pos": 91.5, "wrist_flex.pos": -29.3, "wrist_roll.pos": 57.6, "gripper.pos": 19.9}}, {"t": 5.9875, "i": 129, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.6, "elbow_flex.pos": 91.7, "wrist_flex.pos": -29.1, "wrist_roll.pos": 57.7, "gripper.pos": 19.9}}, {"t": 6.0352, "i": 130, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.8, "elbow_flex.pos": 91.7, "wrist_flex.pos": -28.8, "wrist_roll.pos": 57.7, "gripper.pos": 20.0}}, {"t": 6.0813, "i": 131, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 91.7, "wrist_flex.pos": -28.7, "wrist_roll.pos": 57.7, "gripper.pos": 20.1}}, {"t": 6.1257, "i": 132, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 91.7, "wrist_flex.pos": -28.6, "wrist_roll.pos": 57.7, "gripper.pos": 20.8}}, {"t": 6.1699, "i": 133, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 91.7, "wrist_flex.pos": -28.6, "wrist_roll.pos": 57.7, "gripper.pos": 23.7}}, {"t": 6.213, "i": 134, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.0, "elbow_flex.pos": 91.6, "wrist_flex.pos": -28.6, "wrist_roll.pos": 57.7, "gripper.pos": 28.2}}, {"t": 6.2577, "i": 135, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.9, "elbow_flex.pos": 91.6, "wrist_flex.pos": -28.6, "wrist_roll.pos": 57.7, "gripper.pos": 32.8}}, {"t": 6.3026, "i": 136, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.8, "elbow_flex.pos": 91.6, "wrist_flex.pos": -28.6, "wrist_roll.pos": 57.7, "gripper.pos": 36.7}}, {"t": 6.3451, "i": 137, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.7, "elbow_flex.pos": 91.6, "wrist_flex.pos": -28.4, "wrist_roll.pos": 57.5, "gripper.pos": 41.3}}, {"t": 6.3879, "i": 138, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -21.9, "elbow_flex.pos": 91.5, "wrist_flex.pos": -27.7, "wrist_roll.pos": 57.3, "gripper.pos": 41.7}}, {"t": 6.4343, "i": 139, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.1, "elbow_flex.pos": 91.3, "wrist_flex.pos": -26.5, "wrist_roll.pos": 57.2, "gripper.pos": 41.7}}, {"t": 6.483, "i": 140, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -22.2, "elbow_flex.pos": 91.0, "wrist_flex.pos": -25.5, "wrist_roll.pos": 57.1, "gripper.pos": 41.7}}, {"t": 6.527, "i": 141, "pos": {"shoulder_pan.pos": 14.2, "shoulder_lift.pos": -22.3, "elbow_flex.pos": 90.9, "wrist_flex.pos": -25.1, "wrist_roll.pos": 57.1, "gripper.pos": 41.7}}, {"t": 6.5749, "i": 142, "pos": {"shoulder_pan.pos": 14.4, "shoulder_lift.pos": -22.3, "elbow_flex.pos": 90.9, "wrist_flex.pos": -25.1, "wrist_roll.pos": 56.8, "gripper.pos": 41.7}}, {"t": 6.6238, "i": 143, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -22.4, "elbow_flex.pos": 90.9, "wrist_flex.pos": -25.3, "wrist_roll.pos": 56.3, "gripper.pos": 41.7}}, {"t": 6.67, "i": 144, "pos": {"shoulder_pan.pos": 14.6, "shoulder_lift.pos": -23.0, "elbow_flex.pos": 90.8, "wrist_flex.pos": -25.0, "wrist_roll.pos": 56.2, "gripper.pos": 41.7}}, {"t": 6.7205, "i": 145, "pos": {"shoulder_pan.pos": 14.6, "shoulder_lift.pos": -25.9, "elbow_flex.pos": 90.8, "wrist_flex.pos": -23.6, "wrist_roll.pos": 55.9, "gripper.pos": 41.7}}, {"t": 6.7653, "i": 146, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -27.8, "elbow_flex.pos": 90.5, "wrist_flex.pos": -21.2, "wrist_roll.pos": 55.8, "gripper.pos": 41.7}}, {"t": 6.8124, "i": 147, "pos": {"shoulder_pan.pos": 14.4, "shoulder_lift.pos": -29.8, "elbow_flex.pos": 89.1, "wrist_flex.pos": -17.7, "wrist_roll.pos": 55.8, "gripper.pos": 41.7}}, {"t": 6.8594, "i": 148, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -31.9, "elbow_flex.pos": 87.3, "wrist_flex.pos": -12.6, "wrist_roll.pos": 55.8, "gripper.pos": 41.7}}, {"t": 6.904, "i": 149, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -34.1, "elbow_flex.pos": 84.8, "wrist_flex.pos": -6.5, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 6.95, "i": 150, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -36.3, "elbow_flex.pos": 82.2, "wrist_flex.pos": 0.0, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 6.9987, "i": 151, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -38.7, "elbow_flex.pos": 79.3, "wrist_flex.pos": 