diff --git a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
index 31a2650f..a8b2f957 100644
--- a/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
+++ b/src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
   <!--//////////-->
-  <BehaviorTree ID="Add Waypoints to MTC Task">
+  <BehaviorTree
+    ID="Add Waypoints to MTC Task"
+    _subtreeOnly="true"
+    _description=""
+  >
     <Control ID="Sequence">
       <Action
         ID="RetrieveWaypoint"
diff --git a/src/lab_sim/objectives/create_pose_vector.xml b/src/lab_sim/objectives/create_pose_vector.xml
index 787f42ea..0a5ccce0 100644
--- a/src/lab_sim/objectives/create_pose_vector.xml
+++ b/src/lab_sim/objectives/create_pose_vector.xml
@@ -1,6 +1,11 @@
 <root BTCPP_format="4" main_tree_to_execute="Create Pose Vector">
   <!--//////////-->
-  <BehaviorTree ID="Create Pose Vector" _favorite="false">
+  <BehaviorTree
+    ID="Create Pose Vector"
+    _favorite="false"
+    _subtreeOnly="true"
+    _description=""
+  >
     <Control ID="Sequence">
       <Action
         ID="CreateStampedPose"
diff --git a/src/lab_sim/objectives/joint_trajectory.yaml b/src/lab_sim/objectives/joint_trajectory.yaml
index defe73c1..29c69136 100644
--- a/src/lab_sim/objectives/joint_trajectory.yaml
+++ b/src/lab_sim/objectives/joint_trajectory.yaml
@@ -13,40462 +13,40518 @@ joint_names:
   - wrist_3_joint
 points:
   - positions:
-      - -0.58393272903155891
-      - -0.26873816162636299
-      - -1.4131415648637375
-      - 1.1529459706746308
-      - -1.3066867212737647
-      - -1.5708040695498764
-      - -0.26876612132774352
-    velocities:
-      - 1.1926869458115607e-05
-      - 1.0050956475584369e-05
-      - -0.00052359877559829892
-      - -0.00034134570939623859
-      - -0.00011669927169024654
-      - -2.4928214356031852e-05
-      - -1.2202813837319375e-05
-    accelerations:
-      - 0.011926869458115608
-      - 0.010050956475584369
-      - -0.52359877559829893
-      - -0.34134570939623859
-      - -0.11669927169024653
-      - -0.02492821435603185
-      - -0.012202813837319375
+      - -0.58386895376304115
+      - -0.26865217043420214
+      - -1.4131415395220854
+      - 1.153019435378962
+      - -1.3067170229071363
+      - -1.5707057547648309
+      - -0.26872309964823549
+    velocities:
+      - -4.6044478719751653e-05
+      - 4.2484157758624981e-06
+      - -0.00052359877559829881
+      - -0.00031193396868531433
+      - -8.6769452733793524e-05
+      - -2.7405210918206294e-05
+      - -2.509849660104559e-05
+    accelerations:
+      - -0.046044478719751654
+      - 0.0042484157758624977
+      - -0.52359877559829882
+      - -0.31193396868531431
+      - -0.086769452733793523
+      - -0.027405210918206292
+      - -0.02509849660104559
     effort: []
     time_from_start:
       sec: 0
       nanosec: 0
   - positions:
-      - -0.58393213268808597
-      - -0.26873765907853919
-      - -1.4131677448025175
-      - 1.1529289033891608
-      - -1.3066925562373493
-      - -1.5708053159605941
-      - -0.26876673146843538
-    velocities:
-      - 0.00013119556403927142
-      - 0.00011056052123142784
-      - -0.005759586531581277
-      - -0.0037548028033586168
-      - -0.0012836919885927092
-      - -0.00027421035791634982
-      - -0.00013423095221051285
-    accelerations:
-      - 0.011926869458115365
-      - 0.010050956475584166
-      - -0.52359877559828838
-      - -0.34134570939623138
-      - -0.11669927169024404
-      - -0.024928214356031344
-      - -0.012202813837319129
+      - -0.58387125598697709
+      - -0.26865195801341335
+      - -1.4131677194608654
+      - 1.1530038386805279
+      - -1.306721361379773
+      - -1.5707071250253768
+      - -0.26872435457306554
+    velocities:
+      - -0.00046044478719751601
+      - 4.2484157758624932e-05
+      - -0.0052359877559829821
+      - -0.0031193396868531395
+      - -0.00086769452733793419
+      - -0.00027405210918206264
+      - -0.00025098496601045565
+    accelerations:
+      - -0.046044478719751106
+      - 0.004248415775862443
+      - -0.52359877559829271
+      - -0.31193396868531043
+      - -0.086769452733792427
+      - -0.027405210918205986
+      - -0.025098496601045319
     effort: []
     time_from_start:
       sec: 0
       nanosec: 10000000
   - positions:
-      - -0.58393034365766727
-      - -0.2687361514350679
-      - -1.4132462846188572
-      - 1.1528777015327516
-      - -1.3067100611281028
-      - -1.5708090551927476
-      - -0.26876856189051102
-    velocities:
-      - 0.00023853738916231157
-      - 0.00020101912951168689
-      - -0.010471975511965954
-      - -0.0068269141879247555
-      - -0.0023339854338049249
-      - -0.00049856428712063581
-      - -0.00024405627674638691
-    accelerations:
-      - 0.011926869458115108
-      - 0.010050956475583949
-      - -0.52359877559827628
-      - -0.34134570939622444
-      - -0.11669927169024144
-      - -0.024928214356030751
-      - -0.012202813837318872
+      - -0.58387816265878512
+      - -0.26865132075104697
+      - -1.413246259277205
+      - 1.152957048585225
+      - -1.3067343767976829
+      - -1.5707112358070145
+      - -0.26872811934755569
+    velocities:
+      - -0.00092088957439503223
+      - 8.496831551724989e-05
+      - -0.010471975511965968
+      - -0.0062386793737062808
+      - -0.001735389054675869
+      - -0.00054810421836412539
+      - -0.00050196993202091141
+    accelerations:
+      - -0.046044478719750835
+      - 0.0042484157758624292
+      - -0.52359877559829016
+      - -0.31193396868530915
+      - -0.086769452733791996
+      - -0.027405210918205823
+      - -0.025098496601045184
     effort: []
     time_from_start:
       sec: 0
       nanosec: 20000000
   - positions:
-      - -0.5839273619403027
-      - -0.26873363869594896
-      - -1.4133771843127567
-      - 1.1527923651054024
-      - -1.3067392359460253
-      - -1.5708152872463363
-      - -0.26877161259397031
-    velocities:
-      - 0.0003578060837434685
-      - 0.00030152869426753129
-      - -0.015707963267948981
-      - -0.010240371281887166
-      - -0.0035009781507073989
-      - -0.00074784643068095621
-      - -0.00036608441511958153
-    accelerations:
-      - 0.011926869458115838
-      - 0.010050956475584599
-      - -0.52359877559831092
-      - -0.34134570939624614
-      - -0.11669927169024924
-      - -0.024928214356032485
-      - -0.01220281383731963
+      - -0.58388967377846501
+      - -0.26865025864710301
+      - -1.4133771589711048
+      - 1.1528790650930536
+      - -1.3067560691608664
+      - -1.5707180871097441
+      - -0.26873439397170595
+    velocities:
+      - -0.0013813343615925477
+      - 0.00012745247327587477
+      - -0.015707963267948943
+      - -0.0093580190605594173
+      - -0.0026030835820138021
+      - -0.00082215632754618776
+      - -0.00075295489803136673
+    accelerations:
+      - -0.046044478719749427
+      - 0.0042484157758622939
+      - -0.52359877559827273
+      - -0.31193396868529871
+      - -0.086769452733789179
+      - -0.027405210918204956
+      - -0.025098496601044316
     effort: []
     time_from_start:
       sec: 0
       nanosec: 30000000
   - positions:
-      - -0.58392318753599248
-      - -0.26873012086118253
-      - -1.4135604438842164
-      - 1.1526728941071138
-      - -1.3067800806911172
-      - -1.5708240121213612
-      - -0.26877588357881338
-    velocities:
-      - 0.00047707477832462282
-      - 0.00040203825902337351
-      - -0.020943951023931894
-      - -0.013653828375849501
-      - -0.0046679708676098473
-      - -0.00099712857424127097
-      - -0.0004881125534927735
-    accelerations:
-      - 0.011926869458113887
-      - 0.010050956475582918
-      - -0.52359877559822421
-      - -0.34134570939618719
-      - -0.11669927169022973
-      - -0.024928214356028149
-      - -0.012202813837317625
+      - -0.583905789346017
+      - -0.26864877170158147
+      - -1.4135604185425641
+      - 1.1527698882040138
+      - -1.3067864384693233
+      - -1.5707276789335656
+      - -0.26874317844551632
+    velocities:
+      - -0.0018417791487900725
+      - 0.00016993663103450051
+      - -0.020943951023932025
+      - -0.012477358747412615
+      - -0.0034707781093517528
+      - -0.0010962084367282555
+      - -0.0010039398640418272
+    accelerations:
+      - -0.046044478719756365
+      - 0.0042484157758629444
+      - -0.52359877559835255
+      - -0.31193396868534556
+      - -0.086769452733802183
+      - -0.027405210918209182
+      - -0.025098496601048112
     effort: []
     time_from_start:
       sec: 0
       nanosec: 40000000
   - positions:
-      - -0.58391782044473628
-      - -0.2687255979307685
-      - -1.4137960633332354
-      - 1.1525192885378854
-      - -1.3068325953633775
-      - -1.5708352298178214
-      - -0.26878137484504017
-    velocities:
-      - 0.00059634347290577914
-      - 0.00050254782377921736
-      - -0.026179938779914893
-      - -0.017067285469811896
-      - -0.0058349635845123147
-      - -0.0012464107178015902
-      - -0.00061014069186596752
-    accelerations:
-      - 0.011926869458113887
-      - 0.010050956475582918
-      - -0.52359877559822077
-      - -0.34134570939619063
-      - -0.11669927169022973
-      - -0.024928214356028364
-      - -0.012202813837317625
+      - -0.58392650936144086
+      - -0.26864685991448228
+      - -1.4137960379915833
+      - 1.1526295179181054
+      - -1.3068254847230536
+      - -1.5707400112784786
+      - -0.26875447276898679
+    velocities:
+      - -0.0023022239359875808
+      - 0.00021242078879312473
+      - -0.026179938779914917
+      - -0.015596698434265702
+      - -0.0043384726366896727
+      - -0.0013702605459103136
+      - -0.0012549248300522786
+    accelerations:
+      - -0.046044478719746824
+      - 0.0042484157758620493
+      - -0.52359877559824153
+      - -0.31193396868528139
+      - -0.086769452733784835
+      - -0.027405210918203544
+      - -0.025098496601043126
     effort: []
     time_from_start:
       sec: 0
       nanosec: 50000000
   - positions:
-      - -0.5839112606665342
-      - -0.26872006990470698
-      - -1.4140840426598145
-      - 1.1523315483977177
-      - -1.3068967799628073
-      - -1.5708489403357171
-      - -0.26878808639265073
-    velocities:
-      - 0.00071561216748693612
-      - 0.00060305738853506181
-      - -0.03141592653589792
-      - -0.020480742563774305
-      - -0.0070019563014147891
-      - -0.0014956928613619105
-      - -0.0007321688302391622
-    accelerations:
-      - 0.011926869458115188
-      - 0.010050956475584003
-      - -0.52359877559827628
-      - -0.34134570939622533
-      - -0.11669927169024275
-      - -0.024928214356030966
-      - -0.012202813837318926
+      - -0.5839518338247367
+      - -0.26864452328580557
+      - -1.4140840173181624
+      - 1.1524579542353284
+      - -1.3068732079220571
+      - -1.5707550841444837
+      - -0.26876827694211736
+    velocities:
+      - -0.0027626687231850919
+      - 0.00025490494655174922
+      - -0.031415926535897844
+      - -0.01871603812111881
+      - -0.0052061671640275982
+      - -0.0016443126550923733
+      - -0.0015059097960627315
+    accelerations:
+      - -0.046044478719742488
+      - 0.0042484157758616971
+      - -0.52359877559819301
+      - -0.31193396868525364
+      - -0.086769452733777036
+      - -0.027405210918200942
+      - -0.025098496601040739
     effort: []
     time_from_start:
       sec: 0
       nanosec: 60000000
   - positions:
-      - -0.58390383163094217
-      - -0.26871380934206274
-      - -1.4144101830568039
-      - 1.1521189302053891
-      - -1.3069694698707504
-      - -1.5708644676786088
-      - -0.26879568730910575
-    velocities:
-      - 0.00070589753707322414
-      - 0.00059487071995388042
-      - -0.030989446761983029
-      - -0.020202710895721263
-      - -0.0069069028342831698
-      - -0.0014753884226998562
-      - -0.00072222943861144351
-    accelerations:
-      - -0.011926869458116055
-      - -0.010050956475584761
-      - 0.52359877559832135
-      - 0.34134570939625308
-      - 0.11669927169025142
-      - 0.0249282143560327
-      - 0.012202813837319793
+      - -0.58398111377965101
+      - -0.26864182169321871
+      - -1.4144169768600872
+      - 1.1522595935894206
+      - -1.3069283851275468
+      - -1.5707725112793414
+      - -0.26878423722376954
+    velocities:
+      - -0.0028411447052625314
+      - 0.0002621457408783246
+      - -0.032308322959358607
+      - -0.019247683287195855
+      - -0.0053540528216989803
+      - -0.0016910207708240223
+      - -0.0015486864595020643
+    accelerations:
+      - 0.046044478719751161
+      - -0.0042484157758624023
+      - 0.5235987755982936
+      - 0.31193396868530915
+      - 0.086769452733791774
+      - 0.027405210918205931
+      - 0.025098496601045295
     effort: []
     time_from_start:
       sec: 0
       nanosec: 70000000
   - positions:
-      - -0.58389732131711669
-      - -0.2687083230003926
-      - -1.4146959908590748
-      - 1.1519326057303068
-      - -1.3070331704825984
-      - -1.5708780748115734
-      - -0.26880234824791405
-    velocities:
-      - 0.00058662884249207118
-      - 0.00049436115519803944
-      - -0.025753459006000179
-      - -0.016789253801758965
-      - -0.0057399101173807353
-      - -0.0012261062791395442
-      - -0.00060020130023825296
-    accelerations:
-      - -0.011926869458113346
-      - -0.010050956475582375
-      - 0.52359877559819989
-      - 0.34134570939617676
-      - 0.11669927169022452
-      - 0.024928214356027063
-      - 0.012202813837317082
+      - -0.58400758555860277
+      - -0.26863937920442443
+      - -1.4147180029859641
+      - 1.1520802572760087
+      - -1.3069782704088311
+      - -1.5707882670160926
+      - -0.26879866678997416
+    velocities:
+      - -0.0023806999180650047
+      - 0.00021966158311969864
+      - -0.0270723352033755
+      - -0.01612834360034264
+      - -0.0044863582943610253
+      - -0.0014169686616419533
+      - -0.0012977014934916027
+    accelerations:
+      - 0.046044478719762867
+      - -0.0042484157758635134
+      - 0.52359877559842538
+      - 0.31193396868539242
+      - 0.086769452733814326
+      - 0.02740521091821287
+      - 0.025098496601051581
     effort: []
     time_from_start:
       sec: 0
       nanosec: 80000000
   - positions:
-      - -0.58389200369023697
-      - -0.26870384175436995
-      - -1.4149294387837859
-      - 1.151780415826164
-      - -1.3070852011672771
-      - -1.5708891891231023
-      - -0.26880778890533863
-    velocities:
-      - 0.00046736014791091908
-      - 0.00039385159044219901
-      - -0.02051747125001736
-      - -0.013375796707796693
-      - -0.0045729174004783078
-      - -0.00097682413557923387
-      - -0.00047817316186506321
-    accelerations:
-      - -0.011926869458109226
-      - -0.010050956475579015
-      - 0.52359877559801948
-      - 0.34134570939605535
-      - 0.11669927169018462
-      - 0.024928214356018389
-      - 0.012202813837312801
+      - -0.58402945288968244
+      - -0.26863736155720769
+      - -1.4149666692342813
+      - 1.1519321143594654
+      - -1.3070194787448421
+      - -1.5708012822317516
+      - -0.26881058650651868
+    velocities:
+      - -0.0019202551308675118
+      - 0.00017717742536107583
+      - -0.021836347447392778
+      - -0.013009003913489657
+      - -0.0036186637670231341
+      - -0.0011429165524599043
+      - -0.0010467165274811597
+    accelerations:
+      - 0.046044478719738581
+      - -0.0042484157758613181
+      - 0.52359877559815482
+      - 0.3119339686852276
+      - 0.086769452733769223
+      - 0.027405210918198558
+      - 0.025098496601038571
     effort: []
     time_from_start:
       sec: 0
       nanosec: 90000000
   - positions:
-      - -0.58388787875030301
-      - -0.26870036560399491
-      - -1.4151105268309372
-      - 1.1516623604929608
-      - -1.307125561924787
-      - -1.5708978106131954
-      - -0.26881200928137944
-    velocities:
-      - 0.00034809145332976042
-      - 0.00029334202568635315
-      - -0.015281483494034258
-      - -0.0099623396138342323
-      - -0.0034059246835758173
-      - -0.00072754199201890989
-      - -0.0003561450234918668
-    accelerations:
-      - -0.011926869458111722
-      - -0.010050956475581106
-      - 0.52359877559812906
-      - 0.34134570939612946
-      - 0.1166992716902088
-      - 0.024928214356023722
-      - 0.012202813837315408
+      - -0.58404671577289025
+      - -0.26863576875156853
+      - -1.4151629756050388
+      - 1.1518151648397905
+      - -1.30705201013558
+      - -1.5708115569263195
+      - -0.26881999637340309
+    velocities:
+      - -0.001459810343669987
+      - 0.00013469326760245009
+      - -0.016600359691409699
+      - -0.009889664226636459
+      - -0.0027509692396851834
+      - -0.00086886444327783654
+      - -0.00079573156147069919
+    accelerations:
+      - 0.046044478719745735
+      - -0.0042484157758619408
+      - 0.52359877559823109
+      - 0.31193396868527445
+      - 0.08676945273378267
+      - 0.027405210918202787
+      - 0.025098496601042474
     effort: []
     time_from_start:
       sec: 0
       nanosec: 100000000
   - positions:
-      - -0.58388494649731504
-      - -0.26869789454926746
-      - -1.4152392550005288
-      - 1.1515784397306972
-      - -1.3071542527551276
-      - -1.5709039392818533
-      - -0.26881500937603664
-    velocities:
-      - 0.00022882275874882104
-      - 0.00019283246092970636
-      - -0.010045495738059735
-      - -0.0065488825198654257
-      - -0.0022389319666698345
-      - -0.00047825984846336194
-      - -0.00023411688512033361
-    accelerations:
-      - -0.011926869458118498
-      - -0.010050956475535434
-      - 0.52359877559837198
-      - 0.34134570939566367
-      - 0.11669927168998111
-      - 0.024928214356263006
-      - 0.012202813837397374
+      - -0.58405937420822607
+      - -0.26863460078750701
+      - -1.4153069220982362
+      - 1.1517294087169843
+      - -1.3070758645810443
+      - -1.570819091099795
+      - -0.26882689639062735
+    velocities:
+      - -0.00099936555647312463
+      - 9.2209109842852056e-05
+      - -0.011364371935425926
+      - -0.0067703245397841985
+      - -0.0018832747123452192
+      - -0.00059481233409770546
+      - -0.00054474659546018488
+    accelerations:
+      - 0.046044478719788874
+      - -0.0042484157758183204
+      - 0.52359877559834245
+      - 0.3119339686854028
+      - 0.086769452733713184
+      - 0.027405210918299554
+      - 0.025098496601046835
     effort: []
     time_from_start:
       sec: 0
       nanosec: 110000000
   - positions:
-      - -0.58388320693127282
-      - -0.26869642859018755
-      - -1.4153156232925606
-      - 1.1515286535393734
-      - -1.3071712736582994
-      - -1.5709075751290758
-      - -0.26881678918931001
-    velocities:
-      - 0.00010955406416765519
-      - 9.2322896174368223e-05
-      - -0.0048095079820768619
-      - -0.0031354254259093393
-      - -0.0010719392497702122
-      - -0.00022897770490077246
-      - -0.0001120887467463799
-    accelerations:
-      - -0.011926869458115609
-      - -0.010050956475532991
-      - 0.52359877559824408
-      - 0.3413457093955809
-      - 0.11669927168995282
-      - 0.024928214356256913
-      - 0.012202813837394372
+      - -0.5840674281956898
+      - -0.26863385766502301
+      - -1.4153985087138738
+      - 1.1516748459910464
+      - -1.3070910420812354
+      - -1.5708238847521789
+      - -0.26883128655819155
+    velocities:
+      - -0.00053892076927426465
+      - 4.9724952084648479e-05
+      - -0.0061283841794453828
+      - -0.0036509848529280714
+      - -0.0010155801850040959
+      - -0.00032076022491036476
+      - -0.00029376162944886214
+    accelerations:
+      - 0.046044478720797956
+      - -0.0042484157758421884
+      - 0.52359877559588408
+      - 0.3119339686877568
+      - 0.086769452737774061
+      - 0.027405210922667532
+      - 0.02509849660192252
     effort: []
     time_from_start:
       sec: 0
       nanosec: 120000000
   - positions:
-      - -0.58390008450374731
-      - -0.26870551728650582
-      - -1.4153557055023795
-      - 1.1515067158694505
-      - -1.3071717756039258
-      - -1.5708926336449738
-      - -0.26881561597470593
-    velocities:
-      - -0.0031231623997779131
-      - -0.0017203083811276887
-      - -0.0015662708864451693
-      - -0.00027662403744315979
-      - 0.0011479887269474514
-      - 0.0029172222223039228
-      - 0.00033767251513301303
-    accelerations:
-      - -0.080827291207245716
-      - -0.048201954471157375
-      - 0.51933031552786235
-      - 0.35482409779321988
-      - 0.14844817234420521
-      - 0.090073853431520121
-      - 0.02027634445329294
+      - -0.58406643632746746
+      - -0.26865237166247202
+      - -1.4154576063495381
+      - 1.1516592497409075
+      - -1.3071042764347405
+      - -1.5708336130265423
+      - -0.26882126506736098
+    velocities:
+      - 0.00083989116965185338
+      - -0.0036740778177367928
+      - -0.0041886137283672934
+      - 0.001333281151672917
+      - -0.0013658753293607146
+      - -0.0015145891044680891
+      - 0.0023087415161198062
+    accelerations:
+      - 0.089681242312141932
+      - -0.14070388733450115
+      - 0.51391774659347156
+      - 0.4471405241063382
+      - 0.060430776320536006
+      - -0.020797615732461226
+      - 0.11703711374923645
     effort: []
     time_from_start:
       sec: 0
       nanosec: 130000000
   - positions:
-      - -0.58392908304465108
-      - -0.26872168878271691
-      - -1.4153491536699612
-      - 1.1515182588515491
-      - -1.3071568452630129
-      - -1.5708647382191256
-      - -0.2688119211466653
-    velocities:
-      - -0.0025474296654038804
-      - -0.0015270887508064873
-      - 0.0029306793074674073
-      - 0.0032561822031457544
-      - 0.0015027135828145841
-      - 0.0029073845806522015
-      - 0.00056314801155268087
-    accelerations:
-      - 0.0085328330871696882
-      - -0.05022419031287377
-      - 0.20055306900937525
-      - 0.55173005808437536
-      - -0.14326389893970801
-      - 0.23028761506241868
-      - 0.11513626718870097
+      - -0.58405510269685446
+      - -0.26869120235590938
+      - -1.4154792184554861
+      - 1.1516875025868463
+      - -1.3071155230447358
+      - -1.5708484204126234
+      - -0.26879563969270864
+    velocities:
+      - 0.0021428492401241368
+      - -0.0043521255855348429
+      - -0.00078433031613998623
+      - 0.005321633473548212
+      - -0.0018234157685351742
+      - -0.0016391341207969883
+      - 0.0033091868573287913
+    accelerations:
+      - 0.33134182863844791
+      - -0.043205226873340538
+      - -0.063552788163091303
+      - 0.5325530732953605
+      - -0.38687138321773218
+      - -0.049377579044764752
+      - 0.1883916724971923
     effort: []
     time_from_start:
       sec: 0
       nanosec: 140000000
   - positions:
-      - -0.58394106338754892
-      - -0.26873278622669616
-      - -1.4153204856853343
-      - 1.1515733832387396
-      - -1.3071595589846725
-      - -1.5708340813633237
-      - -0.26880099247224015
-    velocities:
-      - 0.0012474252721007006
-      - -0.00010615107567783181
-      - 0.0018110999414960047
-      - 0.007087512634661757
-      - -0.0028688701279393613
-      - 0.0022801339778354759
-      - 0.0015300026300565166
-    accelerations:
-      - 0.55406202747012767
-      - 0.25527618482994358
-      - -0.34522633002902936
-      - 0.073257280077635115
-      - -0.51883239464167086
-      - -0.29896848158631328
-      - 0.040054134701372965
+      - -0.58402266716776352
+      - -0.2687205294609753
+      - -1.4154877402945236
+      - 1.1517512049737648
+      - -1.30714921292111
+      - -1.5708613871975063
+      - -0.26876431326377359
+    velocities:
+      - 0.004074137641076986
+      - -0.00052319835736502386
+      - -0.00078069943829832118
+      - 0.0065444959332508733
+      - -0.0047582629183703946
+      - -0.00060453259531781313
+      - 0.0023123089374243026
+    accelerations:
+      - 0.10374103535266897
+      - 0.52379153498314379
+      - 0.029355050677977799
+      - -0.080964267098740481
+      - -0.21064958792805591
+      - 0.1586634564664379
+      - -0.21686123856773265
     effort: []
     time_from_start:
       sec: 0
       nanosec: 150000000
   - positions:
-      - -0.58390414633714027
-      - -0.26872207470347248
-      - -1.415319548486341
-      - 1.1516422911062802
-      - -1.3072098589868291
-      - -1.570826687170904
-      - -0.26878500678030914
-    velocities:
-      - 0.0060747677318166498
-      - 0.0020425195121483593
-      - -0.00090988006130564812
-      - 0.0084929681866318437
-      - -0.0075777555199091334
-      - 2.6204657259650825e-06
-      - 0.0020385475970520401
-    accelerations:
-      - 0.37451464276399299
-      - 0.1259230803877944
-      - -0.056094886448614899
-      - 0.52359877559815482
-      - -0.46717512945025069
-      - 0.00016155396034238384
-      - 0.12567820841423796
+      - -0.58397233743987986
+      - -0.26870737823869106
+      - -1.4154955866843952
+      - 1.1518230099174931
+      - -1.3072112619431804
+      - -1.5708624989946938
+      - -0.26874581782183132
+    velocities:
+      - 0.0069736103074249751
+      - 0.0023132214034729736
+      - -0.0010421758270882304
+      - 0.0097228293536874254
+      - -0.0086792246095040385
+      - 5.0669174574496947e-06
+      - 0.0023106294468053512
+    accelerations:
+      - 0.37554642641988173
+      - 0.12457278128479747
+      - -0.056123785286288794
+      - 0.52359877559833345
+      - -0.46739803953833309
+      - 0.00027286622857083416
+      - 0.12443319790960848
     effort: []
     time_from_start:
       sec: 0
       nanosec: 160000000
   - positions:
-      - -0.58382715473542823
-      - -0.26869618781269561
-      - -1.4153310803055608
-      - 1.1517499309787567
-      - -1.3073058994546485
-      - -1.5708266539591234
-      - -0.26875917022958123
-    velocities:
-      - 0.0098199141594577689
-      - 0.0033017503160267044
-      - -0.0014708289257919752
-      - 0.013728955942615063
-      - -0.012249506814413117
-      - 4.2360053293894343e-06
-      - 0.0032953296811948198
-    accelerations:
-      - 0.37451464276416213
-      - 0.12592308038785122
-      - -0.056094886448640156
-      - 0.52359877559839074
-      - -0.46717512945046058
-      - 0.00016155396034245626
-      - 0.12567820841429456
+      - -0.58388666055646632
+      - -0.26867895829668714
+      - -1.4155083907231782
+      - 1.1519424633541295
+      - -1.3073178937855414
+      - -1.5708624367431947
+      - -0.2687174297242752
+    velocities:
+      - 0.010729074571623313
+      - 0.003558949216320786
+      - -0.0016034136799510464
+      - 0.0149588171096701
+      - -0.013353205004886756
+      - 7.7955797431576831e-06
+      - 0.0035549614259012775
+    accelerations:
+      - 0.37554642641965535
+      - 0.12457278128472159
+      - -0.056123785286254745
+      - 0.52359877559801604
+      - -0.46739803953804859
+      - 0.0002728662285706673
+      - 0.12443319790953301
     effort: []
     time_from_start:
       sec: 0
       nanosec: 170000000
   - positions:
-      - -0.58371271166943983
-      - -0.26865770861388
-      - -1.4153482216134254
-      - 1.1519099307287932
-      - -1.3074486574354132
-      - -1.5708266045919468
-      - -0.26872076585801202
-    velocities:
-      - 0.01356506058709849
-      - 0.0045609811199049154
-      - -0.0020317777902782428
-      - 0.018964943698597726
-      - -0.016921258108916603
-      - 5.8515449328136155e-06
-      - 0.0045521117653374663
-    accelerations:
-      - 0.37451464276393143
-      - 0.12592308038777358
-      - -0.056094886448605899
-      - 0.52359877559807155
-      - -0.46717512945017264
-      - 0.00016155396034235801
-      - 0.12567820841421778
+      - -0.58376342903041079
+      - -0.26863808107655474
+      - -1.4155268071404901
+      - 1.1521142766683259
+      - -1.3074712654318563
+      - -1.5708623472050725
+      - -0.26867659830692808
+    velocities:
+      - 0.014484538835822047
+      - 0.0048046770291687302
+      - -0.0021646515328139215
+      - 0.020194804865653327
+      - -0.018027185400269968
+      - 1.0524242028865961e-05
+      - 0.0047992934049973356
+    accelerations:
+      - 0.37554642641982189
+      - 0.1245727812847771
+      - -0.056123785286279898
+      - 0.52359877559824852
+      - -0.46739803953825504
+      - 0.00027286622857078928
+      - 0.12443319790958897
     effort: []
     time_from_start:
       sec: 0
       nanosec: 180000000
   - positions:
-      - -0.58356081713917507
-      - -0.26860663710702559
-      - -1.415370972409935
-      - 1.1521222903563895
-      - -1.3076381329291231
-      - -1.5708265390693739
-      - -0.26866979366560123
-    velocities:
-      - 0.017310207014739603
-      - 0.0058202119237832578
-      - -0.0025927266547645686
-      - 0.024200931454580934
-      - -0.021593009403420578
-      - 7.4670845362379636e-06
-      - 0.0058088938494802438
-    accelerations:
-      - 0.37451464276408408
-      - 0.12592308038782477
-      - -0.05609488644862845
-      - 0.52359877559828316
-      - -0.46717512945036344
-      - 0.00016155396034242322
-      - 0.12567820841426897
+      - -0.58360264286171326
+      - -0.26858474657829384
+      - -1.4155508359363302
+      - 1.1523384498600819
+      - -1.3076713768821249
+      - -1.5708622303803277
+      - -0.26862332356978996
+    velocities:
+      - 0.018240003100020399
+      - 0.0060504048420165482
+      - -0.0027258893856767397
+      - 0.025430792621636025
+      - -0.022701165795652706
+      - 1.3252904314573963e-05
+      - 0.0060436253840932671
+    accelerations:
+      - 0.37554642641962238
+      - 0.12457278128471118
+      - -0.05612378528624954
+      - 0.52359877559797097
+      - -0.46739803953800868
+      - 0.00027286622857064529
+      - 0.12443319790952218
     effort: []
     time_from_start:
       sec: 0
       nanosec: 190000000
   - positions:
-      - -0.58337147114463395
-      - -0.26854297329213239
-      - -1.4153993326950893
-      - 1.1523870098615454
-      - -1.3078743259357779
-      - -1.5708264573914055
-      - -0.26860625365234908
-    velocities:
-      - 0.021055353442380308
-      - 0.0070794427276614641
-      - -0.0031536755192508341
-      - 0.029436919210563572
-      - -0.026264760697924047
-      - 9.0826241396621372e-06
-      - 0.0070656759336228843
-    accelerations:
-      - 0.3745146427638239
-      - 0.12592308038773803
-      - -0.056094886448589419
-      - 0.52359877559791546
-      - -0.4671751294500408
-      - 0.00016155396034230973
-      - 0.12567820841418048
+      - -0.58340430205037375
+      - -0.26851895480190446
+      - -1.4155804771106992
+      - 1.1526149829293981
+      - -1.3079182281363475
+      - -1.57086208626896
+      - -0.26855760551286095
+    velocities:
+      - 0.021995467364219153
+      - 0.007296132654864498
+      - -0.0032871272385396177
+      - 0.030666780377619277
+      - -0.02737514619103594
+      - 1.5981566600282255e-05
+      - 0.0072879573631893305
+    accelerations:
+      - 0.37554642641982361
+      - 0.12457278128477796
+      - -0.056123785286279898
+      - 0.52359877559825196
+      - -0.46739803953825848
+      - 0.00027286622857079269
+      - 0.12443319790958897
     effort: []
     time_from_start:
       sec: 0
       nanosec: 200000000
   - positions:
-      - -0.58314467368581635
-      - -0.26846671716920045
-      - -1.4154333024688888
-      - 1.1527040892442615
-      - -1.3081572364553775
-      - -1.5708263595580405
-      - -0.26853014581825552
-    velocities:
-      - 0.024800499870021808
-      - 0.0083386735315399366
-      - -0.0037146243837372179
-      - 0.034672906966547325
-      - -0.030936511992428504
-      - 1.0698163743086654e-05
-      - 0.0083224580177657919
-    accelerations:
-      - 0.3745146427643582
-      - 0.12592308038791669
-      - -0.056094886448669216
-      - 0.5235987755986613
-      - -0.46717512945070344
-      - 0.00016155396034254013
-      - 0.12567820841435917
+      - -0.58316840659639224
+      - -0.2684407057473866
+      - -1.4156157306635966
+      - 1.1529438758762738
+      - -1.3082118191945238
+      - -1.5708619148709695
+      - -0.26847944413614094
+    velocities:
+      - 0.0257509316284175
+      - 0.0085418604677123151
+      - -0.0038483650914024358
+      - 0.035902768133601971
+      - -0.032049126586418675
+      - 1.8710228885990251e-05
+      - 0.0085322893422852611
+    accelerations:
+      - 0.37554642641961894
+      - 0.12457278128471204
+      - -0.056123785286249978
+      - 0.52359877559797441
+      - -0.46739803953801218
+      - 0.00027286622857064361
+      - 0.12443319790952218
     effort: []
     time_from_start:
       sec: 0
       nanosec: 210000000
   - positions:
-      - -0.58288042476272239
-      - -0.26837786873822966
-      - -1.4154728817313327
-      - 1.153073528504537
-      - -1.3084868644879224
-      - -1.5708262455692796
-      - -0.26844147016332054
-    velocities:
-      - 0.028545646297662507
-      - 0.0095979043354181403
-      - -0.0042755732482234821
-      - 0.03990889472252996
-      - -0.035608263286931965
-      - 1.2313703346510825e-05
-      - 0.0095792401019084306
-    accelerations:
-      - 0.37451464276409102
-      - 0.12592308038782649
-      - -0.056094886448629318
-      - 0.5235987755982936
-      - -0.46717512945037387
-      - 0.00016155396034242493
-      - 0.12567820841427069
+      - -0.58289495649976875
+      - -0.26834999941474025
+      - -1.415656596595023
+      - 1.1533251287007096
+      - -1.3085521500566539
+      - -1.5708617161863558
+      - -0.26838883943962999
+    velocities:
+      - 0.029506395892615851
+      - 0.0097875882805601323
+      - -0.0044096029442652531
+      - 0.041138755889584662
+      - -0.036723106981801409
+      - 2.1438891171698252e-05
+      - 0.0097766213213811917
+    accelerations:
+      - 0.37554642641942115
+      - 0.12457278128464438
+      - -0.05612378528621962
+      - 0.52359877559768986
+      - -0.46739803953776238
+      - 0.00027286622857050131
+      - 0.12443319790945626
     effort: []
     time_from_start:
       sec: 0
       nanosec: 220000000
   - positions:
-      - -0.58257872437535196
-      - -0.26827642799922014
-      - -1.4155180704824217
-      - 1.1534953276423727
-      - -1.3088632100334123
-      - -1.5708261154251226
-      - -0.26834022668754409
-    velocities:
-      - 0.032290792725303233
-      - 0.010857135139296354
-      - -0.0048365221127097506
-      - 0.04514488247851263
-      - -0.040280014581435458
-      - 1.3929242949935008e-05
-      - 0.01083602218605108
-    accelerations:
-      - 0.37451464276387592
-      - 0.12592308038775538
-      - -0.056094886448597225
-      - 0.52359877559799517
-      - -0.46717512945010325
-      - 0.00016155396034233345
-      - 0.12567820841419958
+      - -0.58258395176050337
+      - -0.26824683580396547
+      - -1.4157030749049775
+      - 1.1537587414027051
+      - -1.3089392207227379
+      - -1.5708614902151194
+      - -0.26828579142332803
+    velocities:
+      - 0.033261860156815003
+      - 0.011033316093408213
+      - -0.0049708407971281905
+      - 0.04637474364556847
+      - -0.041397087377185136
+      - 2.4167553457406831e-05
+      - 0.011020953300477388
+    accelerations:
+      - 0.3755464264200214
+      - 0.12457278128484214
+      - -0.056123785286308958
+      - 0.52359877559852952
+      - -0.46739803953850484
+      - 0.00027286622857093499
+      - 0.12443319790965401
     effort: []
     time_from_start:
       sec: 0
       nanosec: 230000000
   - positions:
-      - -0.58223957252370506
-      - -0.26816239495217181
-      - -1.4155688687221557
-      - 1.1539694866577681
-      - -1.3092862730918473
-      - -1.5708259691255699
-      - -0.26822641539092623
-    velocities:
-      - 0.036035939152943973
-      - 0.01211636594317457
-      - -0.0053974709771960208
-      - 0.050380870234495313
-      - -0.044951765875938965
-      - 1.5544782553359196e-05
-      - 0.012092804270193731
-    accelerations:
-      - 0.37451464276368163
-      - 0.12592308038768946
-      - -0.056094886448567735
-      - 0.52359877559771761
-      - -0.46717512944986039
-      - 0.00016155396034224875
-      - 0.12567820841413191
+      - -0.5822353923785959
+      - -0.26813121491506214
+      - -1.4157551655934613
+      - 1.1542447139822603
+      - -1.3093730311927756
+      - -1.5708612369572603
+      - -0.26817030008723519
+    velocities:
+      - 0.037017324421013353
+      - 0.012279043906256032
+      - -0.0055320786499910091
+      - 0.051610731401551167
+      - -0.046071067772567878
+      - 2.6896215743114832e-05
+      - 0.012265285279573318
+    accelerations:
+      - 0.37554642641982017
+      - 0.12457278128477796
+      - -0.056123785286279468
+      - 0.52359877559825196
+      - -0.46739803953826198
+      - 0.00027286622857078928
+      - 0.12443319790958809
     effort: []
     time_from_start:
       sec: 0
       nanosec: 240000000
   - positions:
-      - -0.58186297151797517
-      - -0.26803577037384119
-      - -1.4156252761045129
-      - 1.1544960023209043
-      - -1.3097560507814576
-      - -1.5708258066716174
-      - -0.26810003704871294
-    velocities:
-      - 0.039882664653169177
-      - 0.013409750684607541
-      - -0.0059736343777516514
-      - 0.055758872939841157
-      - -0.049750228414713833
-      - 1.7204140211872308e-05
-      - 0.01338367387561715
-    accelerations:
-      - 0.37451464276398694
-      - 0.12592308038778138
-      - -0.056094886448581613
-      - 0.52359877559805768
-      - -0.46717512945020734
-      - 0.00016155396038712455
-      - 0.1256782084142464
+      - -0.58184928009457071
+      - -0.26800313732538095
+      - -1.4158128684003595
+      - 1.1547830440126812
+      - -1.3098535793005437
+      - -1.570860956414043
+      - -0.26804236600805498
+    velocities:
+      - 0.040821512459808203
+      - 0.013540933918206427
+      - -0.0061005980597318632
+      - 0.05691465139420495
+      - -0.050805688864075979
+      - 2.96602799772292e-05
+      - 0.013525761348083117
+    accelerations:
+      - 0.37554642642175268
+      - 0.12457278128541459
+      - -0.056123785286581129
+      - 0.52359877560092405
+      - -0.46739803954066189
+      - 0.00027286622863579479
+      - 0.12443319791022646
     effort: []
     time_from_start:
       sec: 0
       nanosec: 250000000
   - positions:
-      - -0.58144892046316377
-      - -0.26789655396330275
-      - -1.4156872927635471
-      - 1.1550748758830551
-      - -1.3102725442186782
-      - -1.5708256280628794
-      - -0.26796109136056384
-    velocities:
-      - 0.043627811080810791
-      - 0.014668981488485933
-      - -0.0065345832422377143
-      - 0.060994860695824125
-      - -0.054421979709218027
-      - 1.8819679815744263e-05
-      - 0.01464045595976019
-    accelerations:
-      - 0.37451464276395918
-      - 0.12592308038777097
-      - -0.056094886448575541
-      - 0.52359877559800905
-      - -0.4671751294501657
-      - 0.00016155396038710761
-      - 0.12567820841423427
+      - -0.58142561355528022
+      - -0.26786260258606831
+      - -1.4158761835278946
+      - 1.1553737333805691
+      - -1.3103808667301435
+      - -1.570860648584484
+      - -0.26790198873743687
+    velocities:
+      - 0.04457697672400502
+      - 0.014786661731053707
+      - -0.0066618359125945811
+      - 0.06215063915018533
+      - -0.055479669259456847
+      - 3.2388942263572129e-05
+      - 0.014770093327178517
+    accelerations:
+      - 0.37554642641984098
+      - 0.12457278128478143
+      - -0.05612378528629508
+      - 0.52359877559825885
+      - -0.46739803953828279
+      - 0.00027286622863440825
+      - 0.12443319790959156
     effort: []
     time_from_start:
       sec: 0
       nanosec: 260000000
   - positions:
-      - -0.58099741794407578
-      - -0.26774474524472558
-      - -1.415754918911226
-      - 1.1557061093227656
-      - -1.3108357551688434
-      - -1.5708254332987452
-      - -0.26780957785157339
-    velocities:
-      - 0.04737295750845319
-      - 0.015928212292364591
-      - -0.0070955321067238961
-      - 0.066230848451808197
-      - -0.059093731003723206
-      - 2.0435219419616557e-05
-      - 0.015897238043903496
-    accelerations:
-      - 0.37451464276470858
-      - 0.12592308038802252
-      - -0.056094886448688298
-      - 0.52359877559905688
-      - -0.46717512945110939
-      - 0.00016155396038743287
-      - 0.12567820841448754
+      - -0.58096439237334763
+      - -0.26770961056862713
+      - -1.4159451110339583
+      - 1.1560167826260164
+      - -1.310954893963697
+      - -1.5708603134683023
+      - -0.26774916814702776
+    velocities:
+      - 0.04833244098820328
+      - 0.016032389543901463
+      - -0.0072230737654575151
+      - 0.067386626906167715
+      - -0.060153649654839512
+      - 3.5117604549916105e-05
+      - 0.016014425306274397
+    accelerations:
+      - 0.37554642641938302
+      - 0.12457278128462704
+      - -0.056123785286226559
+      - 0.52359877559761359
+      - -0.46739803953771381
+      - 0.00027286622863406944
+      - 0.12443319790944238
     effort: []
     time_from_start:
       sec: 0
       nanosec: 270000000
   - positions:
-      - -0.58050846396071143
-      - -0.26758034421810956
-      - -1.4158281545475497
-      - 1.1563897026400358
-      - -1.3114456836319541
-      - -1.5708252223792152
-      - -0.26764549652174147
-    velocities:
-      - 0.051118103936094013
-      - 0.017187443096242719
-      - -0.0076564809712098411
-      - 0.071466836207790069
-      - -0.0637654822982264
-      - 2.2050759023488173e-05
-      - 0.01715402012804627
-    accelerations:
-      - 0.37451464276388979
-      - 0.12592308038774844
-      - -0.056094886448564266
-      - 0.5235987755979189
-      - -0.46717512945006162
-      - 0.00016155396038707712
-      - 0.12567820841420999
+      - -0.58046561654877327
+      - -0.26754416127305758
+      - -1.4160196509185505
+      - 1.156712191749024
+      - -1.3115756610012046
+      - -1.5708599510654979
+      - -0.26758390423682776
+    velocities:
+      - 0.052087905252403137
+      - 0.01727811735674975
+      - -0.0077843116183206875
+      - 0.072622614662152335
+      - -0.064827630050224169
+      - 3.7846266836261247e-05
+      - 0.017258757285370803
+    accelerations:
+      - 0.375546426420521
+      - 0.12457278128500521
+      - -0.056123785286397429
+      - 0.52359877559920953
+      - -0.46739803953912934
+      - 0.00027286622863490292
+      - 0.12443319790981708
     effort: []
     time_from_start:
       sec: 0
       nanosec: 280000000
   - positions:
-      - -0.57998205851307072
-      - -0.26740335088345485
-      - -1.4159069996725187
-      - 1.1571256558348662
-      - -1.3121023296080097
-      - -1.5708249953042892
-      - -0.26746884737106813
-    velocities:
-      - 0.054863250363736411
-      - 0.018446673900121377
-      - -0.0082174298356960229
-      - 0.076702823963774147
-      - -0.068437233592731586
-      - 2.3666298627360467e-05
-      - 0.018410802212189575
-    accelerations:
-      - 0.37451464276463919
-      - 0.12592308038800171
-      - -0.05609488644867789
-      - 0.52359877559897361
-      - -0.46717512945101919
-      - 0.00016155396038740238
-      - 0.12567820841446325
+      - -0.57992928608155692
+      - -0.26736625469935948
+      - -1.4160998031816714
+      - 1.1574599607495912
+      - -1.312243167842666
+      - -1.5708595613760703
+      - -0.26740619700683677
+    velocities:
+      - 0.055843369516601411
+      - 0.018523845169597514
+      - -0.0083455494711836241
+      - 0.077858602418134748
+      - -0.069501610445606848
+      - 4.0574929122605237e-05
+      - 0.018503089264466688
+    accelerations:
+      - 0.37554642642007691
+      - 0.12457278128485949
+      - -0.056123785286330642
+      - 0.52359877559858503
+      - -0.46739803953857423
+      - 0.00027286622863457766
+      - 0.12443319790967136
     effort: []
     time_from_start:
       sec: 0
       nanosec: 290000000
   - positions:
-      - -0.57941820160115354
-      - -0.26721376524076129
-      - -1.415991454286132
-      - 1.1579139689072562
-      - -1.3128056930970102
-      - -1.5708247520739671
-      - -0.26727963039955338
-    velocities:
-      - 0.058608396791377235
-      - 0.019705904703999504
-      - -0.0087783787001819678
-      - 0.081938811719756005
-      - -0.073108984887234787
-      - 2.5281838231232083e-05
-      - 0.019667584296332353
-    accelerations:
-      - 0.37451464276382734
-      - 0.12592308038772762
-      - -0.056094886448554725
-      - 0.52359877559782175
-      - -0.46717512944999223
-      - 0.00016155396038705001
-      - 0.12567820841419264
+      - -0.57935540097169846
+      - -0.2671758908475329
+      - -1.4161855678233213
+      - 1.1582600896277182
+      - -1.3129574144880811
+      - -1.5708591444000199
+      - -0.26721604645705488
+    velocities:
+      - 0.059598833780799686
+      - 0.019769572982445277
+      - -0.0089067873240465598
+      - 0.083094590174117161
+      - -0.074175590840989541
+      - 4.3303591408949227e-05
+      - 0.019747421243562574
+    accelerations:
+      - 0.37554642641966057
+      - 0.12457278128472071
+      - -0.056123785286268192
+      - 0.52359877559800216
+      - -0.46739803953806075
+      - 0.0002728662286342795
+      - 0.12443319790953605
     effort: []
     time_from_start:
       sec: 0
       nanosec: 300000000
   - positions:
-      - -0.57881689322495999
-      - -0.267011587290029
-      - -1.4160815183883906
-      - 1.1587546418572059
-      - -1.3135557740989559
-      - -1.5708244926882489
-      - -0.26707784560719716
-    velocities:
-      - 0.062353543219019612
-      - 0.020965135507878156
