{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.017, "i": 0, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.0607, "i": 1, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.1048, "i": 2, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.1481, "i": 3, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.1917, "i": 4, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.2399, "i": 5, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.2834, "i": 6, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.327, "i": 7, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.3748, "i": 8, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.4185, "i": 9, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.463, "i": 10, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.5083, "i": 11, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.552, "i": 12, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.5951, "i": 13, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.6381, "i": 14, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.6815, "i": 15, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.7254, "i": 16, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.769, "i": 17, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.813, "i": 18, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.8574, "i": 19, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.9016, "i": 20, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 0.9484, "i": 21, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.0011, "i": 22, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.055, "i": 23, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.104, "i": 24, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.1532, "i": 25, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.2031, "i": 26, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.2488, "i": 27, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.2933, "i": 28, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.3369, "i": 29, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.3811, "i": 30, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.4245, "i": 31, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.4689, "i": 32, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.5117, "i": 33, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.5569, "i": 34, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.6092, "i": 35, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.6543, "i": 36, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.6995, "i": 37, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.7447, "i": 38, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.7915, "i": 39, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.836, "i": 40, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.8836, "i": 41, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.9302, "i": 42, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 1.9822, "i": 43, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.0263, "i": 44, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.0725, "i": 45, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.1172, "i": 46, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.1616, "i": 47, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.207, "i": 48, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.2513, "i": 49, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.2946, "i": 50, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.3416, "i": 51, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.3876, "i": 52, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.4372, "i": 53, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.4823, "i": 54, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.5}}, {"t": 2.5264, "i": 55, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.0, "gripper.pos": 0.6}}, {"t": 2.5699, "i": 56, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.0, "gripper.pos": 0.6}}, {"t": 2.618, "i": 57, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.6683, "i": 58, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.7148, "i": 59, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.1, "gripper.pos": 0.6}}, {"t": 2.7611, "i": 60, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -2.0, "gripper.pos": 0.6}}, {"t": 2.8054, "i": 61, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -1.8, "gripper.pos": 0.6}}, {"t": 2.859, "i": 62, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -1.8, "gripper.pos": 0.6}}, {"t": 2.9127, "i": 63, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.4, "wrist_flex.pos": 70.4, "wrist_roll.pos": -1.5, "gripper.pos": 0.7}}, {"t": 2.958, "i": 64, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.3, "wrist_flex.pos": 70.4, "wrist_roll.pos": -0.1, "gripper.pos": 0.7}}, {"t": 3.0099, "i": 65, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.3, "wrist_flex.pos": 70.4, "wrist_roll.pos": 2.7, "gripper.pos": 0.7}}, {"t": 3.0547, "i": 66, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 70.3, "wrist_roll.pos": 5.9, "gripper.pos": 0.7}}, {"t": 3.0998, "i": 67, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 69.4, "wrist_roll.pos": 8.9, "gripper.pos": 0.7}}, {"t": 3.1432, "i": 68, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 68.0, "wrist_roll.pos": 11.7, "gripper.pos": 0.7}}, {"t": 3.187, "i": 69, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.9, "wrist_flex.pos": 66.7, "wrist_roll.pos": 14.3, "gripper.pos": 0.7}}, {"t": 