7.0, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 7.0411, "i": 152, "pos": {"shoulder_pan.pos": 14.5, "shoulder_lift.pos": -43.0, "elbow_flex.pos": 73.2, "wrist_flex.pos": 20.1, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.0861, "i": 153, "pos": {"shoulder_pan.pos": 14.2, "shoulder_lift.pos": -44.4, "elbow_flex.pos": 70.0, "wrist_flex.pos": 25.4, "wrist_roll.pos": 54.3, "gripper.pos": 41.7}}, {"t": 7.1282, "i": 154, "pos": {"shoulder_pan.pos": 14.0, "shoulder_lift.pos": -45.7, "elbow_flex.pos": 66.8, "wrist_flex.pos": 30.3, "wrist_roll.pos": 54.2, "gripper.pos": 41.7}}, {"t": 7.1794, "i": 155, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -46.1, "elbow_flex.pos": 64.0, "wrist_flex.pos": 34.4, "wrist_roll.pos": 54.3, "gripper.pos": 41.7}}, {"t": 7.2261, "i": 156, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -46.0, "elbow_flex.pos": 61.3, "wrist_flex.pos": 37.9, "wrist_roll.pos": 54.6, "gripper.pos": 41.7}}, {"t": 7.2702, "i": 157, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -45.2, "elbow_flex.pos": 58.9, "wrist_flex.pos": 40.4, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.3197, "i": 158, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -43.7, "elbow_flex.pos": 56.5, "wrist_flex.pos": 42.2, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.3673, "i": 159, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -38.4, "elbow_flex.pos": 51.2, "wrist_flex.pos": 44.7, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.4104, "i": 160, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -34.9, "elbow_flex.pos": 48.0, "wrist_flex.pos": 45.9, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.4591, "i": 161, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -31.1, "elbow_flex.pos": 44.5, "wrist_flex.pos": 47.2, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.5058, "i": 162, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -27.4, "elbow_flex.pos": 40.7, "wrist_flex.pos": 49.0, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.5498, "i": 163, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -23.9, "elbow_flex.pos": 36.8, "wrist_flex.pos": 51.2, "wrist_roll.pos": 54.6, "gripper.pos": 41.7}}, {"t": 7.5959, "i": 164, "pos": {"shoulder_pan.pos": 13.9, "shoulder_lift.pos": -20.5, "elbow_flex.pos": 32.9, "wrist_flex.pos": 53.4, "wrist_roll.pos": 54.5, "gripper.pos": 41.7}}, {"t": 7.6395, "i": 165, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -17.6, "elbow_flex.pos": 29.2, "wrist_flex.pos": 55.6, "wrist_roll.pos": 54.4, "gripper.pos": 41.7}}, {"t": 7.6917, "i": 166, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -12.2, "elbow_flex.pos": 22.4, "wrist_flex.pos": 59.6, "wrist_roll.pos": 54.2, "gripper.pos": 41.7}}, {"t": 7.7359, "i": 167, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -10.0, "elbow_flex.pos": 19.5, "wrist_flex.pos": 61.3, "wrist_roll.pos": 54.3, "gripper.pos": 41.7}}, {"t": 7.7801, "i": 168, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -8.0, "elbow_flex.pos": 17.3, "wrist_flex.pos": 62.4, "wrist_roll.pos": 54.5, "gripper.pos": 41.7}}, {"t": 7.8242, "i": 169, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -6.1, "elbow_flex.pos": 15.4, "wrist_flex.pos": 62.9, "wrist_roll.pos": 54.6, "gripper.pos": 41.7}}, {"t": 7.8678, "i": 170, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -4.2, "elbow_flex.pos": 13.6, "wrist_flex.pos": 62.9, "wrist_roll.pos": 54.6, "gripper.pos": 41.7}}, {"t": 7.9102, "i": 171, "pos": {"shoulder_pan.pos": 13.8, "shoulder_lift.pos": -2.4, "elbow_flex.pos": 12.3, "wrist_flex.pos": 62.9, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.9531, "i": 172, "pos": {"shoulder_pan.pos": 13.5, "shoulder_lift.pos": -0.9, "elbow_flex.pos": 11.1, "wrist_flex.pos": 63.0, "wrist_roll.pos": 54.7, "gripper.pos": 41.7}}, {"t": 7.9978, "i": 173, "pos": {"shoulder_pan.pos": 13.1, "shoulder_lift.pos": 0.4, "elbow_flex.pos": 10.3, "wrist_flex.pos": 63.4, "wrist_roll.pos": 54.8, "gripper.pos": 41.7}}, {"t": 8.043, "i": 174, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 1.7, "elbow_flex.pos": 9.8, "wrist_flex.pos": 