-      - -0.009339327564668147
-      - 0.087174799475740056
-      - -0.077780736181739946
-      - 2.689737783510437e-05
-      - 0.020924366380475651
-    accelerations:
-      - 0.37451464276455593
-      - 0.12592308038797395
-      - -0.056094886448665747
-      - 0.52359877559884871
-      - -0.46717512945090817
-      - 0.0001615539603873685
-      - 0.1256782084144355
+      - -0.57874396121919813
+      - -0.26697306971757784
+      - -1.4162769448434995
+      - 1.1591125783834051
+      - -1.3137184009374501
+      - -1.5708587001373469
+      - -0.26701345258748188
+    velocities:
+      - 0.063354298044998023
+      - 0.021015300795293058
+      - -0.0094680251769095041
+      - 0.088330577930099657
+      - -0.078849571236372304
+      - 4.6032253695293257e-05
+      - 0.020991753222658477
+    accelerations:
+      - 0.37554642641934832
+      - 0.12457278128461316
+      - -0.05612378528621962
+      - 0.52359877559755807
+      - -0.46739803953765829
+      - 0.00027286622863404233
+      - 0.1244331979094285
     effort: []
     time_from_start:
       sec: 0
       nanosec: 310000000
   - positions:
-      - -0.57817813338448998
-      - -0.2667968170312579
-      - -1.4161771919792936
-      - 1.1596476746847157
-      - -1.3143525726138465
-      - -1.5708242171471345
-      - -0.26686349299399953
-    velocities:
-      - 0.06609868964666045
-      - 0.022224366311756286
-      - -0.0099002764291540937
-      - 0.092410787231721941
-      - -0.082452487476243161
-      - 2.851291743897599e-05
-      - 0.022181148464618428
-    accelerations:
-      - 0.37451464276375102
-      - 0.12592308038769987
-      - -0.056094886448542582
-      - 0.52359877559772461
-      - -0.46717512944989509
-      - 0.00016155396038701613
-      - 0.12567820841416141
+      - -0.5780949668240557
+      - -0.26675779130949434
+      - -1.4163739342422064
+      - 1.1600174270166517
+      - -1.3145261271907731
+      - -1.5708582285880508
+      - -0.26679841539811805
+    velocities:
+      - 0.067109762309197935
+      - 0.022261028608141366
+      - -0.010029263029772686
+      - 0.09356656568608436
+      - -0.083523551631757037
+      - 4.876091598163844e-05
+      - 0.022236085201754904
+    accelerations:
+      - 0.37554642642059732
+      - 0.12457278128503296
+      - -0.056123785286410439
+      - 0.52359877559932055
+      - -0.46739803953924036
+      - 0.00027286622863496391
+      - 0.12443319790984483
     effort: []
     time_from_start:
       sec: 0
       nanosec: 320000000
   - positions:
-      - -0.5775019220797436
-      - -0.26656945446444802
-      - -1.416278475058842
-      - 1.1605930673897851
-      - -1.3151960886416822
-      - -1.5708239254506244
-      - -0.26663657255996043
-    velocities:
-      - 0.069843836074301252
-      - 0.023483597115634407
-      - -0.010461225293640037
-      - 0.097646774987703785
-      - -0.087124238770746348
-      - 3.0128457042847596e-05
-      - 0.023437930548761199
-    accelerations:
-      - 0.37451464276290447
-      - 0.12592308038741537
-      - -0.056094886448417682
-      - 0.523598775596545
-      - -0.46717512944884038
-      - 0.0001615539603866536
-      - 0.12567820841388039
+      - -0.57740841778627139
+      - -0.26653005562328236
+      - -1.416476536019442
+      - 1.1609746355274584
+      - -1.3153805932480496
+      - -1.570857729752132
+      - -0.26657093488896322
+    velocities:
+      - 0.070865226573394682
+      - 0.023506756420988619
+      - -0.010590500882635393
+      - 0.098802553442064636
+      - -0.088197532027137815
+      - 5.1489578267981318e-05
+      - 0.023480417180850279
+    accelerations:
+      - 0.37554642641869607
+      - 0.12457278128439805
+      - -0.05612378528612421
+      - 0.52359877559665602
+      - -0.46739803953686726
+      - 0.00027286622863357477
+      - 0.12443319790920992
     effort: []
     time_from_start:
       sec: 0
       nanosec: 330000000
   - positions:
-      - -0.57678825931072075
-      - -0.26632949958959934
-      - -1.4163853676270348
-      - 1.1615908199724143
-      - -1.316086322182463
-      - -1.5708236175987182
-      - -0.26639708430507997
-    velocities:
-      - 0.073588982501943664
-      - 0.024742827919513068
-      - -0.011022174158126221
-      - 0.10288276274368786
-      - -0.091795990065251548
-      - 3.1743996646719896e-05
-      - 0.024694712632904507
-    accelerations:
-      - 0.37451464276366775
-      - 0.12592308038767211
-      - -0.056094886448533908
-      - 0.52359877559759971
-      - -0.46717512944981182
-      - 0.00016155396038698225
-      - 0.12567820841413713
+      - -0.57668431410584498
+      - -0.26628986265894189
+      - -1.416584750175206
+      - 1.1619842039158246
+      - -1.3162817991092803
+      - -1.5708572036295902
+      - -0.26633101106001744
+    velocities:
+      - 0.074620690837594608
+      - 0.024752484233836931
+      - -0.011151738735498577
+      - 0.10403854119804935
+      - -0.092871512422522548
+      - 5.4218240554326507e-05
+      - 0.024724749159946713
+    accelerations:
+      - 0.37554642641995895
+      - 0.12457278128482133
+      - -0.05612378528631503
+      - 0.52359877559843238
+      - -0.46739803953843545
+      - 0.00027286622863450312
+      - 0.12443319790963667
     effort: []
     time_from_start:
       sec: 0
       nanosec: 340000000
   - positions:
-      - -0.57603714613343293
-      - -0.26607695276177462
-      - -1.4164978695257029
-      - 1.1626409309562229
-      - -1.3170232719189046
-      - -1.5708232935918711
-      - -0.26614502858373035
-    velocities:
-      - 0.077054819345305156
-      - 0.025908146445423746
-      - -0.011541287970988832
-      - 0.1077282553370187
-      - -0.096119326434693078
-      - 3.3239050792899615e-05
-      - 0.025857765062349852
-    accelerations:
-      - 0.37451464276287671
-      - 0.1259230803874119
-      - -0.056094886448421151
-      - 0.52359877559651724
-      - -0.46717512944881262
-      - 0.00016155396040440402
-      - 0.12567820841386998
+      - -0.57592265674809395
+      - -0.26603721273667902
+      - -1.4166985765652362
+      - 1.1630461308358748
+      - -1.3172297435730487
+      - -1.5708566502211267
+      - -0.26607864423112798
+    velocities:
+      - 0.078057076506285697
+      - 0.02589237025111878
+      - -0.011665291675591289
+      - 0.10882965942480043
+      - -0.097148373581754127
+      - 5.6715065263311846e-05
+      - 0.025863357938847538
+    accelerations:
+      - 0.37554642642055569
+      - 0.12457278128502255
+      - -0.056123785286386153
+      - 0.5235987755992928
+      - -0.46739803953917097
+      - 0.0002728662286260599
+      - 0.12443319790983789
     effort: []
     time_from_start:
       sec: 0
       nanosec: 350000000
   - positions:
-      - -0.57524858221432429
-      - -0.26581181386882247
-      - -1.4166159808048067
-      - 1.1637434008075451
-      - -1.3180069382670891
-      - -1.5708229534299398
-      - -0.26588040528397827
-    velocities:
-      - 0.080799965772947555
-      - 0.027167377249302425
-      - -0.012102236835475068
-      - 0.11296424309300279
-      - -0.10079107772919817
-      - 3.4854590396949532e-05
-      - 0.027114547146493126
-    accelerations:
-      - 0.37451464276361224
-      - 0.12592308038765823
-      - -0.056094886448530439
-      - 0.5235987755975442
-      - -0.46717512944972855
-      - 0.00016155396040472251
-      - 0.12567820841411631
+      - -0.57512344498317036
+      - -0.2657721056143954
+      - -1.4168180152986054
+      - 1.164160417305186
+      - -1.3182244275477104
+      - -1.5708560695262119
+      - -0.26581383416046778
+    velocities:
+      - 0.081812540770482403
+      - 0.027138098063966037
+      - -0.012226529528453822
+      - 0.11406564718078079
+      - -0.10182235397713479
+      - 5.9443727549565922e-05
+      - 0.027107689917942965
+    accelerations:
+      - 0.37554642641864056
+      - 0.12457278128438418
+      - -0.056123785286098189
+      - 0.52359877559658663
+      - -0.46739803953678399
+      - 0.00027286622862465721
+      - 0.12443319790919952
     effort: []
     time_from_start:
       sec: 0
       nanosec: 360000000
   - positions:
-      - -0.57442256683093929
-      - -0.26553408266783152
-      - -1.4167397015725549
-      - 1.1648982305364275
-      - -1.319037322128219
-      - -1.5708225971126126
-      - -0.26560321416338473
-    velocities:
-      - 0.084545112200590009
-      - 0.028426608053181118
-      - -0.012663185699961312
-      - 0.11820023084898694
-      - -0.1054628290237033
-      - 3.6470130000999469e-05
-      - 0.028371329230636413
-    accelerations:
-      - 0.37451464276440327
-      - 0.12592308038792191
-      - -0.0560948864486484
-      - 0.52359877559862666
-      - -0.4671751294507
-      - 0.00016155396040505455
-      - 0.12567820841437999
+      - -0.57428667857560467
+      - -0.2654945412139833
+      - -1.4169430664105027
+      - 1.165327063652057
+      - -1.3192658513263258
+      - -1.5708554615446739
+      - -0.26553658077001663
+    velocities:
+      - 0.085568005034682287
+      - 0.028383825876814355
+      - -0.012787767381316834
+      - 0.11930163493676563
+      - -0.10649633437251944
+      - 6.2172389835822328e-05
+      - 0.028352021897039458
+    accelerations:
+      - 0.37554642641990343
+      - 0.12457278128480745
+      - -0.056123785286289009
+      - 0.52359877559837686
+      - -0.46739803953836606
+      - 0.00027286622862558556
+      - 0.12443319790962626
     effort: []
     time_from_start:
       sec: 0
       nanosec: 370000000
   - positions:
-      - -0.57355909998327781
-      - -0.26524375915880177
-      - -1.4168690318289481
-      - 1.1661054201428693
-      - -1.3201144235022935
-      - -1.5708222246398893
-      - -0.26531345522194977
-    velocities:
-      - 0.088290258628232407
-      - 0.029685838857059794
-      - -0.013224134564447548
-      - 0.12343621860497103
-      - -0.11013458031820839
-      - 3.8085669605049392e-05
-      - 0.029628111314779687
-    accelerations:
-      - 0.37451464276513879
-      - 0.12592308038816477
-      - -0.056094886448757687
-      - 0.52359877559965362
-      - -0.46717512945162981
-      - 0.00016155396040537981
-      - 0.12567820841462632
+      - -0.57341235752539699
+      - -0.26520451953544272
+      - -1.4170737299009293
+      - 1.1665460698764878
+      - -1.320354014908895
+      - -1.5708548262765134
+      - -0.26524688405977448
+    velocities:
+      - 0.089323469298882172
+      - 0.029629553689662667
+      - -0.013349005234179845
+      - 0.12453762269275044
+      - -0.11117031476790408
+      - 6.4901052122078715e-05
+      - 0.029596353876135944
+    accelerations:
+      - 0.37554642642116631
+      - 0.12457278128522378
+      - -0.056123785286478094
+      - 0.52359877560013934
+      - -0.46739803953994813
+      - 0.00027286622862649358
+      - 0.12443319791004259
     effort: []
     time_from_start:
       sec: 0
       nanosec: 380000000
   - positions:
-      - -0.57265818167133997
-      - -0.26494084334173323
-      - -1.4170039715739862
-      - 1.1673649696268713
-      - -1.3212382423893132
-      - -1.5708218360117698
-      - -0.2650111284596734
-    velocities:
-      - 0.092035405055871669
-      - 0.030945069660937418
-      - -0.013785083428933314
-      - 0.12867220636095072
-      - -0.11480633161270955
-      - 3.9701209209097954e-05
-      - 0.030884893398921906
-    accelerations:
-      - 0.37451464276273794
-      - 0.12592308038735986
-      - -0.056094886448396865
-      - 0.5235987755962952
-      - -0.46717512944861833
-      - 0.00016155396040433626
-      - 0.12567820841381794
+      - -0.57250048183254731
+      - -0.26490204057877365
+      - -1.417210005769884
+      - 1.1678174359784785
+      - -1.3214889182954184
+      - -1.5708541637217297
+      - -0.26494474402974139
+    velocities:
+      - 0.093078933563078878
+      - 0.030875281502509927
+      - -0.013910243087042379
+      - 0.12977361044873084
+      - -0.11584429516328475
+      - 6.7629714408332811e-05
+      - 0.030840685855231375
+    accelerations:
+      - 0.37554642641925118
+      - 0.12457278128459234
+      - -0.056123785286191864
+      - 0.52359877559748869
+      - -0.46739803953754727
+      - 0.00027286622862512477
+      - 0.12443319790940768
     effort: []
     time_from_start:
       sec: 0
       nanosec: 390000000
   - positions:
-      - -0.57171981189512566
-      - -0.26462533521662596
-      - -1.4171445208076692
-      - 1.168676878988433
-      - -1.3224087787892782
-      - -1.5708214312282545
-      - -0.26469623387655561
-    velocities:
-      - 0.095780551483514081
-      - 0.0322043004648161
-      - -0.014346032293419552
-      - 0.13390819411693486
-      - -0.11947808290721465
-      - 4.1316748813147877e-05
-      - 0.032141675483065187
-    accelerations:
-      - 0.37451464276347346
-      - 0.12592308038761313
-      - -0.056094886448509622
-      - 0.52359877559734991
-      - -0.46717512944956202
-      - 0.00016155396040466152
-      - 0.12567820841407468
+      - -0.57155105149705565
+      - -0.26458710434397609
+      - -1.4173518940173677
+      - 1.169141161958029
+      - -1.3226705614858951
+      - -1.5708534738803233
+      - -0.26463016067991729
+    velocities:
+      - 0.096834397827278776
+      - 0.032121009315358245
+      - -0.014471480939905391
+      - 0.13500959820471567
+      - -0.1205182755586694
+      - 7.0358376694589211e-05
+      - 0.032085017834327864
+    accelerations:
+      - 0.37554642642052793
+      - 0.12457278128501215
+      - -0.056123785286384419
+      - 0.52359877559926504
+      - -0.46739803953914322
+      - 0.00027286622862604634
+      - 0.12443319790982749
     effort: []
     time_from_start:
       sec: 0
       nanosec: 400000000
   - positions:
-      - -0.57074399065463499
-      - -0.26429723478347988
-      - -1.4172906795299971
-      - 1.1700411482275546
-      - -1.3236260327021878
-      - -1.5708210102893432
-      - -0.26436877147259635
-    velocities:
-      - 0.09952569791115333
-      - 0.033463531268693718
-      - -0.014906981157905317
-      - 0.13914418187291452
-      - -0.1241498342017158
-      - 4.2932288417196438e-05
-      - 0.033398457567207399
-    accelerations:
-      - 0.37451464276105872
-      - 0.12592308038680128
-      - -0.056094886448147065
-      - 0.52359877559396373
-      - -0.46717512944655054
-      - 0.00016155396040361798
-      - 0.12567820841325589
+      - -0.570564066518922
+      - -0.26425971083105004
+      - -1.4174993946433796
+      - 1.1705172478151391
+      - -1.323898944480326
+      - -1.5708527567522941
+      - -0.26430313401030225
+    velocities:
+      - 0.10058986209147866
+      - 0.033366737128206557
+      - -0.0150327187927684
+      - 0.14024558596070047
+      - -0.12519225595405403
+      - 7.3087038980845597e-05
+      - 0.03332934981342435
+    accelerations:
+      - 0.37554642642179081
+      - 0.12457278128543542
+      - -0.056123785286571769
+      - 0.52359877560098589
+      - -0.46739803954072529
+      - 0.00027286622862695436
+      - 0.12443319791025076
     effort: []
     time_from_start:
       sec: 0
       nanosec: 410000000
   - positions:
-      - -0.56973071794986785
-      - -0.26395654204229502
-      - -1.4174424477409697
-      - 1.1714577773442358
-      - -1.3248900041280427
-      - -1.5708205731950358
-      - -0.26402874124779563
-    velocities:
-      - 0.10327084433879574
-      - 0.034722762072572404
-      - -0.015467930022391557
-      - 0.14438016962889866
-      - -0.12882158549622089
-      - 4.4547828021246362e-05
-      - 0.034655239651350679
-    accelerations:
-      - 0.37451464276180813
-      - 0.12592308038705802
-      - -0.056094886448261556
-      - 0.52359877559501844
-      - -0.46717512944746648
-      - 0.00016155396040394324
-      - 0.12567820841351263
+      - -0.56953952689814646
+      - -0.26391986003999557
+      - -1.4176525076479205
+      - 1.1719456935498092
+      - -1.3251740672787107
+      - -1.5708520123376419
+      - -0.26396366402089633
+    velocities:
+      - 0.10434532635567219
+      - 0.034612464941052759
+      - -0.01559395664563046
+      - 0.14548157371667642
+      - -0.12986623634943073
+      - 7.5815701267097375e-05
+      - 0.034573681792518726
+    accelerations:
+      - 0.37554642641671154
+      - 0.12457278128374233
+      - -0.056123785285810225
+      - 0.52359877559388046
+      - -0.46739803953435538
+      - 0.00027286622862325452
+      - 0.12443319790855767
     effort: []
     time_from_start:
       sec: 0
       nanosec: 420000000
   - positions:
-      - -0.56867999378082434
-      - -0.26360325699307141
-      - -1.4175998254405873
-      - 1.172926766338477
-      - -1.3262006930668426
-      - -1.570820119945332
-      - -0.26367614320215355
-    velocities:
-      - 0.10701599076643814
-      - 0.035981992876451076
-      - -0.016028878886877793
-      - 0.14961615738488274
-      - -0.13349333679072597
-      - 4.6163367625296285e-05
-      - 0.035912021735493953
-    accelerations:
-      - 0.37451464276254365
-      - 0.12592308038729394
-      - -0.056094886448369109
-      - 0.5235987755960454
-      - -0.46717512944838241
-      - 0.0001615539604042685
-      - 0.12567820841376243
+      - -0.56847743263472883
+      - -0.26356755197081255
+      - -1.4178112330309898
+      - 1.1734264991620391
+      - -1.326495929881049
+      - -1.5708512406363668
+      - -0.26361175071169934
+    velocities:
+      - 0.10810079061987206
+      - 0.035858192753901071
+      - -0.01615519449849347
+      - 0.15071756147266124
+      - -0.13454021674481537
+      - 7.8544363553353762e-05
+      - 0.035818013771615212
+    accelerations:
+      - 0.37554642641796054
+      - 0.12457278128415866
+      - -0.056123785285997575
+      - 0.52359877559565682
+      - -0.46739803953593745
+      - 0.00027286622862416254
+      - 0.124433197908974
     effort: []
     time_from_start:
       sec: 0
       nanosec: 430000000
   - positions:
-      - -0.56759181814750437
-      - -0.26323737963580895
-      - -1.4177628126288495
-      - 1.1744481152102781
-      - -1.3275580995185876
-      - -1.5708196505402325
-      - -0.26331097733566999
-    velocities:
-      - 0.11076113719408059
-      - 0.037241223680329769
-      - -0.016589827751364035
-      - 0.1548521451408669
-      - -0.13816508808523112
-      - 4.7778907229346215e-05
-      - 0.03716880381963724
-    accelerations:
-      - 0.37451464276333468
-      - 0.12592308038755762
-      - -0.05609488644848707
-      - 0.52359877559715562
-      - -0.46717512944938161
-      - 0.00016155396040459376
-      - 0.12567820841401917
+      - -0.5673777837286692
+      - -0.26320278662350116
+      - -1.4179755707925878
+      - 1.174959664651829
+      - -1.3278645322873412
+      - -1.570850441648469
+      - -0.26324739408271147
+    velocities:
+      - 0.11185625488407196
+      - 0.037103920566749389
+      - -0.016716432351356482
+      - 0.15595354922864607
+      - -0.13921419714020003
+      - 8.1273025839610161e-05
+      - 0.037062345750711705
+    accelerations:
+      - 0.3755464264192373
+      - 0.12457278128458193
+      - -0.056123785286191864
+      - 0.52359877559743317
+      - -0.46739803953754727
+      - 0.00027286622862508411
+      - 0.12443319790940421
     effort: []
     time_from_start:
       sec: 0
       nanosec: 440000000
   - positions:
-      - -0.56646619132910581
-      - -0.26285891006438239
-      - -1.4179314092639388
-      - 1.1760218235693003
-      - -1.3289622231350025
-      - -1.5708191649798573
-      - -0.26293324374203714
-    velocities:
-      - 0.11453798999704751
-      - 0.03851111512065012
-      - -0.017155525603795782
-      - 0.16013246072119761
-      - -0.14287639038337049
-      - 4.9408123967561882e-05
-      - 0.038436225809383648
-    accelerations:
-      - 0.37451464276254365
-      - 0.12592308038729394
-      - -0.056094886448376048
-      - 0.5235987755960454
-      - -0.46717512944838241
-      - 0.00016155396037380919
-      - 0.12567820841375549
+      - -0.56624058041681069
+      - -0.26282556407662455
+      - -1.4181455208973193
+      - 1.1765451896889647
+      - -1.3292798742028171
+      - -1.5708496153741203
+      - -0.26287059421240794
+    velocities:
+      - 0.11563055727497928
+      - 0.038355897188461635
+      - -0.017280485480582562
+      - 0.16121580170021318
+      - -0.14391162311480282
+      - 8.4015375618331687e-05
+      - 0.038312919536901413
+    accelerations:
+      - 0.37554642642104141
+      - 0.12457278128517868
+      - -0.056123785286452073
+      - 0.52359877559995893
+      - -0.46739803953976772
+      - 0.00027286622862893303
+      - 0.12443319790999402
     effort: []
     time_from_start:
       sec: 0
       nanosec: 450000000
   - positions:
-      - -0.5653031132512768
-      - -0.26246784825379249
-      - -1.4181056153569906
-      - 1.1776478915194926
-      - -1.3304130640088341
-      - -1.5708186632641745
-      - -0.26254294239630438
-    velocities:
-      - 0.11828313642469006
-      - 0.039770345924528834
-      - -0.017716474468282072
-      - 0.16536844847718199
-      - -0.1475481416778758
-      - 5.1023663571307368e-05
-      - 0.039693007893526963
-    accelerations:
-      - 0.37451464276359836
-      - 0.12592308038764782
-      - -0.056094886448528704
-      - 0.52359877559751644
-      - -0.46717512944971468
-      - 0.0001615539603742632
-      - 0.12567820841410937
+      - -0.56506582252381155
+      - -0.26243588427202019
+      - -1.4183210833713884
+      - 1.1781830745179129
+      - -1.3307419558457032
+      - -1.5708487618131934
+      - -0.26248135104269127
+    velocities:
+      - 0.11938602153917921
+      - 0.039601625001309967
+      - -0.01784172333344549
+      - 0.16645178945619796
+      - -0.1485856035101874
+      - 8.6744037904613443e-05
+      - 0.039557251515997864
+    accelerations:
+      - 0.37554642642229041
+      - 0.12457278128559501
+      - -0.056123785286635954
+      - 0.52359877560167978
+      - -0.46739803954132203
+      - 0.0002728662286298546
+      - 0.12443319791041035
     effort: []
     time_from_start:
       sec: 0
       nanosec: 460000000
   - positions:
-      - -0.56410258370917143
-      - -0.26206419413516374
-      - -1.4182854309386874
-      - 1.1793263193472447
-      - -1.3319106223956108
-      - -1.5708181453930958
-      - -0.2621400732297301
-    velocities:
-      - 0.12202828285233255
-      - 0.04102957672840752
-      - -0.018277423332768356
-      - 0.17060443623316632
-      - -0.15221989297238103
-      - 5.2639203175052827e-05
-      - 0.040949789977670258
-    accelerations:
-      - 0.37451464276458368
-      - 0.12592308038798089
-      - -0.05609488644867789
-      - 0.52359877559890422
-      - -0.46717512945093592
-      - 0.00016155396037469011
-      - 0.12567820841444244
+      - -0.5638535099881703
+      - -0.26203374718928729
+      - -1.4185022582239859
+      - 1.1798733192244208
+      - -1.3322507772925429
+      - -1.5708478809656434
+      - -0.26207966455318366
+    velocities:
+      - 0.12314148580337274
+      - 0.040847352814156183
+      - -0.018402961186307465
+      - 0.17168777721217388
+      - -0.15325958390556407
+      - 8.9472700190890552e-05
+      - 0.040801583495092192
+    accelerations:
+      - 0.37554642641715563
+      - 0.12457278128389498
+      - -0.056123785285869206
+      - 0.52359877559454659
+      - -0.46739803953493825
+      - 0.00027286622862611411
+      - 0.12443319790870339
     effort: []
     time_from_start:
       sec: 0
       nanosec: 470000000
   - positions:
-      - -0.56286460270278948
-      - -0.2616479477084962
-      - -1.4184708560090291
-      - 1.1810571070525564
-      - -1.3334548982953323
-      - -1.5708176113666208
-      - -0.2617246362423144
-    velocities:
-      - 0.12577342927997504
-      - 0.042288807532286213
-      - -0.018838372197254639
-      - 0.17584042398915062
-      - -0.15689164426688626
-      - 5.4254742778798293e-05
-      - 0.042206572061813552
-    accelerations:
-      - 0.37451464276558288
-      - 0.12592308038831396
-      - -0.056094886448827076
-      - 0.52359877560026424
-      - -0.46717512945215717
-      - 0.00016155396037511701
-      - 0.12567820841477551
+      - -0.56260364280988728
+      - -0.26161915282842596
+      - -1.4186890454551124
+      - 1.1816159238084887
+      - -1.333806338543337
+      - -1.5708469728314711
+      - -0.2616655347438851
+    velocities:
+      - 0.12689695006757268
+      - 0.042093080627004523
+      - -0.018964199039170397
+      - 0.1769237649681587
+      - -0.15793356430094868
+      - 9.2201362477172322e-05
+      - 0.04204591547418865
+    accelerations:
+      - 0.37554642641843239
+      - 0.12457278128431132
+      - -0.056123785286060025
+      - 0.5235987755962952
+      - -0.46739803953652032
+      - 0.00027286622862704923
+      - 0.12443319790912666
     effort: []
     time_from_start:
       sec: 0
       nanosec: 480000000
   - positions:
-      - -0.56158917023213129
-      - -0.26121910897378997
-      - -1.4186618905680155
-      - 1.1828402546354282
-      - -1.335045891707999
-      - -1.5708170611847501
-      - -0.26129663143405735
-    velocities:
-      - 0.12951857570761757
-      - 0.04354803833616492
-      - -0.019399321061740929
-      - 0.181076411745135
-      - -0.16156339556139157
-      - 5.5870282382543772e-05
-      - 0.043463354145956867
-    accelerations:
-      - 0.37451464276660984
-      - 0.1259230803886609
-      - -0.056094886448983201
-      - 0.52359877560173529
-      - -0.46717512945348943
-      - 0.00016155396037556425
-      - 0.12567820841512939
+      - -0.56131622098896206
+      - -0.26119210118943614
+      - -1.4188814450647671
+      - 1.1834108882701164
+      - -1.3354086395980844
+      - -1.5708460374106754
+      - -0.26123896161479554
+    velocities:
+      - 0.1306524143317726
+      - 0.043338808439852855
+      - -0.019525436892033326
+      - 0.1821597527241435
+      - -0.16260754469633329
+      - 9.4930024763454065e-05
+      - 0.043290247453285094
+    accelerations:
+      - 0.37554642641968139
+      - 0.12457278128472765
+      - -0.056123785286247375
+      - 0.5235987755980438
+      - -0.46739803953810238
+      - 0.00027286622862795725
+      - 0.12443319790954299
     effort: []
     time_from_start:
       sec: 0
       nanosec: 490000000
   - positions:
-      - -0.56027628629719661
-      - -0.26077767793104489
-      - -1.418858534615647
-      - 1.1846757620958597
-      - -1.3366836026336109
-      - -1.5708164948474832
-      - -0.26085605880495877
-    velocities:
-      - 0.13326372213526849
-      - 0.044807269140046443
-      - -0.019960269926228475
-      - 0.1863123995011311
-      - -0.16623514685590732
-      - 5.748582198629287e-05
-      - 0.044720136230102986
-    accelerations:
-      - 0.3745146427760398
-      - 0.12592308039183897
-      - -0.056094886450394912
-      - 0.52359877561492052
-      - -0.46717512946525597
-      - 0.00016155396037963898
-      - 0.12567820841828661
+      - -0.55999124452539495
+      - -0.26075259227231784
+      - -1.4190794570529508
+      - 1.1852582126093041
+      - -1.3370576804567857
+      - -1.5708450747032572
+      - -0.26079994516591498
+    velocities:
+      - 0.13440787859595765
+      - 0.044584536252696254
+      - -0.020086674744894034
+      - 0.18739574048010757
+      - -0.16728152509169936
+      - 9.7658687049725007e-05
+      - 0.044534579432376618
+    accelerations:
+      - 0.37554642640606029
+      - 0.12457278128020352
+      - -0.056123785284207695
+      - 0.5235987755790299
+      - -0.46739803952108999
+      - 0.00027286622861803517
+      - 0.1244331979050258
     effort: []
     time_from_start:
       sec: 0
       nanosec: 500000000
   - positions:
-      - -0.55892595089798558
-      - -0.26032365458026102
-      - -1.4190607881519233
-      - 1.1865636294338511
-      - -1.3383680310721677
-      - -1.5708159123548202
-      - -0.26040291835501883
-    velocities:
-      - 0.13700886856289626
-      - 0.046066499943920182
-      - -0.020521218790712552
-      - 0.19154838725709483
-      - -0.17090689815039417
-      - 5.910136159003198e-05
-      - 0.04597691831424134
-    accelerations:
-      - 0.37451464276230773
-      - 0.12592308038721067
-      - -0.056094886448334415
-      - 0.52359877559571233
-      - -0.4671751294480771
-      - 0.00016155396037370755
-      - 0.12567820841367222
+      - -0.55862871341918585
+      - -0.26030062607707105
+      - -1.4192830814196629
+      - 1.1871578968260512
+      - -1.3387534611194409
+      - -1.5708440847092162
+      - -0.26034848539724353
+    velocities:
+      - 0.13816334286017248
+      - 0.045830264065549541
+      - -0.020647912597759194
+      - 0.19263172823611319
+      - -0.17195550548710253
+      - 0.00010038734933601759
+      - 0.04577891141147801
+    accelerations:
+      - 0.3755464264222349
+      - 0.12457278128558114
+      - -0.056123785286629015
+      - 0.52359877560162427
+      - -0.46739803954126652
+      - 0.00027286622862980039
+      - 0.12443319791038954
     effort: []
     time_from_start:
       sec: 0
       nanosec: 510000000
   - positions:
-      - -0.55753816403449807
-      - -0.25985703892143841
-      - -1.4192686511768442
-      - 1.1885038566494024
-      - -1.3400991770236694
-      - -1.5708153137067613
-      - -0.25993721008423742
-    velocities:
-      - 0.14075401499053874
-      - 0.047325730747798875
-      - -0.021082167655198835
-      - 0.19678437501307916
-      - -0.1755786494448994
-      - 6.0716901193777439e-05
-      - 0.047233700398384634
-    accelerations:
-      - 0.37451464276327917
-      - 0.12592308038754374
-      - -0.056094886448483601
-      - 0.52359877559710011
-      - -0.4671751294493261
-      - 0.00016155396037412768
-      - 0.12567820841400529
+      - -0.55722862767033476
+      - -0.25983620260369578
+      - -1.4194923181649037
+      - 1.1891099409203585
+      - -1.3404959815860502
+      - -1.5708430674285521
+      - -0.25988458230878109
+    velocities:
+      - 0.14191880712436608
+      - 0.04707599187839577
+      - -0.021209150450621175
+      - 0.19786771599208916
+      - -0.17662948588247926
+      - 0.00010311601162229475
+      - 0.047023243390572358
+    accelerations:
+      - 0.37554642641718339
+      - 0.12457278128389498
+      - -0.056123785285869206
+      - 0.52359877559454659
+      - -0.46739803953493825
+      - 0.00027286622862612766
+      - 0.12443319790871032
     effort: []
     time_from_start:
       sec: 0
       nanosec: 520000000
   - positions:
-      - -0.55611292570673421
-      - -0.259377830954577
-      - -1.4194821236904103
-      - 1.1904964437425134
-      - -1.3418770404881164
-      - -1.5708146989033063
-      - -0.2594589339926146
-    velocities:
-      - 0.1444991614181749
-      - 0.048584961551675437
-      - -0.021643116519684171
-      - 0.20202036276905461
-      - -0.18025040073939674
-      - 6.2332440797520174e-05
-      - 0.048490482482525805
-    accelerations:
-      - 0.37451464275792234
-      - 0.12592308038575351
-      - -0.056094886447685628
-      - 0.5235987755896061
-      - -0.46717512944266476
-      - 0.0001615539603718373
-      - 0.12567820841221505
+      - -0.55579098727884169
+      - -0.25935932185219202
+      - -1.419707167288673
+      - 1.1911143448922255
+      - -1.3422852418566131
+      - -1.5708420228612652
+      - -0.25940823590052775
+    velocities:
+      - 0.14567427138856595
+      - 0.048321719691244096
+      - -0.021770388303484101
+      - 0.20310370374807393
+      - -0.18130346627786381
+      - 0.00010584467390857648
+      - 0.048267575369668796
+    accelerations:
+      - 0.37554642641837688
+      - 0.12457278128430438
+      - -0.056123785286053086
+      - 0.52359877559626744
+      - -0.4673980395364648
+      - 0.00027286622862700857
+      - 0.12443319790911278
     effort: []
     time_from_start:
       sec: 0
       nanosec: 530000000
   - positions:
-      - -0.55465023591469387
-      - -0.2588860306796768
-      - -1.4197012056926213
-      - 1.1925413907131843
-      - -1.3437016214655082
-      - -1.5708140679444551
-      - -0.25896809008015037
-    velocities:
-      - 0.14824430784581746
-      - 0.049844192355554144
-      - -0.022204065384170461
-      - 0.20725635052503899
-      - -0.18492215203390203
-      - 6.3947980401265654e-05
-      - 0.049747264566669121
-    accelerations:
-      - 0.37451464275900481
-      - 0.12592308038610045
-      - -0.056094886447841753
-      - 0.52359877559107715
-      - -0.46717512944394152
-      - 0.00016155396037227098
-      - 0.125678208412562
+      - -0.55431579224470662
+      - -0.25886998382255988
+      - -1.419927628790971
+      - 1.1931711087416523
+      - -1.3441212419311299
+      - -1.5708409510073553
+      - -0.25891944617248341
+    velocities:
+      - 0.14942973565275955
+      - 0.049567447504090326
+      - -0.022331626156346086
+      - 0.20833969150404991
+      - -0.18597744667324054
+      - 0.00010857333619485363
+      - 0.049511907348763144
+    accelerations:
+      - 0.37554642641329761
+      - 0.12457278128261823
+      - -0.056123785285296747
+      - 0.52359877558916201
+      - -0.46739803953016429
+      - 0.00027286622862332229
+      - 0.12443319790742663
     effort: []
     time_from_start:
       sec: 0
       nanosec: 540000000
   - positions:
-      - -0.55315009476671584
-      - -0.2583816381331645
-      - -1.4199258971672499
-      - 1.1946386974099497
-      - -1.3455729198207023
-      - -1.5708134208302549
-      - -0.25846467838320053
-    velocities:
-      - 0.15200531384279706
-      - 0.051108755623365615
-      - -0.022767389698474264
-      - 0.21251451111523859
-      - -0.18961368679081944
-      - 6.5570361336757401e-05
-      - 0.051009368745153411
-    accelerations:
-      - 0.37451464276230773
-      - 0.12592308038721067
-      - -0.056094886448327476
-      - 0.52359877559568457
-      - -0.4671751294480771
-      - 0.00016155396039132584
-      - 0.12567820841367222
+      - -0.55280304265870617
+      - -0.25836818854491073
+      - -1.4201537026582314
+      - 1.1952802323420753
+      - -1.3460039816966214
+      - -1.5708398518668889
+      - -0.25841821315472591
+    velocities:
+      - 0.15319462601820416
+      - 0.050816302055914489
+      - -0.022894272699176394
+      - 0.21358882143027424
+      - -0.19066315861746197
+      - 0.00011130884734117562
+      - 0.050759362563335318
+    accelerations:
+      - 0.37554642641368619
+      - 0.12457278128273619
+      - -0.056123785285355728
+      - 0.52359877558966161
+      - -0.46739803953058062
+      - 0.00027286622862498925
+      - 0.12443319790755153
     effort: []
     time_from_start:
       sec: 0
       nanosec: 550000000
   - positions:
-      - -0.55161250223604252
-      - -0.25786465330604352
-      - -1.4201561981183042
-      - 1.1967883638702181
-      - -1.3474909355870754
-      - -1.5708127575606934
-      - -0.25794869889278604
-    velocities:
-      - 0.15575046027043957
-      - 0.052367986427244335
-      - -0.023328338562960467
-      - 0.21775049887122286
-      - -0.1942854380853247
-      - 6.7185900940679104e-05
-      - 0.05226615082929674
-    accelerations:
-      - 0.37451464276327917
-      - 0.12592308038754374
-      - -0.056094886448476662
-      - 0.52359877559707235
-      - -0.4671751294493261
-      - 0.00016155396039174596
-      - 0.12567820841400529
+      - -0.55125273845418121
+      - -0.25785393599713313
+      - -1.4203853889004163
+      - 1.1974417157864328
+      - -1.347933461236051
+      - -1.5708387254398168
+      - -0.25790453682516856
+    velocities:
+      - 0.15695009028241047
+      - 0.052062029868764945
+      - -0.023455510552040332
+      - 0.21882480918626787
+      - -0.19533713901285454
+      - 0.00011403750962747612
+      - 0.052003694542433893
+    accelerations:
+      - 0.37554642642129121
+      - 0.12457278128526195
+      - -0.056123785286493706
+      - 0.523598775600292
+      - -0.46739803954010078
+      - 0.00027286622863053223
+      - 0.12443319791007729
     effort: []
     time_from_start:
       sec: 0
       nanosec: 560000000
   - positions:
-      - -0.55003745824109307
-      - -0.2573350761708838
-      - -1.4203921085580034
-      - 1.1989903902080465
-      - -1.3494556688663935
-      - -1.5708120781357364
-      - -0.25742015158153014
-    velocities:
-      - 0.15949560669808213
-      - 0.05362721723112307
-      - -0.023889287427446677
-      - 0.22298648662720721
-      - -0.19895718937983001
-      - 6.8801440544600834e-05
-      - 0.05352293291344009
-    accelerations:
-      - 0.37451464276430613
-      - 0.12592308038789762
-      - -0.056094886448632787
-      - 0.5235987755985434
-      - -0.46717512945060286
-      - 0.00016155396039220675
-      - 0.12567820841435917
+      - -0.54966487960701438
+      - -0.25732722617122711
+      - -1.4206226875211299
+      - 1.1996555591083502
+      - -1.3499096805794342
+      - -1.5708375717261218
+      - -0.25737841717582022
+    velocities:
+      - 0.16070555454660407
+      - 0.053307757681611181
+      - -0.024016748404902373
+      - 0.22406079694224376
+      - -0.20001111940823124
+      - 0.00011676617191376736
+      - 0.053248026521528248
+    accelerations:
+      - 0.37554642641618419
+      - 0.1245727812835758
+      - -0.056123785285730428
+      - 0.52359877559318657
+      - -0.467398039533717
+      - 0.00027286622862681884
+      - 0.12443319790839114
     effort: []
     time_from_start:
       sec: 0
       nanosec: 570000000
   - positions:
-      - -0.54842496278186703
-      - -0.25679290672768523
-      - -1.4206336284863472
-      - 1.2012447764234346
-      - -1.3514671196586563
-      - -1.5708113825553829
-      - -0.25687903644943277
-    velocities:
-      - 0.1632407531257247
-      - 0.054886448035001797
-      - -0.024450236291932884
-      - 0.22822247438319151
-      - -0.20362894067433529
-      - 7.0416980148522537e-05
-      - 0.054779714997583426
-    accelerations:
-      - 0.37451464276536084
-      - 0.12592308038823763
-      - -0.056094886448785443
-      - 0.52359877559995893
-      - -0.46717512945187961
-      - 0.00016155396039264043
-      - 0.12567820841470612
+      - -0.54803946611720544
+      - -0.2567880590671926
+      - -1.420865598520372
+      - 1.2019217623078271
+      - -1.351932639726771
+      - -1.5708363907258041
+      - -0.25683985420668098
+    velocities:
+      - 0.16446101881081038
+      - 0.054553485494461637
+      - -0.024577986257766315
+      - 0.22929678469823739
+      - -0.20468509980362379
+      - 0.00011949483420006786
+      - 0.054492358500626822
+    accelerations:
+      - 0.37554642642381697
+      - 0.12457278128610155
+      - -0.056123785286871876
+      - 0.52359877560381696
+      - -0.46739803954320941
+      - 0.00027286622863237537
+      - 0.12443319791091689
     effort: []
     time_from_start:
       sec: 0
       nanosec: 580000000
   - positions:
-      - -0.54677501585836463
-      - -0.25623814497644792
-      - -1.420880757903336
-      - 1.2035515225163826
-      - -1.3535252879638646
-      - -1.5708106708196334
-      - -0.25632535349649399
-    velocities:
-      - 0.16698589955336721
-      - 0.056145678838880518
-      - -0.025011185156419088
-      - 0.23345846213917579
-      - -0.20830069196884055
-      - 7.203251975244424e-05
-      - 0.056036497081726755
-    accelerations:
-      - 0.37451464276633228
-      - 0.12592308038857764
-      - -0.056094886448934629
-      - 0.52359877560134671
-      - -0.46717512945312861
-      - 0.00016155396039307411
-      - 0.12567820841503918
+      - -0.54637649798475452
+      - -0.25623643468502955
+      - -1.4211141218981427
+      - 1.2042403253848641
+      - -1.354002338678062
+      - -1.5708351824388636
+      - -0.2562888479177507
+    velocities:
+      - 0.168216483075004
+      - 0.055799213307307881
+      - -0.025139224110628355
+      - 0.23453277245421331
+      - -0.20935908019900054
+      - 0.00012222349648635913
+      - 0.055736690479721192
+    accelerations:
+      - 0.3755464264187377
+      - 0.12457278128442234
+      - -0.056123785286112067
+      - 0.52359877559673929
+      - -0.46739803953690889
+      - 0.00027286622862868909
+      - 0.12443319790923768
     effort: []
     time_from_start:
       sec: 0
       nanosec: 590000000
   - positions:
-      - -0.54508761747058587
-      - -0.25567079091717182
-      - -1.4211334968089697
-      - 1.2059106284868903
-      - -1.3556301737820178
-      - -1.5708099429284879
-      - -0.25575910272271379
-    velocities:
-      - 0.17073104598100977
-      - 0.057404909642759253
-      - -0.025572134020905298
-      - 0.23869444989516014
-      - -0.21297244326334588
-      - 7.3648059356365956e-05
-      - 0.057293279165870098
-    accelerations:
-      - 0.374514642767387
-      - 0.12592308038892458
-      - -0.056094886449090754
-      - 0.52359877560281776
-      - -0.46717512945443312
-      - 0.00016155396039352135
-      - 0.12567820841538613
+      - -0.5446759752096616
+      - -0.25567235302473806
+      - -1.421368257654442
+      - 1.2066112483394609
+      - -1.3561187774333066
+      - -1.5708339468653001
+      - -0.25572539830902952
+    velocities:
+      - 0.17197194733919757
+      - 0.057044941120154111
+      - -0.025700461963490392
+      - 0.23976876021018914
+      - -0.21403306059437721
+      - 0.00012495215877265033
+      - 0.05698102245881554
+    accelerations:
+      - 0.37554642641360292
+      - 0.12457278128272231
+      - -0.056123785285345319
+      - 0.52359877558957835
+      - -0.46739803953052511
+      - 0.00027286622862493504
+      - 0.12443319790753765
     effort: []
     time_from_start:
       sec: 0
       nanosec: 600000000
   - positions:
-      - -0.54336276761853053
-      - -0.25509084454985692
-      - -1.4213918452032483
-      - 1.208322094334958
-      - -1.3577817771131158
-      - -1.5708091988819466
-      - -0.25518028412809218
-    velocities:
-      - 0.17447619240865228
-      - 0.058664140446637973
-      - -0.026133082885391502
-      - 0.24393043765114442
-      - -0.21764419455785114
-      - 7.5263598960287659e-05
-      - 0.058550061250013427
-    accelerations:
-      - 0.37451464276835844
-      - 0.12592308038925765
-      - -0.05609488644923994
-      - 0.52359877560420554
-      - -0.46717512945568213
-      - 0.00016155396039394147
-      - 0.12567820841571919
+      - -0.5429378977919268
+      - -0.2550958140863181
+      - -1.4216280057892701
+      - 1.2090345311716175
+      - -1.358281955992505
+      - -1.5708326840051137
+      - -0.25514950538051734
+    velocities:
+      - 0.17572741160340397
+      - 0.05829066893300458
+      - -0.026261699816354341
+      - 0.24500474796618285
+      - -0.21870704098976984
+      - 0.00012768082105895089
+      - 0.058225354437914129
+    accelerations:
+      - 0.37554642642131897
+      - 0.12457278128526195
+      - -0.056123785286493706
+      - 0.523598775600292
+      - -0.46739803954007303
+      - 0.00027286622863054578
+      - 0.12443319791007729
     effort: []
     time_from_start:
       sec: 0
       nanosec: 610000000
   - positions:
-      - -0.54160046630219894
-      - -0.25449830587450328
-      - -1.4216558030861717
-      - 1.2107859200605855
-      - -1.359980097957159
-      - -1.570808438680009
-      - -0.2545888977126291
-    velocities:
-      - 0.17822133883629482
-      - 0.059923371250516687
-      - -0.026694031749877705
-      - 0.24916642540712869
-      - -0.22231594585235639
-      - 7.6879138564209362e-05
-      - 0.059806843334156756
-    accelerations:
-      - 0.3745146427693854
-      - 0.12592308038959071
-      - -0.056094886449389127
-      - 0.52359877560559331
-      - -0.46717512945690337
-      - 0.00016155396039437515
-      - 0.12567820841605226
+      - -0.54116226573154991
+      - -0.25450681786976964
+      - -1.4218933663026267
+      - 1.2115101738813339
+      - -1.3604918743556573
+      - -1.5708313938583045
+      - -0.25456116913221422
+    velocities:
+      - 0.17948287586759751
+      - 0.059536396745850803
+      - -0.026822937669216371
+      - 0.25024073572215866
+      - -0.22338102138514648
+      - 0.00013040948334524209
+      - 0.05946968641700847
+    accelerations:
+      - 0.37554642641615643
+      - 0.12457278128356192
+      - -0.056123785285723489
+      - 0.5235987755931033
+      - -0.46739803953366149
+      - 0.00027286622862680529
+      - 0.12443319790837032
     effort: []
     time_from_start:
       sec: 0
       nanosec: 620000000
   - positions:
-      - -0.53980071352159087
-      - -0.2538931748911108
-      - -1.4219253704577399
-      - 1.2133021056637729
-      - -1.3622251363141475
-      - -1.5708076623226752
-      - -0.25398494347632461
-    velocities:
-      - 0.18196648526392467
-      - 0.061182602054391147
-      - -0.027254980614362011
-      - 0.25440241316309525
-      - -0.22698769714684583
-      - 7.8494678168125604e-05
-      - 0.061063625418295832
-    accelerations:
-      - 0.3745146427577003
-      - 0.1259230803856633
-      - -0.056094886447640525
-      - 0.52359877558927304
-      - -0.46717512944233169
-      - 0.00016155396038934717
-      - 0.12567820841213179
+      - -0.53934907902853102
+      - -0.25390536437509276
+      - -1.422164339194512
+      - 1.2140381764686101
+      - -1.3627485325227635
+      - -1.5708300764248724
+      - -0.25396038956412009
+    velocities:
+      - 0.18323834013180387
+      - 0.060782124558701273
+      - -0.02738417552208032
+      - 0.25547672347815237
+      - -0.22805500178053911
+      - 0.00013313814563154262
+      - 0.060714018396107065
+    accelerations:
+      - 0.37554642642381697
+      - 0.12457278128610155