3.2312, "i": 70, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 92.7, "wrist_flex.pos": 65.3, "wrist_roll.pos": 16.4, "gripper.pos": 0.7}}, {"t": 3.2758, "i": 71, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -98.5, "elbow_flex.pos": 91.5, "wrist_flex.pos": 64.6, "wrist_roll.pos": 18.5, "gripper.pos": 0.7}}, {"t": 3.3232, "i": 72, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -98.3, "elbow_flex.pos": 87.3, "wrist_flex.pos": 64.6, "wrist_roll.pos": 22.6, "gripper.pos": 0.8}}, {"t": 3.3773, "i": 73, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -97.7, "elbow_flex.pos": 85.2, "wrist_flex.pos": 64.6, "wrist_roll.pos": 25.2, "gripper.pos": 0.8}}, {"t": 3.4242, "i": 74, "pos": {"shoulder_pan.pos": -4.6, "shoulder_lift.pos": -96.2, "elbow_flex.pos": 82.7, "wrist_flex.pos": 64.7, "wrist_roll.pos": 28.4, "gripper.pos": 0.8}}, {"t": 3.4731, "i": 75, "pos": {"shoulder_pan.pos": -4.1, "shoulder_lift.pos": -93.9, "elbow_flex.pos": 80.0, "wrist_flex.pos": 65.5, "wrist_roll.pos": 31.4, "gripper.pos": 0.8}}, {"t": 3.5227, "i": 76, "pos": {"shoulder_pan.pos": -2.3, "shoulder_lift.pos": -87.3, "elbow_flex.pos": 73.1, "wrist_flex.pos": 67.9, "wrist_roll.pos": 36.6, "gripper.pos": 0.8}}, {"t": 3.5725, "i": 77, "pos": {"shoulder_pan.pos": -1.4, "shoulder_lift.pos": -83.4, "elbow_flex.pos": 69.2, "wrist_flex.pos": 69.0, "wrist_roll.pos": 38.7, "gripper.pos": 0.8}}, {"t": 3.6229, "i": 78, "pos": {"shoulder_pan.pos": -0.2, "shoulder_lift.pos": -79.6, "elbow_flex.pos": 65.2, "wrist_flex.pos": 69.7, "wrist_roll.pos": 40.2, "gripper.pos": 0.8}}, {"t": 3.6689, "i": 79, "pos": {"shoulder_pan.pos": 1.1, "shoulder_lift.pos": -75.9, "elbow_flex.pos": 61.4, "wrist_flex.pos": 70.0, "wrist_roll.pos": 41.2, "gripper.pos": 0.8}}, {"t": 3.7166, "i": 80, "pos": {"shoulder_pan.pos": 2.2, "shoulder_lift.pos": -72.2, "elbow_flex.pos": 57.5, "wrist_flex.pos": 70.0, "wrist_roll.pos": 42.1, "gripper.pos": 0.8}}, {"t": 3.7612, "i": 81, "pos": {"shoulder_pan.pos": 3.5, "shoulder_lift.pos": -68.7, "elbow_flex.pos": 53.9, "wrist_flex.pos": 70.0, "wrist_roll.pos": 42.7, "gripper.pos": 0.8}}, {"t": 3.8109, "i": 82, "pos": {"shoulder_pan.pos": 5.9, "shoulder_lift.pos": -62.0, "elbow_flex.pos": 47.3, "wrist_flex.pos": 70.1, "wrist_roll.pos": 43.4, "gripper.pos": 0.8}}, {"t": 3.8605, "i": 83, "pos": {"shoulder_pan.pos": 7.1, "shoulder_lift.pos": -58.8, "elbow_flex.pos": 44.5, "wrist_flex.pos": 70.1, "wrist_roll.pos": 43.9, "gripper.pos": 0.8}}, {"t": 3.9086, "i": 84, "pos": {"shoulder_pan.pos": 8.6, "shoulder_lift.pos": -55.8, "elbow_flex.pos": 42.5, "wrist_flex.pos": 70.1, "wrist_roll.pos": 45.1, "gripper.pos": 0.9}}, {"t": 3.9596, "i": 85, "pos": {"shoulder_pan.pos": 10.5, "shoulder_lift.pos": -53.1, "elbow_flex.pos": 41.0, "wrist_flex.pos": 70.1, "wrist_roll.pos": 47.1, "gripper.pos": 1.7}}, {"t": 4.004, "i": 86, "pos": {"shoulder_pan.pos": 13.1, "shoulder_lift.pos": -50.6, "elbow_flex.pos": 40.1, "wrist_flex.pos": 70.1, "wrist_roll.pos": 49.6, "gripper.pos": 3.6}}, {"t": 4.0508, "i": 87, "pos": {"shoulder_pan.pos": 18.2, "shoulder_lift.pos": -46.3, "elbow_flex.pos": 38.6, "wrist_flex.pos": 70.0, "wrist_roll.pos": 54.7, "gripper.pos": 8.9}}, {"t": 4.0961, "i": 88, "pos": {"shoulder_pan.pos": 21.0, "shoulder_lift.pos": -44.9, "elbow_flex.pos": 38.2, "wrist_flex.pos": 70.0, "wrist_roll.pos": 57.0, "gripper.pos": 11.7}}, {"t": 4.1396, "i": 89, "pos": {"shoulder_pan.pos": 23.6, "shoulder_lift.pos": -43.6, "elbow_flex.pos": 37.8, "wrist_flex.pos": 69.5, "wrist_roll.pos": 59.1, "gripper.pos": 14.1}}, {"t": 4.1865, "i": 90, "pos": {"shoulder_pan.pos": 26.4, "shoulder_lift.pos": -42.2, "elbow_flex.pos": 37.5, "wrist_flex.pos": 69.3, "wrist_roll.pos": 61.2, "gripper.pos": 16.3}}, {"t": 4.2323, "i": 91, "pos": {"shoulder_pan.pos": 29.2, "shoulder_lift.pos": -41.1, "elbow_flex.pos": 36.9, "wrist_flex.pos": 69.2, "wrist_roll.pos": 63.4, "gripper.pos": 18.3}}, {"t": 4.2811, "i": 92, "pos": {"shoulder_pan.pos": 31.7, "shoulder_lift.pos": -40.4, "elbow_flex.pos": 36.3, "wrist_flex.pos": 69.1, "wrist_roll.pos": 65.9, "gripper.pos": 20.1}}, {"t": 4.3258, "i": 93, "pos": {"shoulder_pan.pos": 33.9, "shoulder_lift.pos": -39.6, "elbow_flex.pos": 35.4, "wrist_flex.pos": 69.1, "wrist_roll.pos": 68.0, "gripper.pos": 21.7}}, {"t": 4.3788, "i": 94, "pos": {"shoulder_pan.pos": 37.3, "shoulder_lift.pos": -37.9, "elbow_flex.pos": 33.2, "wrist_flex.pos": 69.1, "wrist_roll.pos": 71.6, "gripper.pos": 24.1}}, {"t": 4.4301, "i": 95, "pos": {"shoulder_pan.pos": 38.9, "shoulder_lift.pos": -36.9, "elbow_flex.pos": 31.9, "wrist_flex.pos": 69.1, "wrist_roll.pos": 73.0, "gripper.pos": 24.9}}, {"t": 4.4728, "i": 96, "pos": {"shoulder_pan.pos": 40.4, "shoulder_lift.pos": -35.7, "elbow_flex.pos": 30.5, "wrist_flex.pos": 69.1, "wrist_roll.pos": 74.7, "gripper.pos": 25.3}}, {"t": 4.5155, "i": 97, "pos": {"shoulder_pan.pos": 41.8, "shoulder_lift.pos": -34.2, "elbow_flex.pos": 28.8, "wrist_flex.pos": 69.1, "wrist_roll.pos": 76.2, "gripper.pos": 25.5}}, {"t": 4.5592, "i": 98, "pos": {"shoulder_pan.pos": 43.1, "shoulder_lift.pos": -32.6, "elbow_flex.pos": 26.7, "wrist_flex.pos": 69.1, "wrist_roll.pos": 77.5, "gripper.pos": 25.5}}, {"t": 4.6057, "i": 99, "pos": {"shoulder_pan.pos": 44.4, "shoulder_lift.pos": -30.6, "elbow_flex.pos": 24.5, "wrist_flex.pos": 68.5, "wrist_roll.pos": 78.6, "gripper.pos": 25.5}}, {"t": 4.6497, "i": 100, "pos": {"shoulder_pan.pos": 45.8, "shoulder_lift.pos": -28.3, "elbow_flex.pos": 22.2, "wrist_flex.pos": 67.1, "wrist_roll.pos": 79.3, "gripper.pos": 