63.5, "wrist_roll.pos": 54.8, "gripper.pos": 41.7}}, {"t": 8.0919, "i": 175, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 2.8, "elbow_flex.pos": 9.6, "wrist_flex.pos": 63.4, "wrist_roll.pos": 55.0, "gripper.pos": 41.7}}, {"t": 8.1347, "i": 176, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 3.6, "elbow_flex.pos": 9.6, "wrist_flex.pos": 63.4, "wrist_roll.pos": 55.4, "gripper.pos": 41.7}}, {"t": 8.1783, "i": 177, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 5.1, "elbow_flex.pos": 9.6, "wrist_flex.pos": 63.3, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 8.2237, "i": 178, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 5.7, "elbow_flex.pos": 9.6, "wrist_flex.pos": 63.3, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 8.2664, "i": 179, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 6.4, "elbow_flex.pos": 9.6, "wrist_flex.pos": 63.1, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 8.3098, "i": 180, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 7.0, "elbow_flex.pos": 9.5, "wrist_flex.pos": 62.6, "wrist_roll.pos": 55.7, "gripper.pos": 41.7}}, {"t": 8.356, "i": 181, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 7.7, "elbow_flex.pos": 9.5, "wrist_flex.pos": 62.5, "wrist_roll.pos": 55.7, "gripper.pos": 41.6}}, {"t": 8.402, "i": 182, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 8.4, "elbow_flex.pos": 9.5, "wrist_flex.pos": 62.5, "wrist_roll.pos": 55.7, "gripper.pos": 41.3}}, {"t": 8.4486, "i": 183, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 9.0, "elbow_flex.pos": 9.5, "wrist_flex.pos": 62.5, "wrist_roll.pos": 55.7, "gripper.pos": 39.8}}, {"t": 8.4914, "i": 184, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 9.5, "elbow_flex.pos": 9.5, "wrist_flex.pos": 62.4, "wrist_roll.pos": 55.7, "gripper.pos": 37.1}}, {"t": 8.5362, "i": 185, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 9.8, "elbow_flex.pos": 9.5, "wrist_flex.pos": 61.3, "wrist_roll.pos": 55.6, "gripper.pos": 33.7}}, {"t": 8.5827, "i": 186, "pos": {"shoulder_pan.pos": 13.1, "shoulder_lift.pos": 10.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 58.9, "wrist_roll.pos": 55.3, "gripper.pos": 27.3}}, {"t": 8.6293, "i": 187, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 58.4, "wrist_roll.pos": 55.2, "gripper.pos": 24.8}}, {"t": 8.6743, "i": 188, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 58.2, "wrist_roll.pos": 55.2, "gripper.pos": 23.1}}, {"t": 8.7175, "i": 189, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 58.0, "wrist_roll.pos": 55.2, "gripper.pos": 21.8}}, {"t": 8.765, "i": 190, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.2, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.2, "gripper.pos": 21.0}}, {"t": 8.8096, "i": 191, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.1, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.2, "gripper.pos": 20.6}}, {"t": 8.858, "i": 192, "pos": {"shoulder_pan.pos": 13.2, "shoulder_lift.pos": 10.0, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.2, "gripper.pos": 20.5}}, {"t": 8.9029, "i": 193, "pos": {"shoulder_pan.pos": 13.1, "shoulder_lift.pos": 9.8, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.2, "gripper.pos": 20.5}}, {"t": 8.9523, "i": 194, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 9.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.1, "gripper.pos": 20.5}}, {"t": 9.0026, "i": 195, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 9.3, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.1, "gripper.pos": 20.5}}, {"t": 9.0465, "i": 196, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 8.4, "elbow_flex.pos": 9.5, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.1, "gripper.pos": 20.5}}, {"t": 9.0967, "i": 197, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 6.9, "elbow_flex.pos": 9.9, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.1, "gripper.pos": 20.5}}, {"t": 9.142, "i": 198, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 5.0, "elbow_flex.pos": 10.3, "wrist_flex.pos": 57.9, "wrist_roll.pos": 55.1, "gripper.pos": 20.5}}, {"t": 9.187, "i": 