+      - -0.056123785286868406
+      - 0.52359877560381696
+      - -0.46739803954323716
+      - 0.00027286622863236182
+      - 0.12443319791091689
     effort: []
     time_from_start:
       sec: 0
       nanosec: 630000000
   - positions:
-      - -0.53796350927670633
-      - -0.25327545159967957
-      - -1.4222005473179533
-      - 1.2158706511445201
-      - -1.3645168921840807
-      - -1.570806869809946
-      - -0.25336842141917865
-    velocities:
-      - 0.18571163169156718
-      - 0.062441832858269868
-      - -0.027815929478848211
-      - 0.25963840091907953
-      - -0.23165944844135108
-      - 8.0110217772047293e-05
-      - 0.062320407502439161
-    accelerations:
-      - 0.3745146427586995
-      - 0.12592308038600331
-      - -0.056094886447782773
-      - 0.52359877559066081
-      - -0.46717512944358069
-      - 0.0001615539603897673
-      - 0.12567820841246485
+      - -0.53749833768287025
+      - -0.25329145360228733
+      - -1.4224409244649259
+      - 1.2166185389334463
+      - -1.3650519304938236
+      - -1.5708287317048177
+      - -0.25334716667623508
+    velocities:
+      - 0.18699380439599744
+      - 0.062027852371547502
+      - -0.027945413374942357
+      - 0.2607127112341282
+      - -0.23272898217591578
+      - 0.00013586680791783385
+      - 0.061958350375201414
+    accelerations:
+      - 0.37554642641870994
+      - 0.12457278128440846
+      - -0.056123785286105128
+      - 0.52359877559665602
+      - -0.46739803953685338
+      - 0.00027286622862864843
+      - 0.12443319790921686
     effort: []
     time_from_start:
       sec: 0
       nanosec: 640000000
   - positions:
-      - -0.53608885362016379
-      - -0.25264513601790139
-      - -1.4224813336589301
-      - 1.2184915564292627
-      - -1.3668553655013223
-      - -1.5708060611418428
-      - -0.25273933155884881
-    velocities:
-      - 0.1894662972452848
-      - 0.06370426427846837
-      - -0.028378304120155441
-      - 0.26488769710733417
-      - -0.23634307403514324
-      - 8.1729863628185692e-05
-      - 0.063580383978934091
-    accelerations:
-      - 0.37451464276752577
-      - 0.12592308038897315
-      - -0.056094886449111571
-      - 0.52359877560298429
-      - -0.4671751294545719
-      - 0.00016155396038864244
-      - 0.12567820841542776
+      - -0.53561004173849414
+      - -0.25266508556592443
+      - -1.4227231221073038
+      - 1.2192512612145985
+      - -1.3674020682141674
+      - -1.5708273596981719
+      - -0.25272150048311365
+    velocities:
+      - 0.19075492704729985
+      - 0.063275457132142429
+      - -0.028507496849224441
+      - 0.2659565880934367
+      - -0.2374100048937802
+      - 0.00013859958149914315
+      - 0.063204557198931879
+    accelerations:
+      - 0.37554642641621194
+      - 0.12457278128356886
+      - -0.056123785285726958
+      - 0.52359877559315882
+      - -0.46739803953374476
+      - 0.0002728662286236882
+      - 0.12443319790837726
     effort: []
     time_from_start:
       sec: 0
       nanosec: 650000000
   - positions:
-      - -0.53417674653951952
-      - -0.25200222814159245
-      - -1.4227677294825343
-      - 1.2211648215353981
-      - -1.3692405562813943
-      - -1.5708052363183613
-      - -0.25209767389115911
-    velocities:
-      - 0.19321144367292739
-      - 0.064963495082347084
-      - -0.028939252984641683
-      - 0.27012368486331856
-      - -0.24101482532964855
-      - 8.3345403232058077e-05
-      - 0.06483716606307742
-    accelerations:
-      - 0.37451464276855273
-      - 0.1259230803893201
-      - -0.056094886449271165
-      - 0.52359877560448309
-      - -0.46717512945590417
-      - 0.00016155396038908967
-      - 0.12567820841577471
+      - -0.53368419116328814
+      - -0.25202626025535124
+      - -1.423010932126445
+      - 1.2219363433568413
+      - -1.3697989457237634
+      - -1.5708259604049117
+      - -0.25208339097411514
+    velocities:
+      - 0.1945103913115061
+      - 0.064521184944992857
+      - -0.029068734702088331
+      - 0.27119257584943035
+      - -0.2420839852891728
+      - 0.00014132824378541221
+      - 0.064448889178030447
+    accelerations:
+      - 0.37554642642381697
+      - 0.12457278128609461
+      - -0.056123785286864937
+      - 0.52359877560381696
+      - -0.46739803954323716
+      - 0.00027286622862921764
+      - 0.12443319791091689
     effort: []
     time_from_start:
       sec: 0
       nanosec: 660000000
   - positions:
-      - -0.53222718799459889
-      - -0.25134672795724466
-      - -1.4230597347947835
-      - 1.2238904465190934
-      - -1.3716724645744112
-      - -1.5708043953394837
-      - -0.25144344840262806
-    velocities:
-      - 0.19695659010056996
-      - 0.066222725886225797
-      - -0.029500201849127917
-      - 0.27535967261930283
-      - -0.2456865766241538
-      - 8.4960942835930463e-05
-      - 0.066093948147220749
-    accelerations:
-      - 0.37451464276957969
-      - 0.12592308038965316
-      - -0.056094886449420352
-      - 0.52359877560581536
-      - -0.46717512945715317
-      - 0.0001615539603895369
-      - 0.12567820841612165
+      - -0.53172078594544026
+      - -0.25137497766664957
+      - -1.4233043545241149
+      - 1.2246737853766438
+      - -1.3722425630373132
+      - -1.5708245338250284
+      - -0.25143283814532569
+    velocities:
+      - 0.19826585557569965
+      - 0.06576691275783908
+      - -0.029629972554950326
+      - 0.2764285636054063
+      - -0.24675796568454958
+      - 0.00014405690607167205
+      - 0.065693221157124809
+    accelerations:
+      - 0.3755464264187377
+      - 0.1245727812844154
+      - -0.056123785286108598
+      - 0.52359877559671153
+      - -0.46739803953690889
+      - 0.00027286622862553135
+      - 0.12443319790923768
     effort: []
     time_from_start:
       sec: 0
       nanosec: 670000000
   - positions:
-      - -0.53024017798540168
-      - -0.25067863546485808
-      - -1.4233573495956777
-      - 1.2266684313803484
-      - -1.3741510903803735
-      - -1.5708035382052099
-      - -0.25077665509325553
-    velocities:
-      - 0.20070173652819975
-      - 0.067481956690100237
-      - -0.030061150713612244
-      - 0.28059566037526934
-      - -0.25035832791864315
-      - 8.6576482439797332e-05
-      - 0.06735073023135979
-    accelerations:
-      - 0.37451464275783908
-      - 0.12592308038572575
-      - -0.056094886447661342
-      - 0.52359877558943957
-      - -0.46717512944252598
-      - 0.00016155396038446826
-      - 0.12567820841218036
+      - -0.5297198260849505
+      - -0.25071123779981946
+      - -1.4236033893003133
+      - 1.2274635872740063
+      - -1.3747329201548171
+      - -1.5708230799585228
+      - -0.25076984199674529
+    velocities:
+      - 0.20202131983989316
+      - 0.067012640570685275
+      - -0.030191210407812311
+      - 0.28166455136138219
+      - -0.25143194607992631
+      - 0.00014678556835793187
+      - 0.066937553136219144
+    accelerations:
+      - 0.37554642641360292
+      - 0.12457278128270843
+      - -0.05612378528534185
+      - 0.5235987755896061
+      - -0.46739803953055287
+      - 0.00027286622862181796
+      - 0.12443319790753071
     effort: []
     time_from_start:
       sec: 0
       nanosec: 680000000
   - positions:
-      - -0.52821571651192811
-      - -0.24999795066443276
-      - -1.4236605738852166
-      - 1.2294987761191634
-      - -1.3766764336992807
-      - -1.5708026649155404
-      - -0.25009729396304159
-    velocities:
-      - 0.20444688295584235
-      - 0.06874118749397895
-      - -0.030622099578098486
-      - 0.28583164813125372
-      - -0.25503007921314846
-      - 8.8192022043669731e-05
-      - 0.068607512315503119
-    accelerations:
-      - 0.37451464275889379
-      - 0.12592308038605882
-      - -0.056094886447817467
-      - 0.52359877559093837
-      - -0.46717512944383049
-      - 0.00016155396038492904
-      - 0.1256782084125273
+      - -0.52768131158181852
+      - -0.25003504065486087
+      - -1.4239080364550403
+      - 1.2303057490489286
+      - -1.3772700170762744
+      - -1.570821598805394
+      - -0.25009440252837389
+    velocities:
+      - 0.2057767841040867
+      - 0.068258368383531498
+      - -0.030752448260674303
+      - 0.28690053911735813
+      - -0.25610592647530306
+      - 0.00014951423064419171
+      - 0.068181885115313506
+    accelerations:
+      - 0.37554642640852365
+      - 0.1245727812810431
+      - -0.056123785284582041
+      - 0.52359877558250068
+      - -0.46739803952416908
+      - 0.00027286622861813167
+      - 0.1244331979058515
     effort: []
     time_from_start:
       sec: 0
       nanosec: 690000000
   - positions:
-      - -0.52615380357417818
-      - -0.24930467355596858
-      - -1.4239694076634004
-      - 1.2323814807355382
-      - -1.379248494531133
-      - -1.5708017754704744
-      - -0.24940536501198624
-    velocities:
-      - 0.20819202938348488
-      - 0.070000418297857664
-      - -0.03118304844258472
-      - 0.291067635887238
-      - -0.25970183050765366
-      - 8.9807561647542089e-05
-      - 0.069864294399646434
-    accelerations:
-      - 0.37451464275989299
-      - 0.12592308038640576
-      - -0.056094886447970123
-      - 0.52359877559232615
-      - -0.46717512944505174
-      - 0.00016155396038534917
-      - 0.12567820841286037
+      - -0.52560524243604478
+      - -0.2493463862317738
+      - -1.4242182959882959
+      - 1.2332002707014107
+      - -1.379853853801686
+      - -1.5708200903656424
+      - -0.24940651974021158
+    velocities:
+      - 0.20953224836829296
+      - 0.069504096196381912
+      - -0.031313686113538193
+      - 0.29213652687335173
+      - -0.26077990687069563
+      - 0.00015224289293046074
+      - 0.06942621709441206
+    accelerations:
+      - 0.37554642641615643
+      - 0.12457278128355498
+      - -0.05612378528571655
+      - 0.5235987755931033
+      - -0.46739803953366149
+      - 0.00027286622862363399
+      - 0.12443319790837726
     effort: []
     time_from_start:
       sec: 0
       nanosec: 700000000
   - positions:
-      - -0.52405443917215178
-      - -0.2485988041394657
-      - -1.4242838509302289
-      - 1.2353165452294725
-      - -1.38186727287593
-      - -1.5708008698700127
-      - -0.24870086824008944
-    velocities:
-      - 0.21193717581112742
-      - 0.071259649101736364
-      - -0.031743997307070955
-      - 0.29630362364322227
-      - -0.26437358180215892
-      - 9.1423101251414461e-05
-      - 0.07112107648378975
-    accelerations:
-      - 0.37451464276086444
-      - 0.12592308038673883
-      - -0.056094886448122779
-      - 0.52359877559365842
-      - -0.4671751294463285
-      - 0.00016155396038578285
-      - 0.12567820841319344
+      - -0.52349161864762905
+      - -0.24864527453055826
+      - -1.4245341679000803
+      - 1.2361471522314527
+      - -1.3824844303310513
+      - -1.5708185546392679
+      - -0.24870619363225829
+    velocities:
+      - 0.21328771263249921
+      - 0.07074982400923234
+      - -0.031874923966402083
+      - 0.29737251462934539
+      - -0.26545388726608826
+      - 0.00015497155521672983
+      - 0.070670549073510627
+    accelerations:
+      - 0.37554642642376146
+      - 0.12457278128608074
+      - -0.056123785286854529
+      - 0.52359877560370593
+      - -0.46739803954320941
+      - 0.00027286622862919053
+      - 0.12443319791090302
     effort: []
     time_from_start:
       sec: 0
       nanosec: 710000000
   - positions:
-      - -0.52191762330584901
-      - -0.24788034241492399
-      - -1.4246039036857026
-      - 1.2383039696009668
-      - -1.3845327687336724
-      - -1.5707999481141548
-      - -0.24798380364735118
-    velocities:
-      - 0.21568232223877001
-      - 0.072518879905615091
-      - -0.032304946171557193
-      - 0.30153961139920665
-      - -0.26904533309666423
-      - 9.3038640855286846e-05
-      - 0.072377858567933079
-    accelerations:
-      - 0.37451464276191915
-      - 0.12592308038708577
-      - -0.056094886448275434
-      - 0.52359877559515722
-      - -0.46717512944760525
-      - 0.00016155396038623009
-      - 0.12567820841354038
+      - -0.52134044021657111
+      - -0.24793170555121422
+      - -1.4248556521903932
+      - 1.2391463936390545
+      - -1.3851617466643704
+      - -1.5708169916262706
+      - -0.24799342420451403
+    velocities:
+      - 0.21704317689670552
+      - 0.071995551822082782
+      - -0.032436161819265986
+      - 0.30260850238533915
+      - -0.27012786766148089
+      - 0.00015770021750299894
+      - 0.071914881052609209
+    accelerations:
+      - 0.37554642643144975
+      - 0.12457278128862037
+      - -0.056123785288006385
+      - 0.5235987756144751
+      - -0.46739803955270182
+      - 0.00027286622863477417
+      - 0.12443319791344265
     effort: []
     time_from_start:
       sec: 0
       nanosec: 720000000
   - positions:
-      - -0.51974335597526977
-      - -0.24714928838234351
-      - -1.4249295659298209
-      - 1.2413437538500212
-      - -1.3872449821043595
-      - -1.5707990102029008
-      - -0.24725417123377152
-    velocities:
-      - 0.21942746866641255
-      - 0.073778110709493791
-      - -0.032865895036043424
-      - 0.30677559915519093
-      - -0.27371708439116943
-      - 9.4654180459159204e-05
-      - 0.073634640652076394
-    accelerations:
-      - 0.37451464276291835
-      - 0.12592308038741884
-      - -0.056094886448421151
-      - 0.523598775596545
-      - -0.4671751294488265
-      - 0.00016155396038665021
-      - 0.12567820841387345
+      - -0.5191517071428714
+      - -0.24720567929374171
+      - -1.4251827488592348
+      - 1.2421979949242163
+      - -1.3878858028016434
+      - -1.5708154013266507
+      - -0.2472682114569788
+    velocities:
+      - 0.22079864116088627
+      - 0.073241279634924758
+      - -0.032997399672126067
+      - 0.30784449014129722
+      - -0.27480184805684177
+      - 0.00016042887978924946
+      - 0.073159213031699324
+    accelerations:
+      - 0.37554642641357516
+      - 0.12457278128270843
+      - -0.056123785285334911
+      - 0.52359877558949508
+      - -0.46739803953049736
+      - 0.00027286622862176375
+      - 0.12443319790751683
     effort: []
     time_from_start:
       sec: 0
       nanosec: 730000000
   - positions:
-      - -0.51753163718041417
-      - -0.24640564204172422
-      - -1.4252608376625842
-      - 1.2444358979766352
-      - -1.390003912987992
-      - -1.5707980561362509
-      - -0.24651197099935043
-    velocities:
-      - 0.22317261509405506
-      - 0.075037341513372505
-      - -0.033426843900529656
-      - 0.3120115869111752
-      - -0.27838883568567468
-      - 9.6269720063031576e-05
-      - 0.074891422736219709
-    accelerations:
-      - 0.37451464276388979
-      - 0.12592308038775191
-      - -0.056094886448566868
-      - 0.52359877559793278
-      - -0.46717512945010325
-      - 0.0001615539603870839
-      - 0.12567820841420652
+      - -0.51692541942652959
+      - -0.24646719575814072
+      - -1.4255154579066052
+      - 1.2453019560869376
+      - -1.3906565987428701
+      - -1.5708137837404077
+      - -0.24653055538965263
+    velocities:
+      - 0.22455410542509258
+      - 0.0744870074477752
+      - -0.033558637524989963
+      - 0.31308047789729093
+      - -0.2794758284522344
+      - 0.00016315754207551857
+      - 0.074403545010797906
+    accelerations:
+      - 0.3755464264212357
+      - 0.12457278128524807
+      - -0.056123785286479828
+      - 0.52359877560020873
+      - -0.46739803953998976
+      - 0.00027286622862734739
+      - 0.12443319791007035
     effort: []
     time_from_start:
       sec: 0
       nanosec: 740000000
   - positions:
-      - -0.51528246695066393
-      - -0.24564940340294525
-      - -1.4255977188795912
-      - 1.247580401939731
-      - -1.3928095613479179
-      - -1.5707970859142177
-      - -0.24575720295394779
-    velocities:
-      - 0.22692410930740164
-      - 0.076298706633612837
-      - -0.033988743537771073
-      - 0.31725644933437952
-      - -0.28306850530237798
-      - 9.7887997902016994e-05
-      - 0.07615033498630018
-    accelerations:
-      - 0.37451464277171687
-      - 0.12592308039037481
-      - -0.05609488644974648
-      - 0.52359877560886847
-      - -0.46717512945981771
-      - 0.00016155396038702968
-      - 0.12567820841682942
+      - -0.51466157709204163
+      - -0.24571625495253677
+      - -1.4258537793288428
+      - 1.2484582770930659
+      - -1.3934741344575634
+      - -1.5708121388675593
+      - -0.24578045601065193
+    velocities:
+      - 0.22831334318648716
+      - 0.075733986970153058
+      - -0.034120439310651451
+      - 0.31832172678311499
+      - -0.2841545052714578
+      - 0.00016588894612727372
+      - 0.075649127296887386
+    accelerations:
+      - 0.37554642642595415
+      - 0.12457278128681626
+      - -0.056123785287187596
+      - 0.52359877560681456
+      - -0.46739803954587394
+      - 0.00027286622863200946
+      - 0.12443319791162466
     effort: []
     time_from_start:
       sec: 0
       nanosec: 750000000
   - positions:
-      - -0.51299584527926523
-      - -0.24488057246373562
-      - -1.4259402095818543
-      - 1.2507772657487513
-      - -1.3956619271925628
-      - -1.5707960995367982
-      - -0.24498986709529705
-    velocities:
-      - 0.23066925573504418
-      - 0.07755793743749155
-      - -0.034549692402257325
-      - 0.32249243709036385
-      - -0.28774025659688329
-      - 9.9503537505855213e-05
-      - 0.07740711707044351
-    accelerations:
-      - 0.37451464277271607
-      - 0.12592308039070788
-      - -0.056094886449892196
-      - 0.52359877561025625
-      - -0.46717512946109446
-      - 0.00016155396038747692
-      - 0.12567820841716248
+      - -0.51236018012154871
+      - -0.24495285687100588
+      - -1.4261977131286181
+      - 1.251666957967501
+      - -1.3963384099679508
+      - -1.5708104667080933
+      - -0.24501791331405931
+    velocities:
+      - 0.23206880745066816
+      - 0.076979714782995104
+      - -0.034681677163511608
+      - 0.32355771453907339
+      - -0.28882848566681885
+      - 0.00016861760841353687
+      - 0.076893459275977585
+    accelerations:
+      - 0.37554642640841263
+      - 0.12457278128098759
+      - -0.056123785284571633
+      - 0.52359877558233414
+      - -0.46739803952400255
+      - 0.00027286622861927008
+      - 0.12443319790580987
     effort: []
     time_from_start:
       sec: 0
       nanosec: 760000000
   - positions:
-      - -0.51067177214359005
-      - -0.24409914921648723
-      - -1.4262883097727621
-      - 1.2540264894353315
-      - -1.3985610105501523
-      - -1.5707950970039823
-      - -0.24420996341580489
-    velocities:
-      - 0.23441440216268664
-      - 0.07881716824137025
-      - -0.03511064126674357
-      - 0.32772842484634812
-      - -0.29241200789138849
-      - 0.00010111907710969339
-      - 0.078663899154586811
-    accelerations:
-      - 0.37451464277365976
-      - 0.12592308039104094
-      - -0.056094886450037913
-      - 0.52359877561158852
-      - -0.4671751294622602
-      - 0.00016155396038788349
-      - 0.12567820841748167
+      - -0.51002122850841358
+      - -0.24417700151134653
+      - -1.4265472593069213
+      - 1.2549279987194959
+      - -1.3992494252822918
+      - -1.5708087672620044
+      - -0.24424292729767574
+    velocities:
+      - 0.23582427171487477
+      - 0.078225442595845657
+      - -0.035242915016375595
+      - 0.32879370229506749
+      - -0.29350246606221186
+      - 0.00017134627069981864
+      - 0.078137791255076264
+    accelerations:
+      - 0.37554642641662828
+      - 0.12457278128372151
+      - -0.056123785285799817
+      - 0.52359877559376944
+      - -0.46739803953427211
+      - 0.0002728662286252603
+      - 0.12443319790852991
     effort: []
     time_from_start:
       sec: 0
       nanosec: 770000000
   - positions:
-      - -0.50831024754363852
-      - -0.24330513366120005
-      - -1.4266420194523146
-      - 1.2573280729994716
-      - -1.4015068114206872
-      - -1.570794078315771
-      - -0.2434174919154713
-    velocities:
-      - 0.23815954859032917
-      - 0.080076399045248964
-      - -0.035671590131229822
-      - 0.33296441260233245
-      - -0.29708375918589375
-      - 0.00010273461671353161
-      - 0.07992068123873014
-    accelerations:
-      - 0.37451464277468671
-      - 0.12592308039137401
-      - -0.05609488645018363
-      - 0.52359877561303181
-      - -0.46717512946353695
-      - 0.00016155396038833073
-      - 0.12567820841782862
+      - -0.50764472225263657
+      - -0.24338868887355866
+      - -1.4269024178637535
+      - 1.2582413993490504
+      - -1.4022071804005867
+      - -1.5708070405292927
+      - -0.2434554979615012
+    velocities:
+      - 0.23957973597908122
+      - 0.079471170408696154
+      - -0.035804152869239554
+      - 0.33402969005106142
+      - -0.29817644645760466
+      - 0.00017407493298610027
+      - 0.079382123234174887
+    accelerations:
+      - 0.37554642642467739
+      - 0.12457278128639993
+      - -0.056123785287000245
+      - 0.5235987756050382
+      - -0.46739803954431963
+      - 0.00027286622863108788
+      - 0.12443319791119445
     effort: []
     time_from_start:
       sec: 0
       nanosec: 780000000
   - positions:
-      - -0.50591127147941051
-      - -0.24249852579787409
-      - -1.4270013386205123
-      - 1.2606820164411714
-      - -1.4044993298041673
-      - -1.5707930434721633
-      - -0.24261245259429626
-    velocities:
-      - 0.24190469501797177
-      - 0.081335629849127691
-      - -0.036232538995716081
-      - 0.33820040035831683
-      - -0.30175551048039911
-      - 0.00010435015631736984
-      - 0.081177463322873483
-    accelerations:
-      - 0.37451464277576918
-      - 0.12592308039173483
-      - -0.056094886450343225
-      - 0.5235987756144751
-      - -0.46717512946486922
-      - 0.00016155396038879151
-      - 0.12567820841818944
+      - -0.50523066135421757
+      - -0.24258791895764228
+      - -1.4272631887991141
+      - 1.2616071598561649
+      - -1.4052116753228352
+      - -1.5708052865099575
+      - -0.24265562530553569
+    velocities:
+      - 0.24333520024326227
+      - 0.080716898221538214
+      - -0.036365390722099718
+      - 0.33926567780701988
+      - -0.30285042685296581
+      - 0.00017680359527236347
+      - 0.0806264552132651
+    accelerations:
+      - 0.37554642640733016
+      - 0.12457278128062677
+      - -0.056123785284405099
+      - 0.52359877558083534
+      - -0.46739803952272579
+      - 0.00027286622861851114
+      - 0.12443319790544904
     effort: []
     time_from_start:
       sec: 0
       nanosec: 790000000
   - positions:
-      - -0.50347484395090614
-      - -0.24167932562650934
-      - -1.4273662672773546
-      - 1.2640883197604311
-      - -1.4075385657005921
-      - -1.5707919924731595
-      - -0.24179484545227981
-    velocities:
-      - 0.24564984144558885
-      - 0.082594860652997856
-      - -0.036793487860198523
-      - 0.34343638811426558
-      - -0.30642726177487267
-      - 0.00010596569592119707
-      - 0.082434245407008278
-    accelerations:
-      - 0.37451464275134427
-      - 0.12592308038353306
-      - -0.056094886446686427
-      - 0.52359877558033574
-      - -0.46717512943444911
-      - 0.00016155396037824765
-      - 0.12567820841000155
+      - -0.50277904581315658
+      - -0.2417746917635975
+      - -1.4276295721130037
+      - 1.265025280240839
+      - -1.4082629100490378
+      - -1.5708035052040001
+      - -0.24184330932977927
+    velocities:
+      - 0.24709066450746886
+      - 0.081962626034388752
+      - -0.036926628574963698
+      - 0.34450166556301393
+      - -0.30752440724835872
+      - 0.00017953225755864519
+      - 0.081870787192363764
+    accelerations:
+      - 0.37554642641551805
+      - 0.12457278128334681
+      - -0.056123785285626344
+      - 0.52359877559221513
+      - -0.46739803953288434
+      - 0.00027286622862442004
+      - 0.12443319790815521
     effort: []
     time_from_start:
       sec: 0
       nanosec: 800000000
   - positions:
-      - -0.50100096495812529
-      - -0.24084753314710583
-      - -1.4277368054228416
-      - 1.2675469829572505
-      - -1.410624519109962
-      - -1.5707909253187597
-      - -0.24096467048942194
-    velocities:
-      - 0.24939498787323133
-      - 0.083854091456876556
-      - -0.037354436724684775
-      - 0.34867237587024985
-      - -0.31109901306937787
-      - 0.00010758123552503526
-      - 0.083691027491151579
-    accelerations:
-      - 0.37451464275231572
-      - 0.12592308038385225
-      - -0.056094886446839083
-      - 0.52359877558172352
-      - -0.46717512943561484
-      - 0.00016155396037866778
-      - 0.12567820841032074
+      - -0.50028987562945371
+      - -0.24094900729142421
+      - -1.4280015678054214
+      - 1.2684957605030729
+      - -1.4113608845791941
+      - -1.5708016966114196
+      - -0.24101855003423184
+    velocities:
+      - 0.25084612877167539
+      - 0.083208353847239278
+      - -0.037487866427827671
+      - 0.34973765331900797
+      - -0.31219838764375163
+      - 0.00018226091984492691
+      - 0.083115119171462429
+    accelerations:
+      - 0.37554642642362268
+      - 0.12457278128605298
+      - -0.05612378528684759
+      - 0.52359877560359491
+      - -0.46739803954304288
+      - 0.00027286622863035605
+      - 0.12443319791086138
     effort: []
     time_from_start:
       sec: 0
       nanosec: 810000000
   - positions:
-      - -0.49848963450106809
-      - -0.24000314835966352
-      - -1.4281129530569738
-      - 1.2710580060316299
-      - -1.413757190032277
-      - -1.5707898420089639
-      - -0.2401219277057226
-    velocities:
-      - 0.25314013430087384
-      - 0.08511332226075527
-      - -0.037915385589171027
-      - 0.35390836362623418
-      - -0.31577076436388313
-      - 0.00010919677512887347
-      - 0.084947809575294908
-    accelerations:
-      - 0.37451464275328716
-      - 0.12592308038419919
-      - -0.0560948864469848
-      - 0.5235987755831113
-      - -0.46717512943683609
-      - 0.00016155396037910146
-      - 0.12567820841066768
+      - -0.49776315080310868
+      - -0.24011086554112243
+      - -1.4283791758763682
+      - 1.2720186006428669
+      - -1.4145055989133044
+      - -1.5707998607322162
+      - -0.24018134741889344
+    velocities:
+      - 0.25460159303588198
+      - 0.084454081660089816
+      - -0.038049104280691651
+      - 0.35497364107500201
+      - -0.31687236803914454
+      - 0.00018498958213120865
+      - 0.084359451150561093
+    accelerations:
+      - 0.37554642643183833
+      - 0.12457278128875915
+      - -0.056123785288068835
+      - 0.5235987756149747
+      - -0.46739803955320142
+      - 0.00027286622863629205
+      - 0.12443319791356755
     effort: []
     time_from_start:
       sec: 0
       nanosec: 820000000
   - positions:
-      - -0.49594085257973441
-      - -0.23914617126418242
-      - -1.4284947101797507
-      - 1.2746213889835689
-      - -1.4169365784675372
-      - -1.5707887425437721
-      - -0.23926661710118191
-    velocities:
-      - 0.25688528072851635
-      - 0.086372553064633956
-      - -0.038476334453657272
-      - 0.35914435138221845
-      - -0.32044251565838838
-      - 0.00011081231473271166
-      - 0.086204591659438209
-    accelerations:
-      - 0.37451464275428636
-      - 0.12592308038451838
-      - -0.056094886447130517
-      - 0.52359877558449908
-      - -0.46717512943811285
-      - 0.00016155396037952158
-      - 0.12567820841098687
+      - -0.49519887133412172
+      - -0.23926026651269217
+      - -1.4287623963258433
+      - 1.2755938006602205
+      - -1.4176970530513684
+      - -1.5707979975663902
+      - -0.23933170148376409
+    velocities:
+      - 0.25835705730006303
+      - 0.085699809472931876
+      - -0.038610342133551814
+      - 0.36020962883096053
+      - -0.32154634843450575
+      - 0.00018771824441747182
+      - 0.085603783129651306
+    accelerations:
+      - 0.37554642641446334
+      - 0.12457278128299987
+      - -0.056123785285473689
+      - 0.52359877559082735
+      - -0.46739803953160758
+      - 0.0002728662286236882
+      - 0.12443319790782215
     effort: []
     time_from_start:
       sec: 0
       nanosec: 830000000
   - positions:
-      - -0.49335461919412443
-      - -0.23827660186066255
-      - -1.4288820767911725
-      - 1.2782371318130681
-      - -1.4201626844157422
-      - -1.5707876269231842
-      - -0.23839873867579972
-    velocities:
-      - 0.26063042715615886
-      - 0.087631783868512669
-      - -0.039037283318143524
-      - 0.36438033913820278
-      - -0.32511426695289364
-      - 0.00011242785433654987
-      - 0.087461373743581539
-    accelerations:
-      - 0.37451464275528557
-      - 0.12592308038485145
-      - -0.056094886447283172
-      - 0.52359877558588686
-      - -0.46717512943933409
-      - 0.00016155396037995527
-      - 0.12567820841131994
+      - -0.49259703722249282
+      - -0.23839721020613347
+      - -1.4291512291538473
+      - 1.2792213605551341
+      - -1.420935246993386
+      - -1.5707961071139411
+      - -0.23846961222884383
+    velocities:
+      - 0.26211252156426967
+      - 0.086945537285782429
+      - -0.039171579986415801
+      - 0.36544561658695462
+      - -0.32622032882989871
+      - 0.00019044690670375359
+      - 0.086848115108749985
+    accelerations:
+      - 0.3755464264227345
+      - 0.12457278128573379
+      - -0.056123785286701873
+      - 0.52359877560226264
+      - -0.46739803954182163
+      - 0.00027286622862965132
+      - 0.12443319791054219
     effort: []
     time_from_start:
       sec: 0
       nanosec: 840000000
   - positions:
-      - -0.49073093436227183
-      - -0.23739444015516745
-      - -1.4292750528885383
-      - 1.281905234494914
-      - -1.4234355078543965
-      - -1.5707864951472081
-      - -0.23751829243562789
-    velocities:
-      - 0.26438010863792633
-      - 0.088892539493906547
-      - -0.039598911444042185
-      - 0.36962266723049259
-      - -0.32979167534128939
-      - 0.00011404535022346078
-      - 0.088719677684048037
-    accelerations:
-      - 0.37451464276749802
-      - 0.12592308038895927
-      - -0.056094886449108101
-      - 0.52359877560298429
-      - -0.46717512945459966
-      - 0.00016155396038788349
-      - 0.12567820841542776
+      - -0.48995764848324963
+      - -0.23752169662643108
+      - -1.4295456743581338
+      - 1.2829012803066555
+      - -1.4242201807206547
+      - -1.5707941893748802
+      - -0.23759507965911184
+    velocities:
+      - 0.26587068182167789
+      - 0.088192159388520749
+      - -0.039733220743775749
+      - 0.37068536318244355
+      - -0.33089766460787134
+      - 0.000193177527856606
+      - 0.088093340375687196
+    accelerations:
+      - 0.37554642641995895
+      - 0.12457278128483174
+      - -0.056123785286292478
+      - 0.52359877559848789
+      - -0.46739803953849096
+      - 0.00027286622862710344
+      - 0.12443319790964014
     effort: []
     time_from_start:
       sec: 0
       nanosec: 850000000
   - positions:
-      - -0.48806979808011353
-      - -0.23649968614633088
-      - -1.429673638472456
-      - 1.2856256970347879
-      - -1.4267550487885687
-      - -1.5707853472158422
-      - -0.23662527837930283
-    velocities:
-      - 0.26812525506556889
-      - 0.090151770297785261
-      - -0.04015986030852841
-      - 0.37485865498647691
-      - -0.33446342663579465
-      - 0.00011566088982732554
-      - 0.089976459768191352
-    accelerations:
-      - 0.37451464276855273
-      - 0.12592308038930622
-      - -0.056094886449267696
-      - 0.52359877560442758
-      - -0.46717512945587641
-      - 0.00016155396038831717
-      - 0.12567820841577471
+      - -0.48728070510545685
+      - -0.23663372576995778
+      - -1.4299457319403377
+      - 1.2866335599300309
+      - -1.4275518542467838
+      - -1.5707922443491993
+      - -0.23670810377094487
+    velocities:
+      - 0.26962614608588448
+      - 0.089437887201371288
+      - -0.040294458596639729
+      - 0.37592135093843765
+      - -0.33557164500326425
+      - 0.00019590619014288183
+      - 0.08933767235478586
+    accelerations:
+      - 0.3755464264281746
+      - 0.12457278128755178
+      - -0.056123785287513724
+      - 0.52359877560986767
+      - -0.4673980395486495
+      - 0.00027286622863303945
+      - 0.12443319791236018
     effort: []
     time_from_start:
       sec: 0
       nanosec: 860000000
   - positions:
-      - -0.48537121033367875
-      - -0.23559233982945554
-      - -1.4300778335450188
-      - 1.2893985194522215
-      - -1.430121307235686
-      - -1.5707841831290799
-      - -0.23571969650213637
-    velocities:
-      - 0.27187040149321151
-      - 0.091411001101664002
-      - -0.040720809173014634
-      - 0.3800946427424613
-      - -0.33913517793030001
-      - 0.00011727642943119032
-      - 0.091233241852334682
-    accelerations:
-      - 0.37451464276960744
-      - 0.12592308038968092
-      - -0.056094886449420352
-      - 0.52359877560592638
-      - -0.46717512945720868
-      - 0.00016155396038877796
-      - 0.12567820841612165
+      - -0.48456620708502202
+      - -0.23573329763535594
+      - -1.4303514019010697
+      - 1.2904181994309658
+      - -1.430930267576866
+      - -1.5707902720368954
+      - -0.23580868456298693
+    velocities:
+      - 0.27338161035006553
+      - 0.090683615014213348
+      - -0.040855696449499899
+      - 0.38115733869439611
+      - -0.34024562539862541
+      - 0.0001986348524291391
+      - 0.090582004333876059
+    accelerations:
+      - 0.37554642641079961
+      - 0.12457278128177862
+      - -0.056123785284925516
+      - 0.52359877558566481
+      - -0.46739803952700015
+      - 0.00027286622862040849
+      - 0.1244331979066009
     effort: []
     time_from_start:
       sec: 0
       nanosec: 870000000
   - positions:
-      - -0.48263517112296761
-      - -0.23467240120454144
-      - -1.4304876381062264
-      - 1.293223701747215
-      - -1.433534283195748
-      - -1.5707830028869214
-      - -0.23480154680412843
-    velocities:
-      - 0.27561554792085402
-      - 0.092670231905542716
-      - -0.041281758037500851
-      - 0.38533063049844563
-      - -0.34380692922480527
-      - 0.00011889196903505508
-      - 0.092490023936478011
-    accelerations:
-      - 0.37451464277060664
-      - 0.12592308039001399
-      - -0.056094886449573007
-      - 0.52359877560731416
-      - -0.46717512945848544
-      - 0.00016155396038922519
-      - 0.1256782084164686
+      - -0.48181415442194531
+      - -0.23482041222262565
+      - -1.4307626842403307
+      - 1.2942551988094608
+      - -1.4343554207109028
+      - -1.5707882724379689
+      - -0.23489682203523804
+    velocities:
+      - 0.27713707461427201
+      - 0.091929342827063859
+      - -0.041416934302363859
+      - 0.38639332645039004
+      - -0.3449196057940182
+      - 0.00020136351471541485
+      - 0.091826336312974682
+    accelerations:
+      - 0.37554642641890423
+      - 0.12457278128447091
+      - -0.056123785286125945
+      - 0.52359877559693357
+      - -0.46739803953704767
+      - 0.00027286622862629029
+      - 0.12443319790926544
     effort: []
     time_from_start:
       sec: 0
       nanosec: 880000000
   - positions:
-      - -0.47986168044798005
-      - -0.23373987027158855
-      - -1.4309030521560788
-      - 1.2971012439197684
-      - -1.4369939766687554
-      - -1.5707818064893675
-      - -0.23387082928527914
-    velocities:
-      - 0.27936069434849653
-      - 0.093929462709421402
-      - -0.041842706901987062
-      - 0.3905666182544299
-      - -0.34847868051931047
-      - 0.0001205075086389198
-      - 0.093746806020621312
-    accelerations:
-      - 0.37451464277160584
-      - 0.12592308039033318
-      - -0.056094886449718724
-      - 0.52359877560870194
-      - -0.46717512945965117
-      - 0.00016155396038963177
-      - 0.12567820841680166
+      - -0.47902454711622666
+      - -0.23389506953176689
+      - -1.4311795789581205
+      - 1.2981445580655158
+      - -1.4378273136488935
+      - -1.5707862455524195
+      - -0.23397251618769821
+    velocities:
+      - 0.28089253887847859
+      - 0.093175070639914398
+      - -0.041978172155227846
+      - 0.39162931420638414
+      - -0.34959358618941117
+      - 0.00020409217700169071
+      - 0.093070668292073361
+    accelerations:
+      - 0.37554642642706437
+      - 0.12457278128717708
+      - -0.056123785287354129
+      - 0.52359877560836887
+      - -0.46739803954726172
+      - 0.0002728662286322534
+      - 0.12443319791199936
     effort: []
     time_from_start:
       sec: 0
       nanosec: 890000000
   - positions:
-      - -0.47706424467108327
-      - -0.23279928827561083
-      - -1.4313220527086181
-      - 1.3010122630905743
-      - -1.4404835396176305
-      - -1.5707805997626414
-      - -0.23293207635962687
-    velocities:
-      - 0.27821676706375842
-      - 0.093544839971120008
-      - -0.041671369218981548
-      - 0.38896732450921961
-      - -0.34705172862929878
-      - 0.00012001405401220734
-      - 0.093362931225657267
-    accelerations:
-      - -0.37451464275611823
-      - -0.125923080385129
-      - 0.056094886447401134
-      - -0.52359877558705259
-      - 0.46717512944033329
-      - -0.00016155396038296393
-      - -0.12567820841159749
+      - -0.47622418565004138
+      - -0.23296615957043115
+      - -1.4315980808385682
+      - 1.3020489111142328
+      - -1.4413125910133229
+      - -1.5707842108530632
+      - -0.23304464706679576
+    velocities:
+      - 0.27793875835280896
+      - 0.092195269929532642
+      - -0.04153674246147239
+      - 0.3875110594239578
+      - -0.34591736634068093
+      - 0.00020194600572823472
+      - 0.092091965445035048
+    accelerations:
+      - -0.37554642640891223
+      - -0.12457278128115412
+      - 0.05612378528464796
+      - -0.52359877558305579
+      - 0.46739803952466868
+      - -0.00027286622861905324
+      - -0.12443319790599028
     effort: []
     time_from_start:
       sec: 0
       nanosec: 900000000
   - positions:
-      - -0.47429828393551715
-      - -0.23186928913463298
-      - -1.4317363389224702
-      - 1.3048792778588254
-      - -1.4439338401323332
-      - -1.5707794066132688
-      - -0.23200388570939065
-    velocities:
-      - 0.27447162063611591
-      - 0.092285609167241309
-      - -0.041110420354495338
-      - 0.3837313367532354
-      - -0.34237997733479353
-      - 0.0001183985144083426
-      - 0.092106149141513965
-    accelerations:
-      - -0.37451464275706192
-      - -0.12592308038546207
-      - 0.05609488644754685
-      - -0.52359877558838486
-      - 0.46717512944161005
-      - -0.00016155396038338406
-      - -0.12567820841193056
+      - -0.47346047389666146
+      - -0.2320494067122823
+      - -1.4320111055783282
+      - 1.3059021659673586
+      - -1.4447522548325029
+      - -1.5707822027828218
+      - -0.23212892142708763
+    velocities:
+      - 0.27418329408860243
+      - 0.090949542116682103
+      - -0.04097550460860841
+      - 0.38227507166796376
+      - -0.34124338594528802
+      - 0.00019921734344195889
+      - 0.090847633465936398
+    accelerations:
+      - -0.37554642641707237
+      - -0.12457278128387417
+      - 0.056123785285869206
+      - -0.52359877559443557
+      - 0.46739803953482723
+      - -0.00027286622862498925
+      - -0.12443319790868257
     effort: []
     time_from_start:
       sec: 0
       nanosec: 910000000
   - positions:
-      - -0.47156977466422745
-      - -0.23095188230169389
-      - -1.4321450156476774
-      - 1.3086939327495171
-      - -1.4473374231340905
-      - -1.570778229619292
-      - -0.23108826287999587
-    velocities:
-      - 0.27072647420847334
-      - 0.091026378363362595
-      - -0.04054947149000912
-      - 0.37849534899725107
-      - -0.33770822604028827
-      - 0.00011678297480447784
-      - 0.09084936705737065
-    accelerations:
-      - -0.37451464275811663
-      - -0.12592308038580902
-      - 0.056094886447699506
-      - -0.52359877558982815
-      - 0.46717512944283129
-      - -0.00016155396038381774
-      - -0.12567820841226363
+      - -0.47073431678592353
+      - -0.23114511113226191
+      - -1.4324185179395594
+      - 1.3097030609429245
+      - -1.4481451788477291
+      - -1.5707802219992031
+      - -0.23122563910717053
+    velocities:
+      - 0.27042782982439595
+      - 0.089703814303831605
+      - -0.04041426675574445
+      - 0.37703908391196983
+      - -0.33656940554989523
+      - 0.00019648868115568313
+      - 0.089603301486837775
+    accelerations:
+      - -0.37554642642512148
+      - -0.1245727812865387
+      - 0.056123785287069634
+      - -0.52359877560570434
+      - 0.46739803954487474
+      - -0.00027286622863084394
+      - -0.1244331979113471
     effort: []
     time_from_start:
       sec: 0
       nanosec: 920000000
   - positions:
-      - -0.46887871685721416
-      - -0.23004706777679357
-      - -1.4325480828842396
-      - 1.3124562277626488
-      - -1.4506942886229033
-      - -1.5707770687807112
-      - -0.2301852078714425
-    velocities:
-      - 0.26698132778083078
-      - 0.089767147559483867
-      - -0.039988522625522896
-      - 0.37325936124126669
-      - -0.33303647474578291
-      - 0.00011516743520061307
-      - 0.089592584973227307
-    accelerations:
-      - -0.37451464275917135
-      - -0.12592308038615596
-      - 0.056094886447859101
-      - -0.52359877559132695
-      - 0.46717512944416356
-      - -0.00016155396038427852
-      - -0.12567820841262445
+      - -0.46804571431782765
+      - -0.23025327283037
+      - -1.4328203179222623
+      - 1.3134515960409303
+      - -1.4514913630590014
+      - -1.5707782685022078
+      - -0.23033480010704438
+    velocities:
+      - 0.26667236556021484
+      - 0.088458086490989518
+      - -0.039853028902884273
+      - 0.37180309615601126
+      - -0.33189542515453402
+      - 0.00019376001886942581
+      - 0.088358969507747548
+    accelerations:
+      - -0.37554642640785751
+      - -0.12457278128080718
+      - 0.056123785284488366
+      - -0.52359877558155699
+      - 0.46739803952333642
+      - -0.0002728662286182943
+      - -0.12443319790562946
     effort: []
     time_from_start:
       sec: 0
       nanosec: 930000000
   - positions:
-      - -0.46622511051447729
-      - -0.22915484555993207
-      - -1.432945540632157
-      - 1.3161661628982209
-      - -1.454004436598771
-      - -1.5707759240975265
-      - -0.22929472068373058
-    velocities:
-      - 0.26323618135316279
-      - 0.088507916755596591
-      - -0.039427573761032862
-      - 0.36802337348524677
-      - -0.3283647234512459
-      - 0.00011355189559673734
-      - 0.088335802889075457
-    accelerations:
-      - -0.37451464278565016
-      - -0.1259230803950655
-      - 0.056094886451821209
-      - -0.52359877562829737
-      - 0.4671751294771927
-      - -0.00016155396039568975
-      - -0.12567820842150623
+      - -0.46539466649237365
+      - -0.22937389180660658
+      - -1.4332165055264365
+      - 1.3171477712613768
+      - -1.4547908074663198
+      - -1.5707763422918348
+      - -0.22945640442670912
+    velocities:
+      - 0.26291690129600825
+      - 0.087212358678138979
+      - -0.039291791050020293
+      - 0.36656710840001722
+      - -0.32722144475914111
+      - 0.00019103135658315001
+      - 0.087114637528648897
+    accelerations:
+      - -0.37554642641601765
+      - -0.12457278128351335
+      - 0.056123785285709611
+      - -0.52359877559293677
+      - 0.46739803953349496
+      - -0.0002728662286242032
+      - -0.12443319790832175
     effort: []
     time_from_start:
       sec: 0
       nanosec: 940000000
   - positions:
-      - -0.46360895563601678
-      - -0.22827521565110934
-      - -1.4333373888914296
-      - 1.3198237381562328
-      - -1.4572678670616932
-      - -1.570774795569738
-      - -0.2284168013168601
-    velocities:
-      - 0.25949103492554576
-      - 0.087248685951726454
-      - -0.038866624896553119
-      - 0.36278738572929714
-      - -0.32369297215677312
-      - 0.00011193635599147896
-      - 0.087079020804941051
-    accelerations:
-      - -0.37451464276111424
-      - -0.12592308038683597
-      - 0.056094886448157473
-      - -0.52359877559410251
-      - 0.46717512944666156
-      - -0.00016155396038309945
-      - -0.12567820841329058
+      - -0.46278117330956164
+      - -0.22850696806097165
+      - -1.433607080752082
+      - 1.3207915866042632
+      - -1.4580435120696846
+      - -1.570774443368085
+      - -0.22859045206616488
+    velocities:
+      - 0.25916143703180244
+      - 0.085966630865288607
+      - -0.038730553197156063
+      - 0.36133112064402206
+      - -0.32254746436374887
+      - 0.00018830269429577587
+      - 0.085870305549550621
+    accelerations:
+      - -0.37554642642417779
+      - -0.12457278128621951
+      - 0.056123785286923918
+      - -0.52359877560431656
+      - 0.46739803954370901
+      - -0.00027286622862854001
+      - -0.12443319791104179
     effort: []
     time_from_start:
       sec: 0
       nanosec: 950000000
   - positions:
-      - -0.4610302522218328
-      - -0.22740817805032537
-      - -1.4337236276620571
-      - 1.323428953536685
-      - -1.4604845800116708
-      - -1.5707736831973453
-      - -0.22755144977083103
-    velocities:
-      - 0.25574588849787777
-      - 0.085989455147839192
-      - -0.03830567603206305
-      - 0.35755139797327729
-      - -0.31902122086223605
-      - 0.00011032081638762349
-      - 0.085822238720789187
-    accelerations:
-      - -0.37451464278759306
-      - -0.12592308039571776
-      - 0.05609488645212652
-      - -0.52359877563107293
-      - 0.4671751294796907