25.5}}, {"t": 4.6937, "i": 101, "pos": {"shoulder_pan.pos": 47.2, "shoulder_lift.pos": -25.5, "elbow_flex.pos": 20.1, "wrist_flex.pos": 65.2, "wrist_roll.pos": 79.8, "gripper.pos": 25.5}}, {"t": 4.7375, "i": 102, "pos": {"shoulder_pan.pos": 48.2, "shoulder_lift.pos": -22.2, "elbow_flex.pos": 18.4, "wrist_flex.pos": 63.6, "wrist_roll.pos": 80.0, "gripper.pos": 25.5}}, {"t": 4.7803, "i": 103, "pos": {"shoulder_pan.pos": 49.0, "shoulder_lift.pos": -18.9, "elbow_flex.pos": 16.4, "wrist_flex.pos": 62.4, "wrist_roll.pos": 80.0, "gripper.pos": 25.5}}, {"t": 4.8236, "i": 104, "pos": {"shoulder_pan.pos": 49.5, "shoulder_lift.pos": -15.6, "elbow_flex.pos": 14.1, "wrist_flex.pos": 61.4, "wrist_roll.pos": 80.0, "gripper.pos": 25.5}}, {"t": 4.8756, "i": 105, "pos": {"shoulder_pan.pos": 50.7, "shoulder_lift.pos": -10.5, "elbow_flex.pos": 9.0, "wrist_flex.pos": 61.8, "wrist_roll.pos": 81.3, "gripper.pos": 25.5}}, {"t": 4.9217, "i": 106, "pos": {"shoulder_pan.pos": 51.4, "shoulder_lift.pos": -8.2, "elbow_flex.pos": 6.7, "wrist_flex.pos": 61.8, "wrist_roll.pos": 82.3, "gripper.pos": 25.5}}, {"t": 4.9688, "i": 107, "pos": {"shoulder_pan.pos": 52.1, "shoulder_lift.pos": -5.9, "elbow_flex.pos": 4.5, "wrist_flex.pos": 61.8, "wrist_roll.pos": 83.2, "gripper.pos": 25.5}}, {"t": 5.0179, "i": 108, "pos": {"shoulder_pan.pos": 52.5, "shoulder_lift.pos": -3.5, "elbow_flex.pos": 2.2, "wrist_flex.pos": 61.8, "wrist_roll.pos": 84.0, "gripper.pos": 25.5}}, {"t": 5.0618, "i": 109, "pos": {"shoulder_pan.pos": 52.9, "shoulder_lift.pos": -1.5, "elbow_flex.pos": 0.2, "wrist_flex.pos": 61.8, "wrist_roll.pos": 85.0, "gripper.pos": 25.5}}, {"t": 5.1077, "i": 110, "pos": {"shoulder_pan.pos": 53.3, "shoulder_lift.pos": 0.5, "elbow_flex.pos": -1.3, "wrist_flex.pos": 61.8, "wrist_roll.pos": 86.1, "gripper.pos": 25.6}}, {"t": 5.1512, "i": 111, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 3.8, "elbow_flex.pos": -3.7, "wrist_flex.pos": 61.8, "wrist_roll.pos": 88.5, "gripper.pos": 25.6}}, {"t": 5.194, "i": 112, "pos": {"shoulder_pan.pos": 53.8, "shoulder_lift.pos": 5.0, "elbow_flex.pos": -4.9, "wrist_flex.pos": 61.8, "wrist_roll.pos": 89.6, "gripper.pos": 25.6}}, {"t": 5.2412, "i": 113, "pos": {"shoulder_pan.pos": 54.4, "shoulder_lift.pos": 6.5, "elbow_flex.pos": -6.3, "wrist_flex.pos": 61.8, "wrist_roll.pos": 90.7, "gripper.pos": 25.6}}, {"t": 5.2866, "i": 114, "pos": {"shoulder_pan.pos": 54.6, "shoulder_lift.pos": 8.1, "elbow_flex.pos": -8.0, "wrist_flex.pos": 61.7, "wrist_roll.pos": 91.7, "gripper.pos": 25.7}}, {"t": 5.3333, "i": 115, "pos": {"shoulder_pan.pos": 54.7, "shoulder_lift.pos": 9.3, "elbow_flex.pos": -9.8, "wrist_flex.pos": 61.7, "wrist_roll.pos": 92.3, "gripper.pos": 27.1}}, {"t": 5.3772, "i": 116, "pos": {"shoulder_pan.pos": 54.7, "shoulder_lift.pos": 10.7, "elbow_flex.pos": -11.3, "wrist_flex.pos": 61.6, "wrist_roll.pos": 92.7, "gripper.pos": 29.9}}, {"t": 5.4205, "i": 117, "pos": {"shoulder_pan.pos": 54.7, "shoulder_lift.pos": 12.4, "elbow_flex.pos": -12.8, "wrist_flex.pos": 61.2, "wrist_roll.pos": 92.8, "gripper.pos": 33.4}}, {"t": 5.4661, "i": 118, "pos": {"shoulder_pan.pos": 54.7, "shoulder_lift.pos": 14.1, "elbow_flex.pos": -14.5, "wrist_flex.pos": 61.1, "wrist_roll.pos": 92.9, "gripper.pos": 36.7}}, {"t": 5.5129, "i": 119, "pos": {"shoulder_pan.pos": 54.8, "shoulder_lift.pos": 15.9, "elbow_flex.pos": -16.2, "wrist_flex.pos": 61.1, "wrist_roll.pos": 93.1, "gripper.pos": 38.7}}, {"t": 5.5603, "i": 120, "pos": {"shoulder_pan.pos": 55.5, "shoulder_lift.pos": 19.3, "elbow_flex.pos": -19.7, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.2, "gripper.pos": 40.4}}, {"t": 5.6048, "i": 121, "pos": {"shoulder_pan.pos": 55.6, "shoulder_lift.pos": 20.9, "elbow_flex.pos": -21.8, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.3, "gripper.pos": 40.4}}, {"t": 5.6567, "i": 122, "pos": {"shoulder_pan.pos": 55.9, "shoulder_lift.pos": 22.4, "elbow_flex.pos": -23.7, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.3, "gripper.pos": 40.4}}, {"t": 5.7005, "i": 123, "pos": {"shoulder_pan.pos": 56.5, "shoulder_lift.pos": 23.9, "elbow_flex.pos": -25.3, "wrist_flex.pos": 61.1, "wrist_roll.pos": 93.3, "gripper.pos": 40.6}}, {"t": 5.7451, "i": 124, "pos": {"shoulder_pan.pos": 56.7, "shoulder_lift.pos": 25.6, "elbow_flex.pos": -26.7, "wrist_flex.pos": 61.1, "wrist_roll.pos": 93.3, "gripper.pos": 40.6}}, {"t": 5.7888, "i": 125, "pos": {"shoulder_pan.pos": 56.8, "shoulder_lift.pos": 27.2, "elbow_flex.pos": -28.2, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.3, "gripper.pos": 40.7}}, {"t": 5.8336, "i": 126, "pos": {"shoulder_pan.pos": 57.1, "shoulder_lift.pos": 28.8, "elbow_flex.pos": -29.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.3, "gripper.pos": 40.7}}, {"t": 5.8782, "i": 127, "pos": {"shoulder_pan.pos": 57.3, "shoulder_lift.pos": 30.3, "elbow_flex.pos": -31.6, "wrist_flex.pos": 61.0, "wrist_roll.pos": 93.3, "gripper.pos": 40.6}}, {"t": 5.93, "i": 128, "pos": {"shoulder_pan.pos": 57.3, "shoulder_lift.pos": 33.5, "elbow_flex.pos": -34.3, "wrist_flex.pos": 61.3, "wrist_roll.pos": 93.2, "gripper.pos": 40.3}}, {"t": 5.9827, "i": 129, "pos": {"shoulder_pan.pos": 57.0, "shoulder_lift.pos": 34.9, "elbow_flex.pos": -35.3, "wrist_flex.pos": 61.4, "wrist_roll.pos": 93.2, "gripper.pos": 40.3}}, {"t": 6.0257, "i": 130, "pos": {"shoulder_pan.pos": 56.7, "shoulder_lift.pos": 36.1, "elbow_flex.pos": -36.2, "wrist_flex.pos": 61.7, "wrist_roll.pos": 92.8, "gripper.pos": 40.3}}, {"t": 6.0749, "i": 131, "pos": {"shoulder_pan.pos": 