199, "pos": {"shoulder_pan.pos": 13.0, "shoulder_lift.pos": 2.9, "elbow_flex.pos": 11.0, "wrist_flex.pos": 57.7, "wrist_roll.pos": 54.9, "gripper.pos": 20.5}}, {"t": 9.2329, "i": 200, "pos": {"shoulder_pan.pos": 12.5, "shoulder_lift.pos": -1.4, "elbow_flex.pos": 14.7, "wrist_flex.pos": 54.2, "wrist_roll.pos": 54.4, "gripper.pos": 20.5}}, {"t": 9.2822, "i": 201, "pos": {"shoulder_pan.pos": 12.3, "shoulder_lift.pos": -3.5, "elbow_flex.pos": 17.5, "wrist_flex.pos": 50.8, "wrist_roll.pos": 54.3, "gripper.pos": 20.5}}, {"t": 9.3274, "i": 202, "pos": {"shoulder_pan.pos": 12.3, "shoulder_lift.pos": -5.8, "elbow_flex.pos": 21.2, "wrist_flex.pos": 47.0, "wrist_roll.pos": 54.3, "gripper.pos": 20.5}}, {"t": 9.3717, "i": 203, "pos": {"shoulder_pan.pos": 12.3, "shoulder_lift.pos": -8.1, "elbow_flex.pos": 25.0, "wrist_flex.pos": 43.2, "wrist_roll.pos": 54.4, "gripper.pos": 20.5}}, {"t": 9.4189, "i": 204, "pos": {"shoulder_pan.pos": 12.2, "shoulder_lift.pos": -10.3, "elbow_flex.pos": 28.9, "wrist_flex.pos": 40.0, "wrist_roll.pos": 54.4, "gripper.pos": 20.5}}, {"t": 9.4645, "i": 205, "pos": {"shoulder_pan.pos": 12.1, "shoulder_lift.pos": -12.7, "elbow_flex.pos": 32.9, "wrist_flex.pos": 37.0, "wrist_roll.pos": 54.4, "gripper.pos": 20.5}}, {"t": 9.5083, "i": 206, "pos": {"shoulder_pan.pos": 12.0, "shoulder_lift.pos": -15.1, "elbow_flex.pos": 36.7, "wrist_flex.pos": 34.3, "wrist_roll.pos": 54.6, "gripper.pos": 20.6}}, {"t": 9.5662, "i": 207, "pos": {"shoulder_pan.pos": 11.2, "shoulder_lift.pos": -19.3, "elbow_flex.pos": 44.0, "wrist_flex.pos": 28.2, "wrist_roll.pos": 54.5, "gripper.pos": 20.6}}, {"t": 9.6125, "i": 208, "pos": {"shoulder_pan.pos": 11.1, "shoulder_lift.pos": -20.9, "elbow_flex.pos": 47.6, "wrist_flex.pos": 24.4, "wrist_roll.pos": 54.5, "gripper.pos": 20.6}}, {"t": 9.6664, "i": 209, "pos": {"shoulder_pan.pos": 11.0, "shoulder_lift.pos": -22.3, "elbow_flex.pos": 51.1, "wrist_flex.pos": 19.9, "wrist_roll.pos": 54.4, "gripper.pos": 20.6}}, {"t": 9.7091, "i": 210, "pos": {"shoulder_pan.pos": 10.9, "shoulder_lift.pos": -23.5, "elbow_flex.pos": 54.8, "wrist_flex.pos": 15.1, "wrist_roll.pos": 54.4, "gripper.pos": 20.8}}, {"t": 9.7529, "i": 211, "pos": {"shoulder_pan.pos": 10.4, "shoulder_lift.pos": -24.2, "elbow_flex.pos": 58.4, "wrist_flex.pos": 10.1, "wrist_roll.pos": 54.4, "gripper.pos": 20.8}}, {"t": 9.7996, "i": 212, "pos": {"shoulder_pan.pos": 10.1, "shoulder_lift.pos": -24.6, "elbow_flex.pos": 61.5, "wrist_flex.pos": 5.2, "wrist_roll.pos": 54.4, "gripper.pos": 20.9}}, {"t": 9.8425, "i": 213, "pos": {"shoulder_pan.pos": 9.8, "shoulder_lift.pos": -24.6, "elbow_flex.pos": 66.4, "wrist_flex.pos": -3.6, "wrist_roll.pos": 54.4, "gripper.pos": 21.0}}, {"t": 9.8883, "i": 214, "pos": {"shoulder_pan.pos": 9.4, "shoulder_lift.pos": -24.4, "elbow_flex.pos": 68.3, "wrist_flex.pos": -7.2, "wrist_roll.pos": 54.4, "gripper.pos": 21.0}}, {"t": 9.9331, "i": 215, "pos": {"shoulder_pan.pos": 8.9, "shoulder_lift.pos": -24.4, "elbow_flex.pos": 69.6, "wrist_flex.pos": -9.8, "wrist_roll.pos": 54.3, "gripper.pos": 21.0}}, {"t": 9.9789, "i": 216, "pos": {"shoulder_pan.pos": 8.8, "shoulder_lift.pos": -24.3, "elbow_flex.pos": 70.5, "wrist_flex.pos": -12.0, "wrist_roll.pos": 53.7, "gripper.pos": 21.0}}, {"t": 10.0232, "i": 217, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -23.9, "elbow_flex.pos": 70.8, "wrist_flex.pos": -14.0, "wrist_roll.pos": 52.9, "gripper.pos": 21.0}}, {"t": 10.0661, "i": 218, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -22.9, "elbow_flex.pos": 70.8, "wrist_flex.pos": -15.3, "wrist_roll.pos": 52.2, "gripper.pos": 21.0}}, {"t": 10.1087, "i": 219, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -21.7, "elbow_flex.pos": 70.8, "wrist_flex.pos": -17.0, "wrist_roll.pos": 51.8, "gripper.pos": 21.0}}, {"t": 10.1578, "i": 220, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -20.4, "elbow_flex.pos": 70.8, "wrist_flex.pos": -19.1, "wrist_roll.pos": 51.7, "gripper.pos": 21.0}}, {"t": 10.2005, "i": 221, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -18.8, "elbow_flex.pos": 