-      - -0.00016155396039452423
-      - -0.12567820842217237
+      - -0.46020523476939168
+      - -0.22765250159346517
+      - -1.4339920435991986
+      - 1.3243830420695895
+      - -1.4612494768690953
+      - -1.5707725717309577
+      - -0.22773694302541159
+    velocities:
+      - 0.25540597276759591
+      - 0.084720903052438068
+      - -0.03816931534429209
+      - 0.35609513288802802
+      - -0.31787348396835596
+      - 0.00018557403200951598
+      - 0.084625973570451957
+    accelerations:
+      - -0.37554642643233793
+      - -0.12457278128892568
+      - 0.056123785288145163
+      - -0.52359877561569634
+      - 0.46739803955381204
+      - -0.00027286622863447602
+      - -0.12443319791373408
     effort: []
     time_from_start:
       sec: 0
       nanosec: 960000000
   - positions:
-      - -0.45848900027192518
-      - -0.22655373275758023
-      - -1.4341042569440403
-      - 1.3269818090395773
-      - -1.4636545754487029
-      - -1.5707725869803491
-      - -0.2266986660456434
-    velocities:
-      - 0.25200074207026069
-      - 0.084730224343969041
-      - -0.037744727167580608
-      - 0.3523154102173286
-      - -0.31434946956776261
-      - 0.00010870527678379002
-      - 0.084565456636654421
-    accelerations:
-      - -0.37451464276316815
-      - -0.12592308038750211
-      - 0.056094886448462784
-      - -0.52359877559687806
-      - 0.46717512944910405
-      - -0.00016155396038396681
-      - -0.12567820841395672
+      - -0.45766685087186371
+      - -0.22681049240408718
+      - -1.4343713940677871
+      - 1.3279221376573562
+      - -1.4644087018645524
+      - -1.5707707273804536
+      - -0.22689587730444924
+    velocities:
+      - 0.25165050850338933
+      - 0.083475175239587529
+      - -0.037608077491428117
+      - 0.35085914513203398
+      - -0.31319950357296306
+      - 0.00018284536972325605
+      - 0.083381641591353292
+    accelerations:
+      - -0.37554642644049807
+      - -0.12457278129164573
+      - 0.056123785289359469
+      - -0.52359877562707613
+      - 0.46739803956397058
+      - -0.00027286622864041202
+      - -0.12443319791644025
     effort: []
     time_from_start:
       sec: 0
       nanosec: 970000000
   - positions:
-      - -0.45598519978629404
-      - -0.22571187977287388
-      - -1.4344792767373782
-      - 1.3304823046649099
-      - -1.4667778533727904
-      - -1.5707715069187485
-      - -0.22585845014129718
-    velocities:
-      - 0.24825559564259272
-      - 0.083470993540081778
-      - -0.037183778303090539
-      - 0.34707942246130874
-      - -0.30967771827322554
-      - 0.00010708973717993455
-      - 0.083308674552502557
-    accelerations:
-      - -0.37451464278959146
-      - -0.12592308039638389
-      - 0.056094886452424893
-      - -0.52359877563384849
-      - 0.4671751294821887
-      - -0.00016155396039539159
-      - -0.1256782084228385
+      - -0.45516602161697772
+      - -0.22598094049283768
+      - -1.4347451321578466
+      - 1.3314088733675633
+      - -1.4675211870560556
+      - -1.5707689103165723
+      - -0.22606725490327789
+    velocities:
+      - 0.24789504423923378
+      - 0.082229447426753921
+      - -0.037046839638571763
+      - 0.34562315737611105
+      - -0.30852552317763365
+      - 0.00018011670743703324
+      - 0.082137309612271531
+    accelerations:
+      - -0.37554642639764346
+      - -0.124572781277421
+      - 0.056123785282961809
+      - -0.52359877556734613
+      - 0.46739803951062436
+      - -0.00027286622860926832
+      - -0.12443319790224328
     effort: []
     time_from_start:
       sec: 0
       nanosec: 980000000
   - positions:
-      - -0.45351885076493925
-      - -0.22488261909620627
-      - -1.4348486870420714
-      - 1.3339304404126826
-      - -1.4698544137839327
-      - -1.570770443012544
-      - -0.22503080205779241
-    velocities:
-      - 0.24451044921497558
-      - 0.082211762736211599
-      - -0.03662282943860809
-      - 0.34184343470535994
-      - -0.30500596697875193
-      - 0.00010547419757610103
-      - 0.082051892468367749
-    accelerations:
-      - -0.37451464276522206
-      - -0.125923080388196
-      - 0.056094886448768096
-      - -0.52359877559976464
-      - 0.46717512945176859
-      - -0.00016155396038486128
-      - -0.12567820841466448
+      - -0.45270274700473362
+      - -0.22516384585971666
+      - -1.4351132578693777
+      - 1.3348432492002105
+      - -1.4705869324436049
+      - -1.5707671205393137
+      - -0.22525107582189743
+    velocities:
+      - 0.24413957997502725
+      - 0.08098371961390341
+      - -0.036485601785707797
+      - 0.34038716962011711
+      - -0.30385154278224075
+      - 0.00017738804515077337
+      - 0.080892977633172894
+    accelerations:
+      - -0.37554642640577585
+      - -0.12457278128011329
+      - 0.056123785284169177
+      - -0.52359877557861489
+      - 0.4673980395207829
+      - -0.00027286622861515011
+      - -0.12443319790492169
     effort: []
     time_from_start:
       sec: 0
       nanosec: 990000000
   - positions:
-      - -0.45108995320786072
-      - -0.22406595072757746
-      - -1.4352124878581196
-      - 1.3373262162828956
-      - -1.4728842566821301
-      - -1.5707693952617356
-      - -0.22421572179512905
-    velocities:
-      - 0.24076530278735847
-      - 0.080952531932341448
-      - -0.03606188057412564
-      - 0.33660744694941119
-      - -0.30033421568427843
-      - 0.00010385865797226751
-      - 0.080795110384232968
-    accelerations:
-      - -0.37451464274079715
-      - -0.12592308037998035
-      - 0.056094886445111299
-      - -0.52359877556562529
-      - 0.46717512942123746
-      - -0.00016155396037433097
-      - -0.12567820840646271
+      - -0.45027702703513156
+      - -0.2243592085047241
+      - -1.43547577120238
+      - 1.3382252651552975
+      - -1.4736059380272004
+      - -1.570765358048678
+      - -0.22444734006030798
+    velocities:
+      - 0.2403841157107672
+      - 0.079737991801035135
+      - -0.03592436393283583
+      - 0.33515118186404852
+      - -0.29917756238678128
+      - 0.0001746593828644746
+      - 0.079648645654056507
+    accelerations:
+      - -0.37554642646735154
+      - -0.12457278130054143
+      - 0.056123785293377797
+      - -0.52359877566448798
+      - 0.46739803959744741
+      - -0.00027286622865992446
+      - -0.12443319792533598
     effort: []
     time_from_start:
       sec: 1
       nanosec: 0
   - positions:
-      - -0.44869850711505876
-      - -0.22326187466698738
-      - -1.4355706791855227
-      - 1.3406696322755487
-      - -1.4758673820673824
-      - -1.5707683636663234
-      - -0.22341320935330705
-    velocities:
-      - 0.23702015635974316
-      - 0.07969330112847188
-      - -0.035500931709643462
-      - 0.33137145919346495
-      - -0.29566246438980709
-      - 0.00010224311836843478
-      - 0.079538328300098785
-    accelerations:
-      - -0.37451464271463747
-      - -0.12592308037118194
-      - 0.056094886441197048
-      - -0.52359877552904599
-      - 0.46717512938859324
-      - -0.00016155396036303252
-      - -0.12567820839767815
+      - -0.44788886170817149
+      - -0.22356702842786003
+      - -1.4358326721568535
+      - 1.341554921232825
+      - -1.476578203806842
+      - -1.5707636228446653
+      - -0.22365604761850946
+    velocities:
+      - 0.23662865144666673
+      - 0.07849226398821979
+      - -0.035363126079987706
+      - 0.32991519410820236
+      - -0.29450358199152038
+      - 0.00017193072057829177
+      - 0.078404313674992995
+    accelerations:
+      - -0.37554642636951324
+      - -0.1245727812680812
+      - 0.056123785278756132
+      - -0.5235987755281023
+      - 0.46739803947564867
+      - -0.00027286622858883425
+      - -0.12443319789291735
     effort: []
     time_from_start:
       sec: 1
       nanosec: 10000000
   - positions:
-      - -0.44634451248653323
-      - -0.22247039091443616
-      - -1.4359232610242814
-      - 1.3439606883906421
-      - -1.4788037899396895
-      - -1.5707673482263069
-      - -0.2226232647323266
-    velocities:
-      - 0.23327500993202158
-      - 0.07843407032456659
-      - -0.034939982845145372
-      - 0.32613547143737015
-      - -0.29099071309520319
-      - 0.0001006275787645562
-      - 0.078281546215928935
-    accelerations:
-      - -0.37451464279460139
-      - -0.12592308039807687
-      - 0.056094886453168062
-      - -0.52359877564084023
-      - 0.46717512948835405
-      - -0.0001615539603975285
-      - -0.12567820842451763
+      - -0.44553825102385342
+      - -0.22278730562912444
+      - -1.4361839607327986
+      - 1.3448322174327925
+      - -1.47950372978253
+      - -1.5707619149272756
+      - -0.22287719849650195
+    velocities:
+      - 0.23287318718245933
+      - 0.077246536175368974
+      - -0.034801888227123608
+      - 0.32467920635220715
+      - -0.28982960159612647
+      - 0.00016920205829203127
+      - 0.077159981695894053
+    accelerations:
+      - -0.37554642637850605
+      - -0.12457278127107881
+      - 0.056123785280102277
+      - -0.52359877554064782
+      - 0.46739803948680642
+      - -0.00027286622859536657
+      - -0.12443319789590107
     effort: []
     time_from_start:
       sec: 1
       nanosec: 20000000
   - positions:
-      - -0.44402796932228406
-      - -0.2216914994699237
-      - -1.4362702333743951
-      - 1.3471993846281753
-      - -1.4816934802990518
-      - -1.5707663489416868
-      - -0.22184588793218751
-    velocities:
-      - 0.22952986350445645
-      - 0.077174839520713912
-      - -0.034379033980670708
-      - 0.32089948368149407
-      - -0.28631896180079447
-      - 9.9012039160745102e-05
-      - 0.077024764131811585
-    accelerations:
-      - -0.37451464271830121
-      - -0.12592308037241706
-      - 0.056094886441738281
-      - -0.52359877553415302
-      - 0.46717512939320066
-      - -0.00016155396036461817
-      - -0.12567820839891328
+      - -0.44322519498217738
+      - -0.22202004010851734
+      - -1.4365296369302152
+      - 1.3480571537552002
+      - -1.4823825159542641
+      - -1.5707602342965084
+      - -0.22211079269428535
+    velocities:
+      - 0.22911772291825191
+      - 0.076000808362518157
+      - -0.03424065037425951
+      - 0.31944321859621194
+      - -0.28515562120073251
+      - 0.00016647339600577075
+      - 0.075915649716795111
+    accelerations:
+      - -0.37554642638749886
+      - -0.12457278127406253
+      - 0.056123785281441484
+      - -0.52359877555319334
+      - 0.46739803949796416
+      - -0.00027286622860187178
+      - -0.12443319789887092
     effort: []
     time_from_start:
       sec: 1
       nanosec: 30000000
   - positions:
-      - -0.4417488776223113
-      - -0.22092520033345001
-      - -1.4366115962358639
-      - 1.3503857209881491
-      - -1.4845364531454688
-      - -1.5707653658124625
-      - -0.22108107895288989
-    velocities:
-      - 0.22578471707673814
-      - 0.075915608716809718
-      - -0.033818085116173104
-      - 0.31566349592540383
-      - -0.28164721050619468
-      - 9.7396499556867946e-05
-      - 0.075767982047642846
-    accelerations:
-      - -0.37451464279498997
-      - -0.12592308039820177
-      - 0.056094886453223573
-      - -0.52359877564139534
-      - 0.46717512948885365
-      - -0.00016155396039770469
-      - -0.12567820842464253
+      - -0.44094969358314323
+      - -0.22126523186603866
+      - -1.4368697007491031
+      - 1.3512297302000482
+      - -1.4852145623220443
+      - -1.5707585809523641
+      - -0.22135683021185973
+    velocities:
+      - 0.22536225865399562
+      - 0.074755080549651132
+      - -0.033679412521388105
+      - 0.31420723084014862
+      - -0.28048164080527771
+      - 0.00016374473371947473
+      - 0.074671317737679974
+    accelerations:
+      - -0.37554642644503605
+      - -0.12457278129314457
+      - 0.056123785290040189
+      - -0.52359877563334623
+      - 0.46739803956958081
+      - -0.00027286622864368854
+      - -0.12443319791793912
     effort: []
     time_from_start:
       sec: 1
       nanosec: 40000000
   - positions:
-      - -0.43950723738661501
-      - -0.22017149350501514
-      - -1.4369473496086878
-      - 1.3535196974705628
-      - -1.4873327084789412
-      - -1.5707643988386342
-      - -0.22032883779443371
-    velocities:
-      - 0.22203957064916902
-      - 0.074656377912955638
-      - -0.033257136251696594
-      - 0.31042750816952347
-      - -0.27697545921178224
-      - 9.5780959957547353e-05
-      - 0.074511199963524191
-    accelerations:
-      - -0.37451464272196494
-      - -0.12592308037366606
-      - 0.056094886442286454
-      - -0.52359877553937106
-      - 0.46717512939780809
-      - -0.00016155396037377968
-      - -0.1256782084001484
+      - -0.43871174682675107
+      - -0.22052288090168848
+      - -1.4372041521894621
+      - 1.3543499467673363
+      - -1.4879998688858707
+      - -1.5707569548948428
+      - -0.22061531104922505
+    velocities:
+      - 0.22160679438978925
+      - 0.073509352736800315
+      - -0.033118174668524188
+      - 0.30897124308415669
+      - -0.2758076604098863
+      - 0.00016101607143463251
+      - 0.073426985758581545
+    accelerations:
+      - -0.37554642645183617
+      - -0.12457278129540665
+      - 0.056123785291053267
+      - -0.52359877564289414
+      - 0.46739803957807402
+      - -0.00027286622865106111
+      - -0.12443319792018732
     effort: []
     time_from_start:
       sec: 1
       nanosec: 50000000
   - positions:
-      - -0.43730304861519509
-      - -0.21943037898461898
-      - -1.4372774934928669
-      - 1.3566013140754167
-      - -1.4900822462994678
-      - -1.570763448020202
-      - -0.21958916445681889
-    velocities:
-      - 0.21829442422145406
-      - 0.073397147109052582
-      - -0.03269618738719951
-      - 0.30519152041343794
-      - -0.27230370791718661
-      - 9.4165420353595862e-05
-      - 0.073254417879356562
-    accelerations:
-      - -0.37451464279532304
-      - -0.12592308039832667
-      - 0.056094886453279084
-      - -0.52359877564183943
-      - 0.46717512948929774
-      - -0.00016155396040542963
-      - -0.12567820842476743
+      - -0.4365113547130009
+      - -0.21979298721546681
+      - -1.4375329912512929
+      - 1.3574178034570648
+      - -1.4907384356457432
+      - -1.5707553561239445
+      - -0.21988623520638134
+    velocities:
+      - 0.21785133012558375
+      - 0.072263624923950151
+      - -0.032556936815660374
+      - 0.30373525532816414
+      - -0.27113368001449473
+      - 0.00015828740914834938
+      - 0.072182653779483227
+    accelerations:
+      - -0.3755464264586918
+      - -0.12457278129766873
+      - 0.056123785292073285
+      - -0.52359877565238655
+      - 0.46739803958656723
+      - -0.00027286622865599423
+      - -0.12443319792246328
     effort: []
     time_from_start:
       sec: 1
       nanosec: 60000000
   - positions:
-      - -0.43513631130805164
-      - -0.21870185677226167
-      - -1.437602027888401
-      - 1.3596305708027108
-      - -1.4927850666070499
-      - -1.5707625133571659
-      - -0.21886205894004554
-    velocities:
-      - 0.2145492777938823
-      - 0.072137916305197669
-      - -0.032135238522723875
-      - 0.29995553265755254
-      - -0.26763195662276962
-      - 9.2549880749706129e-05
-      - 0.071997635795236992
-    accelerations:
-      - -0.37451464272565643
-      - -0.12592308037490119
-      - 0.056094886442841566
-      - -0.52359877554447809
-      - 0.46717512940236
-      - -0.00016155396037537888
-      - -0.12567820840138352
+      - -0.43434851724189266
+      - -0.21907555080737359
+      - -1.4378562179345946
+      - 1.360433300269233
+      - -1.493430262601662
+      - -1.5707537846396689
+      - -0.21916960268332858
+    velocities:
+      - 0.21409586586137835
+      - 0.071017897111100015
+      - -0.031995698962796568
+      - 0.29849926757217166
+      - -0.26645969961910321
+      - 0.00015555874686206628
+      - 0.070938321800384951
+    accelerations:
+      - -0.3755464264654364
+      - -0.12457278129990305
+      - 0.056123785293093302
+      - -0.52359877566182345
+      - 0.46739803959500492
+      - -0.00027286622866092735
+      - -0.12443319792469761
     effort: []
     time_from_start:
       sec: 1
       nanosec: 70000000
   - positions:
-      - -0.43300702546518455
-      - -0.21798592686794313
-      - -1.4379209527952905
-      - 1.3626074676524451
-      - -1.4954411694016869
-      - -1.5707615948495257
-      - -0.21814752124411363
-    velocities:
-      - 0.21080413136617071
-      - 0.070878685501295738
-      - -0.031574289658227297
-      - 0.29471954490147168
-      - -0.26296020532817815
-      - 9.0934341145756088e-05
-      - 0.0707408537110705
-    accelerations:
-      - -0.37451464279565611
-      - -0.12592308039843769
-      - 0.056094886453327657
-      - -0.52359877564233903
-      - 0.46717512948968631
-      - -0.0001615539604055787
-      - -0.12567820842486457
+      - -0.43222323441342658
+      - -0.21837057167740892
+      - -1.438173832239368
+      - 1.3633964372038418
+      - -1.496075349753627
+      - -1.5707522404420162
+      - -0.21846541348006682
+    velocities:
+      - 0.21034040159726636
+      - 0.069772169298280853
+      - -0.031434461109946729
+      - 0.29326327981630945
+      - -0.26178571922382798
+      - 0.00015283008457585108
+      - 0.069693989821317623
+    accelerations:
+      - -0.37554642637886687
+      - -0.12457278127118983
+      - 0.056123785280150849
+      - -0.52359877554114742
+      - 0.46739803948730602
+      - -0.00027286622859802286
+      - -0.12443319789601209
     effort: []
     time_from_start:
       sec: 1
       nanosec: 80000000
   - positions:
-      - -0.43091519108659387
-      - -0.21728258927166338
-      - -1.4382342682135349
-      - 1.3655320046246195
-      - -1.4980505546833789
-      - -1.5707606924972815
-      - -0.21744555136902316
-    velocities:
-      - 0.20705898493859562
-      - 0.0696194546974397
-      - -0.031013340793751162
-      - 0.28948355714558166
-      - -0.25828845403375694
-      - 8.9318801541864932e-05
-      - 0.069484071626949806
-    accelerations:
-      - -0.37451464272932017
-      - -0.12592308037612243
-      - 0.056094886443393208
-      - -0.52359877554958512
-      - 0.46717512940696743
-      - -0.00016155396037696452
-      - -0.12567820840261865
+      - -0.43013550622760244
+      - -0.21767804982557265
+      - -1.4384858341656126
+      - 1.3663072142608905
+      - -1.4986736971016379
+      - -1.5707507235309861
+      - -0.217773667596596
+    velocities:
+      - 0.20658493733305924
+      - 0.068526441485430148
+      - -0.030873223257082669
+      - 0.28802729206031463
+      - -0.25711173882843436
+      - 0.00015010142228956676
+      - 0.068449657842218778
+    accelerations:
+      - -0.37554642638733232
+      - -0.12457278127399314
+      - 0.056123785281417198
+      - -0.52359877555291578
+      - 0.46739803949785313
+      - -0.00027286622860417571
+      - -0.12443319789881541
     effort: []
     time_from_start:
       sec: 1
       nanosec: 90000000
   - positions:
-      - -0.42886080817227967
-      - -0.21659184398342241
-      - -1.4385419741431344
-      - 1.3684041817192343
-      - -1.500613222452126
-      - -1.5707598063004333
-      - -0.2167561493147741
-    velocities:
-      - 0.20331383851088733
-      - 0.06836022389353888
-      - -0.030452391929255078
-      - 0.28424756938950541
-      - -0.25361670273916964
-      - 8.7703261937916314e-05
-      - 0.068227289542784425
-    accelerations:
-      - -0.37451464279601693
-      - -0.12592308039854871
-      - 0.056094886453383168
-      - -0.52359877564283863
-      - 0.46717512949018591
-      - -0.00016155396040572778
-      - -0.12567820842498947
+      - -0.42808533268442017
+      - -0.21699798525186492
+      - -1.4387922237133288
+      - 1.3691656314403795
+      - -1.5012253046456951
+      - -1.5707492339065792
+      - -0.21709436503291613
+    velocities:
+      - 0.20282947306885213
+      - 0.067280713672579429
+      - -0.030311985404218613
+      - 0.28279130430431981
+      - -0.25243775843304073
+      - 0.00014737276000328242
+      - 0.067205325863119933
+    accelerations:
+      - -0.37554642639579777
+      - -0.12457278127681033
+      - 0.056123785282683546
+      - -0.52359877556473966
+      - 0.46739803950840025
+      - -0.00027286622861032856
+      - -0.12443319790161872
     effort: []
     time_from_start:
       sec: 1
       nanosec: 100000000
   - positions:
-      - -0.42684387672224189
-      - -0.21591369100322022
-      - -1.4388440705840893
-      - 1.3712239989362889
-      - -1.5031291727079277
-      - -1.5707589362589816
-      - -0.21607931508136649
-    velocities:
-      - 0.19956869208330888
-      - 0.067100993089681732
-      - -0.029891443064778447
-      - 0.27901158163361067
-      - -0.24894495144474432
-      - 8.6087722334023722e-05
-      - 0.066970507458662606
-    accelerations:
-      - -0.37451464273303942
-      - -0.12592308037735755
-      - 0.05609488644394485
-      - -0.52359877555480316
-      - 0.4671751294115471
-      - -0.00016155396037855017
-      - -0.12567820840385377
+      - -0.42607271378388001
+      - -0.21633037795628562
+      - -1.4390930008825162
+      - 1.3719716887423088
+      - -1.5037301723857988
+      - -1.5707477715687952
+      - -0.21642750578902725
+    velocities:
+      - 0.19907400880460752
+      - 0.066034985859716289
+      - -0.029750747551348954
+      - 0.2775553165482727
+      - -0.24776377803760044
+      - 0.00014464409771697086
+      - 0.065960993884008653
+    accelerations:
+      - -0.37554642644167763
+      - -0.12457278129202047
+      - 0.056123785289537119
+      - -0.52359877562868329
+      - 0.46739803956547299
+      - -0.00027286622864366143
+      - -0.1244331979168289
     effort: []
     time_from_start:
       sec: 1
       nanosec: 110000000
   - positions:
-      - -0.42486439673648052
-      - -0.21524813033105683
-      - -1.4391405575363994
-      - 1.373991456275784
-      - -1.5055984054507845
-      - -1.5707580823729255
-      - -0.21541504866880029
-    velocities:
-      - 0.19582354565560395
-      - 0.065841762285782035
-      - -0.029330494200282862
-      - 0.27377559387753908
-      - -0.24427320015016116
-      - 8.447218273007654e-05
-      - 0.065713725374498336
-    accelerations:
-      - -0.37451464279637775
-      - -0.12592308039865974
-      - 0.05609488645343521
-      - -0.52359877564339374
-      - 0.46717512949060225
-      - -0.00016155396040589041
-      - -0.12567820842511437
+      - -0.42409764952598172
+      - -0.21567522793883478
+      - -1.4393881656731751
+      - 1.3747253861666779
+      - -1.5061883003219483
+      - -1.5707463365176337
+      - -0.2157730898649293
+    velocities:
+      - 0.19531854454040204
+      - 0.064789258046866124
+      - -0.029189509698485144
+      - 0.27231932879228016
+      - -0.24308979764220889
+      - 0.00014191543543068773
+      - 0.06471666190491035
+    accelerations:
+      - -0.3755464264485055
+      - -0.12457278129428255
+      - 0.056123785290557136
+      - -0.52359877563823121
+      - 0.46739803957393844
+      - -0.00027286622864862166
+      - -0.12443319791909098
     effort: []
     time_from_start:
       sec: 1
       nanosec: 120000000
   - positions:
-      - -0.42292236821499551
-      - -0.21459516196693218
-      - -1.4394314350000643
-      - 1.3767065537377192
-      - -1.5080209206806963
-      - -1.5707572446422655
-      - -0.21476335007707553
-    velocities:
-      - 0.1920783992280222
-      - 0.064582531481923763
-      - -0.028769545335805734
-      - 0.2685396061216398
-      - -0.23960144885573167
-      - 8.2856643126182525e-05
-      - 0.064456943290375421
-    accelerations:
-      - -0.37451464273670315
-      - -0.12592308037859268
-      - 0.056094886444493022
-      - -0.52359877555985468
-      - 0.46717512941615452
-      - -0.00016155396038012226
-      - -0.12567820840507501
+      - -0.42216013991072548
+      - -0.21503253519951246
+      - -1.4396777180853053
+      - 1.3774267237134874
+      - -1.5085996884541439
+      - -1.5707449287530955
+      - -0.21513111726062228
+    velocities:
+      - 0.19156308027619656
+      - 0.06354353023401596
+      - -0.02862827184562133
+      - 0.26708334103628761
+      - -0.23841581724681729
+      - 0.00013918677314440458
+      - 0.063472329925812046
+    accelerations:
+      - -0.37554642645533337
+      - -0.12457278129654463
+      - 0.056123785291577154
+      - -0.52359877564772361
+      - 0.4673980395824594
+      - -0.00027286622865360899
+      - -0.12443319792135306
     effort: []
     time_from_start:
       sec: 1
       nanosec: 130000000
   - positions:
-      - -0.42101779115778698
-      - -0.21395478591084635
-      - -1.4397167029750846
-      - 1.3793692913220943
-      - -1.5103967183976628
-      - -1.5707564230670017
-      - -0.21412421930619221
-    velocities:
-      - 0.18833325280032059
-      - 0.063323300678025191
-      - -0.028208596471310649
-      - 0.26330361836557287
-      - -0.23492969756115267
-      - 8.124110352223678e-05
-      - 0.063200161206212274
-    accelerations:
-      - -0.37451464279668306
-      - -0.12592308039877076
-      - 0.056094886453483782
-      - -0.52359877564378232
-      - 0.46717512949101858
-      - -0.00016155396040602594
-      - -0.12567820842521152
+      - -0.42026018493811124
+      - -0.21440229973831862
+      - -1.4399616581189068
+      - 1.3800757013827372
+      - -1.510964336782386
+      - -1.5707435482751799
+      - -0.2145015879761063
+    velocities:
+      - 0.18780761601207463
+      - 0.062297802421193496
+      - -0.02806703399277
+      - 0.26184735328041153
+      - -0.23374183685152969
+      - 0.00013645811085818217
+      - 0.062227997946741422
+    accelerations:
+      - -0.37554642637870034
+      - -0.12457278127114126
+      - 0.056123785280130033
+      - -0.52359877554092538
+      - 0.46739803948708397
+      - -0.00027286622859788734
+      - -0.12443319789597046
     effort: []
     time_from_start:
       sec: 1
       nanosec: 140000000
   - positions:
-      - -0.41915066556485481
-      - -0.21332700216279932
-      - -1.4399963614614599
-      - 1.3819796690289099
-      - -1.5127257986016847
-      - -1.5707556176471338
-      - -0.21349765635615031
-    velocities:
-      - 0.1845881063727359
-      - 0.062064069874165878
-      - -0.027647647606834278
-      - 0.25806763060966875
-      - -0.23025794626671853
-      - 7.962556391643091e-05
-      - 0.061943379122088436
-    accelerations:
-      - -0.37451464274039464
-      - -0.12592308037984168
-      - 0.056094886445051603
-      - -0.52359877556507273
-      - 0.46717512942076195
-      - -0.00016155396037785899
-      - -0.12567820840631708
+      - -0.41839778460813892
+      - -0.21378452155525327
+      - -1.4402399857739796
+      - 1.382672319174427
+      - -1.5132822453066741
+      - -1.5707421950838871
+      - -0.21388450201138121
+    velocities:
+      - 0.18405215174786738
+      - 0.061052074608342832
+      - -0.027505796139906037
+      - 0.25661136552441721
+      - -0.22906785645613573
+      - 0.00013372944857117548
+      - 0.060983665967642334
+    accelerations:
+      - -0.37554642638716579
+      - -0.12457278127394457
+      - 0.056123785281396381
+      - -0.52359877555274925
+      - 0.46739803949760333
+      - -0.00027286622860260362
+      - -0.12443319789877377
     effort: []
     time_from_start:
       sec: 1
       nanosec: 150000000
   - positions:
-      - -0.41732099143619916
-      - -0.21271181072279108
-      - -1.4402704104591904
-      - 1.3845376868581656
-      - -1.5150081612927613
-      - -1.570754828382662
-      - -0.21288366122694985
-    velocities:
-      - 0.18084295994503757
-      - 0.060804839070268402
-      - -0.027086698742339661
-      - 0.25283164285360643
-      - -0.22558619497214363
-      - 7.8010024312525348e-05
-      - 0.060686597037926379
-    accelerations:
-      - -0.3745146427970994
-      - -0.12592308039891648
-      - 0.056094886453546232
-      - -0.52359877564433743
-      - 0.46717512949151818
-      - -0.0001615539604023261
-      - -0.12567820842536417
+      - -0.41657293892080877
+      - -0.21317920065031637
+      - -1.4405127010505241
+      - 1.3852165770885567
+      - -1.5155534140270084
+      - -1.5707408691792173
+      - -0.21327985936644714
+    velocities:
+      - 0.18029668748366021
+      - 0.059806346795492106
+      - -0.02694455828704197
+      - 0.25137537776842234
+      - -0.22439387606074204
+      - 0.00013100078628490585
+      - 0.059739333988543475
+    accelerations:
+      - -0.37554642639568675
+      - -0.1245727812767687
+      - 0.056123785282669668
+      - -0.52359877556457313
+      - 0.46739803950823372
+      - -0.00027286622860878357
+      - -0.12443319790159096
     effort: []
     time_from_start:
       sec: 1
       nanosec: 160000000
   - positions:
-      - -0.41552876877181982
-      - -0.21210921159082158
-      - -1.4405388499682761
-      - 1.3870433448098614
-      - -1.5172438064708929
-      - -1.5707540552735861
-      - -0.2122822339185908
-    velocities:
-      - 0.17709781351744916
-      - 0.059545608266407889
-      - -0.026525749877861507
-      - 0.24759565509769776
-      - -0.22091444367770585
-      - 7.6394484708667206e-05
-      - 0.059429814953801216
-    accelerations:
-      - -0.37451464274408613
-      - -0.12592308038109068
-      - 0.056094886445606715
-      - -0.52359877557026302
-      - 0.46717512942539713
-      - -0.00016155396037945819
-      - -0.12567820840756608
+      - -0.41478564787612054
+      - -0.21258633702350799
+      - -1.4407798039485398
+      - 1.3877084751251272
+      - -1.5177778429433886
+      - -1.5707395705611704
+      - -0.21268766004130404
+    velocities:
+      - 0.17654122321945309
+      - 0.058560618982641394
+      - -0.026383320434177911
+      - 0.24613939001242749
+      - -0.21971989566534841
+      - 0.00012827212399863628
+      - 0.05849500200944463
+    accelerations:
+      - -0.37554642640417996
+      - -0.12457278127957895
+      - 0.056123785283932547
+      - -0.523598775576397
+      - 0.46739803951878084
+      - -0.00027286622861493642
+      - -0.12443319790440122
     effort: []
     time_from_start:
       sec: 1
       nanosec: 170000000
   - positions:
-      - -0.4137739975717169
-      - -0.21151920476689084
-      - -1.4408016799887169
-      - 1.3894966428839972
-      - -1.5194327341360792
-      - -1.5707532983199064
-      - -0.21169337443107317
-    velocities:
-      - 0.17335266708975416
-      - 0.058286377462511543
-      - -0.025964801013367393
-      - 0.24235966734164013
-      - -0.21624269238313515
-      - 7.4778945104763095e-05
-      - 0.05817303286964029
-    accelerations:
-      - -0.37451464279746022
-      - -0.12592308039904138
-      - 0.056094886453601743
-      - -0.52359877564486479
-      - 0.46717512949196227
-      - -0.00016155396040248873
-      - -0.12567820842548214
+      - -0.4130359114740742
+      - -0.21200593067482806
+      - -1.4410412944680269
+      - 1.3901480132841375
+      - -1.5199555320558154
+      - -1.5707382992297463
+      - -0.21210790403595187
+    velocities:
+      - 0.17278575895522019
+      - 0.057314891169782126
+      - -0.025822082581309996
+      - 0.24090340225639667
+      - -0.2150459152699227
+      - 0.00012554346171234795
+      - 0.057250670030337243
+    accelerations:
+      - -0.37554642643834696
+      - -0.12457278129091719
+      - 0.056123785289040988
+      - -0.52359877562407586
+      - 0.46739803956130965
+      - -0.0002728662286397583
+      - -0.12443319791572562
     effort: []
     time_from_start:
       sec: 1
       nanosec: 180000000
   - positions:
-      - -0.41205667783589039
-      - -0.21094179025099896
-      - -1.4410589005205126
-      - 1.3918975810805736
-      - -1.5215749442883209
-      - -1.5707525575216228
-      - -0.211117082764397
-    velocities:
-      - 0.16960752066216242
-      - 0.057027146658649913
-      - -0.025403852148888739
-      - 0.23712367958572683
-      - -0.21157094108869323
-      - 7.3163405500903516e-05
-      - 0.05691625078551401
-    accelerations:
-      - -0.37451464274777763
-      - -0.1259230803823258
-      - 0.056094886446158357
-      - -0.5235987755753978
-      - 0.4671751294299768
-      - -0.00016155396038104383
-      - -0.12567820840880814
+      - -0.41132372971466979
+      - -0.21143798160427657
+      - -1.4412971726089852
+      - 1.3925351915655879
+      - -1.522086481364288
+      - -1.5707370551849449
+      - -0.21154059135039061
+    velocities:
+      - 0.16903029469101474
+      - 0.056069163356931961
+      - -0.025260844728446186
+      - 0.23566741450040415
+      - -0.21037193487453115
+      - 0.00012281479942607957
+      - 0.056006338051238946
+    accelerations:
+      - -0.37554642644514707
+      - -0.12457278129317927
+      - 0.056123785290057536
+      - -0.52359877563354051
+      - 0.46739803956980286
+      - -0.00027286622864471853
+      - -0.12443319791798076
     effort: []
     time_from_start:
       sec: 1
       nanosec: 190000000
   - positions:
-      - -0.41037680956434031
-      - -0.21037696804314579
-      - -1.4413105115636635
-      - 1.3942461593995898
-      - -1.5236704369276173
-      - -1.5707518328787351
-      - -0.21055335891856225
-    velocities:
-      - 0.16586237423447078
-      - 0.055767915854754692
-      - -0.024842903284395128
-      - 0.23188769182967389
-      - -0.20689918979412672
-      - 7.1547865897000855e-05
-      - 0.055659468701354214
-    accelerations:
-      - -0.37451464279782104
-      - -0.1259230803991524
-      - 0.056094886453650315
-      - -0.52359877564533663
-      - 0.46717512949235085
-      - -0.00016155396040262425
-      - -0.12567820842558622
+      - -0.40964910259790749
+      - -0.21088248981185359
+      - -1.4415474383714151
+      - 1.3948700099694786
+      - -1.5241706908688069
+      - -1.5707358384267667
+      - -0.21098572198462034
+    velocities:
+      - 0.16527483042680924
+      - 0.054823435544081797
+      - -0.024699606875582369
+      - 0.23043142674441158
+      - -0.20569795447913958
+      - 0.00012008613713981116
+      - 0.054762006072140643
+    accelerations:
+      - -0.3755464264520027
+      - -0.12457278129544135
+      - 0.056123785291081023
+      - -0.52359877564308843
+      - 0.46739803957829607
+      - -0.00027286622864969231
+      - -0.12443319792024977
     effort: []
     time_from_start:
       sec: 1
       nanosec: 200000000
   - positions:
-      - -0.40873439275706669
-      - -0.20982473814333147
-      - -1.4415565131181698
-      - 1.3965423778410462
-      - -1.5257192120539687
-      - -1.5707511243912435
-      - -0.21000220289356891
-    velocities:
-      - 0.16211722780687571
-      - 0.054508685050891938
-      - -0.024281954419915975
-      - 0.22665170407375593
-      - -0.20222743849968061
-      - 6.993232629313984e-05
-      - 0.05440268661722681
-    accelerations:
-      - -0.37451464275144136
-      - -0.12592308038356786
-      - 0.056094886446706529
-      - -0.52359877558053258
-      - 0.46717512943455647
-      - -0.00016155396038262948
-      - -0.12567820841003632
+      - -0.40801203012378712
+      - -0.2103394552975591
+      - -1.4417920917553162
+      - 1.3971524684958094
+      - -1.526208160569372
+      - -1.5707346489552112
+      - -0.21044329593864108
+    velocities:
+      - 0.16151936616267559
+      - 0.053577707731255454
+      - -0.02413836902272929
+      - 0.22519543898851918
+      - -0.2010239740838374
+      - 0.00011735747485359496
+      - 0.053517674093066146
+    accelerations:
+      - -0.37554642638708252
+      - -0.12457278127390987
+      - 0.056123785281379034
+      - -0.52359877555258272
+      - 0.46739803949749231
+      - -0.0002728662286025223
+      - -0.12443319789873908
     effort: []
     time_from_start:
       sec: 1
       nanosec: 210000000
   - positions:
-      - -0.40712942741406938
-      - -0.20928510055155589
-      - -1.4417969051840311
-      - 1.398786236404943
-      - -1.5277212696673752
-      - -1.5707504320591479
-      - -0.20946361468941702
-    velocities:
-      - 0.1583720813791874
-      - 0.053249454246997834
-      - -0.023721005555422857
-      - 0.22141571631770762
-      - -0.19755568720511824
-      - 6.8316786689238601e-05
-      - 0.053145904533068125
-    accelerations:
-      - -0.37451464279815411
-      - -0.1259230803992773
-      - 0.056094886453705826
-      - -0.52359877564583623
-      - 0.46717512949282269
-      - -0.00016155396040277333
-      - -0.12567820842571112
+      - -0.40641251229230879
+      - -0.20980887806139309
+      - -1.4420311327606887
+      - 1.3993825671445803
+      - -1.5281988904659833
+      - -1.5707334867702785
+      - -0.20991331321245274
+    velocities:
+      - 0.15776390189846848
+      - 0.052331979918404735
+      - -0.023577131169865227
+      - 0.21995945123252428
+      - -0.19634999368844375
+      - 0.00011462881256732536
+      - 0.052273342113967294
+    accelerations:
+      - -0.37554642639554797
+      - -0.12457278127672707
+      - 0.056123785282648851
+      - -0.52359877556443435
+      - 0.46739803950809494
+      - -0.0002728662286086887
+      - -0.12443319790155627
     effort: []
     time_from_start:
       sec: 1
       nanosec: 220000000
   - positions:
-      - -0.40556191353534854
-      - -0.20875805526781913
-      - -1.4420316877612476
-      - 1.4009777350912798
-      - -1.5296766097678365
-      - -1.5707497558824484
-      - -0.20893759430610653
-    velocities:
-      - 0.15462693495158897
-      - 0.051990223443133962
-      - -0.023160056690943207
-      - 0.216179728561785
-      - -0.19288393591066799
-      - 6.670124708537615e-05
-      - 0.051889122448939604
-    accelerations:
-      - -0.37451464275513285
-      - -0.12592308038480299
-      - 0.056094886447261641
-      - -0.52359877558566736
-      - 0.46717512943913614
-      - -0.00016155396038421512
-      - -0.12567820841127839
+      - -0.40485054910347246
+      - -0.20929075810335557
+      - -1.4422645613875327
+      - 1.4015603059157915
+      - -1.5301428805586408
+      - -1.5707323518719687
+      - -0.20939577380605537
+    velocities:
+      - 0.15400843763426136
+      - 0.051086252105554023
+      - -0.023015893317001167
+      - 0.21472346347652946
+      - -0.19167601329305015
+      - 0.00011190015028105577
+      - 0.051029010134868449
+    accelerations:
+      - -0.37554642640401342
+      - -0.12457278127953732
+      - 0.056123785283915199
+      - -0.52359877557623047
+      - 0.46739803951861431
+      - -0.00027286622861484155
+      - -0.12443319790435958
     effort: []
     time_from_start:
       sec: 1
       nanosec: 230000000
   - positions:
-      - -0.40403185112090412
-      - -0.2082436022921211
-      - -1.4422608608498191
-      - 1.4031168739000568
-      - -1.5315852323553529
-      - -1.570749095861145
-      - -0.20842414174363749
-    velocities:
-      - 0.15088178852397108
-      - 0.050730992639263534
-      - -0.022599107826460636
-      - 0.21094374080583511
-      - -0.18821218461619343
-      - 6.5085707481505283e-05
-      - 0.050632340364804546
-    accelerations:
-      - -0.37451464273151286
-      - -0.12592308037686489
-      - 0.056094886443722805
-      - -0.52359877555266598
-      - 0.46717512940968747
-      - -0.00016155396037403718
-      - -0.12567820840334723
+      - -0.40332614055727806
+      - -0.2087850954234465
+      - -1.4424923776358478
+      - 1.4036856848094428
+      - -1.5320401308473444
+      - -1.5707312442602819
+      - -0.20889067771944894
+    velocities:
+      - 0.15025297337003846
+      - 0.049840524292698071
+      - -0.022454655464134748
+      - 0.2094874757205126
+      - -0.18700203289763687
+      - 0.0001091714879947747
+      - 0.049784678155764379
+    accelerations:
+      - -0.37554642642821617
+      - -0.12457278128755876
+      - 0.056123785287528309
+      - -0.52359877560992052
+      - 0.46739803954870862
+      - -0.00027286622863241283
+      - -0.12443319791236719
     effort: []
     time_from_start:
       sec: 1
       nanosec: 240000000
   - positions:
-      - -0.40253924017073617
-      - -0.20774174162446188
-      - -1.4424844244497459
-      - 1.4052036528312739
-      - -1.5334471374299241
-      - -1.5707484519952375
-      - -0.20792325700200989
-    velocities:
-      - 0.14713664209628802
-      - 0.049471761835371546
-      - -0.022038158961969447
-      - 0.2057077530497948
-      - -0.18354043332163569
-      - 6.3470167877708073e-05
-      - 0.049375558280647193
-    accelerations:
-      - -0.3745146427732296
-      - -0.12592308039089511
-      - 0.056094886449976171
-      - -0.52359877561100299
-      - 0.46717512946173645
-      - -0.00016155396039229723
-      - -0.12567820841734975
+      - -0.4018392866537257
+      - -0.20829189002166595
+      - -1.4427145815056344
+      - 1.4057587038255344
+      - -1.5338906413320941
+      - -1.5707301639352178
+      - -0.20839802495263349
+    velocities:
+      - 0.14649750910583276
+      - 0.048594796479847956
+      - -0.021893417611271334
+      - 0.20425148796452072
+      - -0.18232805250224471
+      - 0.00010644282571008626
+      - 0.048540346176666076
+    accelerations:
+      - -0.37554642643501629
+      - -0.1245727812898139
+      - 0.056123785288544857
+      - -0.52359877561941293
+      - 0.46739803955714632
+      - -0.00027286622864139816
+      - -0.12443319791461539
     effort: []
     time_from_start:
       sec: 1
       nanosec: 250000000
   - positions:
-      - -0.40108408068484452
-      - -0.20725247326484142
-      - -1.4427023785610276
-      - 1.4072380718849313
-      - -1.5352623249915505
-      - -1.5707478242847261
-      - -0.20743494008122371
-    velocities:
-      - 0.14339149566868459
-      - 0.048212531031505981
-      - -0.02147721009748902
-      - 0.20047176529386518
-      - -0.17886868202717926
-      - 6.1854628273840879e-05
-      - 0.048118776196517013
-    accelerations:
-      - -0.37451464273523211
-      - -0.12592308037810696
-      - 0.056094886444277917
-      - -0.52359877555782852
-      - 0.4671751294142949
-      - -0.00016155396037588032
-      - -0.12567820840458235
+      - -0.40038998739281523
+      - -0.20781114189801383
+      - -1.4429311729968926
+      - 1.407779362964066
+      - -1.5356944120128901
+      - -1.5707291108967765
+      - -0.207917815505609
+    velocities:
+      - 0.14274204484162728
+      - 0.047349068666997784
+      - -0.02133217975840751
+      - 0.19901550020852815
+      - -0.17765407210685316
+      - 0.00010371416342377736
+      - 0.047296014197567772
+    accelerations:
+      - -0.37554642644184416
+      - -0.12457278129207598
+      - 0.056123785289564875
+      - -0.52359877562893309
+      - 0.46739803956563952
+      - -0.00027286622864635838
+      - -0.12443319791688441
     effort: []
     time_from_start:
       sec: 1
       nanosec: 260000000
   - positions:
-      - -0.39966637266322935
-      - -0.20677579721325978
-      - -1.4429147231836648
-      - 1.4092201310610288
-      - -1.5370307950402313
-      - -1.5707472127296105
-      - -0.20695919098127896
-    velocities:
-      - 0.13964634924100461
-      - 0.046953300227614667
-      - -0.02091626123299712
-      - 0.19523577753782848
-      - -0.17419693073262729
-      - 6.0239088669940636e-05
-      - 0.046861994112361124
-    accelerations:
-      - -0.37451464277359042
-      - -0.12592308039101308
-      - 0.056094886450028213
-      - -0.52359877561150259
-      - 0.46717512946218054
-      - -0.00016155396039243953
-      - -0.12567820841746771
+      - -0.39897824277454674
+      - -0.20734285105249017
+      - -1.4431421521096219
+      - 1.409747662225038
+      - -1.5374514428897319
+      - -1.5707280851449581
+      - -0.20745004937837544
+    velocities:
+      - 0.13898658057742183
+      - 0.04610334085414762
+      - -0.02077094190554369
+      - 0.19377951245253561
+      - -0.17298009171146161
+      - 0.00010098550113746849
+      - 0.046051682218469482
+    accelerations:
+      - -0.37554642644867203
+      - -0.12457278129433806
+      - 0.056123785290581422
+      - -0.5235987756384255
+      - 0.46739803957413273
+      - -0.00027286622865130506
+      - -0.12443319791913955
     effort: []
     time_from_start:
       sec: 1
       nanosec: 270000000
   - positions:
-      - -0.39828611610589065
-      - -0.20631171346971694
-      - -1.443121458317657
-      - 1.4111498303595666
-      - -1.5387525475759678
-      - -1.5707466173298914
-      - -0.20649600970217566
-    velocities:
-      - 0.13590120281339788
-      - 0.045694069423747985
-      - -0.020355312368516194
-      - 0.18999978978189422
-      - -0.16952517943816672
-      - 5.8623549066072012e-05
-      - 0.045605212028229827
-    accelerations:
-      - -0.37451464273886809
-      - -0.12592308037934208
-      - 0.056094886444829559
-      - -0.5235987755629633
-      - 0.46717512941887457
-      - -0.00016155396037745919
-      - -0.12567820840581748
+      - -0.39760405279892036
+      - -0.20688701748509505
+      - -1.4433475188438227
+      - 1.4116636016084501
+      - -1.5391617339626205
+      - -1.5707270866797625
+      - -0.20699472657093287
+    velocities:
+      - 0.13523111631327653
+      - 0.044857613041317405
+      - -0.020209704052688852
+      - 0.18854352469662689
+      - -0.16830611131614492
+      - 9.8256838851203292e-05
+      - 0.044807350239391107
+    accelerations:
+      - -0.37554642639540919
+      - -0.12457278127667849
+      - 0.056123785282628035
+      - -0.5235987755642123
+      - 0.4673980395078729
+      - -0.00027286622861263249
+      - -0.1244331979015077
     effort: []