56.6, "shoulder_lift.pos": 37.0, "elbow_flex.pos": -36.7, "wrist_flex.pos": 61.7, "wrist_roll.pos": 92.7, "gripper.pos": 40.3}}, {"t": 6.1201, "i": 132, "pos": {"shoulder_pan.pos": 56.5, "shoulder_lift.pos": 37.6, "elbow_flex.pos": -36.8, "wrist_flex.pos": 61.8, "wrist_roll.pos": 92.6, "gripper.pos": 40.3}}, {"t": 6.169, "i": 133, "pos": {"shoulder_pan.pos": 56.3, "shoulder_lift.pos": 38.6, "elbow_flex.pos": -36.8, "wrist_flex.pos": 61.8, "wrist_roll.pos": 92.6, "gripper.pos": 40.2}}, {"t": 6.2162, "i": 134, "pos": {"shoulder_pan.pos": 55.9, "shoulder_lift.pos": 39.0, "elbow_flex.pos": -36.8, "wrist_flex.pos": 61.6, "wrist_roll.pos": 92.5, "gripper.pos": 40.2}}, {"t": 6.2618, "i": 135, "pos": {"shoulder_pan.pos": 55.7, "shoulder_lift.pos": 39.3, "elbow_flex.pos": -36.8, "wrist_flex.pos": 61.2, "wrist_roll.pos": 91.9, "gripper.pos": 40.2}}, {"t": 6.3088, "i": 136, "pos": {"shoulder_pan.pos": 55.3, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 90.8, "gripper.pos": 39.9}}, {"t": 6.3537, "i": 137, "pos": {"shoulder_pan.pos": 54.7, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 89.8, "gripper.pos": 38.2}}, {"t": 6.4068, "i": 138, "pos": {"shoulder_pan.pos": 54.3, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 89.0, "gripper.pos": 35.3}}, {"t": 6.4582, "i": 139, "pos": {"shoulder_pan.pos": 54.2, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.7, "gripper.pos": 31.4}}, {"t": 6.5086, "i": 140, "pos": {"shoulder_pan.pos": 54.2, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.7, "gripper.pos": 31.4}}, {"t": 6.5565, "i": 141, "pos": {"shoulder_pan.pos": 54.2, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.7, "gripper.pos": 31.4}}, {"t": 6.6026, "i": 142, "pos": {"shoulder_pan.pos": 54.2, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.7, "gripper.pos": 31.4}}, {"t": 6.647, "i": 143, "pos": {"shoulder_pan.pos": 54.2, "shoulder_lift.pos": 39.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.7, "gripper.pos": 31.4}}, {"t": 6.6922, "i": 144, "pos": {"shoulder_pan.pos": 53.7, "shoulder_lift.pos": 39.0, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.4, "gripper.pos": 15.6}}, {"t": 6.736, "i": 145, "pos": {"shoulder_pan.pos": 53.7, "shoulder_lift.pos": 38.9, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.4, "gripper.pos": 14.5}}, {"t": 6.7793, "i": 146, "pos": {"shoulder_pan.pos": 53.8, "shoulder_lift.pos": 38.8, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.4, "gripper.pos": 14.1}}, {"t": 6.8236, "i": 147, "pos": {"shoulder_pan.pos": 53.9, "shoulder_lift.pos": 38.7, "elbow_flex.pos": -36.9, "wrist_flex.pos": 61.0, "wrist_roll.pos": 88.4, "gripper.pos": 14.3}}, {"t": 6.8692, "i": 148, "pos": {"shoulder_pan.pos": 54.0, "shoulder_lift.pos": 38.5, "elbow_flex.pos": -36.9, "wrist_flex.pos": 60.7, "wrist_roll.pos": 87.5, "gripper.pos": 14.0}}, {"t": 6.917, "i": 149, "pos": {"shoulder_pan.pos": 53.7, "shoulder_lift.pos": 38.5, "elbow_flex.pos": -36.9, "wrist_flex.pos": 59.0, "wrist_roll.pos": 86.0, "gripper.pos": 14.0}}, {"t": 6.9645, "i": 150, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 38.6, "elbow_flex.pos": -36.9, "wrist_flex.pos": 56.7, "wrist_roll.pos": 84.5, "gripper.pos": 14.0}}, {"t": 7.009, "i": 151, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 38.9, "elbow_flex.pos": -36.9, "wrist_flex.pos": 54.8, "wrist_roll.pos": 83.4, "gripper.pos": 14.0}}, {"t": 7.0519, "i": 152, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 39.1, "elbow_flex.pos": -36.9, "wrist_flex.pos": 53.8, "wrist_roll.pos": 82.7, "gripper.pos": 14.0}}, {"t": 7.1017, "i": 153, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 39.2, "elbow_flex.pos": -36.8, "wrist_flex.pos": 53.1, "wrist_roll.pos": 82.1, "gripper.pos": 14.0}}, {"t": 7.1448, "i": 154, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 39.1, "elbow_flex.pos": -36.8, "wrist_flex.pos": 53.1, "wrist_roll.pos": 81.9, "gripper.pos": 14.0}}, {"t": 7.1979, "i": 155, "pos": {"shoulder_pan.pos": 53.7, "shoulder_lift.pos": 38.5, "elbow_flex.pos": -36.8, "wrist_flex.pos": 53.4, "wrist_roll.pos": 81.2, "gripper.pos": 14.0}}, {"t": 7.2479, "i": 156, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 38.5, "elbow_flex.pos": -36.8, "wrist_flex.pos": 52.9, "wrist_roll.pos": 79.8, "gripper.pos": 14.0}}, {"t": 7.2909, "i": 157, "pos": {"shoulder_pan.pos": 53.6, "shoulder_lift.pos": 38.4, "elbow_flex.pos": -36.9, "wrist_flex.pos": 52.3, "wrist_roll.pos": 78.3, "gripper.pos": 14.0}}, {"t": 7.3381, "i": 158, "pos": {"shoulder_pan.pos": 53.4, "shoulder_lift.pos": 38.3, "elbow_flex.pos": -36.8, "wrist_flex.pos": 51.4, "wrist_roll.pos": 77.2, "gripper.pos": 14.0}}, {"t": 7.3836, "i": 159, "pos": {"shoulder_pan.pos": 53.0, "shoulder_lift.pos": 37.7, "elbow_flex.pos": -36.3, "wrist_flex.pos": 50.4, "wrist_roll.pos": 76.1, "gripper.pos": 14.0}}, {"t": 7.4309, "i": 160, "pos": {"shoulder_pan.pos": 52.9, "shoulder_lift.pos": 37.2, "elbow_flex.pos": -36.1, "wrist_flex.pos": 50.3, "wrist_roll.pos": 75.1, "gripper.pos": 14.0}}, {"t": 7.4751, "i": 161, "pos": {"shoulder_pan.pos": 52.8, "shoulder_lift.pos": 36.8, "elbow_flex.pos": -36.1, "wrist_flex.pos": 50.3, "wrist_roll.pos": 74.1, "gripper.pos": 14.0}}, {"t": 7.5186, "i": 162, "pos": {"shoulder_pan.pos": 52.7, "shoulder_lift.pos": 36.4, "elbow_flex.pos": -36.1, "wrist_flex.pos": 50.3, "wrist_roll.pos": 73.2, "gripper.pos": 14.0}}, {"t": 7.5641, "i": 163, "pos": {"shoulder_pan.pos": 52.1, "shoulder_lift.pos": 36.0, "elbow_flex.pos": -36.1, "wrist_flex.pos": 50.3, "wrist_roll.pos": 