70.8, "wrist_flex.pos": -21.2, "wrist_roll.pos": 51.7, "gripper.pos": 21.0}}, {"t": 10.2429, "i": 222, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -17.0, "elbow_flex.pos": 70.8, "wrist_flex.pos": -23.3, "wrist_roll.pos": 51.8, "gripper.pos": 21.0}}, {"t": 10.2914, "i": 223, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -12.6, "elbow_flex.pos": 70.7, "wrist_flex.pos": -27.8, "wrist_roll.pos": 51.9, "gripper.pos": 21.0}}, {"t": 10.3354, "i": 224, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -10.5, "elbow_flex.pos": 70.7, "wrist_flex.pos": -30.2, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.381, "i": 225, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -8.7, "elbow_flex.pos": 70.7, "wrist_flex.pos": -32.4, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.424, "i": 226, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -7.4, "elbow_flex.pos": 70.7, "wrist_flex.pos": -33.7, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.4696, "i": 227, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -6.1, "elbow_flex.pos": 70.7, "wrist_flex.pos": -35.1, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.5148, "i": 228, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -5.0, "elbow_flex.pos": 70.7, "wrist_flex.pos": -35.9, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.5581, "i": 229, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -3.9, "elbow_flex.pos": 70.7, "wrist_flex.pos": -36.5, "wrist_roll.pos": 52.0, "gripper.pos": 21.0}}, {"t": 10.6054, "i": 230, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -3.1, "elbow_flex.pos": 70.7, "wrist_flex.pos": -36.9, "wrist_roll.pos": 52.1, "gripper.pos": 21.0}}, {"t": 10.651, "i": 231, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -2.4, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.0, "wrist_roll.pos": 52.1, "gripper.pos": 21.0}}, {"t": 10.6965, "i": 232, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -1.4, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.2, "wrist_roll.pos": 52.1, "gripper.pos": 21.0}}, {"t": 10.7414, "i": 233, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 0.4, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.3, "wrist_roll.pos": 52.8, "gripper.pos": 21.0}}, {"t": 10.7842, "i": 234, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 1.3, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.3, "wrist_roll.pos": 53.2, "gripper.pos": 21.0}}, {"t": 10.8299, "i": 235, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 2.1, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.4, "gripper.pos": 21.0}}, {"t": 10.8729, "i": 236, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 2.9, "elbow_flex.pos": 70.7, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.6, "gripper.pos": 21.0}}, {"t": 10.9188, "i": 237, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 3.6, "elbow_flex.pos": 70.6, "wrist_flex.pos": -37.3, "wrist_roll.pos": 53.6, "gripper.pos": 21.0}}, {"t": 10.9652, "i": 238, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": 4.3, "elbow_flex.pos": 70.2, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.6, "gripper.pos": 21.0}}, {"t": 11.0087, "i": 239, "pos": {"shoulder_pan.pos": 7.9, "shoulder_lift.pos": 5.0, "elbow_flex.pos": 69.8, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.7, "gripper.pos": 21.0}}, {"t": 11.0592, "i": 240, "pos": {"shoulder_pan.pos": 8.0, "shoulder_lift.pos": 5.2, "elbow_flex.pos": 69.8, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.7, "gripper.pos": 21.0}}, {"t": 11.1057, "i": 241, "pos": {"shoulder_pan.pos": 8.0, "shoulder_lift.pos": 5.3, "elbow_flex.pos": 69.8, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.7, "gripper.pos": 21.2}}, {"t": 11.1565, "i": 242, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 5.2, "elbow_flex.pos": 69.8, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.7, "gripper.pos": 25.6}}, {"t": 11.2006, "i": 243, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 5.2, "elbow_flex.pos": 69.8, "wrist_flex.pos": -37.2, "wrist_roll.pos": 53.7, "gripper.pos": 29.8}}, {"t": 11.2475, "i": 244, "pos": {"shoulder_pan.pos": 