     time_from_start:
       sec: 1
       nanosec: 280000000
   - positions:
-      - -0.39694331101282826
-      - -0.20586022203421281
-      - -1.4433225839630044
-      - 1.4130271697805445
-      - -1.5404275825987588
-      - -1.5707460380855682
-      - -0.20604539624391377
-    velocities:
-      - 0.13215605638572114
-      - 0.044434838619857767
-      - -0.019794363504024783
-      - 0.18476380202586207
-      - -0.16485342814361881
-      - 5.7008009462173179e-05
-      - 0.044348429944075035
-    accelerations:
-      - -0.37451464277400676
-      - -0.12592308039115185
-      - 0.056094886450090663
-      - -0.52359877561208545
-      - 0.46717512946270789
-      - -0.00016155396039261571
-      - -0.12567820841760649
+      - -0.39626741746593597
+      - -0.20644364119582842
+      - -1.4435472731994947
+      - 1.4135271811143022
+      - -1.5408252852315549
+      - -1.57072611550119
+      - -0.20655184708328128
+    velocities:
+      - 0.13147565204906941
+      - 0.043611885228466693
+      - -0.019648466199824782
+      - 0.18330753694063201
+      - -0.16363213092075132
+      - 9.5528176564893197e-05
+      - 0.043563018260292269
+    accelerations:
+      - -0.37554642640387464
+      - -0.12457278127948875
+      - 0.056123785283894383
+      - -0.52359877557603618
+      - 0.46739803951842002
+      - -0.00027286622861878533
+      - -0.12443319790430407
     effort: []
     time_from_start:
       sec: 1
       nanosec: 290000000
   - positions:
-      - -0.39563795738404234
-      - -0.20542132290674753
-      - -1.4435181001197068
-      - 1.4148521493239625
-      - -1.5420559001086049
-      - -1.5707454749966407
-      - -0.20560735060649332
-    velocities:
-      - 0.12841090995811108
-      - 0.043175607815989968
-      - -0.01923341463954336
-      - 0.17952781426992315
-      - -0.1601816768491541
-      - 5.5392469858303111e-05
-      - 0.043091647859942621
-    accelerations:
-      - -0.37451464274261509
-      - -0.12592308038059802
-      - 0.05609488644538814
-      - -0.52359877556818135
-      - 0.46717512942353751
-      - -0.00016155396037907194
-      - -0.12567820840707342
+      - -0.39496833677559351
+      - -0.20601272218469024
+      - -1.4437414151766383
+      - 1.4153384007425946
+      - -1.5424420966965355
+      - -1.5707251716092401
+      - -0.20612141091542063
+    velocities:
+      - 0.1277201877848623
+      - 0.042366157415615981
+      - -0.019087228346960715
+      - 0.17807154918463716
+      - -0.15895815052535772
+      - 9.2799514278583115e-05
+      - 0.042318686281193424
+    accelerations:
+      - -0.37554642641236785
+      - -0.124572781282299
+      - 0.056123785285157261
+      - -0.5235987755878323
+      - 0.46739803952896714
+      - -0.00027286622862493818
+      - -0.12443319790711432
     effort: []
     time_from_start:
       sec: 1
       nanosec: 300000000
   - positions:
-      - -0.39437005521953278
-      - -0.20499501608732096
-      - -1.4437080067877643
-      - 1.4166247689898208
-      - -1.5436375001055058
-      - -1.5707449280631096
-      - -0.20518187278991429
-    velocities:
-      - 0.12466576353043775
-      - 0.041916377012100894
-      - -0.018672465775052459
-      - 0.17429182651389577
-      - -0.15550992555461046
-      - 5.3776930254405748e-05
-      - 0.041834865775788974
-    accelerations:
-      - -0.37451464277432595
-      - -0.12592308039126288
-      - 0.056094886450139235
-      - -0.52359877561252954
-      - 0.46717512946309647
-      - -0.00016155396039275801
-      - -0.12567820841771751
+      - -0.39370681072789299
+      - -0.20559426045168053
+      - -1.4439299447752532
+      - 1.4170972604933272
+      - -1.5440121683575625
+      - -1.5707242550039133
+      - -0.20570341806735093
+    velocities:
+      - 0.12396472352065104
+      - 0.041120429602763887
+      - -0.018525990494096024
+      - 0.17283556142863651
+      - -0.15428417012995896
+      - 9.0070851992269998e-05
+      - 0.041074354302093205
+    accelerations:
+      - -0.37554642642489938
+      - -0.12457278128646242
+      - 0.056123785287032178
+      - -0.52359877560531309
+      - 0.46739803954457304
+      - -0.00027286622863405269
+      - -0.12443319791127085
     effort: []
     time_from_start:
       sec: 1
       nanosec: 310000000
   - positions:
-      - -0.39313960451929975
-      - -0.20458130157593327
-      - -1.4438923039671769
-      - 1.4183450287781194
-      - -1.5451723825894619
-      - -1.5707443972849744
-      - -0.2047689627941767
-    velocities:
-      - 0.12092061710282437
-      - 0.040657146208231978
-      - -0.018111516910570537
-      - 0.16905583875795221
-      - -0.15083817426014159
-      - 5.2161390650534244e-05
-      - 0.040578083691655442
-    accelerations:
-      - -0.37451464274627883
-      - -0.1259230803818262
-      - 0.056094886445936312
-      - -0.52359877557328838
-      - 0.46717512942808942
-      - -0.00016155396038065758
-      - -0.1256782084083016
+      - -0.39248283932283451
+      - -0.2051882559967993
+      - -1.4441128619953394
+      - 1.4188037603665
+      - -1.5455355002146351
+      - -1.5707233656852093
+      - -0.20529786853907223
+    velocities:
+      - 0.12020925925644559
+      - 0.039874701789913723
+      - -0.0179647526412322
+      - 0.16759957367264397
+      - -0.14961018973456741
+      - 8.7342189705961123e-05
+      - 0.039830022322994908
+    accelerations:
+      - -0.37554642643171338
+      - -0.1245727812887245
+      - 0.056123785288052196
+      - -0.5235987756148055
+      - 0.46739803955306625
+      - -0.00027286622863899936
+      - -0.12443319791353293
     effort: []
     time_from_start:
       sec: 1
       nanosec: 320000000
   - positions:
-      - -0.39194660528334302
-      - -0.20418017937258429
-      - -1.4440709916579446
-      - 1.4200129286888579
-      - -1.5466605475604729
-      - -1.5707438826622353
-      - -0.20436862061928052
-    velocities:
-      - 0.11717547067515434
-      - 0.039397915404344015
-      - -0.017550568046080128
-      - 0.16381985100192945
-      - -0.14616642296560206
-      - 5.0545851046638311e-05
-      - 0.039321301607502905
-    accelerations:
-      - -0.37451464277468677
-      - -0.12592308039138084
-      - 0.056094886450194746
-      - -0.52359877561302914
-      - 0.46717512946354056
-      - -0.00016155396039290709
-      - -0.12567820841783547
+      - -0.39129642256041797
+      - -0.20479470882004655
+      - -1.4442901668368973
+      - 1.4204579003621127
+      - -1.5470120922677544
+      - -1.5707225036531283
+      - -0.20490476233058441
+    velocities:
+      - 0.11645379499224016
+      - 0.038628973977063573
+      - -0.017403514788368383
+      - 0.16236358591665145
+      - -0.14493620933917592
+      - 8.4613527419652261e-05
+      - 0.038585690343896625
+    accelerations:
+      - -0.37554642643849961
+      - -0.1245727812909727
+      - 0.056123785289065274
+      - -0.52359877562427015
+      - 0.46739803956150394
+      - -0.00027286622864391893
+      - -0.12443319791578113
     effort: []
     time_from_start:
       sec: 1
       nanosec: 330000000
   - positions:
-      - -0.39079105751166282
-      - -0.20379164947727413
-      - -1.4442440698600678
-      - 1.4216284687220364
-      - -1.5481019950185388
-      - -1.5707433841948921
-      - -0.20398084626522578
-    velocities:
-      - 0.11343032424753763
-      - 0.038138684600473982
-      - -0.01698961918159771
-      - 0.15858386324598123
-      - -0.14149467167112903
-      - 4.893031144276537e-05
-      - 0.038064519523368257
-    accelerations:
-      - -0.37451464274995644
-      - -0.12592308038306826
-      - 0.056094886446487954
-      - -0.52359877557845091
-      - 0.46717512943269685
-      - -0.00016155396038224323
-      - -0.12567820840953672
+      - -0.39014756044064342
+      - -0.20441361892142226
+      - -1.4444618592999263
+      - 1.422059680480166
+      - -1.5484419445169197
+      - -1.57072166890767
+      - -0.20452409944188762
+    velocities:
+      - 0.11269833072808484
+      - 0.037383246164230041
+      - -0.016842276935512053
+      - 0.1571275981607288
+      - -0.14026222894384677
+      - 8.1884865133379788e-05
+      - 0.03734135836481494
+    accelerations:
+      - -0.37554642639525654
+      - -0.12457278127662992
+      - 0.056123785282603748
+      - -0.52359877556399026
+      - 0.46739803950767861
+      - -0.00027286622861252407
+      - -0.12443319790145219
     effort: []
     time_from_start:
       sec: 1
       nanosec: 340000000
   - positions:
-      - -0.38967296120425893
-      - -0.20341571189000276
-      - -1.4444115385735459
-      - 1.4231916488776555
-      - -1.5494967249636595
-      - -1.5707429018829451
-      - -0.20360563973201248
-    velocities:
-      - 0.10968517781987167
-      - 0.036879453796586546
-      - -0.016428670317104512
-      - 0.15334787548996251
-      - -0.13682292037659446
-      - 4.7314771836399476e-05
-      - 0.036807737439217142
-    accelerations:
-      - -0.37451464277492269
-      - -0.1259230803914641
-      - 0.056094886450219032
-      - -0.52359877561336221
-      - 0.46717512946384587
-      - -0.00016155396038457229
-      - -0.1256782084179118
+      - -0.38903625296351091
+      - -0.20404498630092649
+      - -1.4446279393844264
+      - 1.423609100720659
+      - -1.5498250569621312
+      - -1.5707208614488344
+      - -0.20415587987298175
+    velocities:
+      - 0.10894286646387916
+      - 0.036137518351380175
+      - -0.01628103908264858
+      - 0.15189161040473284
+      - -0.13558824854845289
+      - 7.9156202846600478e-05
+      - 0.036097026385716227
+    accelerations:
+      - -0.37554642640376362
+      - -0.12457278127944711
+      - 0.056123785283873566
+      - -0.52359877557584189
+      - 0.46739803951825348
+      - -0.00027286622861707772
+      - -0.12443319790426244
     effort: []
     time_from_start:
       sec: 1
       nanosec: 350000000
   - positions:
-      - -0.38859231636113145
-      - -0.20305236661077014
-      - -1.444573397798379
-      - 1.4247024691557144
-      - -1.5508447373958352
-      - -1.5707424357263942
-      - -0.2032430010196406
-    velocities:
-      - 0.10594003139225175
-      - 0.035620222992715465
-      - -0.01586772145262173
-      - 0.14811188773400988
-      - -0.13215116908211746
-      - 4.5699232232609551e-05
-      - 0.035550955355081418
-    accelerations:
-      - -0.37451464275324547
-      - -0.12592308038416461
-      - 0.056094886446966738
-      - -0.52359877558303058
-      - 0.46717512943677691
-      - -0.00016155396037521625
-      - -0.12567820841064001
+      - -0.38796250012902039
+      - -0.20368881095855917
+      - -1.4447884070903982
+      - 1.4251061610835924
+      - -1.5511614296033889
+      - -1.5707200812766215
+      - -0.20380010362386689
+    velocities:
+      - 0.105187402199672
+      - 0.034891790538529428
+      - -0.015719801229784489
+      - 0.14665562264873802
+      - -0.13091426815305929
+      - 7.6427540560306564e-05
+      - 0.034852694406617375
+    accelerations:
+      - -0.37554642641222907
+      - -0.1245727812822643
+      - 0.056123785285139914
+      - -0.52359877558763801
+      - 0.4673980395288006
+      - -0.00027286622862323056
+      - -0.12443319790707269
     effort: []
     time_from_start:
       sec: 1
       nanosec: 360000000
   - positions:
-      - -0.3875491229822805
-      - -0.20270161363957637
-      - -1.4447296475345675
-      - 1.4261609295562137
-      - -1.5521460323150662
-      - -1.5707419857252392
-      - -0.20289293012811019
-    velocities:
-      - 0.10219488496458846
-      - 0.034360992188829799
-      - -0.015306772588132447
-      - 0.14287589997799657
-      - -0.12747941778758631
-      - 4.4083692628800916e-05
-      - 0.034294173270931136
-    accelerations:
-      - -0.37451464277477003
-      - -0.12592308039140165
-      - 0.056094886450194746
-      - -0.52359877561314017
-      - 0.46717512946365158
-      - -0.00016155396038450452
-      - -0.12567820841786323
+      - -0.38692630193717181
+      - -0.20334509289432035
+      - -1.4449432624178413
+      - 1.4265508615689659
+      - -1.5524510624406926
+      - -1.5707193283910321
+      - -0.20345677069454296
+    velocities:
+      - 0.10143193793546482
+      - 0.033646062725678681
+      - -0.015158563376920394
+      - 0.14141963489274315
+      - -0.12624028775766566
+      - 7.3698878274012638e-05
+      - 0.033608362427518523
+    accelerations:
+      - -0.37554642642072228
+      - -0.12457278128507455
+      - 0.056123785286411466
+      - -0.5235987755995174
+      - 0.46739803953937548
+      - -0.00027286622862939696
+      - -0.12443319790988988
     effort: []
     time_from_start:
       sec: 1
       nanosec: 370000000
   - positions:
-      - -0.38654338106770586
-      - -0.20236345297642133
-      - -1.444880287782111
-      - 1.4275670300791532
-      - -1.5534006097213517
-      - -1.5707415518794803
-      - -0.20255542705742113
-    velocities:
-      - 0.098449738536965217
-      - 0.033101761384957594
-      - -0.014745823723649165
-      - 0.13763991222203928
-      - -0.12280766649310516
-      - 4.2468153025009555e-05
-      - 0.033037391186794295
-    accelerations:
-      - -0.37451464275642349
-      - -0.1259230803852332
-      - 0.056094886447443787
-      - -0.52359877558747148
-      - 0.46717512944074596
-      - -0.00016155396037659183
-      - -0.12567820841170166
+      - -0.38592765838796522
+      - -0.20301383210820997
+      - -1.4450925053667558
+      - 1.4279432021767797
+      - -1.5536939554740425
+      - -1.5707186027920652
+      - -0.20312588108501001
+    velocities:
+      - 0.097676473671265224
+      - 0.032400334912830446
+      - -0.014597325524057434
+      - 0.13618364713675887
+      - -0.12156630736228149
+      - 7.0970215987724213e-05
+      - 0.032364030448422183
+    accelerations:
+      - -0.37554642642154096
+      - -0.12457278128535219
+      - 0.056123785286534313
+      - -0.52359877560065016
+      - 0.46739803954039583
+      - -0.00027286622863000048
+      - -0.12443319791016062
     effort: []
     time_from_start:
       sec: 1
       nanosec: 380000000
   - positions:
-      - -0.38557509061740769
-      - -0.20203788462130509
-      - -1.4450253185410098
-      - 1.4289207707245326
-      - -1.5546084696146925
-      - -1.5707411341891173
-      - -0.20223049180757358
-    velocities:
-      - 0.09470459210930525
-      - 0.031842530581073045
-      - -0.014184874859160382
-      - 0.13240392446603064
-      - -0.11813591519857819
-      - 4.0852613421202357e-05
-      - 0.03178060910264513
-    accelerations:
-      - -0.37451464277463126
-      - -0.12592308039135308
-      - 0.05609488645017046
-      - -0.52359877561294588
-      - 0.46717512946345729
-      - -0.00016155396038443676
-      - -0.12567820841781466
+      - -0.38496656948140062
+      - -0.20269502860022809
+      - -1.4452361359371417
+      - 1.4292831829070338
+      - -1.5548901087034388
+      - -1.5707179044797213
+      - -0.20280743479526797
+    velocities:
+      - 0.093921009407059719
+      - 0.031154607099980258
+      - -0.014036087671193593
+      - 0.13094765938076636
+      - -0.11689232696688996
+      - 6.8241553701431506e-05
+      - 0.031119698469323883
+    accelerations:
+      - -0.37554642642835495
+      - -0.1245727812876108
+      - 0.056123785287550861
+      - -0.52359877561014256
+      - 0.46739803954887515
+      - -0.00027286622863494716
+      - -0.12443319791241923
     effort: []
     time_from_start:
       sec: 1
       nanosec: 390000000
   - positions:
-      - -0.38464425163138588
-      - -0.20172490857422765
-      - -1.4451647398112635
-      - 1.4302221514923525
-      - -1.5557696119950881
-      - -1.5707407326541505
-      - -0.20191812437856738
-    velocities:
-      - 0.090959445681678699
-      - 0.030583299777199729
-      - -0.013623925994676604
-      - 0.12716793671006874
-      - -0.1134641639040929
-      - 3.9237073817409566e-05
-      - 0.030523827018507178
-    accelerations:
-      - -0.37451464275957375
-      - -0.12592308038629485
-      - 0.056094886447917366
-      - -0.52359877559188461
-      - 0.46717512944468725
-      - -0.00016155396037795386
-      - -0.12567820841276331
+      - -0.38404303521747796
+      - -0.20238868237037469
+      - -1.4453741541289991
+      - 1.4305708037597276
+      - -1.5560395221288812
+      - -1.5707172334540003
+      - -0.20250143182531694
+    velocities:
+      - 0.0901655451428542
+      - 0.029908879287130059
+      - -0.013474849818329748
+      - 0.12571167162477384
+      - -0.11221834657149843
+      - 6.5512891415138785e-05
+      - 0.029875366490225583
+    accelerations:
+      - -0.3755464264351967
+      - -0.12457278128987635
+      - 0.056123785288570878
+      - -0.52359877561966273
+      - 0.46739803955736836
+      - -0.00027286622863990738
+      - -0.12443319791467784
     effort: []
     time_from_start:
       sec: 1
       nanosec: 400000000
   - positions:
-      - -0.38375086410964054
-      - -0.20142452483518894
-      - -1.4452985515928725
-      - 1.4314711723826123
-      - -1.556884036862539
-      - -1.5707403472745798
-      - -0.20161832477040267
-    velocities:
-      - 0.087214299254022049
-      - 0.02932406897331629
-      - -0.013062977130188317
-      - 0.12193194895406471
-      - -0.10879241260957005
-      - 3.7621534213603798e-05
-      - 0.029267044934359127
-    accelerations:
-      - -0.37451464277446472
-      - -0.12592308039130451
-      - 0.056094886450147909
-      - -0.52359877561270995
-      - 0.46717512946327688
-      - -0.00016155396038437577
-      - -0.12567820841775915
+      - -0.38315705559619739
+      - -0.20209479341864978
+      - -1.4455065599423276
+      - 1.4318060647348618
+      - -1.5571421957503695
+      - -1.5707165897149018
+      - -0.20220787217515684
+    velocities:
+      - 0.086410080878687179
+      - 0.028663151474292627
+      - -0.012913611965471654
+      - 0.12047568386883496
+      - -0.10754436617615477
+      - 6.2784229128874037e-05
+      - 0.028631034511140029
+    accelerations:
+      - -0.37554642640361097
+      - -0.12457278127940201
+      - 0.056123785283852749
+      - -0.52359877557563372
+      - 0.46739803951807307
+      - -0.00027286622861695574
+      - -0.12443319790421734
     effort: []
     time_from_start:
       sec: 1
       nanosec: 410000000
   - positions:
-      - -0.38289492805217157
-      - -0.20113673340418906
-      - -1.4454267538858363
-      - 1.4326678333953125
-      - -1.5579517442170445
-      - -1.5707399780504048
-      - -0.20133109298307936
-    velocities:
-      - 0.083469152826392168
-      - 0.028064838169441855
-      - -0.012502028265704039
-      - 0.11669596119809814
-      - -0.1041206613150806
-      - 3.600599460980957e-05
-      - 0.028010262850220055
-    accelerations:
-      - -0.37451464276275176
-      - -0.12592308038736691
-      - 0.056094886448392681
-      - -0.52359877559633938
-      - 0.46717512944867018
-      - -0.00016155396037932266
-      - -0.1256782084138319
+      - -0.38230863061755876
+      - -0.20181336174505332
+      - -1.4456333533771275
+      - 1.4329889658324362
+      - -1.5581981295679042
+      - -1.5707159732624265
+      - -0.20192675584478773
+    velocities:
+      - 0.082654616614479995
+      - 0.02741742366144188
+      - -0.012352374112607561
+      - 0.1152396961128401
+      - -0.10287038578076116
+      - 6.0055566842580104e-05
+      - 0.027386702532041174
+    accelerations:
+      - -0.37554642641210417
+      - -0.12457278128221573
+      - 0.056123785285120832
+      - -0.52359877558747148
+      - 0.46739803952864795
+      - -0.00027286622862312892
+      - -0.12443319790703453
     effort: []
     time_from_start:
       sec: 1
       nanosec: 420000000
   - positions:
-      - -0.38207644345897912
-      - -0.20086153428122797
-      - -1.4455493466901557
-      - 1.4338121345304526
-      - -1.5589727340586048
-      - -1.5707396249816261
-      - -0.20105642901659751
-    velocities:
-      - 0.079724006398738834
-      - 0.026805607365559533
-      - -0.011941079401216248
-      - 0.11145997344209876
-      - -0.099448910020561915
-      - 3.4390455006005232e-05
-      - 0.026753480766073118
-    accelerations:
-      - -0.37451464277432595
-      - -0.12592308039125941
-      - 0.056094886450127092
-      - -0.52359877561251567
-      - 0.46717512946308259
-      - -0.00016155396038431479
-      - -0.12567820841771057
+      - -0.38149776028156213
+      - -0.20154438734958538
+      - -1.4457545344333989
+      - 1.4341195070524508
+      - -1.5592073235814849
+      - -1.5707153840965737
+      - -0.20165808283420955
+    velocities:
+      - 0.078899152350272839
+      - 0.026171695848591137
+      - -0.01179113625974347
+      - 0.11000370835684528
+      - -0.098196405385367572
+      - 5.732690455628619e-05
+      - 0.026142370552942329
+    accelerations:
+      - -0.37554642642056962
+      - -0.12457278128502598
+      - 0.056123785286388915
+      - -0.52359877559928147
+      - 0.46739803953918119
+      - -0.00027286622862928854
+      - -0.12443319790983784
     effort: []
     time_from_start:
       sec: 1
       nanosec: 430000000
   - positions:
-      - -0.38129541033006298
-      - -0.20059892746630564
-      - -1.4456663300058299
-      - 1.4349040757880329
-      - -1.5599470063872205
-      - -1.5707392880682434
-      - -0.20079433287095708
-    velocities:
-      - 0.075978859971105622
-      - 0.02554637656168398
-      - -0.011380130536731474
-      - 0.10622398568612755
-      - -0.094777158726068317
-      - 3.2774915402209575e-05
-      - 0.025496698681932932
-    accelerations:
-      - -0.37451464276594365
-      - -0.1259230803884355
-      - 0.05609488644886973
-      - -0.52359877560078028
-      - 0.46717512945262535
-      - -0.00016155396038069147
-      - -0.12567820841489702
+      - -0.38072444458820742
+      - -0.2012878702322459
+      - -1.4458701031111418
+      - 1.4351976883949058
+      - -1.5601697777911119
+      - -1.5707148222173442
+      - -0.20140185314342235
+    velocities:
+      - 0.075143688086083224
+      - 0.024925968035746218
+      - -0.011229898406882004
+      - 0.10476772060087493
+      - -0.093522424989995828
+      - 5.4598242270005023e-05
+      - 0.024898038573849299
+    accelerations:
+      - -0.37554642641141017
+      - -0.12457278128198683
+      - 0.056123785285018164
+      - -0.52359877558650869
+      - 0.46739803952776704
+      - -0.00027286622862263468
+      - -0.12443319790679873
     effort: []
     time_from_start:
       sec: 1
       nanosec: 440000000
   - positions:
-      - -0.38055182866542331
-      - -0.20034891295942212
-      - -1.4457777038328596
-      - 1.4359436571680535
-      - -1.5608745612028909
-      - -1.5707389673102568
-      - -0.20054480454615806
-    velocities:
-      - 0.072233713543454231
-      - 0.024287145757803288
-      - -0.010819181672247239
-      - 0.10098799793013313
-      - -0.090105407431553861
-      - 3.1159375800336153e-05
-      - 0.024239916597786872
-    accelerations:
-      - -0.37451464277431207
-      - -0.12592308039125941
-      - 0.056094886450142704
-      - -0.52359877561251567
-      - 0.46717512946308259
-      - -0.00016155396039431655
-      - -0.12567820841771057
+      - -0.37998868353749476
+      - -0.20104381039303487
+      - -1.4459800594103558
+      - 1.4362235098598006
+      - -1.5610854921967849
+      - -1.5707142876247373
+      - -0.20115806677242609
+    velocities:
+      - 0.071388223821877386
+      - 0.023680240222895541
+      - -0.010668660554015753
+      - 0.099531732844881912
+      - -0.088848444594605475
+      - 5.1869579982989248e-05
+      - 0.023653706594751179
+    accelerations:
+      - -0.37554642641822417
+      - -0.12457278128424544
+      - 0.056123785286022569
+      - -0.5235987755960011
+      - 0.46739803953626025
+      - -0.0002728662286237731
+      - -0.12443319790906081
     effort: []
     time_from_start:
       sec: 1
       nanosec: 450000000
   - positions:
-      - -0.37984569846506006
-      - -0.20011149076057733
-      - -1.445883468171244
-      - 1.4369308786705144
-      - -1.5617553985056163
-      - -1.570738662707666
-      - -0.20030784404220048
-    velocities:
-      - 0.068488567115817633
-      - 0.023027914953926545
-      - -0.010258232807761787
-      - 0.095752010174157048
-      - -0.085433656137055933
-      - 2.9543836196438963e-05
-      - 0.022983134513645538
-    accelerations:
-      - -0.37451464276951024
-      - -0.12592308038964287
-      - 0.056094886449423106
-      - -0.52359877560580403
-      - 0.46717512945710787
-      - -0.00016155396039224838
-      - -0.12567820841609745
+      - -0.3792904771294241
+      - -0.20081220783195239
+      - -1.4460844033310412
+      - 1.4371969714471355
+      - -1.5619544667985046
+      - -1.5707137803187534
+      - -0.20092672372122081
+    velocities:
+      - 0.067632759557671895
+      - 0.022434512410045373
+      - -0.010107422701152035
+      - 0.09429574508888941
+      - -0.084174464199213872
+      - 4.914091769673457e-05
+      - 0.022409374615652868
+    accelerations:
+      - -0.37554642642503816
+      - -0.12457278128650752
+      - 0.056123785287044321
+      - -0.52359877560552126
+      - 0.46739803954475345
+      - -0.00027286622862873332
+      - -0.12443319791131942
     effort: []
     time_from_start:
       sec: 1
       nanosec: 460000000
   - positions:
-      - -0.37917701972897322
-      - -0.19988666086977136
-      - -1.4459836230209839
-      - 1.4378657402954154
-      - -1.5625895182953966
-      - -1.5707383742604715
-      - -0.20008345135908434
-    velocities:
-      - 0.064743420688170919
-      - 0.021768684150046399
-      - -0.0096972839432748204
-      - 0.090516022418166822
-      - -0.080761904842545404
-      - 2.792829659253741e-05
-      - 0.021726352429500807
-    accelerations:
-      - -0.37451464277465901
-      - -0.12592308039137737
-      - 0.056094886450193011
-      - -0.52359877561300139
-      - 0.46717512946352668
-      - -0.00016155396039446563
-      - -0.12567820841782854
+      - -0.37862982536399536
+      - -0.20059306254899834
+      - -1.4461831348731979
+      - 1.4381180731569108
+      - -1.5627767015962699
+      - -1.5707133002993925
+      - -0.20070782398980647
+    velocities:
+      - 0.063877295293466432
+      - 0.021188784597195209
+      - -0.0095461848482883225
+      - 0.089059757332896949
+      - -0.079500483803822297
+      - 4.6412255410479911e-05
+      - 0.021165042636554568
+    accelerations:
+      - -0.37554642643183828
+      - -0.12457278128876266
+      - 0.056123785288059135
+      - -0.52359877561498591
+      - 0.4673980395532189
+      - -0.00027286622863366644
+      - -0.12443319791357109
     effort: []
     time_from_start:
       sec: 1
       nanosec: 470000000
   - positions:
-      - -0.3785457924571628
-      - -0.19967442328700419
-      - -1.4460781683820789
-      - 1.4387482420427566
-      - -1.5633769205722321
-      - -1.570738101968673
-      - -0.19987162649680962
-    velocities:
-      - 0.060998274260530963
-      - 0.020509453346168525
-      - -0.009136335078788865
-      - 0.085280034662186047
-      - -0.076090153548043299
-      - 2.631275698863877e-05
-      - 0.020469570345358346
-    accelerations:
-      - -0.37451464277322255
-      - -0.12592308039089187
-      - 0.056094886449976483
-      - -0.52359877561098045
-      - 0.4671751294617153
-      - -0.00016155396039384419
-      - -0.12567820841734298
+      - -0.37800672824120862
+      - -0.20038637454417277
+      - -1.4462762540368261
+      - 1.4389868149891261
+      - -1.5635521965900816
+      - -1.5707128475666541
+      - -0.2005013675781831
+    velocities:
+      - 0.060121831029287733
+      - 0.01994305678435393
+      - -0.0089849469954286099
+      - 0.083823769576941806
+      - -0.074826503408464043
+      - 4.3683593124244701e-05
+      - 0.019920710657465136
+    accelerations:
+      - -0.37554642641195152
+      - -0.12457278128216369
+      - 0.056123785285086138
+      - -0.52359877558726331
+      - 0.46739803952846753
+      - -0.00027286622861921901
+      - -0.12443319790697902
     effort: []
     time_from_start:
       sec: 1
       nanosec: 480000000
   - positions:
-      - -0.37795201664962874
-      - -0.19947477801227576
-      - -1.446167104254529
-      - 1.4395783839125378
-      - -1.5641176053361223
-      - -1.5707378458322705
-      - -0.19967236945537636
-    velocities:
-      - 0.057253127832887572
-      - 0.019250222542289499
-      - -0.0085753862143023944
-      - 0.080044046906200469
-      - -0.071418402253536906
-      - 2.4697217384738649e-05
-      - 0.019212788261214732
-    accelerations:
-      - -0.37451464277504759
-      - -0.12592308039150227
-      - 0.056094886450250257
-      - -0.52359877561351487
-      - 0.46717512946399853
-      - -0.00016155396039463165
-      - -0.12567820841795344
+      - -0.37742118576106393
+      - -0.20019214381747569
+      - -1.4463637608219257
+      - 1.4398031969437817
+      - -1.5642809517799394
+      - -1.5707124221205389
+      - -0.2003073544863507
+    velocities:
+      - 0.056366366765080562
+      - 0.018697328971503203
+      - -0.0084237091425646421
+      - 0.078587781820946973
+      - -0.070152523013070373
+      - 4.0954930837988802e-05
+      - 0.01867637867836627
+    accelerations:
+      - -0.37554642642044472
+      - -0.12457278128498088
+      - 0.056123785286355955
+      - -0.52359877559910106
+      - 0.46739803953902853
+      - -0.00027286622862539219
+      - -0.12443319790979621
     effort: []
     time_from_start:
       sec: 1
       nanosec: 490000000
   - positions:
-      - -0.37739569230637116
-      - -0.19928772504558614
-      - -1.4462504306383344
-      - 1.4403561659047592
-      - -1.5648115725870675
-      - -1.5707376058512641
-      - -0.19948568023478447
-    velocities:
-      - 0.053507981405268232
-      - 0.017990991738418557
-      - -0.0080144373498195268
-      - 0.074808059150248504
-      - -0.066746650959060516
-      - 2.3081677780848903e-05
-      - 0.017956006177079188
-    accelerations:
-      - -0.3745146427530025
-      - -0.12592308038409195
-      - 0.056094886446949703
-      - -0.52359877558271672
-      - 0.46717512943650596
-      - -0.00016155396038512176
-      - -0.12567820841055688
+      - -0.37687319792356122
+      - -0.20001037036890709
+      - -1.4464456552284966
+      - 1.4405672190208776
+      - -1.5649629671658436
+      - -1.5707120239610464
+      - -0.20012578471430925
+    velocities:
+      - 0.05261090250087342
+      - 0.017451601158652484
+      - -0.0078624712897006777
+      - 0.073351794064952167
+      - -0.065478542617676702
+      - 3.8226268551732924e-05
+      - 0.017432046699267411
+    accelerations:
+      - -0.37554642642891711
+      - -0.1245727812877946
+      - 0.056123785287622303
+      - -0.52359877561092494
+      - 0.46739803954958953
+      - -0.00027286622863155181
+      - -0.12443319791260646
     effort: []
     time_from_start:
       sec: 1
       nanosec: 500000000
   - positions:
-      - -0.37687681942738993
-      - -0.1991132643869353
-      - -1.4463281475334946
-      - 1.4410815880194208
-      - -1.5654588223250676
-      - -1.5707373820256534
-      - -0.19931155883503407
-    velocities:
-      - 0.049762834977604385
-      - 0.016731760934532651
-      - -0.0074534884853299926
-      - 0.069572071394234325
-      - -0.062074899664528609
-      - 2.1466138176939956e-05
-      - 0.016699224092928708
-    accelerations:
-      - -0.3745146427751378
-      - -0.12592308039153349
-      - 0.056094886450265002
-      - -0.52359877561365364
-      - 0.46717512946410261
-      - -0.00016155396039467231
-      - -0.12567820841798466
+      - -0.37636276472870045
+      - -0.19984105419846698
+      - -1.446521937256539
+      - 1.4412788812204134
+      - -1.5655982427477937
+      - -1.5707116530881766
+      - -0.19995665826205877
+    velocities:
+      - 0.048855438236673737
+      - 0.016205873345804242
+      - -0.0073012334368378288
+      - 0.068115806308967769
+      - -0.060804562222292337
+      - 3.5497606265482467e-05
+      - 0.016187714720171026
+    accelerations:
+      - -0.37554642642976344
+      - -0.12457278128807234
+      - 0.056123785287749167
+      - -0.52359877561209411
+      - 0.46739803955063097
+      - -0.00027286622863216249
+      - -0.12443319791288426
     effort: []
     time_from_start:
       sec: 1
       nanosec: 510000000
   - positions:
-      - -0.37639539801268518
-      - -0.19895139603632325
-      - -1.4464002549400101
-      - 1.4417546502565228
-      - -1.5660593545501229
-      - -1.5707371743554392
-      - -0.19915000525612508
-    velocities:
-      - 0.046017688549967718
-      - 0.015472530130655882
-      - -0.0068925396208445299
-      - 0.064336083638258143
-      - -0.057403148370030604
-      - 1.9850598573042736e-05
-      - 0.015442442008787352
-    accelerations:
-      - -0.3745146427701766
-      - -0.12592308038986622
-      - 0.056094886449521361
-      - -0.52359877560672341
-      - 0.46717512945792039
-      - -0.00016155396039252903
-      - -0.12567820841631919
+      - -0.37588988617648167
+      - -0.19968419530615533
+      - -1.4465926069060526
+      - 1.4419381835423895
+      - -1.5661867785257899
+      - -1.5707113095019298
+      - -0.19979997512959924
+    velocities:
+      - 0.045099973972490028
+      - 0.014960145532961298
+      - -0.0067399955839773668
+      - 0.062879818553005631
+      - -0.056130581826927851
+      - 3.2768943979243618e-05
+      - 0.014943382741079932
+    accelerations:
+      - -0.37554642641488656
+      - -0.12457278128313869
+      - 0.056123785285525571
+      - -0.52359877559136592
+      - 0.46739803953211079
+      - -0.00027286622862135397
+      - -0.12443319790795579
     effort: []
     time_from_start:
       sec: 1
       nanosec: 520000000
   - positions:
-      - -0.37595142806225679
-      - -0.19880211999374997
-      - -1.4464667528578805
-      - 1.4423753526160648
-      - -1.5666131692622332
-      - -1.5707369828406208
-      - -0.19900101949805749
-    velocities:
-      - 0.042272542122340044
-      - 0.01421329932678214
-      - -0.0063315907563604142
-      - 0.059100095882294534
-      - -0.05273139707554382
-      - 1.8235058969149395e-05
-      - 0.014185659924649012
-    accelerations:
-      - -0.37451464275646512
-      - -0.12592308038525574
-      - 0.056094886447468073
-      - -0.52359877558755474
-      - 0.46717512944081535
-      - -0.00016155396038661731
-      - -0.12567820841171901
+      - -0.37545456226690488
+      - -0.19953979369197217
+      - -1.4466576641770377
+      - 1.4425451259868058
+      - -1.5667285744998325
+      - -1.570710993202306
+      - -0.19965573531693068
+    velocities:
+      - 0.041344509708284544
+      - 0.01371441772011113
+      - -0.0061787577311136514
+      - 0.05764383079701315
+      - -0.051456601431536263
+      - 3.0040281692988943e-05
+      - 0.013699050761981624
+    accelerations:
+      - -0.37554642642170055
+      - -0.12457278128539903
+      - 0.056123785286543854
+      - -0.52359877560085144
+      - 0.46739803954059012
+      - -0.000272866228626304
+      - -0.12443319791021266
     effort: []
     time_from_start:
       sec: 1
       nanosec: 530000000
   - positions:
-      - -0.37554490957610487
-      - -0.19866543625921548
-      - -1.4465276412871064
-      - 1.4429436950980468
-      - -1.5671202664613981
-      - -1.5707368074811985
-      - -0.19886460156083136
-    velocities:
-      - 0.038527395694687841
-      - 0.012954068522900148
-      - -0.0057706418918726243
-      - 0.053864108126296634
-      - -0.048059645781026436
-      - 1.6619519365245473e-05
-      - 0.01292887784050244
-    accelerations:
-      - -0.37451464276695695
-      - -0.12592308038878375
-      - 0.056094886449039108
-      - -0.52359877560222012
-      - 0.46717512945390277
-      - -0.0001615539603911399
-      - -0.12567820841523844
+      - -0.37505679299997008
+      - -0.19940784935591746
+      - -1.4467171090694941
+      - 1.4430997085536623
+      - -1.5672236306699212
+      - -1.5707107041893049
+      - -0.19952393882405306
+    velocities:
+      - 0.037589045444095838
+      - 0.012468689907266531
+      - -0.0056175198782524435
+      - 0.05240784304104406
+      - -0.04678262103616556
+      - 2.7311619406746465e-05
+      - 0.012454718782888877
+    accelerations:
+      - -0.37554642641181968
+      - -0.12457278128211859
+      - 0.056123785285066188
+      - -0.52359877558706902
+      - 0.46739803952828712
+      - -0.00027286622861912079
+      - -0.12443319790693738
     effort: []
     time_from_start:
       sec: 1
       nanosec: 540000000
   - positions:
-      - -0.37517584255422931
-      - -0.19854134483271976
-      - -1.4465829202276874
-      - 1.4434596777024691
-      - -1.5675806461476183
-      - -1.5707366482771721
-      - -0.19874075144444664
-    velocities:
-      - 0.0347822492670537
-      - 0.01169483771902367
-      - -0.0052096930273821994
-      - 0.04862812037032388
-      - -0.04338789448653179
-      - 1.5003979761725377e-05
-      - 0.011672095756361888
-    accelerations:
-      - -0.37451464275989987
-      - -0.12592308038640412
-      - 0.056094886447924305
-      - -0.52359877559234258
-      - 0.46717512944509665
-      - -0.00016155396039214506
-      - -0.12567820841286911
+      - -0.37469657837567732
+      - -0.19928836229799127
+      - -1.446770941583422
+      - 1.4436019312429591
+      - -1.5676719470360563
+      - -1.570710442462927
+      - -0.19940458565096647
+    velocities:
+      - 0.033833581179888259
+      - 0.011222962094415695
+      - -0.0050562820253911948
+      - 0.04717185528504967
+      - -0.042108640640771425
+      - 2.458295712009757e-05
+      - 0.011210386803789463
+    accelerations:
+      - -0.37554642642039615
+      - -0.12457278128496527
+      - 0.056123785286380241
+      - -0.52359877559904555
+      - 0.46739803953897302
+      - -0.00027286622862099781
+      - -0.12443319790977539
     effort: []
     time_from_start:
       sec: 1
       nanosec: 550000000
   - positions:
-      - -0.37484422699663023
-      - -0.19842984571426286
-      - -1.4466325896796235
-      - 1.4439233004293315
-      - -1.5679943083208934
-      - -1.5707365052285418
-      - -0.19862946914890339
-    velocities:
-      - 0.031037102839408134
-      - 0.010435606915143971
-      - -0.0046487441628959786
-      - 0.043392132614335263
-      - -0.038716143192022656
-      - 1.3388440157783827e-05
-      - 0.010415313672217548
-    accelerations:
-      - -0.37451464276373381
-      - -0.12592308038769262
-      - 0.056094886448498742
-      - -0.52359877559770984
-      - 0.46717512944988515
-      - -0.00016155396039379958
-      - -0.12567820841415597
+      - -0.37437391839402651
+      - -0.19918133251819353
+      - -1.4468191617188211
+      - 1.4440517940546957
+      - -1.5680735235982373
+      - -1.5707102080231714
+      - -0.19929767579767077
+    velocities:
+      - 0.030078116915694536
+      - 0.0099772342815694255
+      - -0.0044950441725289279
+      - 0.041935867529073467
+      - -0.037434660245394463
+      - 2.1854294833895031e-05
+      - 0.0099660548246950972
+    accelerations:
+      - -0.37554642641563618
+      - -0.12457278128338831
+      - 0.056123785285668457
+      - -0.5235987755924103
+      - 0.46739803953305387
+      - -0.00027286622861754154
+      - -0.12443319790820012
     effort: []
     time_from_start:
       sec: 1
       nanosec: 560000000
   - positions:
-      - -0.3745500629033075
-      - -0.19833093890384473
-      - -1.4466766496429142
-      - 1.444334563278634
-      - -1.5683612529812232
-      - -1.5707363783353077
-      - -0.1985307546742015
-    velocities:
-      - 0.027291956411767127
-      - 0.0091763761112658038
-      - -0.0040877952984104413
-      - 0.038156144858353024
-      - -0.034044391897519219
-      - 1.1772900553844245e-05
-      - 0.0091585315880747375
-    accelerations:
-      - -0.3745146427633485
-      - -0.12592308038756467
-      - 0.056094886448440386
-      - -0.52359877559717205
-      - 0.4671751294494057
-      - -0.00016155396039363413
-      - -0.12567820841402791
+      - -0.37408881305501762
+      - -0.19908676001652426
+      - -1.4468617694756918
+      - 1.4444492969888725
+      - -1.5684283603564642
+      - -1.5707100008700388
+      - -0.19920320926416601
+    velocities:
+      - 0.026322652651497479
+      - 0.0087315064687220507
+      - -0.0039338063196661631
+      - 0.036699879773092615
+      - -0.032760679850013359
+      - 1.912563254769007e-05
+      - 0.008721722845599628
+    accelerations:
+      - -0.375546426414193
+      - -0.12457278128290943
+      - 0.056123785285452803
+      - -0.52359877559039636
+      - 0.46739803953124948
+      - -0.00027286622861649078
+      - -0.12443319790772121
     effort: []
     time_from_start:
       sec: 1
       nanosec: 570000000
   - positions:
-      - -0.37429335027426125
-      - -0.1982446244014654
-      - -1.4467151001175607
-      - 1.444693466250377
-      - -1.5686814801286082
-      - -1.5707362675974694
-      - -0.19844460802034111
-    velocities:
-      - 0.02354680998412818
-      - 0.0079171453073883305
-      - -0.0035268464339252119
-      - 0.032920157102373671
-      - -0.029372640603018349
-      - 1.0157360949905552e-05
-      - 0.0079017495039326192
-    accelerations:
-      - -0.37451464276059399
-      - -0.12592308038663791
-      - 0.056094886448028201
-      - -0.52359877559331747
-      - 0.46717512944597162
-      - -0.00016155396039244601
-      - -0.12567820841310473
+      - -0.37384126235865078
+      - -0.19900464479298352
+      - -1.4468987648540339
+      - 1.4447944400454897
+      - -1.5687364573107376
+      - -1.5707098210035293
+      - -0.19912118605045229
+    velocities:
+      - 0.022567188387297602
+      - 0.007485778655873741
+      - -0.0033725684668029763
+      - 0.031463892017107829
+      - -0.028086699454628741
+      - 1.6396970261483062e-05
+      - 0.0074773908665032238
+    accelerations:
+      - -0.37554642641513969
+      - -0.12457278128322292
+      - 0.056123785285593773
+      - -0.52359877559172152
+      - 0.46739803953242681
+      - -0.00027286622861717681
+      - -0.12443319790803398
     effort: []
     time_from_start:
       sec: 1
       nanosec: 580000000
   - positions:
-      - -0.37407408910949141
-      - -0.19817090220712483
-      - -1.446747941103562
-      - 1.4450000093445601
-      - -1.5689549897630481
-      - -1.5707361730150273
-      - -0.19837102918732213
-    velocities:
-      - 0.019801663556480498
-      - 0.0066579145035079194
-      - -0.0029658975694386741
-      - 0.027684169346382098
-      - -0.024700889308506582
-      - 8.5418213459630899e-06
-      - 0.0066449674197875683
-    accelerations:
-      - -0.37451464276690816
-      - -0.12592308038876074
-      - 0.05609488644897425
-      - -0.52359877560215073
-      - 0.46717512945384659
-      - -0.00016155396039516895
-      - -0.12567820841522315
+      - -0.37363126630492594
+      - -0.19893498684757122
+      - -1.446930147853847
+      - 1.4450872232245469
+      - -1.5689978144610572
+      - -1.5707096684236426
+      - -0.19905160615652948
+    velocities:
+      - 0.018811724123093797
+      - 0.0062400508430241284
+      - -0.0028113306139392023
+      - 0.026227904261117572
+      - -0.023412719059239234
+      - 1.3668307975273199e-05
+      - 0.0062330588874055185
+    accelerations:
+      - -0.37554642642034736
+      - -0.12457278128494984
+      - 0.056123785286372664
+      - -0.5235987755989796
+      - 0.46739803953890774
+      - -0.00027286622862096133
+      - -0.12443319790975915
     effort: []
     time_from_start:
       sec: 1
       nanosec: 590000000
   - positions:
-      - -0.37389227940899794
-      - -0.19810977232082305
-      - -1.4467751726009186
-      - 1.445254192561183
-      - -1.569181781884543
-      - -1.5707360945879811
-      - -0.1983100181751446
-    velocities:
-      - 0.016056517128840989
-      - 0.005398683699630257
-      - -0.0024049487049533605
-      - 0.022448181590401958
-      - -0.020029138014005011
-      - 6.926281742024155e-06
-      - 0.0053881853356452618
-    accelerations:
-      - -0.37451464276463253
-      - -0.12592308038799599
-      - 0.056094886448633308
-      - -0.52359877559896739
-      - 0.46717512945100964
-      - -0.00016155396039418721
-      - -0.1256782084144594
+      - -0.37345882489384308
+      - -0.1988777861802874
+      - -1.4469559184751317
+      - 1.4453276465260445
+      - -1.569212431807423
+      - -1.5707095431303788
+      - -0.19899446958239764
+    velocities:
+      - 0.015056259858896763
+      - 0.0049943230301767606
+      - -0.0022500927610764406
+      - 0.020991916505136751
+      - -0.018738738663858154
+      - 1.0939645689068254e-05
+      - 0.0049887269083100563
+    accelerations:
+      - -0.37554642641886599
+      - -0.12457278128445969
+      - 0.056123785286151369
+      - -0.52359877559691359
+      - 0.4673980395370686
+      - -0.00027286622861988688
+      - -0.12443319790926897
     effort: []
     time_from_start:
       sec: 1
       nanosec: 600000000
   - positions:
-      - -0.37374792117278088
-      - -0.19806123474256004
-      - -1.4467967946096303
-      - 1.4454560159002465
-      - -1.5693618564930927
-      - -1.5707360323163311
-      - -0.19826157498380845
-    velocities:
-      - 0.012311370701199429
-      - 0.0041394528957519041
-      - -0.0018439998404677395
-      - 0.017212193834418944
-      - -0.01535738671950088
-      - 5.3107421380843331e-06
-      - 0.0041314032515022657
-    accelerations:
-      - -0.37451464276498425
-      - -0.12592308038811389
-      - 0.056094886448686161
-      - -0.52359877559945678
-      - 0.4671751294514454
-      - -0.00016155396039433916
-      - -0.12567820841457711
+      - -0.37332393812540215
+      - -0.19883304279113209
+      - -1.4469760767178876
+      - 1.445515709949982
+      - -1.5693803093498349
+      - -1.5707094451237378
+      - -0.19894977632805677
+    velocities:
+      - 0.011300795594696374
+      - 0.0037485952173282812
+      - -0.0016888549082131777
+      - 0.015755928749151254
+      - -0.0140647582684729
+      - 8.2109834028608739e-06
+      - 0.0037443949292134829
+    accelerations:
+      - -0.37554642642075525
+      - -0.12457278128508539
+      - 0.05612378528643315
+      - -0.5235987755995487
+      - 0.46739803953941539
+      - -0.00027286622862125699
+      - -0.12443319790989464
     effort: []
     time_from_start:
       sec: 1
       nanosec: 610000000
   - positions:
-      - -0.3736410144008403
-      - -0.19802528947233583
-      - -1.4468128071296973
-      - 1.4456054793617499
-      - -1.5694952135886975
-      - -1.5707359862000769
-      - -0.19822569961331374
-    velocities:
-      - 0.0085662242735604788
-      - 0.0028802220918744291
-      - -0.0012830509759825096
-      - 0.011976206078439583
-      - -0.010685635425000006
-      - 3.6952025341456383e-06
-      - 0.0028746211673601452
-    accelerations:
-      - -0.37451464276196811
-      - -0.12592308038709979
-      - 0.056094886448234439
-      - -0.52359877559524115
-      - 0.4671751294476828
-      - -0.00016155396039303793
-      - -0.12567820841356545
+      - -0.37322660599960328
+      - -0.19880075668010522
+      - -1.4469906225821152
+      - 1.4456514134963598
+      - -1.5695014470882929
+      - -1.5707093744037197
+      - -0.19891752639350685
+    velocities:
+      - 0.0075453313304995199
+      - 0.0025028674044809741
+      - -0.0011276170553504426
+      - 0.010519940993170685
+      - -0.0093907778730920426
+      - 5.48232111665606e-06
+      - 0.0025000629501180805
+    accelerations:
+      - -0.37554642641927849
+      - -0.12457278128459548
+      - 0.056123785286212709
+      - -0.52359877559748791
+      - 0.46739803953757914
+      - -0.00027286622862018428
+      - -0.12443319790940507
     effort: []
     time_from_start:
       sec: 1
       nanosec: 620000000
   - positions:
-      - -0.37357155909317608
-      - -0.19800193651015041
-      - -1.4468232101611191
-      - 1.4457025829456938
-      - -1.5695818531713572
-      - -1.5707359562392191
-      - -0.19820239206366047
-    velocities:
-      - 0.0048210778459161791
-      - 0.0016209912879951551
-      - -0.00072210211149647836
-      - 0.0067402183224527391
-      - -0.0060138841304924568
-      - 2.0796629302046353e-06
-      - 0.00161783908321623
-    accelerations:
-      - -0.37451464276538726
-      - -0.1259230803882494
-      - 0.056094886448746516
-      - -0.52359877560002321
-      - 0.46717512945194911
-      - -0.00016155396039451328
-      - -0.12567820841471286
+      - -0.37316699790523361
+      - -0.19878065071507497
+      - -1.446999371416323
+      - 1.4457347583143616
+      - -1.5695758622064213
+      - -1.5707096621669847
+      - -0.19889736470084826
+    velocities:
+      - 0.0037373736836843999
+      - 0.0021914076650823011
+      - -0.00010360234233823955
+      - 0.0058883403312757869
+      - -0.0053024453637464082
+      - -0.00094255070964463581
+      - 0.0024123860063153162
+    accelerations:
+      - -0.17552335552730394
+      - 0.42475875806236557
+      - 0.25711098088656431
+      - 0.099151782511446351
+      - -0.11192194868355905
+      - -0.47985390574202919
+      - 0.5376763632739634
     effort: []
     time_from_start:
       sec: 1
       nanosec: 630000000
   - positions:
-      - -0.37353692961654694
-      - -0.19799256538783222
-      - -1.4468359796329116
-      - 1.4457517327867879
-      - -1.5696259571798423
-      - -1.570740929040032
-      - -0.19818444080716396
-    velocities:
-      - 0.0021758486999961389
-      - -0.00024199864178886687
-      - -0.0035746788985768687
-      - 0.003357036735540019
-      - -0.0031026537647641764
-      - -0.0021360506719689727
-      - 0.0034424253192696422
-    accelerations:
-      - -0.25509542674355767
-      - -0.25151164274359272
-      - -0.51485697468213054
-      - -0.3030100036587986
-      - 0.25207791475121122
-      - -0.36390645660855869
-      - 0.37612567958491744
+      - -0.3731466102610263
+      - -0.19874558812647933
+      - -1.4469888901127284
+      - 1.4457833322229559
+      - -1.5696205942502699
+      - -1.5707377563971476
+      - -0.19885569722863783
+    velocities:
+      - -0.00043147790591513787
+      - 0.0043349077251819967
+      - 0.0022051170375324042
+      - 0.0025866779794329656
+      - -0.0025261095124608575
+      - -0.0044481644950338482
+      - 0.0053813947916974865
+    accelerations:
+      - -0.4672275797961794
+      - 0.029455861356701484
+      - 0.15799312218854389
+      - -0.52010627643607998
+      - 0.45533961707177673
+      - -0.18353659193614605
+      - 0.072725395388244685
     effort: []
     time_from_start:
       sec: 1
       nanosec: 640000000
   - positions:
-      - -0.37353126727066616
-      - -0.19800343165973705
-      - -1.4468795025011811
-      - 1.4457637379777581
-      - -1.5696381423321968
-      - -1.5707690413340287
-      - -0.19814681855610941
-    velocities:
-      - -0.00048057332937250462
-      - -0.0014702940744994082
-      - -0.00447546391603682
-      - -0.00037523863683201124
-      - -2.0499657962784773e-15
-      - -0.0031199855645619202
-      - 0.0039120018811470945
-    accelerations:
-      - 0.39323892633147095
-      - 0.20164158936576887
-      - 0.034055515622739327
-      - 0.42976817321078642
-      - -0.52226578960068393
-      - -0.037540354296724011
-      - 0.26722244892018981
+      - -0.37315130436510557
+      - -0.19869853815837324
+      - -1.44696229783596
+      - 1.4458067345284114
+      - -1.5696471337746423
+      - -1.5707838182560807
+      - -0.19879780607050557
+    velocities:
+      - 0.0018323348329098352
+      - 0.0047968415338656041
+      - 0.0025473593461763804
+      - 0.0041002456551373937
+      - -0.004878565280703925
+      - -0.003474630462033433
+      - 0.0056152470945229028
+    accelerations:
+      - 0.59732954745004074
+      - -0.075244974097035594
+      - -0.098192381066549761
+      - 0.42446071717325395
+      - -0.51665753725479602
+      - 0.37382977314794641
+      - -0.16309904168370298
     effort: []
     time_from_start:
       sec: 1
       nanosec: 650000000
   - positions:
-      - -0.37351838437087898
-      - -0.19800611194143977
-      - -1.4469120291453248
-      - 1.4457789555786711
-      - -1.5696600951238147
-      - -1.5707942925649407
-      - -0.19810590340471232
-    velocities:
-      - 0.002769975894488675
-      - 0.0010652840102849943
-      - -0.0010464986198602071
-      - 0.0030708005448456025
-      - -0.0038640177359994033
-      - -0.0011829421741130757
-      - 0.0031120469069632717
-    accelerations:
-      - 0.18925363191572492
-      - 0.23613596200976017
-      - 0.52029394122056527
-      - 0.18978924661964411
-      - -0.17881281625648446
-      - 0.34173164169729625
-      - -0.35310555100158808
+      - -0.37311124107201993
+      - -0.19866267581754027
+      - -1.4469457054201362
+      - 1.4458579717446423
+      - -1.5697085864941294
+      - -1.5707963484207403
+      - -0.19875898411772211
+    velocities:
+      - 0.0061028242783875662
+      - 0.0033890304667019457
+      - 0.0013525062894189734
+      - 0.0066507132246272646
+      - -0.0080024463755303567
+      - -2.4406540186773206e-06
+      - 0.0033911170686777748
+    accelerations:
+      - 0.39930680818236919
+      - 0.2217437168040346
+      - 0.088494268364738352
+      - 0.43515509356331056
+      - -0.52359877559965795
+      - -0.00015969159877777186
+      - 0.22188024283475574
     effort: []
     time_from_start:
       sec: 1
       nanosec: 660000000
   - positions:
-      - -0.37347867160842035
-      - -0.1979850526458003
-      - -1.4469060694010343
-      - 1.4458222721316789
-      - -1.5697124753355425
-      - -1.5707962840198393
-      - -0.19808132641461235
-    velocities:
-      - 0.0059417226773125021
-      - 0.0032676075087614124
-      - 0.0013147140236473875
-      - 0.0064666034213904568
-      - -0.0077760984236489063
-      - 4.0979192820184895e-06
-      - 0.0032727456160858495
-    accelerations:
-      - 0.40008221980820946
-      - 0.22002232964506943
-      - 0.088525455252607063
-      - 0.43542473992062103
-      - -0.52359877559747381
-      - 0.00027593085911010247
-      - 0.22036830092236009
+      - -0.37303038864920124
+      - -0.19861777671644543
+      - -1.4469277869277484
+      - 1.445946082798337
+      - -1.5698146057973934
+      - -1.5707963807554073
+      - -0.19871405737256981
+    velocities:
+      - 0.010095892360201147
+      - 0.0056064676347366768
+      - 0.0022374489730641162
+      - 0.011002264160249353
+      - -0.013238434131513679
+      - -4.0375700064509975e-06
+      - 0.0056099194970197106
+    accelerations:
+      - 0.39930680818298059
+      - 0.22174371680437466
+      - 0.088494268364874187
+      - 0.43515509356397808
+      - -0.52359877560046131
+      - -0.00015969159877801662
+      - 0.22188024283509594
     effort: []
     time_from_start:
       sec: 1
       nanosec: 670000000
   - positions:
-      - -0.37340067489080953
-      - -0.19794215891380285
-      - -1.4468888112111102
-      - 1.4459071589344383
-      - -1.5698145518183744
-      - -1.5707962302266434
-      - -0.19803836523491872
-    velocities:
-      - 0.0099425448754003366
-      - 0.0054678308052152694
-      - 0.00219996857617473
-      - 0.010820850820602922
-      - -0.013012086179631161
-      - 6.8572278731234813e-06
-      - 0.0054764286253126127
-    accelerations:
-      - 0.40008221980817954
-      - 0.22002232964505336
-      - 0.088525455252600749
-      - 0.4354247399205905
-      - -0.52359877559743584
-      - 0.00027593085911008301
-      - 0.22036830092234361
+      - -0.37290960554556446
+      - -0.1985507032436703
+      - -1.4469010190085241
+      - 1.4460777093613881
+      - -1.5699729849782174
+      - -1.5707964290592342
+      - -0.19864694260313409
+    velocities:
+      - 0.014088960442012979
+      - 0.0078239048027704348
+      - 0.0031223916567088713
+      - 0.015353815095869534
+      - -0.018474421887494704
+      - -5.6344859942239748e-06
+      - 0.0078287219253606738
+    accelerations:
+      - 0.39930680818086978
+      - 0.22174371680320082
+      - 0.088494268364405743
+      - 0.43515509356167453
+      - -0.52359877559769064
+      - -0.0001596915987771721
+      - 0.22188024283392099
     effort: []
     time_from_start:
       sec: 1
       nanosec: 680000000
   - positions:
-      - -0.37328266995121784
-      - -0.19787726294884084
-      - -1.4468627004756609
-      - 1.4460355882111897
-      - -1.5699689881787664
-      - -1.5707961488403615
-      - -0.19797336722513276
-    velocities:
-      - 0.013943367073488293
-      - 0.0076680541016691927
-      - 0.0030852231287020991
-      - 0.015175098219815518
-      - -0.018248073935613576
-      - 9.6165364642285569e-06
-      - 0.0076801116345394426
-    accelerations:
-      - 0.40008221980720593
-      - 0.22002232964451823
-      - 0.088525455252385241
-      - 0.4354247399195299
-      - -0.5235987755961623
-      - 0.00027593085910941211
-      - 0.22036830092180715
+      - -0.37274889176110948
+      - -0.19846145539921481
+      - -1.4468654016624634
+      - 1.4462528514337956
+      - -1.5701837240366012
+      - -1.5707964933322209
+      - -0.19855763980941496
+    velocities:
+      - 0.018082028523827471
+      - 0.010041341970805672
+      - 0.0040073343403542157
+      - 0.019705366031492616
+      - -0.02371040964347922
+      - -7.2314019819980159e-06
+      - 0.010047524353703116
+    accelerations:
+      - 0.39930680818228936
+      - 0.22174371680399124
+      - 0.088494268364721004
+      - 0.43515509356322551
+      - -0.52359877559955215
+      - -0.00015969159877774009
+      - 0.22188024283470978
     effort: []
     time_from_start:
       sec: 1
       nanosec: 690000000
   - positions:
-      - -0.37312465678964518
-      - -0.1977903647509143
-      - -1.446827737194686
-      - 1.4462075599619333
-      - -1.5701757844167181
-      - -1.5707960398609935
-      - -0.19788633238525458
-    velocities:
-      - 0.017944189271581694
-      - 0.0098682773981261102
-      - 0.0039704776812306726
-      - 0.019529345619034039
-      - -0.023484061691603116
-      - 1.2375845055337385e-05
-      - 0.0098837946437692701
-    accelerations:
-      - 0.40008221981256592
-      - 0.22002232964746579
-      - 0.088525455253570612
-      - 0.43542473992536362
-      - -0.52359877560317769
-      - 0.00027593085911310804
-      - 0.22036830092475934
+      - -0.37254824729583635
+      - -0.19835003318307892
+      - -1.4468209348895658
+      - 1.4464715090155589
+      - -1.5704468229725448
+      - -1.5707965735743674
+      - -0.19844614899141239
+    velocities:
+      - 0.022075096605642879
+      - 0.012258779138841418
+      - 0.0048922770239997635
+      - 0.024056916967116697
+      - -0.028946397399464939
+      - -8.8283179697724238e-06
+      - 0.01226632678204607
+    accelerations:
+      - 0.39930680818453451
+      - 0.22174371680523811
+      - 0.088494268365218273
+      - 0.43515509356567394
+      - -0.52359877560250123
+      - -0.00015969159877863941
+      - 0.22188024283596017
     effort: []
     time_from_start:
       sec: 1
       nanosec: 700000000
   - positions:
-      - -0.37292663540609178
-      - -0.1976814643200232
-      - -1.4467839213681866
-      - 1.446423074186669
-      - -1.5704349405322295
-      - -1.5707959032885397
-      - -0.19777726071528412
-    velocities:
-      - 0.021945011469669984
-      - 0.012068500694580219
-      - 0.0048557322337581168
-      - 0.023883593018247003
-      - -0.028720049447585969
-      - 1.5135153646442693e-05
-      - 0.012087477652996287
-    accelerations:
-      - 0.40008221981263603
-      - 0.22002232964750626
-      - 0.088525455253586946
-      - 0.43542473992544251
-      - -0.5235987756032715
-      - 0.00027593085911315943
-      - 0.22036830092479998
+      - -0.37230767214974514
+      - -0.19821643659526272
+      - -1.4467676186898322
+      - 1.4467336821066787
+      - -1.5707622817860483
+      - -1.5707966697856739
+      - -0.1983124701491264
+    velocities:
+      - 0.026068164687448374
+      - 0.014476216306871658
+      - 0.0057772197076431143
+      - 0.02840846790272997
+      - -0.034182385155437658
+      - -1.0425233957542868e-05
+      - 0.014485129210383512
+    accelerations:
+      - 0.3993068081763354
+      - 0.22174371680068525
+      - 0.088494268363401477
+      - 0.43515509355673526
+      - -0.52359877559174928
+      - -0.00015969159877536016
+      - 0.22188024283140373
     effort: []
     time_from_start:
       sec: 1
       nanosec: 710000000
   - positions:
-      - -0.3726886058005574
-      - -0.19755056165616758
-      - -1.4467312529961611
-      - 1.4466821308853968
-      - -1.5707464565253009
-      - -1.5707957391229999
-      - -0.19764615221522136
-    velocities:
-      - 0.025945833667760265
-      - 0.014268723991035419
-      - 0.0057409867862860007
-      - 0.028237840417462128
-      - -0.033956037203571425
-      - 1.7894462237549369e-05
-      - 0.014291160662224396
-    accelerations:
-      - 0.4000822198142569
-      - 0.22002232964839358
-      - 0.088525455253945173
-      - 0.43542473992720293
-      - -0.52359877560538948
-      - 0.00027593085911427323
-      - 0.22036830092569054
+      - -0.37202716632283583
+      - -0.19806066563576621
+      - -1.4467054530632621
+      - 1.4470393707071549
+      - -1.5711301004771117
+      - -1.5707967819661404
+      - -0.19815660328255702
+    velocities:
+      - 0.030061232769267348
+      - 0.016693653474909382
+      - 0.0066621623912894523
+      - 0.032760018838357934
+      - -0.039418372911428044
+      - -1.20221499453187e-05
+      - 0.016703931638728443
+    accelerations:
+      - 0.39930680818215408
+      - 0.22174371680391491
+      - 0.08849426836469064
+      - 0.43515509356307286
+      - -0.52359877559937174
+      - -0.00015969159877768588
+      - 0.22188024283463517
     effort: []
     time_from_start:
       sec: 1
       nanosec: 720000000
   - positions:
-      - -0.37241056797304212
-      - -0.1973976567593474
-      - -1.4466697320786106
-      - 1.4469847300581167
-      - -1.5711103323959321
-      - -1.5707955473643742
-      - -0.19749300688506632
-    velocities:
-      - 0.029946655865840686
-      - 0.0164689472874852
-      - 0.0066262413388117024
-      - 0.032592087816666525
-      - -0.039192024959543978
-      - 2.0653770828649249e-05
-      - 0.016494843671447077
-    accelerations:
-      - 0.40008221980637299
-      - 0.2200223296440588
-      - 0.088525455252200624
-      - 0.43542473991862252
-      - -0.52359877559506962
-      - 0.00027593085910883558
-      - 0.22036830092134888
+      - -0.37170672981510833
+      - -0.19788272030458934
+      - -1.4466344380098555
+      - 1.447388574816987
+      - -1.5715502790457347
+      - -1.5707969101157666
+      - -0.19797854839170423
+    velocities:
+      - 0.034054300851078405
+      - 0.018911090642942711
+      - 0.0075471050749340348
+      - 0.037111569773977268
+      - -0.044654360667408056
+      - -1.3619065933091367e-05
+      - 0.018922734067068975
+    accelerations:
+      - 0.39930680817999104
+      - 0.22174371680271515
+      - 0.08849426836421069
+      - 0.43515509356071314
+      - -0.523598775596539
+      - -0.00015969159877682012
+      - 0.22188024283343197
     effort: []
     time_from_start:
       sec: 1
       nanosec: 730000000
   - positions:
-      - -0.37209252192354603
-      - -0.19722274962956271
-      - -1.4465993586155348
-      - 1.4473308717048288
-      - -1.5715265681441231
-      - -1.5707953280126628
-      - -0.19731782472481904
-    velocities:
-      - 0.033947478063931724
-      - 0.018669170583940818
-      - 0.0075114958913397537
-      - 0.036946335215882475
-      - -0.044428012715530429
-      - 2.3413079419756451e-05
-      - 0.018698526680675603
-    accelerations:
-      - 0.40008221980883207
-      - 0.22002232964541479
-      - 0.08852545525274591
-      - 0.43542473992130182
-      - -0.52359877559829959
-      - 0.00027593085911053588
-      - 0.22036830092270474
+      - -0.37134636262656273
+      - -0.19768260060173209
+      - -1.4465545735296124
+      - 1.4477812944361754
+      - -1.5720228174919177
+      - -1.5707970542345526
+      - -0.19777830547656799
+    velocities:
+      - 0.038047368932894482
+      - 0.021128527810978827
+      - 0.0084320477585797318
+      - 0.041463120709602085
+      - -0.049890348423394654
+      - -1.5215981920866042e-05
+      - 0.0211415364954123
+    accelerations:
+      - 0.39930680818258235
+      - 0.22174371680415364
+      - 0.088494268364787215
+      - 0.43515509356354526
+      - -0.52359877559994239
+      - -0.0001596915987778571
+      - 0.22188024283487387
     effort: []
     time_from_start:
       sec: 1
       nanosec: 740000000
   - positions:
-      - -0.37173446765206897
-      - -0.19702584026681347
-      - -1.4465201326069337
-      - 1.4477205558255331
-      - -1.5719951637698739
-      - -1.5707950810678653
-      - -0.19712060573447951
-    velocities:
-      - 0.037948300262013922
-      - 0.020869393880391576
-      - 0.0083967504438658483
-      - 0.041300582615088802
-      - -0.049664000471505307
-      - 2.6172388010857554e-05
-      - 0.020902209689899261
-    accelerations:
-      - 0.40008221980272446
-      - 0.22002232964205318
-      - 0.088525455251393395
-      - 0.43542473991465391
-      - -0.52359877559029733
-      - 0.00027593085910632132
-      - 0.2203683009193397
+      - -0.37094606761967402
+      - -0.19746030811678889
+      - -1.4464658602569138
+      - 1.4482175264452626
+      - -1.5725477120621849
+      - -1.5707972143213542
+      - -0.19755587612772144
+    velocities:
+      - 0.04224337012831407
+      - 0.023458658131124549
+      - 0.009361964424753743
+      - 0.046035823341684844
+      - -0.055392436149718977
+      - -1.6894055338983804e-05
+      - 0.023473101460238077
+    accelerations:
+      - 0.39930680817761255
+      - 0.22174371680138916
+      - 0.088494268363667153
+      - 0.43515509355811849
+      - -0.5235987755934598
+      - -0.00015969159880224816
+      - 0.22188024283210941
     effort: []
     time_from_start:
       sec: 1
       nanosec: 750000000
   - positions:
-      - -0.37133640757232617
-      - -0.19680692999850483
-      - -1.4464320545868858
-      - 1.4481537797932911
-      - -1.5725161161142884
-      - -1.5707948065316466
-      - -0.19690135124354011
-    velocities:
-      - 0.041812116493906336
-      - 0.022994271734419876
-      - 0.0092516899388059085
-      - 0.045505721195554939
-      - -0.054720684692867665
-      - 2.8837205584930426e-05
-      - 0.023030428780731027
-    accelerations:
-      - 0.40008221981767084
-      - 0.22002232965026189
-      - 0.088525455254619981
-      - 0.43542473993094644
-      - -0.52359877560984425
-      - 0.00027593085907141001
-      - 0.22036830092756576
+      - -0.37050584408265852
+      - -0.19721584245449084
+      - -1.4463682980340145
+      - 1.4486972716199333
+      - -1.5731249636898761
+      - -1.5707973903764549
+      - -0.19731125994965226
+    velocities:
+      - 0.046236438210121245
+      - 0.025676095299155682
+      - 0.010246907108397303
+      - 0.050387374277299835
+      - -0.060628423905694263
+      - -1.8490971327018696e-05
+      - 0.025691903888576402
+    accelerations:
+      - 0.39930680817155106
+      - 0.22174371679802593
+      - 0.088494268362325074
+      - 0.43515509355151372
+      - -0.52359877558551127
+      - -0.00015969159879982586
+      - 0.22188024282873919
     effort: []
     time_from_start:
       sec: 1
       nanosec: 760000000
   - positions:
-      - -0.37089834139857897
-      - -0.19656601866749701
-      - -1.4463351244921661
-      - 1.4486305439190836
-      - -1.5730894255513201
-      - -1.5707945044038096
-      - -0.19666006109461395
-    velocities:
-      - 0.045812938691993779
-      - 0.025194495030873409
-      - 0.01013694449133236
-      - 0.049859968594767275
-      - -0.059956672448849238
-      - 3.1596514175582977e-05
-      - 0.02523411178995753
-    accelerations:
-      - 0.400082219816705
-      - 0.22002232964973134
-      - 0.088525455254407193
-      - 0.43542473992989822
-      - -0.52359877560857959
-      - 0.00027593085907074962
-      - 0.2203683009270353
+      - -0.37002568986482498
+      - -0.19694920242051242
+      - -1.4462618863842787
+      - 1.4492205323039606
+      - -1.5737545751951272
+      - -1.5707975824007159
+      - -0.1970444557472997
+    velocities:
+      - 0.050229506291936073
+      - 0.027893532467191066
+      - 0.011131849792042557
+      - 0.054738925212923159
+      - -0.065864411661679584
+      - -2.0087887315056648e-05
+      - 0.027910706316918981
+    accelerations:
+      - 0.39930680817341607
+      - 0.22174371679905702
+      - 0.088494268362736772
+      - 0.43515509355353937
+      - -0.52359877558795198
+      - -0.00015969159880056946
+      - 0.22188024282977378
     effort: []
     time_from_start:
       sec: 1
       nanosec: 770000000
   - positions:
-      - -0.3704202670028508
-      - -0.19630310510352464
-      - -1.4462293418519212
-      - 1.4491508505188679
-      - -1.5737150948659118
-      - -1.5707941746828871
-      - -0.19639673411559552
-    velocities:
-      - 0.049813760890084761
-      - 0.027394718327328888
-      - 0.011022199043859596
-      - 0.054214215993983454
-      - -0.06519266020483544
-      - 3.4355822766237965e-05
-      - 0.027437794799185986
-    accelerations:
-      - 0.40008221981927794
-      - 0.22002232965114715
-      - 0.088525455254976751
-      - 0.43542473993270109
-      - -0.52359877561194335
-      - 0.00027593085907251849
-      - 0.22036830092845466
+      - -0.36950560496617318
+      - -0.19666038801485367
+      - -1.4461466253077064
+      - 1.4497873084973438
+      - -1.574436546577938
+      - -1.5707977903941366
+      - -0.1967554635206637
+    velocities:
+      - 0.054222574373754454
+      - 0.030110969635228423
+      - 0.012016792475688601
+      - 0.059090476148550362
+      - -0.071100399417669574
+      - -2.168480330309602e-05
+      - 0.030129508745263538
+    accelerations:
+      - 0.39930680817883379
+      - 0.2217437168020657
+      - 0.08849426836393777
+      - 0.43515509355944382
+      - -0.52359877559506263
+      - -0.00015969159880273266
+      - 0.22188024283278596
     effort: []
     time_from_start:
       sec: 1
       nanosec: 780000000
   - positions:
-      - -0.36990218438514177
-      - -0.19601818930658771
-      - -1.4461147066661506
-      - 1.4497146995926444
-      - -1.5743931240580631
-      - -1.5707938173688782
-      - -0.19611137030648479
-    velocities:
-      - 0.053814583088159916
-      - 0.029594941623775659
-      - 0.011907453596383328
-      - 0.058568463393182398
-      - -0.070428647960800922
-      - 3.7115131356882036e-05
-      - 0.029641477808405717
-    accelerations:
-      - 0.40008221980575676
-      - 0.2200223296437081
-      - 0.088525455251983201
-      - 0.43542473991797764
-      - -0.52359877559423862
-      - 0.00027593085906319376
-      - 0.22036830092100157
+      - -0.36894558938670335
+      - -0.1963493992375146
+      - -1.446022514804298
+      - 1.4503976002000836
+      - -1.5751708778383089
+      - -1.5707980143567175
+      - -0.19644428326974431
+    velocities:
+      - 0.058215642455576755
+      - 0.032328406803267956
+      - 0.012901735159335513
+      - 0.06344202708418184
+      - -0.076336387173664699
+      - -2.3281719291136964e-05
+      - 0.03234831117361027
+    accelerations:
+      - 0.39930680818798775
+      - 0.22174371680714777
+      - 0.088494268365966827
+      - 0.43515509356942944
+      - -0.52359877560707557
+      - -0.00015969159880639705
+      - 0.22188024283787147
     effort: []
     time_from_start:
       sec: 1
       nanosec: 790000000
   - positions:
-      - -0.36934409354545195
-      - -0.19571127127668628
-      - -1.4459912189348552
-      - 1.4503220911404133
-      - -1.5751235131277748
-      - -1.5707934324617836
-      - -0.19580396966728181
-    velocities:
-      - 0.057815405286252668
-      - 0.031795164920232113
-      - 0.012792708148910956
-      - 0.062922710792400513
-      - -0.075664635716789455
-      - 3.9874439947538244e-05
-      - 0.031845160817635144
-    accelerations:
-      - 0.40008221981009917
-      - 0.22002232964609883
-      - 0.088525455252944821
-      - 0.43542473992270952
-      - -0.52359877559993373
-      - 0.00027593085906618242
-      - 0.22036830092339238
+      - -0.36834564312641538
+      - -0.19601623608849517
+      - -1.4458895548740527
+      - 1.4510514074121792
+      - -1.5759575689762393
+      - -1.570798254288458
+      - -0.19611091499454147
+    velocities:
+      - 0.06220871053737119
+      - 0.034545843971292019
+      - 0.01378667784297625
+      - 0.067793578019782946
+      - -0.081572374929623284
+      - -2.487863527916676e-05
+      - 0.034567113601941521
+    accelerations:
+      - 0.39930680816943315
+      - 0.22174371679684352
+      - 0.088494268361855533
+      - 0.43515509354919563
+      - -0.52359877558273393
+      - -0.00015969159879897365
+      - 0.22188024282756028
     effort: []
     time_from_start:
       sec: 1
       nanosec: 800000000
   - positions:
-      - -0.3687459944837812
-      - -0.19538235101382029
-      - -1.4458588786580344
-      - 1.4509730251621742
-      - -1.5759062620750459
-      - -1.5707930199616031
-      - -0.19547453219798658
-    velocities:
-      - 0.061816227484346266
-      - 0.033995388216689029
-      - 0.01367796270143877
-      - 0.067276958191619537
-      - -0.080900623472779071
-      - 4.2633748538195041e-05
-      - 0.034048843826865037
-    accelerations:
-      - 0.40008221981505487
-      - 0.22002232964882554
-      - 0.088525455254042318
-      - 0.43542473992810149
-      - -0.52359877560640944
-      - 0.00027593085906961088
-      - 0.22036830092612594
+      - -0.36770576618530926
+      - -0.19566089856779539
+      - -1.4457477455169709
+      - 1.4517487301336311
+      - -1.5767966199917298
+      - -1.5707985101893582
+      - -0.19575535869505525
+    velocities:
+      - 0.066201778619194948
+      - 0.036763281139332367
+      - 0.014671620526623486
+      - 0.072145128955416013
+      - -0.086808362685620311
+      - -2.6475551267208287e-05
+      - 0.036785916030289065
+    accelerations:
+      - 0.39930680818029096
+      - 0.22174371680288102
+      - 0.088494268364262163
+      - 0.43515509356103282
+      - -0.52359877559696388
+      - -0.00015969159880331881
+      - 0.22188024283359781
     effort: []
     time_from_start:
       sec: 1
       nanosec: 810000000
   - positions:
-      - -0.36810788720012955
-      - -0.19503142851798977
-      - -1.4457176858356884
-      - 1.4516675016579272
-      - -1.576741370899877
-      - -1.5707925798683369
-      - -0.19512305789859907
-    velocities:
-      - 0.065817049682442508
-      - 0.036195611513147395
-      - 0.014563217253967168
-      - 0.071631205590841435
-      - -0.086136611228772156
-      - 4.5393057128853654e-05
-      - 0.036252526836096387
-    accelerations:
-      - 0.4000822198228251
-      - 0.22002232965309323
-      - 0.088525455255760277
-      - 0.43542473993655262
-      - -0.5235987756165732
-      - 0.00027593085907496445
-      - 0.22036830093040066
+      - -0.36702595856338505
+      - -0.19528338667541528
+      - -1.445597086733053
+      - 1.4524895683644394
+      - -1.5776880308847798
+      - -1.5707987820594187
+      - -0.19537761437128559
+    velocities:
+      - 0.070194846701011976
+      - 0.038980718307368968
+      - 0.015556563210269228
+      - 0.076496679891041738
+      - -0.092044350441608525
+      - -2.8072467255247116e-05
+      - 0.039004718458632869
+    accelerations:
+      - 0.39930680818424075
+      - 0.2217437168050661
+      - 0.088494268365135895
+      - 0.43515509356533549
+      - -0.52359877560214896
+      - -0.0001596915988048961
+      - 0.2218802428357898
     effort: []
     time_from_start:
       sec: 1
       nanosec: 820000000
   - positions:
-      - -0.36742977169449709
-      - -0.19465850378919472
-      - -1.4455676404678168
-      - 1.4524055206276723
-      - -1.5776288396022677
-      - -1.5707921121819846
-      - -0.19474954676911929
-    velocities:
-      - 0.06981787188051139
-      - 0.038395834809590725
-      - 0.015448471806489512
-      - 0.075985452990033564
-      - -0.091372598984729436
-      - 4.8152365719493402e-05
-      - 0.038456209845312665
-    accelerations:
-      - 0.4000822198031464
-      - 0.2200223296422755
-      - 0.088525455251404386
-      - 0.43542473991513919
-      - -0.52359877559081602
-      - 0.0002759308590613916
-      - 0.22036830091956211
+      - -0.36630622026064263
+      - -0.1948837004113548
+      - -1.4454375785222986
+      - 1.4532739221046038
+      - -1.57863180165539
+      - -1.5707990698986387
+      - -0.19497768202323251
+    velocities:
+      - 0.074187914782806438
+      - 0.041198155475393045
+      - 0.016441505893909969
+      - 0.080848230826642872
+      - -0.097280338197567137
+      - -2.9669383243276923e-05
+      - 0.041223520886964127
+    accelerations:
+      - 0.3993068081657139
+      - 0.22174371679478266
+      - 0.088494268361029804
+      - 0.43515509354514331
+      - -0.52359877557784895
+      - -0.00015969159879748626
+      - 0.22188024282549249
     effort: []
     time_from_start:
       sec: 1
       nanosec: 830000000
   - positions:
-      - -0.3667116479668836
-      - -0.19426357682743511
-      - -1.4454087425544202
-      - 1.4531870820714095
-      - -1.5785686681822186
-      - -1.570791616902546
-      - -0.19435399880954723
-    velocities:
-      - 0.073818694078599631
-      - 0.040596058106044691
-      - 0.01633372635901614
-      - 0.080339700389246746
-      - -0.096608586740712057
-      - 5.0911674310146499e-05
-      - 0.040659892854539609
-    accelerations:
-      - 0.40008221980272446
-      - 0.2200223296420393
-      - 0.088525455251311863
-      - 0.43542473991468167
-      - -0.52359877559028345
-      - 0.00027593085906110667
-      - 0.22036830091933277
+      - -0.36554655127708208
+      - -0.19446183977561399
+      - -1.4452692208847076
+      - 1.4541017913541245
+      - -1.5796279323035598
+      - -1.5707993737070189
+      - -0.19455556165089605
+    velocities:
+      - 0.078180982864635512
+      - 0.043415592643436342
+      - 0.017326448577558384
+      - 0.08519978176228174
+      - -0.10251632595357114
+      - -3.1266299231320578e-05
+      - 0.043442323315314627
+    accelerations:
+      - 0.39930680818188691
+      - 0.22174371680376226
+      - 0.088494268364616047
+      - 0.43515509356278143
+      - -0.52359877559905943
+      - -0.00015969159880395577
+      - 0.22188024283447905
     effort: []
     time_from_start:
       sec: 1
       nanosec: 840000000
   - positions:
-      - -0.36595351601728932
-      - -0.19384664763271095
-      - -1.4452409920954983
-      - 1.4540121859891391
-      - -1.579560856639729
-      - -1.570791094030022
-      - -0.19393641401988293
-    velocities:
-      - 0.077819516276701209
-      - 0.042796281402505999
-      - 0.017218980911545723
-      - 0.084693947788474472
-      - -0.10184457449671214
-      - 5.3670982900808798e-05
-      - 0.042863575863773901
-    accelerations:
-      - 0.4000822198158307
-      - 0.22002232964924909
-      - 0.088525455254214638
-      - 0.43542473992894759
-      - -0.52359877560744161
-      - 0.00027593085907013975
-      - 0.22036830092655652
+      - -0.36474695211556846
+      - -0.19401780504744465
+      - -1.4450920139317249
+      - 1.4549731755649911
+      - -1.5806764221698981
+      - -1.5707996934843578
+      - -0.1941112535336999
+    velocities:
+      - 0.08221556615344533
+      - 0.04565608410484872
+      - 0.018220591850308391
+      - 0.089596574986325048
+      - -0.10780675132771027
+      - -3.2879818064982747e-05
+      - 0.045684194231398585
+    accelerations:
+      - 0.39930680816801761
+      - 0.22174371679606636
+      - 0.088494268361539813
+      - 0.43515509354765519
+      - -0.52359877558086043
+      - -0.00015969159879248876
+      - 0.22188024282678312
     effort: []
     time_from_start:
       sec: 1
       nanosec: 850000000
   - positions:
-      - -0.36515537674839565
-      - -0.19340771670144544
-      - -1.4450643892907857
-      - 1.4548808313984376
-      - -1.5806054037934347
-      - -1.5707905435650344
-      - -0.1934967928973301
-    velocities:
-      - 0.081918592439972737
-      - 0.045050538758076866
-      - 0.018125975937828786
-      - 0.089155128725636218
-      - -0.10720914996121637
-      - 5.6498055813874173e-05
-      - 0.045121377897277014
-    accelerations:
-      - 0.4000822198205769
-      - 0.22002232965186505
-      - 0.088525455255286697
-      - 0.43542473993408237
-      - -0.52359877561361723
-      - 0.00027593085906749701
-      - 0.22036830092916554
+      - -0.36390742270107246
+      - -0.19355159618518145
+      - -1.4449059576467229
+      - 1.4558880748189682
+      - -1.5817772713527882
+      - -1.5708000292306854
+      - -0.19364475762995309
+    velocities:
+      - 0.086208634235277873
+      - 0.04787352127289398
+      - 0.019105534533957549
+      - 0.093948125921967635
+      - -0.11304273908371867
+      - -3.4476734052968576e-05
+      - 0.047902996659751035
+    accelerations:
+      - 0.39930680818747966
+      - 0.22174371680687782
+      - 0.088494268365854639
+      - 0.4351550935688599
+      - -0.52359877560640078
+      - -0.00015969159880027626
+      - 0.22188024283759461
     effort: []
     time_from_start:
       sec: 1
       nanosec: 860000000
   - positions:
-      - -0.3643172302113673
-      - -0.19294678406177623
-      - -1.4448789341516037
-      - 1.4557930182436216
-      - -1.5817023095763754
-      - -1.570789965507619
-      - -0.19303513547007067
-    velocities:
-      - 0.085919414638055705
-      - 0.047250762054527967
-      - 0.019011230490354483
-      - 0.093509376124843474
-      - -0.11244513771719182
-      - 5.925736440446442e-05
-      - 0.047325060906501043
-    accelerations:
-      - 0.40008221981478426
-      - 0.22002232964867982
-      - 0.088525455254004154
-      - 0.4354247399277823
-      - -0.52359877560603474
-      - 0.00027593085906349869
-      - 0.22036830092597329
+      - -0.36302796260575831
+      - -0.19306321295123788
+      - -1.4447110519348842
+      - 1.4568464895823019
+      - -1.5829304804132383
+      - -1.570800380946173
+      - -0.19315607370192286
+    velocities:
+      - 0.090201702317085963
+      - 0.050090958440925662
+      - 0.019990477217601284
+      - 0.09829967685758359
+      - -0.11827872683969499
+      - -3.6073650040944634e-05
+      - 0.050121799088089898
+    accelerations:
+      - 0.39930680818231173
+      - 0.22174371680401139
+      - 0.088494268364707418
+      - 0.43515509356323995
+      - -0.52359877559960932
+      - -0.00015969159879821471
+      - 0.22188024283472815
     effort: []
     time_from_start:
       sec: 1
       nanosec: 870000000
   - positions:
-      - -0.36343907545235804
-      - -0.19246384918914244
-      - -1.4446846264668964
-      - 1.4567487475627972
-      - -1.5828515752368755
-      - -1.5707893598571177
-      - -0.19255144121271897
-    velocities:
-      - 0.089920236836122935
-      - 0.049450985350970415
-      - 0.019896485042876701
-      - 0.097863623524033605
-      - -0.11768112547314669
-      - 6.2016672995043819e-05
-      - 0.049528743915716412
-    accelerations:
-      - 0.4000822197933292
-      - 0.22002232963689064
-      - 0.08852545524926142
-      - 0.43542473990445374
-      - -0.52359877557797385
-      - 0.00027593085904871288
-      - 0.22036830091417023
+      - -0.36210857182962602
+      - -0.19255265534561394
+      - -1.4445072967962092
+      - 1.4578484198549917
+      - -1.584136049351248
+      - -1.5708007486308202
+      - -0.1926452017496092
+    velocities:
+      - 0.094194770398880315
+      - 0.052308395608949711
+      - 0.020875419901241976
+      - 0.10265122779318456
+      - -0.12351471459565332
+      - -3.7670566028915189e-05
+      - 0.052340601516421129
+    accelerations:
+      - 0.39930680816350733
+      - 0.22174371679356142
+      - 0.088494268360540612
+      - 0.43515509354274245
+      - -0.52359877557494849
+      - -0.00015969159879068628
+      - 0.22188024282427124
     effort: []
     time_from_start:
       sec: 1
       nanosec: 880000000
   - positions:
-      - -0.36252091247136797
-      - -0.19195891208354418
-      - -1.4444814662366641
-      - 1.4577480193559653
-      - -1.5840532007749357
-      - -1.5707887266135301
-      - -0.19204571012527505
-    velocities:
-      - 0.093921059034231785
-      - 0.051651208647435741
-      - 0.020781739595408126
-      - 0.10221787092326901
-      - -0.12291711322915599
-      - 6.4775981585651915e-05
-      - 0.051732426924954694
-    accelerations:
-      - 0.40008221981359637
-      - 0.2200223296480209
-      - 0.088525455253742794
-      - 0.43542473992649122
-      - -0.52359877560448564
-      - 0.00027593085906267909
-      - 0.22036830092532139
+      - -0.36114925037267576
+      - -0.19201992336830975
+      - -1.4442946922306978
+      - 1.4588938656370378
+      - -1.5853939781668176
+      - -1.5708011322846276
+      - -0.19211214177301217
+    velocities:
+      - 0.098187838480718215
+      - 0.054525832776997948
+      - 0.021760362584892317
+      - 0.10700277872883299
+      - -0.12875070235166874
+      - -3.9267482016903166e-05
+      - 0.054559403944776555
+    accelerations:
+      - 0.3993068081883262
+      - 0.22174371680734273
+      - 0.08849426836603852
+      - 0.43515509356978971
+      - -0.523598775607511
+      - -0.00015969159880061508
+      - 0.22188024283806645
     effort: []
     time_from_start:
       sec: 1
       nanosec: 890000000
   - positions:
-      - -0.36156274126839694
-      - -0.1914319727449813
-      - -1.444269453460906
-      - 1.4587908336231252
-      - -1.5853071861905557
-      - -1.5707880657768569
-      - -0.19151794220773882
-    velocities:
-      - 0.09792188123230941
-      - 0.053851431943883907
-      - 0.021666994147932644
-      - 0.10657211832247045
-      - -0.12815310098512445
-      - 6.7535290176238489e-05
-      - 0.053936109934175788
-    accelerations:
-      - 0.40008221980246078
-      - 0.22002232964190052
-      - 0.088525455251280638
-      - 0.43542473991437636
-      - -0.52359877558990875
-      - 0.00027593085905500126
-      - 0.22036830091919399
+      - -0.36014999823490712
+      - -0.19146501701932511
+      - -1.4440732382383497
+      - 1.4599828269284401
+      - -1.5867042668599469
+      - -1.5708015319075948
+      - -0.19155689377213164
+    velocities:
+      - 0.10218090656252098
+      - 0.056743269945026667
+      - 0.022645305268534872
+      - 0.11135432966444313
+      - -0.13398669010763808
+      - -4.0864398004877083e-05
+      - 0.056778206373112455
+    accelerations:
+      - 0.39930680817782921
+      - 0.22174371680151339
+      - 0.088494268363711687
+      - 0.43515509355835497
+      - -0.52359877559373902
+      - -0.00015969159879641222
+      - 0.22188024283223015
     effort: []
     time_from_start:
       sec: 1
       nanosec: 900000000
   - positions:
-      - -0.36056456184344499
-      - -0.1908830311734539
-      - -1.4440485881396232
-      - 1.4598771903642778
-      - -1.5866135314837355
-      - -1.5707873773470977
-      - -0.19096813746011032
-    velocities:
-      - 0.10192270343042183
-      - 0.056051655240351203
-      - 0.022552248700464857
-      - 0.11092636572170975
-      - -0.13338908874113845
-      - 7.0294598766849038e-05
-      - 0.056139792943416041
-    accelerations:
-      - 0.40008221982628067
-      - 0.22002232965500143
-      - 0.088525455256549576
-      - 0.4354247399403135
-      - -0.52359877562108348
-      - 0.00027593085907143402
-      - 0.2203683009323158
+      - -0.35911081541632045
+      - -0.19088793629866019
+      - -1.4438429348191653
+      - 1.4611153037291986
+      - -1.5880669154306362
+      - -1.5708019474997217
+      - -0.19097945774696776
+    velocities:
+      - 0.10617397464431534
+      - 0.058960707113050723
+      - 0.023530247952175568
+      - 0.11570588060004411
+      - -0.13922267786359641
+      - -4.2461313992847645e-05
+      - 0.058997008801443693
+    accelerations:
+      - 0.39930680815902481
+      - 0.22174371679107036
+      - 0.08849426835954835
+      - 0.43515509353785747
+      - -0.52359877556906431
+      - -0.00015969159878889057
+      - 0.22188024282178712
     effort: []
     time_from_start:
       sec: 1
       nanosec: 910000000
   - positions:
-      - -0.35952637419651223
-      - -0.19031208736896196
-      - -1.4438188702728145
-      - 1.461007089579422
-      - -1.5879722366544748
-      - -1.5707866613242527
-      - -0.19039629588238949
-    velocities:
-      - 0.10592352562849081
-      - 0.058251878536794616
-      - 0.023437503252987463
-      - 0.11528061312090176
-      - -0.1386250764970956
-      - 7.305390735742965e-05
-      - 0.058343475952632361
-    accelerations:
-      - 0.40008221980658809
-      - 0.22002232964417676
-      - 0.08852545525219542
-      - 0.43542473991887232
-      - -0.5235987755953263
-      - 0.00027593085905785439
-      - 0.22036830092146337
+      - -0.35803170191691575
+      - -0.19028868120631492
+      - -1.4436037819731444
+      - 1.4622912960393131
+      - -1.5894819238788851
+      - -1.5708023790610086
+      - -0.19037983369752048
+    velocities:
+      - 0.11016704272615853
+      - 0.061178144281101896
+      - 0.024415190635827082
+      - 0.1200574315356983
+      - -0.14445866561961876
+      - -4.4058229980837736e-05
+      - 0.061215811229802054
+    accelerations:
+      - 0.39930680818913111
+      - 0.22174371680779376
+      - 0.088494268366218931
+      - 0.43515509357066401
+      - -0.52359877560853796
+      - -0.00015969159880094034
+      - 0.22188024283851054
     effort: []
     time_from_start:
       sec: 1
       nanosec: 920000000
   - positions:
-      - -0.35844817832759857
-      - -0.18971914133150547
-      - -1.4435802998604812
-      - 1.4621805312685585
-      - -1.5893833017027741
-      - -1.5707859177083219
-      - -0.18980241747457643
-    velocities:
-      - 0.10992434782656314
-      - 0.060452101833239867
-      - 0.024322757805510808
-      - 0.11963486052009745
-      - -0.14386106425305714
-      - 7.5813215948012565e-05
-      - 0.06054715896185054
-    accelerations:
-      - 0.40008221979016506
-      - 0.22002232963514204
-      - 0.088525455248557122
-      - 0.43542473990099817
-      - -0.52359877557383827
-      - 0.00027593085904651737
-      - 0.22036830091242163
+      - -0.35691265773669284
+      - -0.18966725174228929
+      - -1.4433557797002872
+      - 1.4635108038587841
+      - -1.5909492922046942
+      - -1.5708028265914553
+      - -0.18975802162378974
+    velocities:
+      - 0.11416011080795596
+      - 0.063395581449127658
+      - 0.025300133319468458
+      - 0.12440898247130264
+      - -0.14969465337558113
+      - -4.5655145968809525e-05
+      - 0.063434613658135006
+    accelerations:
+      - 0.39930680817331893