71.6, "gripper.pos": 14.0}}, {"t": 7.6094, "i": 164, "pos": {"shoulder_pan.pos": 52.0, "shoulder_lift.pos": 35.9, "elbow_flex.pos": -36.1, "wrist_flex.pos": 50.2, "wrist_roll.pos": 70.7, "gripper.pos": 14.0}}, {"t": 7.6523, "i": 165, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 35.7, "elbow_flex.pos": -35.5, "wrist_flex.pos": 49.7, "wrist_roll.pos": 69.8, "gripper.pos": 14.0}}, {"t": 7.7037, "i": 166, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 35.2, "elbow_flex.pos": -34.5, "wrist_flex.pos": 49.1, "wrist_roll.pos": 68.9, "gripper.pos": 14.0}}, {"t": 7.7471, "i": 167, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 34.0, "elbow_flex.pos": -32.8, "wrist_flex.pos": 48.0, "wrist_roll.pos": 68.0, "gripper.pos": 14.0}}, {"t": 7.7909, "i": 168, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 32.4, "elbow_flex.pos": -29.9, "wrist_flex.pos": 46.3, "wrist_roll.pos": 67.2, "gripper.pos": 14.0}}, {"t": 7.8448, "i": 169, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 30.4, "elbow_flex.pos": -26.4, "wrist_flex.pos": 43.7, "wrist_roll.pos": 66.1, "gripper.pos": 14.0}}, {"t": 7.8887, "i": 170, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 25.7, "elbow_flex.pos": -17.4, "wrist_flex.pos": 36.2, "wrist_roll.pos": 63.9, "gripper.pos": 14.0}}, {"t": 7.9352, "i": 171, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 23.3, "elbow_flex.pos": -11.8, "wrist_flex.pos": 31.6, "wrist_roll.pos": 63.5, "gripper.pos": 14.0}}, {"t": 7.9832, "i": 172, "pos": {"shoulder_pan.pos": 51.9, "shoulder_lift.pos": 20.9, "elbow_flex.pos": -6.3, "wrist_flex.pos": 27.0, "wrist_roll.pos": 63.0, "gripper.pos": 14.1}}, {"t": 8.0377, "i": 173, "pos": {"shoulder_pan.pos": 51.8, "shoulder_lift.pos": 18.8, "elbow_flex.pos": -1.0, "wrist_flex.pos": 22.2, "wrist_roll.pos": 62.7, "gripper.pos": 14.2}}, {"t": 8.0853, "i": 174, "pos": {"shoulder_pan.pos": 51.4, "shoulder_lift.pos": 17.2, "elbow_flex.pos": 3.5, "wrist_flex.pos": 17.8, "wrist_roll.pos": 62.3, "gripper.pos": 14.0}}, {"t": 8.1337, "i": 175, "pos": {"shoulder_pan.pos": 50.8, "shoulder_lift.pos": 14.9, "elbow_flex.pos": 11.0, "wrist_flex.pos": 10.3, "wrist_roll.pos": 60.0, "gripper.pos": 14.0}}, {"t": 8.1798, "i": 176, "pos": {"shoulder_pan.pos": 50.3, "shoulder_lift.pos": 14.5, "elbow_flex.pos": 13.5, "wrist_flex.pos": 6.9, "wrist_roll.pos": 58.4, "gripper.pos": 14.0}}, {"t": 8.2266, "i": 177, "pos": {"shoulder_pan.pos": 49.9, "shoulder_lift.pos": 14.3, "elbow_flex.pos": 15.8, "wrist_flex.pos": 3.6, "wrist_roll.pos": 56.8, "gripper.pos": 14.0}}, {"t": 8.2744, "i": 178, "pos": {"shoulder_pan.pos": 49.6, "shoulder_lift.pos": 14.4, "elbow_flex.pos": 17.8, "wrist_flex.pos": 0.1, "wrist_roll.pos": 55.2, "gripper.pos": 14.2}}, {"t": 8.3173, "i": 179, "pos": {"shoulder_pan.pos": 49.4, "shoulder_lift.pos": 14.4, "elbow_flex.pos": 19.7, "wrist_flex.pos": -3.6, "wrist_roll.pos": 53.7, "gripper.pos": 14.2}}, {"t": 8.3605, "i": 180, "pos": {"shoulder_pan.pos": 49.2, "shoulder_lift.pos": 14.5, "elbow_flex.pos": 21.7, "wrist_flex.pos": -7.7, "wrist_roll.pos": 52.2, "gripper.pos": 14.3}}, {"t": 8.404, "i": 181, "pos": {"shoulder_pan.pos": 49.2, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 23.7, "wrist_flex.pos": -12.0, "wrist_roll.pos": 50.7, "gripper.pos": 14.3}}, {"t": 8.4502, "i": 182, "pos": {"shoulder_pan.pos": 49.1, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 25.6, "wrist_flex.pos": -16.2, "wrist_roll.pos": 49.3, "gripper.pos": 14.4}}, {"t": 8.4934, "i": 183, "pos": {"shoulder_pan.pos": 48.6, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 27.5, "wrist_flex.pos": -20.5, "wrist_roll.pos": 48.0, "gripper.pos": 14.4}}, {"t": 8.5364, "i": 184, "pos": {"shoulder_pan.pos": 48.4, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 31.3, "wrist_flex.pos": -27.6, "wrist_roll.pos": 45.9, "gripper.pos": 14.4}}, {"t": 8.5797, "i": 185, "pos": {"shoulder_pan.pos": 48.2, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 33.4, "wrist_flex.pos": -30.4, "wrist_roll.pos": 45.3, "gripper.pos": 14.4}}, {"t": 8.6225, "i": 186, "pos": {"shoulder_pan.pos": 47.7, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 35.6, "wrist_flex.pos": -32.9, "wrist_roll.pos": 45.2, "gripper.pos": 14.4}}, {"t": 8.6676, "i": 187, "pos": {"shoulder_pan.pos": 47.7, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 37.5, "wrist_flex.pos": -35.3, "wrist_roll.pos": 44.9, "gripper.pos": 14.4}}, {"t": 8.7125, "i": 188, "pos": {"shoulder_pan.pos": 47.6, "shoulder_lift.pos": 14.6, "elbow_flex.pos": 39.5, "wrist_flex.pos": -37.5, "wrist_roll.pos": 44.9, "gripper.pos": 14.4}}, {"t": 8.7565, "i": 189, "pos": {"shoulder_pan.pos": 47.5, "shoulder_lift.pos": 14.7, "elbow_flex.pos": 41.1, "wrist_flex.pos": -39.4, "wrist_roll.pos": 44.9, "gripper.pos": 14.4}}, {"t": 8.8029, "i": 190, "pos": {"shoulder_pan.pos": 47.2, "shoulder_lift.pos": 15.5, "elbow_flex.pos": 42.4, "wrist_flex.pos": -41.1, "wrist_roll.pos": 44.9, "gripper.pos": 14.4}}, {"t": 8.8496, "i": 191, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 17.0, "elbow_flex.pos": 42.7, "wrist_flex.pos": -43.0, "wrist_roll.pos": 44.9, "gripper.pos": 14.4}}, {"t": 8.8927, "i": 192, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 19.0, "elbow_flex.pos": 42.7, "wrist_flex.pos": -45.3, "wrist_roll.pos": 45.2, "gripper.pos": 14.4}}, {"t": 8.9486, "i": 193, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 24.6, "elbow_flex.pos": 42.7, "wrist_flex.pos": -51.9, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 8.9926, "i": 194, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 27.5, "elbow_flex.pos": 42.7, "wrist_flex.pos": -56.0, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.0373, "i": 195, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 30.3, "elbow_flex.pos": 42.7, "wrist_flex.pos": -60.3, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.0813, "i": 196, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 32.9, "elbow_flex.pos": 42.7, "wrist_flex.pos": -64.2, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.1246, "i": 197, "pos": {"shoulder_pan.pos": 46.8, "shoulder_lift.pos": 35.1, "elbow_flex.pos": 42.7, "wrist_flex.pos": -67.3, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.1706, "i": 198, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 36.8, "elbow_flex.pos": 42.7, "wrist_flex.pos": -69.6, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.2211, "i": 199, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 38.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -71.2, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.2678, "i": 200, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 39.9, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.0, "wrist_roll.pos": 45.4, "gripper.pos": 14.4}}, {"t": 9.3153, "i": 201, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.3, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.3, "wrist_roll.pos": 45.4, "gripper.pos": 14.5}}, {"t": 9.3595, "i": 202, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.3, "wrist_roll.pos": 45.5, "gripper.pos": 14.6}}, {"t": 9.4047, "i": 203, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.3, "wrist_roll.pos": 45.5, "gripper.pos": 14.9}}, {"t": 9.4508, "i": 204, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 45.7, "gripper.pos": 16.8}}, {"t": 9.4979, "i": 205, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.3, "gripper.pos": 20.2}}, {"t": 9.5426, "i": 206, "pos": {"shoulder_pan.pos": 46.7, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.5, "gripper.pos": 24.6}}, {"t": 9.586, "i": 207, "pos": {"shoulder_pan.pos": 46.9, "shoulder_lift.pos": 40.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.4, "gripper.pos": 29.5}}, {"t": 9.6374, "i": 208, "pos": {"shoulder_pan.pos": 47.1, "shoulder_lift.pos": 40.3, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.6, "gripper.pos": 37.7}}, {"t": 9.6857, "i": 209, "pos": {"shoulder_pan.pos": 47.3, "shoulder_lift.pos": 40.3, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.7, "gripper.pos": 40.4}}, {"t": 9.7308, "i": 210, "pos": {"shoulder_pan.pos": 47.3, "shoulder_lift.pos": 40.2, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.7, "gripper.pos": 42.3}}, {"t": 9.7817, "i": 211, "pos": {"shoulder_pan.pos": 47.4, "shoulder_lift.pos": 39.7, "elbow_flex.pos": 42.7, "wrist_flex.pos": -73.4, "wrist_roll.pos": 46.7, "gripper.pos": 43.4}}, {"t": 9.8251, "i": 212, "pos": {"shoulder_pan.pos": 47.5, "shoulder_lift.pos": 38.4, "elbow_flex.pos": 42.7, "wrist_flex.pos": -72.6, "wrist_roll.pos": 46.7, "gripper.pos": 43.7}}, {"t": 9.8774, "i": 213, "pos": {"shoulder_pan.pos": 48.4, "shoulder_lift.pos": 34.2, "elbow_flex.pos": 43.5, "wrist_flex.pos": -70.0, "wrist_roll.pos": 46.6, "gripper.pos": 44.0}}, {"t": 9.9247, "i": 214, "pos": {"shoulder_pan.pos": 48.4, "shoulder_lift.pos": 31.5, "elbow_flex.pos": 43.5, "wrist_flex.pos": -67.1, "wrist_roll.pos": 46.3, "gripper.pos": 44.0}}, {"t": 9.9702, "i": 215, "pos": {"shoulder_pan.pos": 48.5, "shoulder_lift.pos": 28.6, "elbow_flex.pos": 43.5, "wrist_flex.pos": -63.2, "wrist_roll.pos": 46.2, "gripper.pos": 44.0}}, {"t": 10.0209, "i": 216, "pos": {"shoulder_pan.pos": 48.7, "shoulder_lift.pos": 25.5, "elbow_flex.pos": 43.5, "wrist_flex.pos": -58.7, "wrist_roll.pos": 46.2, "gripper.pos": 44.0}}, {"t": 10.0649, "i": 217, "pos": {"shoulder_pan.pos": 49.3, "shoulder_lift.pos": 22.1, "elbow_flex.pos": 43.5, "wrist_flex.pos": -54.0, "wrist_roll.pos": 46.0, "gripper.pos": 44.0}}, {"t": 10.1077, "i": 218, "pos": {"shoulder_pan.pos": 49.6, "shoulder_lift.pos": 18.3, "elbow_flex.pos": 43.5, "wrist_flex.pos": -49.2, "wrist_roll.pos": 45.3, "gripper.pos": 44.0}}, {"t": 10.1512, "i": 219, "pos": {"shoulder_pan.pos": 49.6, "shoulder_lift.pos": 14.4, "elbow_flex.pos": 43.5, "wrist_flex.pos": -44.6, "wrist_roll.pos": 44.2, "gripper.pos": 44.0}}, {"t": 10.1939, "i": 220, "pos": {"shoulder_pan.pos": 49.7, "shoulder_lift.pos": 10.2, "elbow_flex.pos": 43.5, "wrist_flex.pos": -40.0, "wrist_roll.pos": 43.2, "gripper.pos": 44.0}}, {"t": 10.2421, "i": 221, "pos": {"shoulder_pan.pos": 49.4, "shoulder_lift.pos": 1.6, "elbow_flex.pos": 43.5, "wrist_flex.pos": -30.3, "wrist_roll.pos": 41.1, "gripper.pos": 43.9}}, {"t": 10.292, "i": 222, "pos": {"shoulder_pan.pos": 49.0, "shoulder_lift.pos": -2.6, "elbow_flex.pos": 43.5, "wrist_flex.pos": -25.7, "wrist_roll.pos": 40.0, "gripper.pos": 43.7}}, {"t": 10.3361, "i": 223, "pos": {"shoulder_pan.pos": 48.6, "shoulder_lift.pos": -6.3, "elbow_flex.pos": 43.5, "wrist_flex.pos": -21.3, "wrist_roll.pos": 38.8, "gripper.pos": 43.7}}, {"t": 10.3791, "i": 224, "pos": {"shoulder_pan.pos": 47.4, "shoulder_lift.pos": -9.7, "elbow_flex.pos": 43.6, "wrist_flex.pos": -17.2, "wrist_roll.pos": 37.5, "gripper.pos": 43.7}}, {"t": 10.4221, "i": 225, "pos": {"shoulder_pan.pos": 46.2, "shoulder_lift.pos": -12.8, "elbow_flex.pos": 43.7, "wrist_flex.pos": -12.9, "wrist_roll.pos": 36.5, "gripper.pos": 43.7}}, {"t": 10.4672, "i": 226, "pos": {"shoulder_pan.pos": 45.1, "shoulder_lift.pos": -16.6, "elbow_flex.pos": 