8.4, "shoulder_lift.pos": 4.8, "elbow_flex.pos": 69.8, "wrist_flex.pos": -36.8, "wrist_roll.pos": 53.7, "gripper.pos": 33.9}}, {"t": 11.2923, "i": 245, "pos": {"shoulder_pan.pos": 8.4, "shoulder_lift.pos": 4.3, "elbow_flex.pos": 69.9, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 36.9}}, {"t": 11.3368, "i": 246, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 3.9, "elbow_flex.pos": 70.0, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 39.1}}, {"t": 11.3845, "i": 247, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 3.6, "elbow_flex.pos": 70.0, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 40.3}}, {"t": 11.4275, "i": 248, "pos": {"shoulder_pan.pos": 8.2, "shoulder_lift.pos": 3.3, "elbow_flex.pos": 70.1, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 40.7}}, {"t": 11.4789, "i": 249, "pos": {"shoulder_pan.pos": 8.2, "shoulder_lift.pos": 2.4, "elbow_flex.pos": 70.4, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 41.1}}, {"t": 11.5309, "i": 250, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 1.7, "elbow_flex.pos": 70.6, "wrist_flex.pos": -36.5, "wrist_roll.pos": 53.8, "gripper.pos": 41.2}}, {"t": 11.5754, "i": 251, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 1.0, "elbow_flex.pos": 70.7, "wrist_flex.pos": -36.4, "wrist_roll.pos": 53.6, "gripper.pos": 41.2}}, {"t": 11.6243, "i": 252, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": 0.3, "elbow_flex.pos": 71.0, "wrist_flex.pos": -36.2, "wrist_roll.pos": 53.5, "gripper.pos": 41.2}}, {"t": 11.6671, "i": 253, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -0.7, "elbow_flex.pos": 71.6, "wrist_flex.pos": -35.4, "wrist_roll.pos": 53.4, "gripper.pos": 41.2}}, {"t": 11.7101, "i": 254, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -2.0, "elbow_flex.pos": 72.3, "wrist_flex.pos": -34.5, "wrist_roll.pos": 53.4, "gripper.pos": 41.2}}, {"t": 11.7587, "i": 255, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -6.0, "elbow_flex.pos": 74.1, "wrist_flex.pos": -31.3, "wrist_roll.pos": 53.3, "gripper.pos": 41.3}}, {"t": 11.8025, "i": 256, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -8.6, "elbow_flex.pos": 75.0, "wrist_flex.pos": -29.2, "wrist_roll.pos": 53.3, "gripper.pos": 41.3}}, {"t": 11.8516, "i": 257, "pos": {"shoulder_pan.pos": 8.2, "shoulder_lift.pos": -11.6, "elbow_flex.pos": 75.9, "wrist_flex.pos": -26.5, "wrist_roll.pos": 53.2, "gripper.pos": 41.3}}, {"t": 11.8941, "i": 258, "pos": {"shoulder_pan.pos": 8.0, "shoulder_lift.pos": -15.2, "elbow_flex.pos": 76.5, "wrist_flex.pos": -23.4, "wrist_roll.pos": 52.6, "gripper.pos": 41.3}}, {"t": 11.9367, "i": 259, "pos": {"shoulder_pan.pos": 7.9, "shoulder_lift.pos": -19.1, "elbow_flex.pos": 76.9, "wrist_flex.pos": -19.8, "wrist_roll.pos": 51.5, "gripper.pos": 41.3}}, {"t": 11.9803, "i": 260, "pos": {"shoulder_pan.pos": 7.9, "shoulder_lift.pos": -23.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": -16.1, "wrist_roll.pos": 50.7, "gripper.pos": 41.3}}, {"t": 12.0241, "i": 261, "pos": {"shoulder_pan.pos": 8.2, "shoulder_lift.pos": -27.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": -11.8, "wrist_roll.pos": 50.1, "gripper.pos": 41.3}}, {"t": 12.0672, "i": 262, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -31.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": -7.6, "wrist_roll.pos": 49.4, "gripper.pos": 41.3}}, {"t": 12.1095, "i": 263, "pos": {"shoulder_pan.pos": 8.5, "shoulder_lift.pos": -35.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": -3.1, "wrist_roll.pos": 49.0, "gripper.pos": 41.3}}, {"t": 12.1528, "i": 264, "pos": {"shoulder_pan.pos": 8.6, "shoulder_lift.pos": -38.7, "elbow_flex.pos": 77.1, "wrist_flex.pos": 1.3, "wrist_roll.pos": 48.0, "gripper.pos": 41.3}}, {"t": 12.1956, "i": 265, "pos": {"shoulder_pan.pos": 8.7, "shoulder_lift.pos": -42.5, "elbow_flex.pos": 77.1, "wrist_flex.pos": 5.8, "wrist_roll.pos": 46.5, "gripper.pos": 41.2}}, {"t": 12.2392, "i": 266, "pos": {"shoulder_pan.pos": 8.7, "shoulder_lift.pos": -46.