+      - 0.22174371679900845
+      - 0.088494268362712486
+      - 0.43515509355342835
+      - -0.52359877558782708
+      - -0.00015969159879460973
+      - 0.22188024282972521
     effort: []
     time_from_start:
       sec: 1
       nanosec: 930000000
   - positions:
-      - -0.35732997423670398
-      - -0.18910419306108447
-      - -1.4433328769026221
-      - 1.4633975154316872
-      - -1.5908467266286335
-      - -1.570785146499305
-      - -0.18918650223667116
-    velocities:
-      - 0.11392517002468087
-      - 0.062652325129710085
-      - 0.025208012358044197
-      - 0.12398910791934252
-      - -0.14909705200907805
-      - 7.8572524538626787e-05
-      - 0.062750841971093721
-    accelerations:
-      - 0.40008221981930014
-      - 0.22002232965116422
-      - 0.088525455255005672
-      - 0.43542473993269459
-      - -0.52359877561195189
-      - 0.00027593085906662287
-      - 0.22036830092847165
+      - -0.35575368287565173
+      - -0.1890236479065833
+      - -1.4430989280005933
+      - 1.4647738271876112
+      - -1.5924690204080629
+      - -1.570803290091062
+      - -0.18911402152577558
+    velocities:
+      - 0.11815317888980278
+      - 0.065613018617180843
+      - 0.026185076003120776
+      - 0.12876053340696078
+      - -0.15493064113160823
+      - -4.7252061956801066e-05
+      - 0.065653416086495386
+    accelerations:
+      - 0.39930680820710285
+      - 0.22174371681776495
+      - 0.088494268370198387
+      - 0.43515509359023169
+      - -0.52359877563210244
+      - -0.0001596915988081164
+      - 0.22188024284849561
     effort: []
     time_from_start:
       sec: 1
       nanosec: 940000000
   - positions:
-      - -0.35617176192382854
-      - -0.18846724255769892
-      - -1.443076601399238
-      - 1.464658042068808
-      - -1.5923625114320525
-      - -1.5707843476972021
-      - -0.18854855016867356
-    velocities:
-      - 0.11792599222274962
-      - 0.064852548426153359
-      - 0.026093266910566751
-      - 0.1283433553185343
-      - -0.1543330397650349
-      - 8.1331833129207222e-05
-      - 0.064954524980309916
-    accelerations:
-      - 0.40008221979928277
-      - 0.22002232964015192
-      - 0.08852545525057634
-      - 0.43542473991093467
-      - -0.52359877558574541
-      - 0.00027593085905280575
-      - 0.22036830091744539
+      - -0.35455477745276071
+      - -0.18835786976526259
+      - -1.4428332269004289
+      - 1.4660803658961459
+      - -1.5940411083329924
+      - -1.570803769559781
+      - -0.1884478334695843
+    velocities:
+      - 0.12216010746557343
+      - 0.067838152817631822
+      - 0.027073090445740824
+      - 0.13312718918032368
+      - -0.16018480372838495
+      - -4.8854521063153362e-05
+      - 0.067879920286262066
+    accelerations:
+      - 0.39930680817598346
+      - 0.2217437168004795
+      - 0.088494268363305761
+      - 0.43515509355632881
+      - -0.52359877559132428
+      - -0.00015969159879948187
+      - 0.22188024283121013
     effort: []
     time_from_start:
       sec: 1
       nanosec: 950000000
   - positions:
-      - -0.35497354162443095
-      - -0.18780828995083765
-      - -1.442811473402428
-      - 1.4659621109236622
-      - -1.5939306558048802
-      - -1.5707835213021759
-      - -0.18788856140027613
-    velocities:
-      - 0.12195954087642748
-      - 0.067070769400692495
-      - 0.026985762785591942
-      - 0.13273322016763561
-      - -0.15961185754752166
-      - 8.411371267902319e-05
-      - 0.067176233967838991
-    accelerations:
-      - 0.40008221981133429
-      - 0.22002232964677884
-      - 0.088525455253239724
-      - 0.43542473992404873
-      - -0.52359877560154355
-      - 0.00027593085906492881
-      - 0.22036830092407239
+      - -0.35331594145313766
+      - -0.18766991731006277
+      - -1.4425586763964953
+      - 1.4674304200006063
+      - -1.5956655559989965
+      - -1.5708042649976184
+      - -0.18775945744694639
+    velocities:
+      - 0.1261531755473719
+      - 0.070055589985658154
+      - 0.027958033129382422
+      - 0.13747874011592928
+      - -0.16542079148434877
+      - -5.0451437051163647e-05
+      - 0.070098722714595579
+    accelerations:
+      - 0.39930680816156983
+      - 0.22174371679247962
+      - 0.088494268360105766
+      - 0.43515509354063248
+      - -0.52359877557242795
+      - -0.00015969159879371684
+      - 0.22188024282319641
     effort: []
     time_from_start:
       sec: 1
       nanosec: 960000000
   - positions:
-      - -0.35373531336875996
-      - -0.18712733525713574
-      - -1.4425374929188854
-      - 1.4673097219633291
-      - -1.5955511597075289
-      - -1.5707826673142469
-      - -0.18720653594814013
-    velocities:
-      - 0.12596036307449246
-      - 0.069270992697133701
-      - 0.027871017338113629
-      - 0.13708746756682341
-      - -0.16484784530347374
-      - 8.6873021269639065e-05
-      - 0.069379916977053105
-    accelerations:
-      - 0.40008221978750053
-      - 0.22002232963367099
-      - 0.088525455247963847
-      - 0.43542473989811159
-      - -0.52359877557034107
-      - 0.00027593085904848249
-      - 0.2203683009109367
+      - -0.35203717477269647
+      - -0.18695979048318265
+      - -1.4422752764657256
+      - 1.4688239896144228
+      - -1.5973423635425605
+      - -1.5708047764046151
+      - -0.18704889340002512
+    velocities:
+      - 0.13014624362922
+      - 0.072273027153712033
+      - 0.028842975813035021
+      - 0.14183029105158898
+      - -0.17065677924037764
+      - -5.2048353039193779e-05
+      - 0.072317525142956668
+    accelerations:
+      - 0.39930680819668063
+      - 0.22174371681197791
+      - 0.088494268367891205
+      - 0.43515509357890741
+      - -0.5235987756184467
+      - -0.00015969159880775726
+      - 0.22188024284270857
     effort: []
     time_from_start:
       sec: 1
       nanosec: 970000000
   - positions:
-      - -0.35245707689110806
-      - -0.18642437833046932
-      - -1.4422546598898176
-      - 1.4687008754769879
-      - -1.5972240234877371
-      - -1.5707817857332322
-      - -0.18650247366591186
-    velocities:
-      - 0.12996118527261152
-      - 0.071471215993604634
-      - 0.028756271890647282
-      - 0.14144171496607008
-      - -0.17008383305949659
-      - 8.9632329860292264e-05
-      - 0.071583599986297014
-    accelerations:
-      - 0.40008221981780961
-      - 0.22002232965035209
-      - 0.088525455254673757
-      - 0.43542473993111297
-      - -0.52359877561003154
-      - 0.00027593085906940759
-      - 0.22036830092765944
+      - -0.35071847741143719
+      - -0.18622748928462218
+      - -1.4419830271081193
+      - 1.4702610747375955
+      - -1.5990715309636845
+      - -1.5708053037807721
+      - -0.18631614132882046
+    velocities:
+      - 0.1341393117110086
+      - 0.074490464321732883
+      - 0.029727918496674433
+      - 0.14618184198718384
+      - -0.17589276699632853
+      - -5.364526902720012e-05
+      - 0.0745363275712847
+    accelerations:
+      - 0.39930680817222258
+      - 0.22174371679839783
+      - 0.088494268362469625
+      - 0.43515509355224874
+      - -0.52359877558638379
+      - -0.00015969159879797754
+      - 0.22188024282911459
     effort: []
     time_from_start:
       sec: 1
       nanosec: 980000000
   - positions:
-      - -0.35113883219147524
-      - -0.18569941917083832
-      - -1.4419629743152242
-      - 1.4701355714646391
-      - -1.5989492471455051
-      - -1.5707808765591311
-      - -0.18577637455359133
-    velocities:
-      - 0.13396200747068593
-      - 0.073671439290051016
-      - 0.029641526443171053
-      - 0.14579596236526812
-      - -0.17531982081546099
-      - 9.2391638450914644e-05
-      - 0.073787282995516304
-    accelerations:
-      - 0.40008221980357661
-      - 0.22002232964251836
-      - 0.088525455251525817
-      - 0.43542473991561104
-      - -0.52359877559138501
-      - 0.00027593085905957556
-      - 0.22036830091979803
+      - -0.34935984936935977
+      - -0.18547301371438135
+      - -1.4416819283236764
+      - 1.4717416753701245
+      - -1.6008530582623681
+      - -1.5708058471260893
+      - -0.18556120123333236
+    velocities:
+      - 0.1381323797928124
+      - 0.076707901489762156
+      - 0.030612861180317211
+      - 0.15053339292279522
+      - -0.18112875475229931
+      - -5.5242185015212532e-05
+      - 0.076755129999621169
+    accelerations:
+      - 0.39930680816312414
+      - 0.22174371679334004
+      - 0.08849426836045271
+      - 0.43515509354232557
+      - -0.52359877557442636
+      - -0.00015969159879434026
+      - 0.22188024282405683
     effort: []
     time_from_start:
       sec: 1
       nanosec: 990000000
   - positions:
-      - -0.34978057926986161
-      - -0.18495245777824282
-      - -1.441662436195106
-      - 1.4716138099262821
-      - -1.6007268306808333
-      - -1.5707799397919446
-      - -0.18502823861117851
-    velocities:
-      - 0.1379628296687456
-      - 0.075871662586489294
-      - 0.030526780995691564
-      - 0.15015020976445015
-      - -0.1805558085714061
-      - 9.5150947041526874e-05
-      - 0.075990966004727489
-    accelerations:
-      - 0.40008221977442765
-      - 0.22002232962649618
-      - 0.088525455245073797
-      - 0.43542473988387298
-      - -0.52359877555324363
-      - 0.00027593085903948361
-      - 0.22036830090374801
+      - -0.34796129064646419
+      - -0.18469636377246018
+      - -1.4413719801123972
+      - 1.4732657915120098
+      - -1.6026869454386117
+      - -1.5708064064405658
+      - -0.18478407311356085
+    velocities:
+      - 0.14212544787459749
+      - 0.07892533865778105
+      - 0.031497803863955849
+      - 0.15488494385838625
+      - -0.18636474250824561
+      - -5.683910100321747e-05
+      - 0.078973932427947258
+    accelerations:
+      - 0.39930680813516889
+      - 0.22174371677780319
+      - 0.088494268354253974
+      - 0.43515509351183662
+      - -0.52359877553778378
+      - -0.00015969159878315785
+      - 0.22188024280851995
     effort: []
     time_from_start:
       sec: 2
       nanosec: 0
   - positions:
-      - -0.34838231812626702
-      - -0.1841834941526827
-      - -1.4413530455294623
-      - 1.4731355908619177
-      - -1.6025567740937212
-      - -1.5707789754316721
-      - -0.18425806583867341
-    velocities:
-      - 0.14196365186692755
-      - 0.07807188588299481
-      - 0.031412035548239133
-      - 0.15450445716376526
-      - -0.18579179632751128
-      - 9.7910255632223427e-05
-      - 0.078194649014006037
-    accelerations:
-      - 0.4000822198677475
-      - 0.2200223296777957
-      - 0.088525455265722794
-      - 0.43542473998544406
-      - -0.52359877567537338
-      - 0.00027593085910382456
-      - 0.22036830095514476
+      - -0.34652280124275037
+      - -0.18389753945885856
+      - -1.4410531824742816
+      - 1.4748334231632514
+      - -1.6045731924924151
+      - -1.5708069817242025
+      - -0.18398475696950584
+    velocities:
+      - 0.14611851595650865
+      - 0.08114277582586997
+      - 0.032382746547622424
+      - 0.1592364947941147
+      - -0.1916007302643572
+      - -5.8436016991272824e-05
+      - 0.081192734856343401
+    accelerations:
+      - 0.39930680823342901
+      - 0.22174371683239213
+      - 0.088494268376033997
+      - 0.43515509361895871
+      - -0.52359877566665813
+      - -0.00015969159882246175
+      - 0.22188024286313668
     effort: []
     time_from_start:
       sec: 2
       nanosec: 10000000
   - positions:
-      - -0.34694404876069151
-      - -0.18339252829415806
-      - -1.4410348023182933
-      - 1.4747009142715453
-      - -1.604439077384169
-      - -1.5707779834783135
-      - -0.183465856236076
-    velocities:
-      - 0.14596447406494434
-      - 0.080272109179409509
-      - 0.032297290100750158
-      - 0.15885870456290063
-      - -0.19102778408340026
-      - 0.00010066956422280608
-      - 0.080398332023193603
-    accelerations:
-      - 0.40008221979580505
-      - 0.220022329638244
-      - 0.088525455249804971
-      - 0.43542473990714559
-      - -0.52359877558119872
-      - 0.00027593085905420876
-      - 0.22036830091552367
+      - -0.34504438115821862
+      - -0.18307654077357677
+      - -1.4407255354093293
+      - 1.4764445703238489
+      - -1.6065117994237781
+      - -1.570807572976999
+      - -0.18316325280116752
+    velocities:
+      - 0.15011158403825295
+      - 0.083360212993866201
+      - 0.033267689231252021
+      - 0.16358804572966126
+      - -0.19683671802024999
+      - -6.0032932979261445e-05
+      - 0.0834115372846468
+    accelerations:
+      - 0.39930680816476172
+      - 0.2217437167942421
+      - 0.088494268360817002
+      - 0.43515509354412968
+      - -0.52359877557659129
+      - -0.00015969159879499078
+      - 0.22188024282495888
     effort: []
     time_from_start:
       sec: 2
       nanosec: 20000000
   - positions:
-      - -0.34546577117313509
-      - -0.18257956020266886
-      - -1.4407077065615992
-      - 1.476309780155165
-      - -1.6063737405521767
-      - -1.5707769639318692
-      - -0.18265160980338635
-    velocities:
-      - 0.14996529626306518
-      - 0.082472332475881427
-      - 0.033182544653284206
-      - 0.16321295196214922
-      - -0.19626377183942545
-      - 0.0001034288728134605
-      - 0.082602015032438483
-    accelerations:
-      - 0.4000822198278905
-      - 0.22002232965589655
-      - 0.088525455256910399
-      - 0.43542473994208986
-      - -0.52359877562322066
-      - 0.00027593085907636714
-      - 0.22036830093320398
+      - -0.34352603039286861
+      - -0.18223336771661452
+      - -1.4403890389175409
+      - 1.4780992329938027
+      - -1.6085027662327014
+      - -1.5708081801989553
+      - -0.18231956060854573
+    velocities:
+      - 0.15410465212010105
+      - 0.085577650161920094
+      - 0.03415263191490462
+      - 0.16793959666532093
+      - -0.20207270577627887
+      - -6.162984896729157e-05
+      - 0.085630339713007902
+    accelerations:
+      - 0.39930680819987252
+      - 0.22174371681375427
+      - 0.088494268368602441
+      - 0.43515509358237686
+      - -0.52359877562263779
+      - -0.00015969159880903797
+      - 0.22188024284448493
     effort: []
     time_from_start:
       sec: 2
       nanosec: 30000000
   - positions:
-      - -0.34394748536359798
-      - -0.18174458987821523
-      - -1.4403717582593796
-      - 1.4779621885127763
-      - -1.6083607635977439
-      - -1.570775916792339
-      - -0.18181532654060448
-    velocities:
-      - 0.15396611846118602
-      - 0.084672555772353345
-      - 0.034067799205818247
-      - 0.16756719936139783
-      - -0.20149975959545063
-      - 0.00010618818140411491
-      - 0.084805698041683364
-    accelerations:
-      - 0.4000822198600037
-      - 0.22002232967356297
-      - 0.088525455264008887
-      - 0.43542473997703413
-      - -0.52359877566527036
-      - 0.00027593085909849842
-      - 0.22036830095089815
+      - -0.34196774894670035
+      - -0.18136802028797191
+      - -1.4400436929989158
+      - 1.4797974111731129
+      - -1.6105460929191844
+      - -1.5708088033900716
+      - -0.18145368039164045
+    velocities:
+      - 0.15809772020194918
+      - 0.087795087329973986
+      - 0.03503757459855722
+      - 0.17229114760098066
+      - -0.2073086935323078
+      - -6.3226764955321723e-05
+      - 0.087849142141369005
+    accelerations:
+      - 0.39930680823501108
+      - 0.22174371683326644
+      - 0.08849426837638788
+      - 0.43515509362070731
+      - -0.5235987756687398
+      - -0.00015969159882309194
+      - 0.22188024286401098
     effort: []
     time_from_start:
       sec: 2
       nanosec: 40000000
   - positions:
-      - -0.34238919133207979
-      - -0.18088761732079695
-      - -1.4400269574116349
-      - 1.4796581393443804
-      - -1.6104001465208713
-      - -1.5707748420597227
-      - -0.18095700644773027
-    velocities:
-      - 0.15796694065916672
-      - 0.086872779068748171
-      - 0.034953053758321286
-      - 0.17192144676049387
-      - -0.20673574735129235
-      - 0.00010894748999467266
-      - 0.087009381050851042
-    accelerations:
-      - 0.4000822197518013
-      - 0.22002232961402671
-      - 0.088525455240065082
-      - 0.43542473985924035
-      - -0.52359877552359546
-      - 0.0002759308590238505
-      - 0.22036830089127848
+      - -0.34036953686494104
+      - -0.18048049851276451
+      - -1.4396894976634775
+      - 1.481539104812492
+      - -1.6126417794239225
+      - -1.5708094425503298
+      - -0.18056561217558284
+    velocities:
+      - 0.16209772477881088
+      - 0.090016376483905286
+      - 0.035924054546387099
+      - 0.17665025776446783
+      - -0.21255377690158819
+      - -6.4826454999539001e-05
+      - 0.090071798927247343
+    accelerations:
+      - 0.39930680816806463
+      - 0.22174371679608784
+      - 0.088494268361545586
+      - 0.43515509354771015
+      - -0.52359877558089341
+      - -0.00015969159879349322
+      - 0.22188024282680463
     effort: []
     time_from_start:
       sec: 2
       nanosec: 49999999
   - positions:
-      - -0.34079088916961253
-      - -0.18000864258047641
-      - -1.4396733040385072
-      - 1.4813976325509033
-      - -1.6124918892024225
-      - -1.5707737397340833
-      - -0.18007664957490477
-    velocities:
-      - 0.16198413313975585
-      - 0.089082005083929341
-      - 0.035841930533080747
-      - 0.17629351056255127
-      - -0.21199315935321053
-      - 0.00011171808893071897
-      - 0.08922208093501495
-    accelerations:
-      - 0.40008221987699011
-      - 0.22002232968290272
-      - 0.088525455267776706
-      - 0.43542473999549158
-      - -0.52359877568750257
-      - 0.00027593085911233555
-      - 0.22036830096025178
+      - -0.3387313941423496
+      - -0.17957080238808185
+      - -1.4393264529100647
+      - 1.4833243139176515
+      - -1.614789825753788
+      - -1.5708100976797317
+      - -0.17965535595746052
+    velocities:
+      - 0.16609079286065898
+      - 0.092233813651959165
+      - 0.036808997230039747
+      - 0.1810018087001275
+      - -0.2177897646576171
+      - -6.6423370987540951e-05
+      - 0.092290601355608418
+    accelerations:
+      - 0.39930680820317543
+      - 0.22174371681558613
+      - 0.088494268369337964
+      - 0.43515509358598509
+      - -0.52359877562696766
+      - -0.00015969159880754719
+      - 0.22188024284630292
     effort: []
     time_from_start:
       sec: 2
       nanosec: 60000000
   - positions:
-      - -0.33915257889045858
-      - -0.17910766566509709
-      - -1.4393107981431528
-      - 1.4831806681168223
-      - -1.6146359916237321
-      - -1.5707726098154309
-      - -0.17917425592998382
-    velocities:
-      - 0.16598495533777269
-      - 0.091282228380344041
-      - 0.0367271850855918
-      - 0.18064775796168658
-      - -0.21722914710909944
-      - 0.00011447739752132277
-      - 0.091425763944202543
-    accelerations:
-      - 0.40008221980504766
-      - 0.22002232964332327
-      - 0.088525455251845006
-      - 0.4354247399171931
-      - -0.52359877559330015
-      - 0.00027593085906270619
-      - 0.22036830092061682
+      - -0.3370533207389399
+      - -0.17863893189171878
+      - -1.4389545587298149
+      - 1.4851530385321672
+      - -1.6169902319612133
+      - -1.5708107687782933
+      - -0.17872291171505475
+    velocities:
+      - 0.1700838609425071
+      - 0.094451250820013072
+      - 0.037693939913692395
+      - 0.18535335963578717
+      - -0.22302575241364603
+      - -6.80202869755429e-05
+      - 0.09450940378396952
+    accelerations:
+      - 0.39930680823831399
+      - 0.2217437168350983
+      - 0.088494268377123403
+      - 0.43515509362426003
+      - -0.52359877567304192
+      - -0.00015969159882160116
+      - 0.22188024286584285
     effort: []
     time_from_start:
       sec: 2
       nanosec: 69999999
   - positions:
-      - -0.3374742603893236
-      - -0.17818468651675323
-      - -1.4389394397022728
-      - 1.4850072461567336
-      - -1.6168324539226016
-      - -1.5707714523036922
-      - -0.17824982545497059
-    velocities:
-      - 0.16998577753589361
-      - 0.093482451676815986
-      - 0.037612439638125897
-      - 0.18500200536093517
-      - -0.22246513486512459
-      - 0.00011723670611199835
-      - 0.093629446953447479
-    accelerations:
-      - 0.40008221983718861
-      - 0.2200223296609897
-      - 0.088525455258964311
-      - 0.43542473995216513
-      - -0.52359877563534984
-      - 0.00027593085908485102
-      - 0.220368300938311
+      - -0.33533531665471211
+      - -0.17768488702367535
+      - -1.4385738151227287
+      - 1.4870252786560392
+      - -1.6192429980461984
+      - -1.5708114558460151
+      - -0.17776827944836554
+    velocities:
+      - 0.17407692902425145
+      - 0.09666868798800933
+      - 0.038578882597322041
+      - 0.18970491057133376
+      - -0.22826174016953885
+      - -6.9617202963503339e-05
+      - 0.096728206212272932
+    accelerations:
+      - 0.39930680816967445
+      - 0.22174371679697602
+      - 0.088494268361906409
+      - 0.43515509354945875
+      - -0.52359877558303058
+      - -0.00015969159879413019
+      - 0.22188024282769281
     effort: []
     time_from_start:
       sec: 2
       nanosec: 80000000
   - positions:
-      - -0.33575593366620804
-      - -0.17723970513544493
-      - -1.4385592287158677
-      - 1.486877366670637
-      - -1.6190812760990307
-      - -1.5707702671988677
-      - -0.1773033581498652
-    velocities:
-      - 0.17398659973401451
-      - 0.095682674973287932
-      - 0.03849769419065998
-      - 0.18935625276018375
-      - -0.22770112262114972
-      - 0.00011999601470267393
-      - 0.095833129962692387
-    accelerations:
-      - 0.40008221986930181
-      - 0.22002232967865612
-      - 0.0885254552660628
-      - 0.4354247399871094
-      - -0.52359877567737179
-      - 0.00027593085910699585
-      - 0.2203683009559913
+      - -0.33357738188966635
+      - -0.17670866778395172
+      - -1.4381842220888066
+      - 1.4889410342892671
+      - -1.6215481240087433
+      - -1.5708121588828967
+      - -0.17679145915739308
+    velocities:
+      - 0.17806999710609958
+      - 0.098886125156063223
+      - 0.039463825280974696
+      - 0.19405646150699343
+      - -0.23349772792556778
+      - -7.1214118951505289e-05
+      - 0.098947008640634035
+    accelerations:
+      - 0.39930680820481301
+      - 0.22174371681648819
+      - 0.088494268369698786
+      - 0.43515509358776144
+      - -0.52359877562910484
+      - -0.00015969159880818416
+      - 0.22188024284721886
     effort: []
     time_from_start:
       sec: 2
       nanosec: 89999999
   - positions:
-      - -0.33399759872111134
-      - -0.17627272152117193
-      - -1.4381701651839374
-      - 1.4887910296585327
-      - -1.6213824581530201
-      - -1.5707690545009574
-      - -0.17633485401466739
-    velocities:
-      - 0.17798742193203126
-      - 0.097882898269702603
-      - 0.039382948743171033
-      - 0.19371050015931898
-      - -0.23293711037703857
-      - 0.0001227553232932777
-      - 0.098036812971879952
-    accelerations:
-      - 0.4000822197972761
-      - 0.22002232963903504
-      - 0.088525455250131099
-      - 0.43542473990872765
-      - -0.52359877558311385
-      - 0.00027593085905733939
-      - 0.22036830091631471
+      - -0.33177951644380221
+      - -0.17571027417254759
+      - -1.4377857796280478
+      - 1.4909003054318517
+      - -1.6239056098488485
+      - -1.5708128778889381
+      - -0.17579245084213699
+    velocities:
+      - 0.18206306518794768
+      - 0.10110356232411712
+      - 0.040348767964627337
+      - 0.1984080124426531
+      - -0.23873371568159668
+      - -7.2811034939507238e-05
+      - 0.10116581106899511
+    accelerations:
+      - 0.39930680823992382
+      - 0.22174371683600036
+      - 0.088494268377477286
+      - 0.43515509362603638
+      - -0.5235987756751791
+      - -0.00015969159882223813
+      - 0.22188024286673103
     effort: []
     time_from_start:
       sec: 2
       nanosec: 100000000
   - positions:
-      - -0.33219925555403379
-      - -0.17528373567393446
-      - -1.4377722491064815
-      - 1.4907482351204204
-      - -1.6237360000845689
-      - -1.5707678142099613
-      - -0.17534431304937736
-    velocities:
-      - 0.18198824413015219
-      - 0.10008312156617455
-      - 0.040268203295705123
-      - 0.19806474755856759
-      - -0.23817309813306373
-      - 0.0001255146318839533
-      - 0.10024049598112489
-    accelerations:
-      - 0.4000822198293893
-      - 0.22002232965670146
-      - 0.088525455257236527
-      - 0.43542473994369968
-      - -0.52359877562516355
-      - 0.00027593085907951133
-      - 0.22036830093402276
+      - -0.3299417203171201
+      - -0.17468970618946317
+      - -1.4373784877404523
+      - 1.4929030920837922
+      - -1.6263154555665129
+      - -1.5708136128641397
+      - -0.17477125450259756
+    velocities:
+      - 0.18605613326969198
+      - 0.10332099949211336
+      - 0.041233710648256976
+      - 0.20275956337819964
+      - -0.24396970343748944
+      - -7.4407950927467663e-05
+      - 0.10338461349729851
+    accelerations:
+      - 0.39930680817122877
+      - 0.2217437167978642
+      - 0.088494268362253353
+      - 0.43515509355117959
+      - -0.5235987755850845
+      - -0.00015969159879476716
+      - 0.22188024282856711
     effort: []
     time_from_start:
       sec: 2
       nanosec: 109999999
   - positions:
-      - -0.33036090416497538
-      - -0.17427274759373246
-      - -1.4373654804835008
-      - 1.4927489830563001
-      - -1.6261419018936776
-      - -1.5707665463258791
-      - -0.17433173525399506
-    velocities:
-      - 0.18598906632827308
-      - 0.10228334486264649
-      - 0.041153457848239212
-      - 0.20241899495781615
-      - -0.24340908588908886
-      - 0.00012827394047462888
-      - 0.10244417899036981
-    accelerations:
-      - 0.4000822198615025
-      - 0.22002232967436788
-      - 0.088525455264348893
-      - 0.43542473997864395
-      - -0.52359877566718549
-      - 0.00027593085910165616
-      - 0.22036830095170307
+      - -0.32806399350961973
+      - -0.17364696383469838
+      - -1.4369623464260206
+      - 1.4949493942450891
+      - -1.6287776611617373
+      - -1.5708143638085006
+      - -0.17372787013877472
+    velocities:
+      - 0.1900492013515401
+      - 0.10553843666016724
+      - 0.042118653331909624
+      - 0.20711111431385931
+      - -0.24920569119351835
+      - -7.6004866915469613e-05
+      - 0.1056034159256596
+    accelerations:
+      - 0.39930680820636733
+      - 0.22174371681734861
+      - 0.088494268370045731
+      - 0.43515509358945453
+      - -0.52359877563115875
+      - -0.00015969159880882113
+      - 0.22188024284807928
     effort: []
     time_from_start:
       sec: 2
       nanosec: 120000000
   - positions:
-      - -0.32848254455393616
-      - -0.17323975728056593
-      - -1.4369498593149945
-      - 1.494793273466172
-      - -1.6286001635803462
-      - -1.5707652508487109
-      - -0.17329712062852054
-    velocities:
-      - 0.18998988852622539
-      - 0.10448356815902572
-      - 0.042038712400735999
-      - 0.20677324235688124
-      - -0.24864507364489336
-      - 0.0001310332490651882
-      - 0.10464786199952188
-    accelerations:
-      - 0.40008221972485064
-      - 0.22002232959921911
-      - 0.088525455234111511
-      - 0.43542473982990271
-      - -0.52359877548834588
-      - 0.00027593085900742484
-      - 0.22036830087644313
+      - -0.32614633602130122
+      - -0.17258204710825326
+      - -1.4365373556847523
+      - 1.4970392119157421
+      - -1.631292226634522
+      - -1.5708151307220217
+      - -0.17266229775066844
+    velocities:
+      - 0.19404226943338829
+      - 0.10775587382822117
+      - 0.043003596015562286
+      - 0.21146266524951907
+      - -0.25444167894954733
+      - -7.760178290347159e-05
+      - 0.10782221835402073
+    accelerations:
+      - 0.3993068082415614
+      - 0.22174371683690242
+      - 0.088494268377845048
+      - 0.43515509362781274
+      - -0.52359877567731627
+      - -0.00015969159882290221
+      - 0.22188024286764696
     effort: []
     time_from_start:
       sec: 2
       nanosec: 130000000
   - positions:
-      - -0.32656417672091581
-      - -0.17218476473443473
-      - -1.4365253856009628
-      - 1.4968811063500362
-      - -1.6311107851445747
-      - -1.5707639277784571
-      - -0.1722404691729536
-    velocities:
-      - 0.19399071072441076
-      - 0.10668379145553313
-      - 0.042923966953284348
-      - 0.21112748975619999
-      - -0.25388106140100286
-      - 0.00013379255765590822
-      - 0.10685154500880231
-    accelerations:
-      - 0.40008221982161774
-      - 0.22002232965244098
-      - 0.088525455255515681
-      - 0.43542473993523423
-      - -0.52359877561497725
-      - 0.00027593085907411742
-      - 0.22036830092973453
+      - -0.32418874785216456
+      - -0.17149495601012771
+      - -1.4361035155166475
+      - 1.4991725450957516
+      - -1.6338591519848662
+      - -1.5708159136047029
+      - -0.17157453733827868
+    velocities:
+      - 0.19803533751506067
+      - 0.10997331099617748
+      - 0.043888538699175986
+      - 0.21581421618498722
+      - -0.25967766670534581
+      - -7.9198698891403243e-05
+      - 0.11004102078228416
+    accelerations:
+      - 0.39930680810077435
+      - 0.2217437167587275
+      - 0.088494268346643173
+      - 0.43515509347438097
+      - -0.52359877549273126
+      - -0.00015969159876658829
+      - 0.22188024278941648
     effort: []
     time_from_start:
       sec: 2
       nanosec: 140000000
   - positions:
-      - -0.32460580066591466
-      - -0.17110776995533905
-      - -1.4360920593414062
-      - 1.4990124817078927
-      - -1.6336737665863632
-      - -1.5707625771151172
-      - -0.17116178088729445
-    velocities:
-      - 0.19799153292253166
-      - 0.10888401475200506
-      - 0.043809221505818438
-      - 0.21548173715544855
-      - -0.25911704915702799
-      - 0.0001365518662465838
-      - 0.10905522801804723
-    accelerations:
-      - 0.40008221985373094
-      - 0.22002232967009352
-      - 0.088525455262621108
-      - 0.43542473997015074
-      - -0.52359877565699919
-      - 0.00027593085909626225
-      - 0.22036830094742871
+      - -0.32219122902402547
+      - -0.1703856905524366
+      - -1.4356608259265413
+      - 1.5013493937613429
+      - -1.6364784371841641
+      - -1.5708167124565349
+      - -0.17046458891372776
+    velocities:
+      - 0.20203256973604675
+      - 0.1121930606008613
+      - 0.044774404238233624
+      - 0.2201703051007636
+      - -0.2649191147693602
+      - -8.0797280209573771e-05
+      - 0.1122621370710266
+    accelerations:
+      - 0.39930680821239029
+      - 0.22174371682069316
+      - 0.08849426837137106
+      - 0.43515509359597709
+      - -0.52359877563901358
+      - -0.00015969159880941744
+      - 0.22188024285140995
     effort: []
     time_from_start:
       sec: 2
       nanosec: 150000000
   - positions:
-      - -0.32260741643306912
-      - -0.17000877296755137
-      - -1.43564988054609
-      - 1.5011873994917055
-      - -1.6362891078479487
-      - -1.5707611988587218
-      - -0.17006105579585373
-    velocities:
-      - 0.20200218088635147
-      - 0.11108964165741765
-      - 0.044696650187416732
-      - 0.21984667831028601
-      - -0.26436589616706829
-      - 0.00013931795152491978
-      - 0.11126432313306736
-    accelerations:
-      - 0.40008221980596359
-      - 0.22002232964382287
-      - 0.088525455252053173
-      - 0.43542473991819231
-      - -0.52359877559449364
-      - 0.00027593085906465776
-      - 0.22036830092110254
+      - -0.3201537795344635
+      - -0.16925425073383571
+      - -1.4352092869138968
+      - 1.5035697579151541
+      - -1.6391500822355893
+      - -1.5708175272775191
+      - -0.16933245247567058
+    velocities:
+      - 0.20602563781789485
+      - 0.1144104977689152
+      - 0.045659346921886258
+      - 0.22452185603642327
+      - -0.2701551025253891
+      - -8.2394196197557791e-05
+      - 0.11448093949938772
+    accelerations:
+      - 0.39930680824747333
+      - 0.22174371684019145
+      - 0.088494268379156499
+      - 0.43515509363427979
+      - -0.52359877568508784
+      - -0.00015969159882347141
+      - 0.221880242870936
     effort: []
     time_from_start:
       sec: 2
       nanosec: 160000000
   - positions:
-      - -0.32056902402997184
-      - -0.16888777377524722
-      - -1.4351988492166945
-      - 1.5034058596932118
-      - -1.6389568089193947
-      - -1.5707597930092763
-      - -0.16893829390281356
-    velocities:
-      - 0.20600300308447259
-      - 0.11328986495388972
-      - 0.045581904739950892
-      - 0.22420092570953482
-      - -0.26960188392309381
-      - 0.00014207726011560899
-      - 0.11346800614231241
-    accelerations:
-      - 0.40008221983857639
-      - 0.22002232966175297
-      - 0.088525455259276561
-      - 0.43542473995366393
-      - -0.52359877563723722
-      - 0.00027593085908718206
-      - 0.22036830093908816
+      - -0.3180763993640835
+      - -0.16810063654355453
+      - -1.4347488984744161
+      - 1.5058336375783212
+      - -1.6418740871645745
+      - -1.5708183580676631
+      - -0.16817812801333007
+    velocities:
+      - 0.21001870589963917
+      - 0.11662793493691145
+      - 0.04654428960551589
+      - 0.22887340697196981
+      - -0.27539109028128184
+      - -8.3991112185500286e-05
+      - 0.11669974192769114
+    accelerations:
+      - 0.39930680817880604
+      - 0.22174371680205529
+      - 0.088494268363932566
+      - 0.435155093559423
+      - -0.52359877559499324
+      - -0.00015969159879600044
+      - 0.22188024283277208
     effort: []
     time_from_start:
       sec: 2
       nanosec: 170000000
   - positions:
-      - -0.31849062340489376
-      - -0.16774477234997856
-      - -1.4347389653417744
-      - 1.5056678623687105
-      - -1.6416768698684008
-      - -1.5707583595667449
-      - -0.16779349517968115
-    velocities:
-      - 0.2100038252825937
-      - 0.11549008825036181
-      - 0.046467159292485051
-      - 0.22855517310878365
-      - -0.27483787167911933
-      - 0.00014483656870629817
-      - 0.11567168915155746
-    accelerations:
-      - 0.40008221987121695
-      - 0.22002232967971083
-      - 0.088525455266493011
-      - 0.43542473998919107
-      - -0.5235987756799253
-      - 0.00027593085910967925
-      - 0.22036830095705989
+      - -0.31595908851288534
+      - -0.16692484798159307
+      - -1.4342796606080985
+      - 1.5081410327508444
+      - -1.6446504519711191
+      - -1.5708192048269674
+      - -0.16700161552670617
+    velocities:
+      - 0.21401177398148732
+      - 0.11884537210496537
+      - 0.047429232289168538
+      - 0.23322495790762954
+      - -0.2806270780373108
+      - -8.5588028173484319e-05
+      - 0.11891854435605227
+    accelerations:
+      - 0.39930680821397235
+      - 0.22174371682158134
+      - 0.088494268371724943
+      - 0.43515509359775345
+      - -0.523598775641123
+      - -0.00015969159881006796
+      - 0.221880242852312
     effort: []
     time_from_start:
       sec: 2
       nanosec: 180000000
   - positions:
-      - -0.31637221455783493
-      - -0.1665797686917454
-      - -1.4342702289213283
-      - 1.5079734075182007
-      - -1.6444492906949661
-      - -1.5707568985311275
-      - -0.16662665962645654
-    velocities:
-      - 0.21400464748052495
-      - 0.11769031154672946
-      - 0.047352413844977195
-      - 0.23290942050782582
-      - -0.28007385943489632
-      - 0.0001475958772968564
-      - 0.11787537216069792
-    accelerations:
-      - 0.40008221971377617
-      - 0.22002232959312676
-      - 0.088525455231662081
-      - 0.43542473981785679
-      - -0.52359877547385747
-      - 0.00027593085900110936
-      - 0.22036830087035078
+      - -0.31380184698086899
+      - -0.16572688504795119
+      - -1.433801573314945
+      - 1.5104919434327244
+      - -1.6474791766552239
+      - -1.5708200675554311
+      - -0.1658029150157988
+    velocities:
+      - 0.21800484206333548
+      - 0.1210628092730193
+      - 0.048314174972821179
+      - 0.23757650884328924
+      - -0.2858630657933397
+      - -8.7184944161468339e-05
+      - 0.12113734678441339
+    accelerations:
+      - 0.39930680824911091
+      - 0.22174371684110739
+      - 0.088494268379510382
+      - 0.43515509363605615
+      - -0.52359877568719726
+      - -0.00015969159882412193
+      - 0.22188024287183805
     effort: []
     time_from_start:
       sec: 2
       nanosec: 190000000
   - positions:
-      - -0.31421379748879497
-      - -0.16539276280054763
-      - -1.4337926399553571
-      - 1.5103224951416836
-      - -1.6472740713990914
-      - -1.5707554099024241
-      - -0.16543778724313954
-    velocities:
-      - 0.21800546967873186
-      - 0.11989053484324873
-      - 0.048237668397530339
-      - 0.23726366790716802
-      - -0.28530984719103414
-      - 0.00015035518588760475
-      - 0.12007905516999022
-    accelerations:
-      - 0.4000822198323869
-      - 0.22002232965836679
-      - 0.08852545525790266
-      - 0.43542473994694708
-      - -0.52359877562907708
-      - 0.00027593085908289946
-      - 0.22036830093567422
+      - -0.31160467476803444
+      - -0.16450674774262886
+      - -1.4333146365949547
+      - 1.5128863696239603
+      - -1.6503602612168886
+      - -1.5708209462530549
+      - -0.16458202648060791
+    velocities:
+      - 0.22199791014507977
+      - 0.12328024644101553
+      - 0.049199117656450811
+      - 0.24192805977883575
+      - -0.29109905354923243
+      - -8.878186014941082e-05
+      - 0.1233561492127168
+    accelerations:
+      - 0.39930680818041586
+      - 0.22174371680294347
+      - 0.088494268364293388
+      - 0.4351550935611716
+      - -0.52359877559710266
+      - -0.00015969159879663741
+      - 0.22188024283366026
     effort: []
     time_from_start:
       sec: 2
       nanosec: 200000000
   - positions:
-      - -0.31201537219777414
-      - -0.1641837546763853
-      - -1.4333061984438609
-      - 1.5127151252391582
-      - -1.6501512119807769
-      - -1.5707538936806351
-      - -0.16422687802973027
-    velocities:
-      - 0.22200629187685297
-      - 0.1220907581397208
-      - 0.049122922950064499
-      - 0.24161791530641683
-      - -0.29054583494705971
-      - 0.00015311449447829396
-      - 0.12228273817923527
-    accelerations:
-      - 0.4000822198649997
-      - 0.2200223296762969
-      - 0.08852545526511911
-      - 0.43542473998244646
-      - -0.52359877567182067
-      - 0.00027593085910542376
-      - 0.22036830095364596
+      - -0.30936757187438196
+      - -0.16326443606562638
+      - -1.4328188504481281
+      - 1.5153243113245523
+      - -1.6532937056561128
+      - -1.5708218409198385
+      - -0.16333894992113379
+    velocities:
+      - 0.2259909782269279
+      - 0.12549768360906943
+      - 0.050084060340103452
+      - 0.24627961071449544
+      - -0.29633504130526134
+      - -9.037877613739484e-05
+      - 0.1255749516410779
+    accelerations:
+      - 0.39930680821555442
+      - 0.22174371682245564
+      - 0.088494268372078827
+      - 0.4351550935994743
+      - -0.52359877564317692
+      - -0.00015969159881069138
+      - 0.2218802428531863
     effort: []
     time_from_start:
       sec: 2
       nanosec: 210000000
   - positions:
-      - -0.30977693868477241
-      - -0.16295274431925841
-      - -1.4328109043868391
-      - 1.5151512978106254
-      - -1.6530807124400222
-      - -1.5707523498657598
-      - -0.16299393198622869
-    velocities:
-      - 0.22600711407497412
-      - 0.12429098143619288
-      - 0.050008177502598658
-      - 0.24597216270566566
-      - -0.29578182270308523
-      - 0.00015587380306898314
-      - 0.12448642118848031
-    accelerations:
-      - 0.40008221989766801
-      - 0.22002232969424088
-      - 0.088525455272342499
-      - 0.4354247400179736
-      - -0.52359877571450875
-      - 0.00027593085912789385
-      - 0.22036830097161769
+      - -0.30709053829991118
+      - -0.16199995001694339
+      - -1.432314214874465
+      - 1.5178057685345008
+      - -1.6562795099728971
+      - -1.570822751555782
+      - -0.16207368533737612
+    velocities:
+      - 0.22998404630877609
+      - 0.12771512077712335
+      - 0.0509690030237561
+      - 0.25063116165015514
+      - -0.3015710290612903
+      - -9.1975692125378873e-05
+      - 0.12779375406943905
+    accelerations:
+      - 0.39930680825072074
+      - 0.22174371684199556
+      - 0.088494268379871205
+      - 0.43515509363777699
+      - -0.52359877568936219
+      - -0.0001596915988247589
+      - 0.22188024287272623
     effort: []
     time_from_start:
       sec: 2
       nanosec: 220000000
   - positions:
-      - -0.30749849694978992
-      - -0.16169973172916702
-      - -1.4323067577842923
-      - 1.5176310128560844
-      - -1.656062572776827
-      - -1.570750778457799
-      - -0.16173894911263495
-    velocities:
-      - 0.2300079362729911
-      - 0.12649120473260769
-      - 0.05089343205510978
-      - 0.25032641010480117
-      - -0.30101781045897447
-      - 0.00015863311165960052
-      - 0.12669010419766802
-    accelerations:
-      - 0.40008221982614189
-      - 0.2200223296549251
-      - 0.088525455256521821
-      - 0.43542473994017472
-      - -0.52359877562091695
-      - 0.00027593085907858976
-      - 0.22036830093224641
+      - -0.30477357404462213
+      - -0.16071328959658004
+      - -1.4318007298739654
+      - 1.5203307412538054
+      - -1.6593176741672415
+      - -1.5708236781608855
+      - -0.16078623272933501
+    velocities:
+      - 0.23397711439052032
+      - 0.12993255794511957
+      - 0.051853945707385718
+      - 0.2549827125857016
+      - -0.30680701681718292
+      - -9.3572608113321341e-05
+      - 0.13001255649774243
+    accelerations:
+      - 0.39930680818197017
+      - 0.22174371680380389
+      - 0.088494268364633394
+      - 0.43515509356283694
+      - -0.52359877559915657
+      - -0.00015969159879726083
+      - 0.22188024283453456
     effort: []
     time_from_start:
       sec: 2
       nanosec: 230000000
   - positions:
-      - -0.30518004699282625
-      - -0.16042471690611099
-      - -1.4317937586362199
-      - 1.520154270375536
-      - -1.6590967929911922
-      - -1.5707491794567519
-      - -0.16046192940894877
-    velocities:
-      - 0.23400875847111222
-      - 0.12869142802907976
-      - 0.051778686607643939
-      - 0.25468065750404995
-      - -0.30625379821499998
-      - 0.0001613924202502897
-      - 0.12889378720691305
-    accelerations:
-      - 0.4000822198587547
-      - 0.2200223296728552
-      - 0.088525455263745209
-      - 0.43542473997564635
-      - -0.52359877566360502
-      - 0.00027593085910108695
-      - 0.22036830095020427
+      - -0.30241667910851516
+      - -0.15940445480453647
+      - -1.4312783954466295
+      - 1.5228992294824661
+      - -1.6624081982391452
+      - -1.5708246207351488
+      - -0.15947659209701057
+    velocities:
+      - 0.23797018247236851
+      - 0.13214999511317352
+      - 0.052738888391038366
+      - 0.25933426352136135
+      - -0.31204300457321194
+      - -9.5169524101305388e-05
+      - 0.13223135892610358
+    accelerations:
+      - 0.39930680821716424
+      - 0.22174371682337157
+      - 0.088494268372432711
+      - 0.43515509360119514
+      - -0.52359877564534185
+      - -0.0001596915988113419
+      - 0.22188024285407448
     effort: []
     time_from_start:
       sec: 2
       nanosec: 240000000
   - positions:
-      - -0.30282158881388188
-      - -0.15912769985009051
-      - -1.4312719069426223
-      - 1.5227210703689793
-      - -1.6621833730831168
-      - -1.5707475528626191
-      - -0.15916287287517045
-    velocities:
-      - 0.23800958066923317
-      - 0.13089165132555175
-      - 0.052663941160178057
-      - 0.25903490490329856
-      - -0.31148978597102528
-      - 0.00016415172884097877
-      - 0.131097470216158
-    accelerations:
-      - 0.40008221989097892
-      - 0.22002232969059102
-      - 0.088525455270871453
-      - 0.43542474001067388
-      - -0.5235987757057935
-      - 0.0002759308591233131
-      - 0.22036830096794008
+      - -0.30001985350373633
+      - -0.1580734456475576
+      - -1.4307472115951487
+      - 1.5255112332072465
+      - -1.665551082172682
+      - -1.570825579278567
+      - -0.15814476344715192
+    velocities:
+      - 0.24196602763388492
+      - 0.1343689744536993
+      - 0.053624446530347647
+      - 0.26368884085260741
+      - -0.317282633828668
+      - -9.6767550709076923e-05
+      - 0.13445170447644084
+    accelerations:
+      - 0.39930680824494758
+      - 0.22174371683877592
+      - 0.088494268378594448
+      - 0.43515509363150423
+      - -0.52359877568170166
+      - -0.00015969159882967847
+      - 0.22188024286953434
     effort: []
     time_from_start:
       sec: 2
       nanosec: 250000000
   - positions:
-      - -0.30042312243757752
-      - -0.15780868057464553
-      - -1.4307412027089477
-      - 1.5253314128096191
-      - -1.6653223130203791
-      - -1.5707458986754175
-      - -0.15784177952486114
-    velocities:
-      - 0.2420169551669959
-      - 0.13309547801192781
-      - 0.053550645527973277
-      - 0.26339628342017185
-      - -0.31673434890460056
-      - 0.00016691555645696084
-      - 0.13330476228141097
-    accelerations:
-      - 0.40008221981434577
-      - 0.2200223296484303
-      - 0.088525455253898919
-      - 0.43542473992729613
-      - -0.52359877560542933
-      - 0.00027593085907043113
-      - 0.22036830092572385
+      - -0.29758309722897558
+      - -0.15672026212491599
+      - -1.4302071783192332
+      - 1.5281667524295739
+      - -1.6687463259695692