44.9, "wrist_flex.pos": -8.6, "wrist_roll.pos": 35.6, "gripper.pos": 43.7}}, {"t": 10.5101, "i": 227, "pos": {"shoulder_pan.pos": 43.5, "shoulder_lift.pos": -19.8, "elbow_flex.pos": 46.7, "wrist_flex.pos": -5.5, "wrist_roll.pos": 34.7, "gripper.pos": 43.7}}, {"t": 10.5529, "i": 228, "pos": {"shoulder_pan.pos": 41.8, "shoulder_lift.pos": -23.6, "elbow_flex.pos": 48.7, "wrist_flex.pos": -2.6, "wrist_roll.pos": 33.8, "gripper.pos": 43.7}}, {"t": 10.6062, "i": 229, "pos": {"shoulder_pan.pos": 39.7, "shoulder_lift.pos": -27.7, "elbow_flex.pos": 51.4, "wrist_flex.pos": -0.1, "wrist_roll.pos": 32.4, "gripper.pos": 43.7}}, {"t": 10.6607, "i": 230, "pos": {"shoulder_pan.pos": 35.7, "shoulder_lift.pos": -36.5, "elbow_flex.pos": 58.3, "wrist_flex.pos": 3.0, "wrist_roll.pos": 29.0, "gripper.pos": 43.7}}, {"t": 10.7032, "i": 231, "pos": {"shoulder_pan.pos": 33.5, "shoulder_lift.pos": -40.8, "elbow_flex.pos": 61.5, "wrist_flex.pos": 4.7, "wrist_roll.pos": 27.1, "gripper.pos": 43.7}}, {"t": 10.747, "i": 232, "pos": {"shoulder_pan.pos": 31.4, "shoulder_lift.pos": -44.7, "elbow_flex.pos": 64.5, "wrist_flex.pos": 5.8, "wrist_roll.pos": 25.3, "gripper.pos": 43.6}}, {"t": 10.7975, "i": 233, "pos": {"shoulder_pan.pos": 29.1, "shoulder_lift.pos": -48.4, "elbow_flex.pos": 67.0, "wrist_flex.pos": 7.5, "wrist_roll.pos": 23.3, "gripper.pos": 43.6}}, {"t": 10.8442, "i": 234, "pos": {"shoulder_pan.pos": 26.5, "shoulder_lift.pos": -51.5, "elbow_flex.pos": 68.9, "wrist_flex.pos": 9.6, "wrist_roll.pos": 21.3, "gripper.pos": 43.6}}, {"t": 10.8894, "i": 235, "pos": {"shoulder_pan.pos": 24.0, "shoulder_lift.pos": -54.2, "elbow_flex.pos": 70.2, "wrist_flex.pos": 12.1, "wrist_roll.pos": 18.9, "gripper.pos": 43.6}}, {"t": 10.9384, "i": 236, "pos": {"shoulder_pan.pos": 18.5, "shoulder_lift.pos": -59.0, "elbow_flex.pos": 71.5, "wrist_flex.pos": 18.7, "wrist_roll.pos": 13.4, "gripper.pos": 43.6}}, {"t": 10.9912, "i": 237, "pos": {"shoulder_pan.pos": 15.5, "shoulder_lift.pos": -60.9, "elbow_flex.pos": 71.5, "wrist_flex.pos": 23.0, "wrist_roll.pos": 10.6, "gripper.pos": 43.6}}, {"t": 11.038, "i": 238, "pos": {"shoulder_pan.pos": 12.6, "shoulder_lift.pos": -63.1, "elbow_flex.pos": 71.4, "wrist_flex.pos": 27.7, "wrist_roll.pos": 8.0, "gripper.pos": 43.6}}, {"t": 11.0813, "i": 239, "pos": {"shoulder_pan.pos": 9.6, "shoulder_lift.pos": -65.0, "elbow_flex.pos": 71.4, "wrist_flex.pos": 32.3, "wrist_roll.pos": 5.8, "gripper.pos": 43.6}}, {"t": 11.1241, "i": 240, "pos": {"shoulder_pan.pos": 6.7, "shoulder_lift.pos": -66.9, "elbow_flex.pos": 71.4, "wrist_flex.pos": 36.5, "wrist_roll.pos": 3.6, "gripper.pos": 43.6}}, {"t": 11.1711, "i": 241, "pos": {"shoulder_pan.pos": 3.8, "shoulder_lift.pos": -68.8, "elbow_flex.pos": 71.5, "wrist_flex.pos": 40.5, "wrist_roll.pos": 2.0, "gripper.pos": 43.6}}, {"t": 11.2173, "i": 242, "pos": {"shoulder_pan.pos": -1.1, "shoulder_lift.pos": -72.4, "elbow_flex.pos": 71.6, "wrist_flex.pos": 47.6, "wrist_roll.pos": -0.5, "gripper.pos": 43.6}}, {"t": 11.2596, "i": 243, "pos": {"shoulder_pan.pos": -3.1, "shoulder_lift.pos": -74.2, "elbow_flex.pos": 71.6, "wrist_flex.pos": 50.7, "wrist_roll.pos": -1.3, "gripper.pos": 43.5}}, {"t": 11.3026, "i": 244, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -76.0, "elbow_flex.pos": 71.8, "wrist_flex.pos": 53.6, "wrist_roll.pos": -1.9, "gripper.pos": 43.5}}, {"t": 11.3467, "i": 245, "pos": {"shoulder_pan.pos": -5.8, "shoulder_lift.pos": -78.0, "elbow_flex.pos": 72.0, "wrist_flex.pos": 56.1, "wrist_roll.pos": -2.5, "gripper.pos": 43.5}}, {"t": 11.3892, "i": 246, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -80.2, "elbow_flex.pos": 72.2, "wrist_flex.pos": 58.5, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 11.4335, "i": 247, "pos": {"shoulder_pan.pos": -7.4, "shoulder_lift.pos": -82.3, "elbow_flex.pos": 72.9, "wrist_flex.pos": 60.7, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 11.478, "i": 248, "pos": {"shoulder_pan.pos": -8.2, "shoulder_lift.pos": -84.8, "elbow_flex.pos": 74.1, "wrist_flex.pos": 62.1, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 11.5213, "i": 249, "pos": {"shoulder_pan.pos": -8.7, "shoulder_lift.pos": -87.4, "elbow_flex.pos": 75.5, "wrist_flex.pos": 63.7, "wrist_roll.pos": -2.6, "gripper.pos": 43.5}}, {"t": 11.5652, "i": 250, "pos": {"shoulder_pan.pos": -9.0, "shoulder_lift.pos": -89.9, "elbow_flex.pos": 77.0, "wrist_flex.pos": 64.7, "wrist_roll.pos": -2.6, "gripper.pos": 43.5}}, {"t": 11.6093, "i": 251, "pos": {"shoulder_pan.pos": -9.0, "shoulder_lift.pos": -92.3, "elbow_flex.pos": 78.2, "wrist_flex.pos": 66.2, "wrist_roll.pos": -2.5, "gripper.pos": 43.5}}, {"t": 11.6519, "i": 252, "pos": {"shoulder_pan.pos": -8.8, "shoulder_lift.pos": -94.4, "elbow_flex.pos": 79.2, "wrist_flex.pos": 67.9, "wrist_roll.pos": -2.5, "gripper.pos": 43.5}}, {"t": 11.6955, "i": 253, "pos": {"shoulder_pan.pos": -8.6, "shoulder_lift.pos": -96.6, "elbow_flex.pos": 80.3, "wrist_flex.pos": 69.3, "wrist_roll.pos": -2.5, "gripper.pos": 43.5}}, {"t": 11.7386, "i": 254, "pos": {"shoulder_pan.pos": -8.6, "shoulder_lift.pos": -98.5, "elbow_flex.pos": 81.6, "wrist_flex.pos": 70.9, "wrist_roll.pos": -2.5, "gripper.pos": 43.5}}, {"t": 11.7853, "i": 255, "pos": {"shoulder_pan.pos": -8.6, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 82.6, "wrist_flex.pos": 72.3, "wrist_roll.pos": -2.4, "gripper.pos": 43.5}}, {"t": 11.8304, "i": 256, "pos": {"shoulder_pan.pos": -8.6, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 84.5, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 43.5}}, {"t": 11.8766, "i": 257, "pos": {"shoulder_pan.pos": -8.5, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 84.9, "wrist_flex.pos": 75.2, "wrist_roll.pos": -2.6, "gripper.pos": 43.5}}, {"t": 11.9269, "i": 258, "pos": {"shoulder_pan.pos": -8.5, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 85.3, "wrist_flex.pos": 76.0, "wrist_roll.pos": -2.7, "gripper.pos": 43.5}}, {"t": 11.9703, "i": 259, "pos": {"shoulder_pan.pos": -8.