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": 9.6, "wrist_roll.pos": 45.0, "gripper.pos": 41.0}}, {"t": 12.2825, "i": 267, "pos": {"shoulder_pan.pos": 8.6, "shoulder_lift.pos": -49.7, "elbow_flex.pos": 77.1, "wrist_flex.pos": 13.0, "wrist_roll.pos": 43.6, "gripper.pos": 41.0}}, {"t": 12.3254, "i": 268, "pos": {"shoulder_pan.pos": 8.2, "shoulder_lift.pos": -57.0, "elbow_flex.pos": 77.1, "wrist_flex.pos": 19.0, "wrist_roll.pos": 39.9, "gripper.pos": 40.7}}, {"t": 12.3691, "i": 269, "pos": {"shoulder_pan.pos": 8.1, "shoulder_lift.pos": -60.7, "elbow_flex.pos": 77.1, "wrist_flex.pos": 22.0, "wrist_roll.pos": 37.4, "gripper.pos": 40.7}}, {"t": 12.4145, "i": 270, "pos": {"shoulder_pan.pos": 8.0, "shoulder_lift.pos": -64.3, "elbow_flex.pos": 77.1, "wrist_flex.pos": 25.5, "wrist_roll.pos": 34.8, "gripper.pos": 40.7}}, {"t": 12.4577, "i": 271, "pos": {"shoulder_pan.pos": 7.9, "shoulder_lift.pos": -67.6, "elbow_flex.pos": 77.1, "wrist_flex.pos": 29.5, "wrist_roll.pos": 32.4, "gripper.pos": 40.7}}, {"t": 12.5037, "i": 272, "pos": {"shoulder_pan.pos": 7.9, "shoulder_lift.pos": -70.7, "elbow_flex.pos": 77.1, "wrist_flex.pos": 33.4, "wrist_roll.pos": 30.1, "gripper.pos": 40.6}}, {"t": 12.5538, "i": 273, "pos": {"shoulder_pan.pos": 7.8, "shoulder_lift.pos": -73.6, "elbow_flex.pos": 77.1, "wrist_flex.pos": 37.7, "wrist_roll.pos": 27.6, "gripper.pos": 40.6}}, {"t": 12.5992, "i": 274, "pos": {"shoulder_pan.pos": 7.7, "shoulder_lift.pos": -76.4, "elbow_flex.pos": 77.1, "wrist_flex.pos": 42.4, "wrist_roll.pos": 25.1, "gripper.pos": 40.6}}, {"t": 12.652, "i": 275, "pos": {"shoulder_pan.pos": 6.3, "shoulder_lift.pos": -81.6, "elbow_flex.pos": 77.1, "wrist_flex.pos": 52.1, "wrist_roll.pos": 20.6, "gripper.pos": 40.6}}, {"t": 12.6943, "i": 276, "pos": {"shoulder_pan.pos": 5.4, "shoulder_lift.pos": -84.2, "elbow_flex.pos": 77.1, "wrist_flex.pos": 56.1, "wrist_roll.pos": 18.0, "gripper.pos": 40.6}}, {"t": 12.7398, "i": 277, "pos": {"shoulder_pan.pos": 4.6, "shoulder_lift.pos": -86.8, "elbow_flex.pos": 77.1, "wrist_flex.pos": 59.4, "wrist_roll.pos": 15.0, "gripper.pos": 40.6}}, {"t": 12.7834, "i": 278, "pos": {"shoulder_pan.pos": 4.1, "shoulder_lift.pos": -89.6, "elbow_flex.pos": 77.1, "wrist_flex.pos": 62.3, "wrist_roll.pos": 11.4, "gripper.pos": 40.6}}, {"t": 12.8261, "i": 279, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -92.1, "elbow_flex.pos": 77.1, "wrist_flex.pos": 64.6, "wrist_roll.pos": 7.9, "gripper.pos": 40.6}}, {"t": 12.8703, "i": 280, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -94.2, "elbow_flex.pos": 77.1, "wrist_flex.pos": 66.9, "wrist_roll.pos": 4.5, "gripper.pos": 40.6}}, {"t": 12.9154, "i": 281, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -96.0, "elbow_flex.pos": 77.2, "wrist_flex.pos": 69.5, "wrist_roll.pos": 1.8, "gripper.pos": 40.6}}, {"t": 12.9594, "i": 282, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -97.6, "elbow_flex.pos": 77.4, "wrist_flex.pos": 72.3, "wrist_roll.pos": 0.3, "gripper.pos": 40.6}}, {"t": 13.0026, "i": 283, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -98.7, "elbow_flex.pos": 78.0, "wrist_flex.pos": 75.0, "wrist_roll.pos": 0.0, "gripper.pos": 40.6}}, {"t": 13.0463, "i": 284, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 78.8, "wrist_flex.pos": 77.3, "wrist_roll.pos": -0.3, "gripper.pos": 40.6}}, {"t": 13.09, "i": 285, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.1, "elbow_flex.pos": 80.3, "wrist_flex.pos": 79.2, "wrist_roll.pos": -0.4, "gripper.pos": 40.6}}, {"t": 13.1339, "i": 286, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 82.3, "wrist_flex.pos": 79.3, "wrist_roll.pos": -0.4, "gripper.pos": 40.6}}, {"t": 13.1766, "i": 287, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 83.9, "wrist_flex.pos": 77.9, "wrist_roll.pos": -0.4, "gripper.pos": 40.6}}, {"t": 13.2249, "i": 288, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 87.2, "wrist_flex.pos": 76.6, "wrist_roll.pos": -0.3, "gripper.pos": 40.6}}, {"t": 13.2694, "i": 289, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 89.3, "wrist_flex.pos": 76.1, "wrist_roll.pos": -0.3, "gripper.pos": 40.6}}, {"t": 13.3124, "i": 290, "pos": {"shoulder_pan.pos": 3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.5, "wrist_flex.pos": 74.9, "wrist_roll.pos": -0.4, "gripper.pos": 40.6}}, {"t": 13.3554, "i": 291, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.3, "gripper.pos": 40.6}}, {"t": 13.3983, "i": 292, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.4, "gripper.pos": 39.8}}, {"t": 13.4411, "i": 293, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.4, "gripper.pos": 37.7}}, {"t": 13.4868, "i": 294, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.4, "gripper.pos": 34.9}}, {"t": 13.5308, "i": 295, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.4, "gripper.pos": 31.5}}, {"t": 13.5736, "i": 296, "pos": {"shoulder_pan.pos": 3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.3, "gripper.pos": 27.5}}, {"t": 13.621, "i": 297, "pos": {"shoulder_pan.pos": 3.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.3, "gripper.pos": 22.9}}, {"t": 13.6668, "i": 298, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -0.2, "gripper.pos": 17.9}}, {"t": 13.7192, "i": 299, "pos": {"shoulder_pan.pos": -0.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 7.9}}, {"t": 13.7626, "i": 300, "pos": {"shoulder_pan.pos": -1.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 3.3}}, {"t": 13.8058, "i": 301, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.0}}, {"t": 13.851, "i": 302, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.0}}, {"t": 13.8944, "i": 303, "pos": {"shoulder_pan.pos": -2.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.3}}, {"t": 13.9419, "i": 304, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 13.9854, "i": 305, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.0349, "i": 306, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.0874, "i": 307, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.1351, "i": 308, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.1807, "i": 309, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.2264, "i": 310, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.2738, "i": 311, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.322, "i": 312, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.3717, "i": 313, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.4265, "i": 314, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.4743, "i": 315, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.5314, "i": 316, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.5829, "i": 317, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.6319, "i": 318, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.6752, "i": 319, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.7208, "i": 320, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.771, "i": 321, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.8281, "i": 322, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.8718, "i": 323, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.9172, "i": 324, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 14.9604, "i": 325, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.0048, "i": 326, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.0523, "i": 327, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.0966, "i": 328, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.1403, "i": 329, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.194, "i": 330, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.2368, "i": 331, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.2816, "i": 332, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.3279, "i": 333, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.3888, "i": 334, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.4427, "i": 335, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.4932, "i": 336, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.5367, "i": 337, "pos": {"shoulder_pan.pos": -2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}, {"t": 15.5906, "i": 338, "pos": {"shoulder_pan.pos": -2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": 0.0, "gripper.pos": 0.5}}]}