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.7, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 12.015, "i": 260, "pos": {"shoulder_pan.pos": -8.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.9, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 12.0636, "i": 261, "pos": {"shoulder_pan.pos": -8.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.9, "wrist_roll.pos": -2.8, "gripper.pos": 43.5}}, {"t": 12.1082, "i": 262, "pos": {"shoulder_pan.pos": -7.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.9, "wrist_roll.pos": -2.7, "gripper.pos": 43.3}}, {"t": 12.1516, "i": 263, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.8, "wrist_roll.pos": -2.6, "gripper.pos": 42.0}}, {"t": 12.1981, "i": 264, "pos": {"shoulder_pan.pos": -5.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.7, "wrist_roll.pos": -2.5, "gripper.pos": 36.1}}, {"t": 12.2461, "i": 265, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.8, "wrist_roll.pos": -2.7, "gripper.pos": 32.5}}, {"t": 12.2938, "i": 266, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.4, "wrist_flex.pos": 76.8, "wrist_roll.pos": -2.8, "gripper.pos": 29.1}}, {"t": 12.341, "i": 267, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.5, "wrist_flex.pos": 76.8, "wrist_roll.pos": -2.8, "gripper.pos": 26.2}}, {"t": 12.3857, "i": 268, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 85.7, "wrist_flex.pos": 76.8, "wrist_roll.pos": -2.8, "gripper.pos": 23.3}}, {"t": 12.4297, "i": 269, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 86.9, "wrist_flex.pos": 76.6, "wrist_roll.pos": -2.8, "gripper.pos": 20.6}}, {"t": 12.4735, "i": 270, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 88.7, "wrist_flex.pos": 76.6, "wrist_roll.pos": -2.8, "gripper.pos": 18.1}}, {"t": 12.5201, "i": 271, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.8, "gripper.pos": 13.2}}, {"t": 12.568, "i": 272, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.6, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.8, "gripper.pos": 11.9}}, {"t": 12.614, "i": 273, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.8, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.7, "gripper.pos": 10.6}}, {"t": 12.6656, "i": 274, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 91.4, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.6, "gripper.pos": 10.2}}, {"t": 12.7162, "i": 275, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.0, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.5, "gripper.pos": 9.4}}, {"t": 12.7676, "i": 276, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 7.0}}, {"t": 12.8152, "i": 277, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 5.2}}, {"t": 12.8602, "i": 278, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 3.6}}, {"t": 12.9044, "i": 279, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 2.4}}, {"t": 12.9492, "i": 280, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 1.6}}, {"t": 12.9932, "i": 281, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.039, "i": 282, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.0823, "i": 283, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.1317, "i": 284, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.1766, "i": 285, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.2208, "i": 286, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.2642, "i": 287, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.3116, "i": 288, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.3554, "i": 289, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.3986, "i": 290, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.4437, "i": 291, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.4868, "i": 292, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.5312, "i": 293, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.5776, "i": 294, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.6235, "i": 295, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.6671, "i": 296, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.7112, "i": 297, "pos": {"shoulder_pan.pos": -5.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.7557, "i": 298, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.8005, "i": 299, "pos": {"shoulder_pan.pos": -5.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.8473, "i": 300, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.8954, "i": 301, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.942, "i": 302, "pos": {"shoulder_pan.pos": -5.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 13.9853, "i": 303, "pos": {"shoulder_pan.pos": -5.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 14.0329, "i": 304, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 14.0773, "i": 305, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 14.1323, "i": 306, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 14.1792, "i": 307, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}, {"t": 14.2261, "i": 308, "pos": {"shoulder_pan.pos": -5.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 1.3}}]}