+      - -1.5708265537911408
+      - -0.15679074677903118
+    velocities:
+      - 0.24595909571573304
+      - 0.1365864116217532
+      - 0.054509389214000302
+      - 0.26804039178826705
+      - -0.32251862158469685
+      - -9.8364466697133273e-05
+      - 0.13667050690480192
+    accelerations:
+      - 0.39930680828005838
+      - 0.22174371685826033
+      - 0.088494268386372948
+      - 0.43515509366975141
+      - -0.52359877572777591
+      - -0.00015969159884371889
+      - 0.22188024288901875
     effort: []
     time_from_start:
       sec: 2
       nanosec: 260000000
   - positions:
-      - -0.29798464786838769
-      - -0.15646765908223684
-      - -1.4302016459361853
-      - 1.5279852976925854
-      - -1.6685136127971234
-      - -1.5707442168951498
-      - -0.15649864936048563
-    velocities:
-      - 0.24601777736511674
-      - 0.13529570130839974
-      - 0.054435900080507346
-      - 0.26775053081942046
-      - -0.32197033666062569
-      - 0.00016967486504764991
-      - 0.13550844529065587
-    accelerations:
-      - 0.40008221984643122
-      - 0.22002232966608284
-      - 0.088525455261004346
-      - 0.43542473996226816
-      - -0.52359877564745128
-      - 0.00027593085909257596
-      - 0.22036830094340415
+      - -0.29510641027339712
+      - -0.15534490423059424
+      - -1.4296582956164812
+      - 1.530865787161257
+      - -1.6719939296440156
+      - -1.5708275442728747
+      - -0.15541454208662725
+    velocities:
+      - 0.24995216379747742
+      - 0.1388038487897495
+      - 0.055394331897629961
+      - 0.27239194272381362
+      - -0.3277546093405897
+      - -9.9961382685148124e-05
+      - 0.13888930933310539
+    accelerations:
+      - 0.39930680821141884
+      - 0.22174371682017968
+      - 0.088494268371155954
+      - 0.43515509359492238
+      - -0.52359877563779234
+      - -0.00015969159881626147
+      - 0.22188024285091035
     effort: []
     time_from_start:
       sec: 2
       nanosec: 270000000
   - positions:
-      - -0.29550616507721683
-      - -0.15510463535686356
-      - -1.4296532366178976
-      - 1.5306827250495438
-      - -1.6717572724514276
-      - -1.5707425075217962
-      - -0.15513348236601773
-    velocities:
-      - 0.25001859956323752
-      - 0.13749592460487164
-      - 0.055321154633041401
-      - 0.27210477821866896
-      - -0.32720632441665082
-      - 0.00017243417363833896
-      - 0.13771212829990073
-    accelerations:
-      - 0.40008221987846115
-      - 0.22002232968370763
-      - 0.088525455268095896
-      - 0.43542473999712916
-      - -0.52359877568941771
-      - 0.00027593085911472079
-      - 0.2203683009610567
+      - -0.2925897926370003
+      - -0.15394737196459204
+      - -1.4291005634868927
+      - 1.5336083374022964
+      - -1.6752938931960224
+      - -1.5708285507237683
+      - -0.15401614936993976
+    velocities:
+      - 0.25394523187932566
+      - 0.14102128595780344
+      - 0.056279274581282637
+      - 0.27674349365947337
+      - -0.33299059709661866
+      - -0.00010155829867320451
+      - 0.14110811176146654
+    accelerations:
+      - 0.39930680824661291
+      - 0.22174371683971961
+      - 0.08849426837896221
+      - 0.4351550936333361
+      - -0.5235987756839221
+      - -0.00015969159883034254
+      - 0.22188024287045027
     effort: []
     time_from_start:
       sec: 2
       nanosec: 280000000
   - positions:
-      - -0.29298767406406528
-      - -0.1537196093985258
-      - -1.4290959747540848
-      - 1.5334236948804945
-      - -1.6750532919832917
-      - -1.5707407705553569
-      - -0.15374627854145764
-    velocities:
-      - 0.25401942176135839
-      - 0.13969614790134358
-      - 0.05620640918557547
-      - 0.27645902561791758
-      - -0.33244231217267595
-      - 0.00017519348222902803
-      - 0.13991581130914563
-    accelerations:
-      - 0.40008221991060211
-      - 0.22002232970136018
-      - 0.088525455275201323
-      - 0.43542474003204568
-      - -0.52359877573143965
-      - 0.00027593085913686562
-      - 0.220368300978737
+      - -0.29003324431978533
+      - -0.15252766532690951
+      - -1.4285339819304679
+      - 1.5363944031526924
+      - -1.6786462166255889
+      - -1.570829573143822
+      - -0.15259556862896889
+    velocities:
+      - 0.25793829996117368
+      - 0.14323872312585728
+      - 0.057164217264935278
+      - 0.2810950445951329
+      - -0.33822658485264739
+      - -0.00010315521466126084
+      - 0.1433269141898276
+    accelerations:
+      - 0.39930680828164045
+      - 0.22174371685914851
+      - 0.088494268386726832
+      - 0.43515509367147226
+      - -0.52359877572982982
+      - -0.00015969159884435586
+      - 0.22188024288990693
     effort: []
     time_from_start:
       sec: 2
       nanosec: 290000000
   - positions:
-      - -0.29042917482893266
-      - -0.15231258120722341
-      - -1.4285298603447465
-      - 1.536208207185437
-      - -1.6784016713927157
-      - -1.5707390059958315
-      - -0.15233703788680519
-    velocities:
-      - 0.25802024395937517
-      - 0.14189637119775828
-      - 0.057091663738086509
-      - 0.28081327301705289
-      - -0.33767829992856491
-      - 0.0001779527908196453
-      - 0.14211949431833321
-    accelerations:
-      - 0.40008221983865966
-      - 0.22002232966180849
-      - 0.088525455259276561
-      - 0.43542473995371944
-      - -0.52359877563723722
-      - 0.00027593085908720916
-      - 0.22036830093912979
+      - -0.28743676532175227
+      - -0.15108578431754663
+      - -1.4279585509472068
+      - 1.5392239844124442
+      - -1.6820508999327153
+      - -1.5708306115330353
+      - -0.1511527998637146
+    velocities:
+      - 0.26193136804291806
+      - 0.14545616029385358
+      - 0.058049159948564945
+      - 0.28544659553067947
+      - -0.34346257260854024
+      - -0.00010475213064927569
+      - 0.14554571661813104
+    accelerations:
+      - 0.39930680821297315
+      - 0.2217437168210401
+      - 0.088494268371516777
+      - 0.43515509359669874
+      - -0.52359877563984625
+      - -0.00015969159881691199
+      - 0.22188024285177077
     effort: []
     time_from_start:
       sec: 2
       nanosec: 300000000
   - positions:
-      - -0.28783066737181928
-      - -0.15088355078295657
-      - -1.4279548933898831
-      - 1.5390362619643718
-      - -1.6818024106796994
-      - -1.5707372138432203
-      - -0.15090576040206055
-    velocities:
-      - 0.26202106615749604
-      - 0.14409659449423018
-      - 0.057976918290620578
-      - 0.2851675204163015
-      - -0.34291428768459009
-      - 0.00018071209941033438
-      - 0.1443231773275781
-    accelerations:
-      - 0.4000822198707451
-      - 0.22002232967943328
-      - 0.088525455266381989
-      - 0.43542473998869147
-      - -0.52359877567931468
-      - 0.00027593085910935399
-      - 0.22036830095681009
+      - -0.28480035564290118
+      - -0.14962172893650347
+      - -1.4273742705371091
+      - 1.5420970811815526
+      - -1.6855079431174014
+      - -1.5708316658914085
+      - -0.14968784307417693
+    velocities:
+      - 0.26592443612476618
+      - 0.14767359746190747
+      - 0.058934102632217593
+      - 0.28979814646633911
+      - -0.34869856036456909
+      - -0.00010634904663733204
+      - 0.14776451904649213
+    accelerations:
+      - 0.39930680824811171
+      - 0.22174371684055227
+      - 0.088494268379288338
+      - 0.43515509363494592
+      - -0.5235987756859205
+      - -0.00015969159883095241
+      - 0.22188024287125518
     effort: []
     time_from_start:
       sec: 2
       nanosec: 310000000
   - positions:
-      - -0.28519215169272499
-      - -0.14943251812572514
-      - -1.4273710738894947
-      - 1.5419078592172988
-      - -1.685255509844243
-      - -1.5707353940975231
-      - -0.14945244608722366
-    velocities:
-      - 0.26602188835561685
-      - 0.14629681779070211
-      - 0.058862172843154648
-      - 0.28952176781555006
-      - -0.34815027544061522
-      - 0.00018347140800102345
-      - 0.14652686033682299
-    accelerations:
-      - 0.40008221990283055
-      - 0.22002232969708582
-      - 0.088525455273487416
-      - 0.43542474002360798
-      - -0.52359877572128111
-      - 0.00027593085913149882
-      - 0.22036830097449039
+      - -0.28212401528323183
+      - -0.14813549918377988
+      - -1.4267811407001747
+      - 1.5450136934600172
+      - -1.6890173461796474
+      - -1.5708327362189418
+      - -0.14820069826035576
+    velocities:
+      - 0.26991750420661442
+      - 0.14989103462996142
+      - 0.059819045315870269
+      - 0.29414969740199887
+      - -0.35393454812059805
+      - -0.00010794596262538843
+      - 0.1499833214748533
+    accelerations:
+      - 0.39930680828330578
+      - 0.2217437168600922
+      - 0.088494268387094593
+      - 0.43515509367330413
+      - -0.52359877573205027
+      - -0.00015969159884503348
+      - 0.22188024289085062
     effort: []
     time_from_start:
       sec: 2
       nanosec: 320000000
   - positions:
-      - -0.28251362779164968
-      - -0.14795948323552915
-      - -1.4267784018435807
-      - 1.5448229989442182
-      - -1.6887609688863463
-      - -1.5707335467587402
-      - -0.14797709494229441
-    velocities:
-      - 0.27002271055363369
-      - 0.14849704108711684
-      - 0.0597474273956657
-      - 0.29387601521468548
-      - -0.35338626319650424
-      - 0.00018623071659164077
-      - 0.14873054334601057
-    accelerations:
-      - 0.40008221983094361
-      - 0.22002232965756188
-      - 0.088525455257576532
-      - 0.43542473994539277
-      - -0.52359877562713419
-      - 0.00027593085908189657
-      - 0.22036830093485543
+      - -0.27940774424274439
+      - -0.14662709505937599
+      - -1.4261791614364043
+      - 1.5479738212478376
+      - -1.6925791091194531
+      - -1.5708338225156346
+      - -0.14669136542225125
+    velocities:
+      - 0.27391057228835874
+      - 0.15210847179795767
+      - 0.060703987999499921
+      - 0.29850124833754538
+      - -0.35917053587649078
+      - -0.00010954287861340327
+      - 0.15220212390315671
+    accelerations:
+      - 0.39930680821463849
+      - 0.22174371682192828
+      - 0.08849426837187066
+      - 0.4351550935984751
+      - -0.52359877564195567
+      - -0.00015969159881756251
+      - 0.22188024285265895
     effort: []
     time_from_start:
       sec: 2
       nanosec: 330000000
   - positions:
-      - -0.27979509566859356
-      - -0.14646444611236858
-      - -1.4261768772521415
-      - 1.5477816811451293
-      - -1.6923187878060093
-      - -1.5707316718268711
-      - -0.14647970696727289
-    velocities:
-      - 0.27402353275175456
-      - 0.15069726438358877
-      - 0.060632681948199769
-      - 0.29823026261393404
-      - -0.35862225095252942
-      - 0.00018899002518232985
-      - 0.15093422635525547
-    accelerations:
-      - 0.40008221986302905
-      - 0.22002232967521443
-      - 0.08852545526468196
-      - 0.43542473998030928
-      - -0.52359877566921165
-      - 0.0002759308591040414
-      - 0.22036830095253573
+      - -0.27665523741801396
+      - -0.14509856841936578
+      - -1.4255691516077909
+      - 1.5509734379343183
+      - -1.6961883869322181
+      - -1.570834923303817
+      - -0.14516189767925053
+    velocities:
+      - 0.27486535549095181
+      - 0.15263868358435015
+      - 0.060915586798290781
+      - 0.29954174843757697
+      - -0.36042251381825569
+      - -0.00010992471747267031
+      - 0.15273266213717837
+    accelerations:
+      - -0.39930680814913533
+      - -0.22174371678556848
+      - -0.088494268357368372
+      - -0.43515509352708776
+      - 0.52359877555613543
+      - 0.00015969159879137903
+      - -0.22188024281627139
     effort: []
     time_from_start:
       sec: 2
       nanosec: 340000000
   - positions:
-      - -0.27703889408886589
-      - -0.14494869294334803
-      - -1.4255670176094657
-      - 1.5507813604525404
-      - -1.695925905795749
-      - -1.5707297709149286
-      - -0.14496157037171198
-    velocities:
-      - 0.27580374542818364
-      - 0.15167627949833035
-      - 0.061026586325412011
-      - 0.30016773597130836
-      - -0.36095206500457144
-      - 0.00019021781184418941
-      - 0.15191478090969976
-    accelerations:
-      - -0.40008221974046043
-      - -0.22002232960779614
-      - -0.088525455237557824
-      - -0.43542473984686048
-      - 0.52359877550872891
-      - -0.00027593085901950074
-      - -0.22036830088503417
+      - -0.27392332881141102
+      - -0.14358148041589655
+      - -1.4249637067507872
+      - 1.5539506071709865
+      - -1.6997706549330536
+      - -1.5708360158543178
+      - -0.14364387561547806
+    velocities:
+      - 0.27087228740920427
+      - 0.15042124641635246
+      - 0.060030644114656494
+      - 0.2951901975020334
+      - -0.35518652606236495
+      - -0.00010832780147942164
+      - 0.15051385970887338
+    accelerations:
+      - -0.39930680808052355
+      - -0.22174371674746007
+      - -0.0884942683421375
+      - -0.43515509345225872
+      - 0.52359877546604083
+      - 0.00015969159875619667
+      - -0.22188024277813523
     effort: []
     time_from_start:
       sec: 2
       nanosec: 350000000
   - positions:
-      - -0.27429969994488512
-      - -0.14344229289088462
-      - -1.4249609211707455
-      - 1.5537625299189235
-      - -1.6995107656792989
-      - -1.5707278817327659
-      - -0.14345280159989585
-    velocities:
-      - 0.27180292323006511
-      - 0.14947605620185925
-      - 0.060141331772877268
-      - 0.29581348857205636
-      - -0.35571607724854643
-      - 0.00018745850325401533
-      - 0.14971109790045617
-    accelerations:
-      - -0.40008221977260139
-      - -0.22002232962547644
-      - -0.088525455244663251
-      - -0.43542473988188801
-      - 0.52359877555080636
-      - -0.00027593085904243161
-      - -0.22036830090274223
+      - -0.27123135088562617
+      - -0.14208656678410764
+      - -1.4243671113206198
+      - 1.5568842608982985
+      - -1.7033005630563296
+      - -1.5708370924356583
+      - -0.14214804157598895
+    velocities:
+      - 0.26687921932735625
+      - 0.1482038092482986
+      - 0.059145701431003908
+      - 0.29083864656637376
+      - -0.34995053830633605
+      - -0.00010673088549144246
+      - 0.14829505728051232
+    accelerations:
+      - -0.39930680811555108
+      - -0.22174371676694449
+      - -0.088494268349916
+      - -0.43515509349050591
+      - 0.52359877551211509
+      - 0.00015969159877022353
+      - -0.2218802427976474
     effort: []
     time_from_start:
       sec: 2
       nanosec: 360000000
   - positions:
-      - -0.2716005140228851
-      - -0.14195789507138573
-      - -1.4243636772775505
-      - 1.5567001569113144
-      - -1.703043265685289
-      - -1.5707260201436892
-      - -0.14196606965817191
-    velocities:
-      - 0.26780210103204838
-      - 0.14727583290544458
-      - 0.059256077220366257
-      - 0.29145924117292121
-      - -0.35048008949265758
-      - 0.00018469919466339052
-      - 0.14750741489126862
-    accelerations:
-      - -0.40008221970054791
-      - -0.22002232958584148
-      - -0.088525455228724612
-      - -0.43542473980339524
-      - 0.52359877545654843
-      - -0.00027593085899272094
-      - -0.22036830086305176
+      - -0.26857930364065952
+      - -0.14061382752399909
+      - -1.423779365317289
+      - 1.5597743991162543
+      - -1.7067781113020457
+      - -1.5708381530478392
+      - -0.14067439556078326
+    velocities:
+      - 0.26288615124550807
+      - 0.14598637208024468
+      - 0.058260758747351302
+      - 0.28648709563071395
+      - -0.34471455055030709
+      - -0.00010513396950346323
+      - 0.1460762548521512
+    accelerations:
+      - -0.39930680815074515
+      - -0.22174371678648441
+      - -0.088494268357715317
+      - -0.43515509352886411
+      - 0.52359877555824486
+      - 0.00015969159878430461
+      - -0.22188024281718732
     effort: []
     time_from_start:
       sec: 2
       nanosec: 370000000
   - positions:
-      - -0.2689413363228661
-      - -0.1404954994848514
-      - -1.4237752859298809
-      - 1.5595942414297128
-      - -1.7065234058137191
-      - -1.5707241861476979
-      - -0.14050137454654033
-    velocities:
-      - 0.26380127883392751
-      - 0.14507560960897264
-      - 0.058370822667832202
-      - 0.28710499377367266
-      - -0.34524410173663245
-      - 0.00018193988607269389
-      - 0.14530373188202372
-    accelerations:
-      - -0.40008221973263336
-      - -0.22002232960349402
-      - -0.0885254552358231
-      - -0.43542473983836727
-      - 0.52359877549851486
-      - -0.00027593085901486577
-      - -0.22036830088073206
+      - -0.26596718707651112
+      - -0.13916326263557099
+      - -1.4232004687407946
+      - 1.5626210218248535
+      - -1.7102032996702015
+      - -1.57083919769086
+      - -0.13922293756986112
+    velocities:
+      - 0.25889308316376375
+      - 0.1437689349122484
+      - 0.057375816063721705
+      - 0.28213554469516733
+      - -0.33947856279441424
+      - -0.00010353705351552553
+      - 0.14385745242384776
+    accelerations:
+      - -0.39930680808213337
+      - -0.22174371674837601
+      - -0.088494268342505261
+      - -0.43515509345409059
+      - 0.52359877546820577
+      - 0.00015969159875684719
+      - -0.22188024277905116
     effort: []
     time_from_start:
       sec: 2
       nanosec: 380000000
   - positions:
-      - -0.26632216684482801
-      - -0.13905510613128166
-      - -1.4231957471277368
-      - 1.5624447834741195
-      - -1.7099511860645897
-      - -1.5707223797447931
-      - -0.13905871626500099
-    velocities:
-      - 0.25980045663580664
-      - 0.14287538631250071
-      - 0.057485568115298147
-      - 0.2827507463744241
-      - -0.34000811398060726
-      - 0.00017918057748199723
-      - 0.1431000488727788
-    accelerations:
-      - -0.4000822197647188
-      - -0.22002232962114657
-      - -0.088525455242928527
-      - -0.43542473987333929
-      - 0.5235987755405368
-      - -0.0002759308590370106
-      - -0.22036830089841236
+      - -0.2633950011931806
+      - -0.13773487211882307
+      - -1.4226304215911367
+      - 1.5654241290240973
+      - -1.7135761281607984
+      - -1.5708402263647212
+      - -0.13779366760322223
+    velocities:
+      - 0.25490001508191573
+      - 0.14155149774419457
+      - 0.056490873380069133
+      - 0.27778399375950774
+      - -0.33424257503838545
+      - -0.00010194013752754636
+      - 0.14163864999548673
+    accelerations:
+      - -0.39930680811716091
+      - -0.22174371676783267
+      - -0.088494268350269883
+      - -0.43515509349228226
+      - 0.523598775514169
+      - 0.0001596915987708605
+      - -0.22188024279853558
     effort: []
     time_from_start:
       sec: 2
       nanosec: 390000000
   - positions:
-      - -0.26374300558877078
-      - -0.13763671501067645
-      - -1.4226250608711175
-      - 1.5652517830445341
-      - -1.7133266064378998
-      - -1.5707206009349739
-      - -0.13763809481355394
-    velocities:
-      - 0.25579963443768572
-      - 0.14067516301602878
-      - 0.056600313562764085
-      - 0.2783964989751756
-      - -0.33477212622458208
-      - 0.00017642126889130059
-      - 0.14089636586353388
-    accelerations:
-      - -0.40008221979685976
-      - -0.22002232963879911
-      - -0.088525455250033955
-      - -0.43542473990825581
-      - 0.52359877558261425
-      - -0.00027593085905915543
-      - -0.22036830091612042
+      - -0.26086274599066839
+      - -0.13632865597375562
+      - -1.422069223868315
+      - 1.5681837207139842
+      - -1.7168965967738348
+      - -1.5708412390694222
+      - -0.13638658566086687
+    velocities:
+      - 0.25090694700006755
+      - 0.13933406057614064
+      - 0.055605930696416526
+      - 0.27343244282384799
+      - -0.32900658728235643
+      - -0.00010034322153956713
+      - 0.13941984756712561
+    accelerations:
+      - -0.39930680815235498
+      - -0.22174371678737259
+      - -0.0884942683580692
+      - -0.43515509353058496
+      - 0.52359877556035428
+      - 0.00015969159878495513
+      - -0.2218802428180755
     effort: []
     time_from_start:
       sec: 2
       nanosec: 400000000
   - positions:
-      - -0.26120385255469447
-      - -0.13624032612303577
-      - -1.4220632271600238
-      - 1.5680152401409562
-      - -1.7166496669336506
-      - -1.5707188497182405
-      - -0.13623951019219915
-    velocities:
-      - 0.25179881223966888
-      - 0.13847493971961403
-      - 0.055715059010253046
-      - 0.27404225157604023
-      - -0.32953613846869306
-      - 0.00017366196030067568
-      - 0.13869268285434627
-    accelerations:
-      - -0.40008221972491731
-      - -0.22002232959927517
-      - -0.088525455234123071
-      - -0.4354247398300406
-      - 0.52359877548846734
-      - -0.00027593085900955318
-      - -0.22036830087648546
+      - -0.25837042146897438
+      - -0.13494461420036852
+      - -1.4215168755723302
+      - 1.5708997968945146
+      - -1.7201647055093114
+      - -1.5708422358049636
+      - -0.13500169174279492
+    velocities:
+      - 0.24691387891832331
+      - 0.13711662340814443
+      - 0.054720988012786957
+      - 0.26908089188830148
+      - -0.3237705995264637
+      - -9.8746305551629469e-05
+      - 0.13720104513882223
+    accelerations:
+      - -0.39930680808363217
+      - -0.22174371674920867
+      - -0.088494268342831389
+      - -0.43515509345570041
+      - 0.52359877547025968
+      - 0.00015969159875745705
+      - -0.22188024277988383
     effort: []
     time_from_start:
       sec: 2
       nanosec: 410000000
   - positions:
-      - -0.25870470774259913
-      - -0.13486593946835967
-      - -1.4215102459944551
-      - 1.5707351547633861
-      - -1.7199203675518413
-      - -1.5707171260945934
-      - -0.1348629624009367
-    velocities:
-      - 0.24779799004154798
-      - 0.13627471642314209
-      - 0.054829804457718984
-      - 0.26968800417679173
-      - -0.32430015071266793
-      - 0.00017090265170997902
-      - 0.13648899984510135
-    accelerations:
-      - -0.40008221975705827
-      - -0.22002232961692772
-      - -0.088525455241228498
-      - -0.4354247398649016
-      - 0.52359877553043377
-      - -0.00027593085903169801
-      - -0.22036830089419351
+      - -0.25591802762809834
+      - -0.13358274679866169
+      - -1.4209733767031816
+      - 1.5735723575656895
+      - -1.7233804543672282
+      - -1.5708432165713448
+      - -0.13363898584900633
+    velocities:
+      - 0.24292081083647515
+      - 0.13489918624009051
+      - 0.053836045329134351
+      - 0.26472934095264167
+      - -0.31853461177043468
+      - -9.7149389563650233e-05
+      - 0.13498224271046111
+    accelerations:
+      - -0.39930680811882624
+      - -0.2217437167687486
+      - -0.088494268350637645
+      - -0.43515509349411413
+      - 0.52359877551638945
+      - 0.00015969159877153813
+      - -0.22188024279942375
     effort: []
     time_from_start:
       sec: 2
       nanosec: 420000000
   - positions:
-      - -0.25624557115248447
-      - -0.13351355504664802
-      - -1.4209661173744119
-      - 1.5734115269118243
-      - -1.7231387082924725
-      - -1.5707154300640318
-      - -0.13350845143976642
-    velocities:
-      - 0.24379716784342711
-      - 0.13407449312667016
-      - 0.053944549905184928
-      - 0.26533375677754317
-      - -0.31906416295664275
-      - 0.00016814334311928238
-      - 0.13428531683585646
-    accelerations:
-      - -0.40008221978914371
-      - -0.22002232963458027
-      - -0.088525455248326987
-      - -0.43542473989987363
-      - 0.52359877557251122
-      - -0.00027593085905384284
-      - -0.22036830091184606
+      - -0.25350556446804051
+      - -0.13224305376863521
+      - -1.4204387272608692
+      - 1.576201402727508
+      - -1.7265438433475853
+      - -1.5708441813685665
+      - -0.13229846797950118
+    velocities:
+      - 0.23892774275462703
+      - 0.13268174907203661
+      - 0.052951102645481751
+      - 0.26037779001698197
+      - -0.31329862401440578
+      - -9.5552473575671024e-05
+      - 0.13276344028209999
+    accelerations:
+      - -0.39930680815399255
+      - -0.22174371678826077
+      - -0.088494268358430023
+      - -0.43515509353236131
+      - 0.5235987755624637
+      - 0.0001596915987855921
+      - -0.22188024281899144
     effort: []
     time_from_start:
       sec: 2
       nanosec: 430000000
   - positions:
-      - -0.25382644278435096
-      - -0.13218317285790104
-      - -1.4204308412998938
-      - 1.5760443565862701
-      - -1.7263046891555434
-      - -1.5707137616265563
-      - -0.13217597730868855
-    velocities:
-      - 0.23979634564541041
-      - 0.13187426983025552
-      - 0.053059295352673924
-      - 0.26097950937840803
-      - -0.31382817520075396
-      - 0.00016538403452865758
-      - 0.1320816338266689
-    accelerations:
-      - -0.40008221971706248
-      - -0.2200223295949453
-      - -0.088525455232381409
-      - -0.43542473982143637
-      - 0.52359877547814226
-      - -0.00027593085900413217
-      - -0.22036830087218334
+      - -0.25113303198880094
+      - -0.1309255351102892
+      - -1.4199129272453936
+      - 1.5787869323799699
+      - -1.7296548724503824
+      - -1.570845130196628
+      - -0.13098013813427956
+    velocities:
+      - 0.23493467467288279
+      - 0.1304643119040404
+      - 0.052066159961852182
+      - 0.25602623908143546
+      - -0.30806263625851305
+      - -9.3955557587733354e-05
+      - 0.13054463785379664
+    accelerations:
+      - -0.39930680808524199
+      - -0.22174371675009685
+      - -0.088494268343192212
+      - -0.43515509345747677
+      - 0.5235987754723691
+      - 0.00015969159875810757
+      - -0.22188024278077201
     effort: []
     time_from_start:
       sec: 2
       nanosec: 440000000
   - positions:
-      - -0.25144732263819819
-      - -0.13087479290211856
-      - -1.419904417770901
-      - 1.5786336437867239
-      - -1.7294183101410547
-      - -1.5707121207821668
-      - -0.13086554000770287
-    velocities:
-      - 0.23579552344728952
-      - 0.12967404653378356
-      - 0.052174040800139862
-      - 0.25662526197915947
-      - -0.30859218744472877
-      - 0.00016262472593796091
-      - 0.12987795081742401
-    accelerations:
-      - -0.40008221974917568
-      - -0.22002232961259785
-      - -0.088525455239486836
-      - -0.43542473985640839
-      - 0.52359877552016421
-      - -0.00027593085902630411
-      - -0.22036830088983589
+      - -0.24880043019037923
+      - -0.12963019082362337
+      - -1.4193959766567543
+      - 1.581328946523076
+      - -1.7327135416756199
+      - -1.5708460630555301
+      - -0.12968399631334115
+    velocities:
+      - 0.2309416065910368
+      - 0.12824687473598739
+      - 0.051181217278202171
+      - 0.25167468814577509
+      - -0.30282664850248248
+      - -9.2358641600575822e-05
+      - 0.12832583542543652
+    accelerations:
+      - -0.39930680812004749
+      - -0.22174371676941473
+      - -0.088494268350901323
+      - -0.43515509349539089
+      - 0.52359877551788825
+      - 0.00015969159877343548
+      - -0.22188024280008989
     effort: []
     time_from_start:
       sec: 2
       nanosec: 450000000
   - positions:
-      - -0.24910821071402642
-      - -0.12958841517930067
-      - -1.4193868467874338
-      - 1.5811793885131853
-      - -1.7324795712490062
-      - -1.5707105075308629
-      - -0.12957713953680952
-    velocities:
-      - 0.23179470124916576
-      - 0.12747382323731038
-      - 0.051288786247608478
-      - 0.2522710145799128
-      - -0.30335619968870431
-      - 0.00015986541734668865
-      - 0.12767426780817751
-    accelerations:
-      - -0.40008221978162195
-      - -0.22002232963044469
-      - -0.088525455246668591
-      - -0.43542473989171349
-      - 0.52359877556268575
-      - -0.00027593085904766289
-      - -0.22036830090771048
+      - -0.24650775907277589
+      - -0.12835702090863801
+      - -1.4188878754949514
+      - 1.5838274451568257
+      - -1.7357198510232972
+      - -1.5708469799452716
+      - -0.12841004251668631
+    velocities:
+      - 0.22694853850918892
+      - 0.12602943756793361
+      - 0.050296274594549585
+      - 0.2473231372101157
+      - -0.29759066074645391
+      - -9.0761725612582505e-05
+      - 0.12610703299707554
+    accelerations:
+      - -0.39930680815465869
+      - -0.22174371678864935
+      - -0.088494268358582678
+      - -0.43515509353308296
+      - 0.52359877556335188
+      - 0.00015969159878728617
+      - -0.22188024281935226
     effort: []
     time_from_start:
       sec: 2
       nanosec: 460000000
   - positions:
-      - -0.24680910701183539
-      - -0.12832403968944722
-      - -1.4188781283494918
-      - 1.583681590765655
-      - -1.735488472479398
-      - -1.5707089218726455
-      - -0.12831077589600839
-    velocities:
-      - 0.22779387905114873
-      - 0.12527359994089557
-      - 0.050403531695097342
-      - 0.24791676718077718
-      - -0.29812021193281502
-      - 0.00015710610875607352
-      - 0.12547058479898979
-    accelerations:
-      - -0.4000822197101791
-      - -0.22002232959114279
-      - -0.088525455230861791
-      - -0.43542473981397012
-      - 0.52359877546914946
-      - -0.0002759308589983859
-      - -0.22036830086835307
+      - -0.24425501863599075
+      - -0.12710602536533305
+      - -1.4183886237599852
+      - 1.5862824282812189
+      - -1.7386738004934144
+      - -1.5708478808658537
+      - -0.12715827674431496
+    velocities:
+      - 0.22295547042744485
+      - 0.12381200039993752
+      - 0.049411331910920016
+      - 0.24297158627456941
+      - -0.2923546729905615
+      - -8.9164809624630727e-05
+      - 0.12388823056877227
+    accelerations:
+      - -0.39930680808546404
+      - -0.22174371675020788
+      - -0.088494268343240784
+      - -0.43515509345769882
+      - 0.52359877547259115
+      - 0.00015969159875959835
+      - -0.22188024278089691
     effort: []
     time_from_start:
       sec: 2
       nanosec: 470000000
   - positions:
-      - -0.24455001153162537
-      - -0.12708166643255842
-      - -1.4183782624570744
-      - 1.586140250544132
-      - -1.7384450138322294
-      - -1.5707073638075133
-      - -0.12706644908529957
-    velocities:
-      - 0.22379305685302764
-      - 0.1230733766444235
-      - 0.049518277142563183
-      - 0.24356251978152835
-      - -0.2928842241767895
-      - 0.00015434680016538664
-      - 0.12326690178974475
-    accelerations:
-      - -0.40008221974281966
-      - -0.22002232960908677
-      - -0.088525455238078241
-      - -0.43542473984944174
-      - 0.52359877551183753
-      - -0.00027593085902088309
-      - -0.22036830088633869
+      - -0.24204220888002348
+      - -0.12587720419370829
+      - -1.4178982214518552
+      - 1.5886938958962564
+      - -1.7415753900859725
+      - -1.5708487658172758
+      - -0.12592869899622686
+    velocities:
+      - 0.21896240234559697
+      - 0.12159456323188375
+      - 0.04852638922726743
+      - 0.23862003533890999
+      - -0.28711868523453293
+      - -8.756789363663741e-05
+      - 0.1216694281404113
+    accelerations:
+      - -0.39930680812007524
+      - -0.22174371676944249
+      - -0.088494268350922139
+      - -0.4351550934954464
+      - 0.52359877551799927
+      - 0.00015969159877344904
+      - -0.22188024280013152
     effort: []
     time_from_start:
       sec: 2
       nanosec: 480000000
   - positions:
-      - -0.24233092427339625
-      - -0.12586129540863411
-      - -1.4178872491101828
-      - 1.5885553678486171
-      - -1.7413491953075013
-      - -1.5707058333354673
-      - -0.12584415910468302
-    velocities:
-      - 0.21979223465490658
-      - 0.12087315334795146
-      - 0.048633022590029024
-      - 0.23920827238227951
-      - -0.28764823642076398
-      - 0.00015158749157469974
-      - 0.12106321878049975
-    accelerations:
-      - -0.4000822197754047
-      - -0.22002232962701687
-      - -0.08852545524529469
-      - -0.43542473988494113
-      - 0.52359877555452561
-      - -0.00027593085904338029
-      - -0.22036830090428267
+      - -0.23986932980487446
+      - -0.12467055739376391
+      - -1.4174166685705616
+      - 1.5910618480019374
+      - -1.7444246198009705
+      - -1.5708496347995382
+      - -0.12472130927242223
+    velocities:
+      - 0.21496933426374906
+      - 0.11937712606382998
+      - 0.047641446543614852
+      - 0.23426848440325057
+      - -0.28188269747850436
+      - -8.5970977648644093e-05
+      - 0.11945062571205033
+    accelerations:
+      - -0.3993068081547142
+      - -0.2217437167886771
+      - -0.088494268358589617
+      - -0.43515509353316623
+      - 0.52359877556340739
+      - 0.00015969159878731327
+      - -0.22188024281938001
     effort: []
     time_from_start:
       sec: 2
       nanosec: 490000000
   - positions:
-      - -0.24015184523714805
-      - -0.12466292661767439
-      - -1.4174050883088167
-      - 1.5909269426791102
-      - -1.7442010169052136
-      - -1.5707043304565076
-      - -0.12464390595415878
-    velocities:
-      - 0.21579141245678546
-      - 0.11867293005147939
-      - 0.047747768037494864
-      - 0.23485402498303065
-      - -0.28241224866473846
-      - 0.00014882818298401286
-      - 0.11885953577125472
-    accelerations:
-      - -0.40008221980804526
-      - -0.22002232964496085
-      - -0.08852545525251114
-      - -0.43542473992044051
-      - 0.52359877559726919
-      - -0.00027593085906587749
-      - -0.2203683009222544
+      - -0.23773638141054382
+      - -0.12348608496550002
+      - -1.4169439651161047
+      - 1.593386284598262
+      - -1.7472214896384082
+      - -1.5708504878126406
+      - -0.12353610757290115
+    velocities:
+      - 0.21097626618181745
+      - 0.11715968889572971
+      - 0.046756503859943711
+      - 0.22991693346749989
+      - -0.27664670972236599
+      - -8.4374061660617302e-05
+      - 0.11723182328364283
+    accelerations:
+      - -0.39930680827288667
+      - -0.22174371685430383
+      - -0.088494268384786273
+      - -0.43515509366198091
+      - 0.52359877571838409
+      - 0.00015969159883456776
+      - -0.2218802428850622
     effort: []
     time_from_start:
       sec: 2
       nanosec: 500000000
   - positions:
-      - -0.23801277442288069
-      - -0.1234865600596792
-      - -1.4169317800529755
-      - 1.5932549750356109
-      - -1.7470004786253657
-      - -1.5707028551706332
-      - -0.12346568963372678
-    velocities:
-      - 0.21179059025876851
-      - 0.11647270675506459
-      - 0.046862513484983735
-      - 0.23049977758389512
-      - -0.27717626090884923
-      - 0.00014606887439339779
-      - 0.11665585276206704
-    accelerations:
-      - -0.40008221973651914
-      - -0.22002232960564508
-      - -0.088525455236697401
-      - -0.43542473984261387
-      - 0.52359877550367739
-      - -0.00027593085901654629
-      - -0.22036830088286924
+      - -0.23564336369703098
+      - -0.12232378690891631
+      - -1.4164801110884842
+      - 1.5956672056852308
+      - -1.7499659995982868
+      - -1.5708513248565832
+      - -0.12237309389766332
+    velocities:
+      - 0.20698319810015711
+      - 0.11494225172778011
+      - 0.045871561176332697
+      - 0.22556538253204489
+      - -0.27141072196658339
+      - -8.2777145672698998e-05
+      - 0.11501302085538609
+    accelerations:
+      - -0.39930680812013075
+      - -0.22174371676947024
+      - -0.088494268350929078
+      - -0.43515509349547415
+      - 0.52359877551811029
+      - 0.00015969159877347614
+      - -0.22188024280017316
     effort: []
     time_from_start:
       sec: 2
       nanosec: 510000000
   - positions:
-      - -0.23591371183059429
-      - -0.1223321957346486
-      - -1.4164673243426595
-      - 1.5955394649181196
-      - -1.7497475804679581
-      - -1.5707014074778449
-      - -0.12230951014338709
-    velocities:
-      - 0.20778976806064739
-      - 0.11427248345859252
-      - 0.045977258932449576
-      - 0.22614553018464625
-      - -0.27194027315282371
-      - 0.00014330956580271088
-      - 0.11445216975282201
-    accelerations:
-      - -0.4000822197691597
-      - -0.22002232962358906
-      - -0.08852545524391385
-      - -0.43542473987814101
-      - 0.52359877554636547
-      - -0.00027593085903907059
-      - -0.22036830090084097
+      - -0.23359027666433646
+      - -0.12118366322401304
+      - -1.4160251064876999
+      - 1.597904611262843
+      - -1.7526581496806051
+      - -1.5708521459313656
+      - -0.12123226824670902
+    velocities:
+      - 0.20299013001830923
+      - 0.11272481455972634
+      - 0.044986618492680118
+      - 0.22121383159638547
+      - -0.26617473421055482
+      - -8.1180229684705695e-05
+      - 0.11279421842702513
+    accelerations:
+      - -0.39930680815476971
+      - -0.22174371678870486
+      - -0.088494268358603495
+      - -0.43515509353322174
+      - 0.52359877556351841
+      - 0.00015969159878731327
+      - -0.22188024281940777
     effort: []
     time_from_start:
       sec: 2
       nanosec: 520000000
   - positions:
-      - -0.2338546574602888
-      - -0.12119983364258254
-      - -1.4160117211778691
-      - 1.5977804123266361
-      - -1.7524423224329904
-      - -1.5706999873781426
-      - -0.1211753674831397
-    velocities:
-      - 0.2037889458625263
-      - 0.11207226016212046
-      - 0.045092004379915417
-      - 0.22179128278539739
-      - -0.26670428539679819
-      - 0.00014055025721202398
-      - 0.11224848674357697
-    accelerations:
-      - -0.40008221980180025
-      - -0.22002232964153304
-      - -0.0885254552511303
-      - -0.43542473991364039
-      - 0.52359877558905354
-      - -0.00027593085906156778
-      - -0.22036830091881271
+      - -0.23157712031246014
+      - -0.12006571391079014
+      - -1.4155789513137524
+      - 1.6000985013310989
+      - -1.7552979398853634
+      - -1.5708529510369884
+      - -0.12011363062003813
+    velocities:
+      - 0.19899706193646133
+      - 0.11050737739167257
+      - 0.044101675809027539
+      - 0.21686228066072605
+      - -0.2609387464545263
+      - -7.9583313696712378e-05
+      - 0.11057541599866415
+    accelerations:
+      - -0.39930680818940867
+      - -0.22174371680792559
+      - -0.088494268366277912
+      - -0.43515509357094156
+      - 0.52359877560887103
+      - 0.00015969159880117751
+      - -0.22188024283865626
     effort: []
     time_from_start:
       sec: 2
       nanosec: 530000000
   - positions:
-      - -0.23183561131196428
-      - -0.12008947378348105
-      - -1.415564970558604
-      - 1.5999778172611605
-      - -1.7550847045204629
-      - -1.5706985948715262
-      - -0.1200632616529846
-    velocities:
-      - 0.19978812366450927
-      - 0.10987203686570564
-      - 0.044206749827404281
-      - 0.2174370353862618
-      - -0.2614682976409089
-      - 0.00013779094862140888
-      - 0.11004480373438927
-    accelerations:
-      - -0.4000822197303574
-      - -0.22002232960223114
-      - -0.0885254552353235
-      - -0.43542473983589702
-      - 0.52359877549551725
-      - -0.00027593085901229079
-      - -0.2203683008794553
+      - -0.22960389464140193
+      - -0.11896993896924761
+      - -1.4151416455666412
+      - 1.6022488758899989
+      - -1.7578853702125623
+      - -1.570853740173451
+      - -0.1190171810176507
+    velocities:
+      - 0.19500399385471728
+      - 0.10828994022367647
+      - 0.043216733125397963
+      - 0.21251072972517976
+      - -0.25570275869863385
+      - -7.7986397708760586e-05
+      - 0.10835661357036087
+    accelerations:
+      - -0.39930680812018626
+      - -0.221743716769498
+      - -0.088494268350942956
+      - -0.43515509349555742
+      - 0.5235987755181658
+      - 0.00015969159877350325
+      - -0.22188024280020091
     effort: []
     time_from_start:
       sec: 2
       nanosec: 540000000
   - positions:
-      - -0.22985657338562049
-      - -0.11900111615734402
-      - -1.4151270724848637
-      - 1.6021316797216927
-      - -1.7576747267303761
-      - -1.5706972299579955
-      - -0.11897319265292168
-    velocities:
-      - 0.19578730146638817
-      - 0.10767181356923357
-      - 0.043321495274870114
-      - 0.21308278798701294
-      - -0.25623230988488338
-      - 0.00013503164003072197
-      - 0.10784112072514423
-    accelerations:
-      - -0.4000822197629702
-      - -0.220022329620189
-      - -0.088525455242546888
-      - -0.4354247398713964
-      - 0.52359877553820533
-      - -0.00027593085903478799
-      - -0.22036830089744092
+      - -0.22767059965116168
+      - -0.11789633839938528
+      - -1.4147131892463662
+      - 1.6043557349395428
+      - -1.760420440662201
+      - -1.5708545133407541
+      - -0.11794291943954656
+    velocities:
+      - 0.19101092577286927
+      - 0.10607250305562277
+      - 0.042331790441743622
+      - 0.20815917878951964
+      - -0.25046677094260572
+      - -7.6389481721759721e-05
+      - 0.10613781114200005
+    accelerations:
+      - -0.39930680815513053
+      - -0.22174371678889915
+      - -0.088494268358679823
+      - -0.43515509353361032
+      - 0.5235987755639625
+      - 0.00015969159878953589
+      - -0.22188024281961594
     effort: []
     time_from_start:
       sec: 2
       nanosec: 550000000
   - positions:
-      - -0.22791754368125772
-      - -0.11793476076417163
-      - -1.4146980269566489
-      - 1.6042419997082327
-      - -1.7602123890627288
-      - -1.5706958926375512
-      - -0.11790516048295113
-    velocities:
-      - 0.19178647926826781
-      - 0.10547159027276176
-      - 0.042436240722332902
-      - 0.20872854058776419
-      - -0.2509963221288577
-      - 0.00013227233143689186
-      - 0.10563743771589967
-    accelerations:
-      - -0.40008221979538872
-      - -0.22002232963802196
-      - -0.088525455249707827
-      - -0.4354247399067015
-      - 0.52359877558067136
-      - -0.00027593085905061734
-      - -0.22036830091528775
+      - -0.22577723534173988
+      - -0.11684491220120351
+      - -1.4142935823529279
+      - 1.6064190784797299
+      - -1.7629031512342799
+      - -1.5708552705388974
+      - -0.11689084588572603
+    velocities:
+      - 0.18701785769102114
+      - 0.10385506588756886
+      - 0.041446847758091022
+      - 0.20380762785385997
+      - -0.24523078318657687
+      - -7.479256573374556e-05
+      - 0.10391900871363895
+    accelerations:
+      - -0.39930680819026909
+      - -0.22174371680841132
+      - -0.088494268366465262
+      - -0.43515509357188525
+      - 0.523598775610009
+      - 0.00015969159880358986
+      - -0.22188024283912811
     effort: []
     time_from_start:
       sec: 2
       nanosec: 560000000
   - positions:
-      - -0.2260185221988758
-      - -0.11689040760396374
-      - -1.4142778339739595
-      - 1.6063087772207805
-      - -1.7626976915175221
-      - -1.5706945829101926
-      - -0.11685916514307282
-    velocities:
-      - 0.18778565707008407
-      - 0.10327136697625526
-      - 0.041550986169784941
-      - 0.20437429318844719
-      - -0.24576033437275024
-      - 0.00012951302284622734
-      - 0.10343375470662014
-    accelerations:
-      - -0.40008221989021836
-      - -0.22002232969016025
-      - -0.08852545527069336
-      - -0.43542474000986986
-      - 0.5235987757047561
-      - -0.00027593085911600769
-      - -0.22036830096750917
+      - -0.22392380171313614
+      - -0.11581566037470203
+      - -1.4138828248863262
+      - 1.6084389065105609
+      - -1.765333501928799
+      - -1.5708560117678805
+      - -0.11586096035618884
+    velocities:
+      - 0.18302478960927682
+      - 0.10163762871957262
+      - 0.040561905074461432
+      - 0.19945607691831344
+      - -0.23999479543068411
+      - -7.3195649745772925e-05
+      - 0.10170020628533552
+    accelerations:
+      - -0.39930680812157404
+      - -0.22174371677026128
+      - -0.088494268351241329
+      - -0.43515509349702847
+      - 0.52359877551994216
+      - 0.00015969159877611888
+      - -0.22188024280096419
     effort: []
     time_from_start:
       sec: 2
       nanosec: 570000000
   - positions:
-      - -0.22415950893847481
-      - -0.11586805667672043
-      - -1.4138664935367955
-      - 1.6083320122593363
-      - -1.7651306340947552
-      - -1.5706933007759198
-      - -0.11583520663328682
-    velocities:
-      - 0.18378483487213015
-      - 0.10107114367987514
-      - 0.040665731617287842
-      - 0.20002004578938029
-      - -0.24052434661694355
-      - 0.00012675371425572134
-      - 0.10123007169746719
-    accelerations:
-      - -0.40008221975555947
-      - -0.22002232961609505
-      - -0.088525455240895431
-      - -0.43542473986331953
-      - 0.52359877552851863
-      - -0.00027593085902313281
-      - -0.22036830089336085
+      - -0.22211029876535032
+      - -0.11480858291988076
+      - -1.4134809168465607
+      - 1.6104152190320358
+      - -1.7677114927457585
+      - -1.5708567370277038
+      - -0.11485326285093497
+    velocities:
+      - 0.17903172152742866
+      - 0.099420191551518683
+      - 0.039676962390808819
+      - 0.19510452598265371
+      - -0.23475880767465515
+      - -7.1598733757758751e-05
+      - 0.09948140385697439
+    accelerations:
+      - -0.39930680815674036
+      - -0.2217437167898012
+      - -0.088494268359040645
+      - -0.43515509353535892
+      - 0.52359877556607193
+      - 0.00015969159879018641
+      - -0.22188024282051799
     effort: []
     time_from_start:
       sec: 2
       nanosec: 580000000
   - positions:
-      - -0.22234050390005472
-      - -0.11486770798244167
-      - -1.4134640056451566
-      - 1.6103117048238997
-      - -1.7675112167944285
-      - -1.5706920462347327
-      - -0.1148332849535931
-    velocities:
-      - 0.17978401267400931
-      - 0.098870920383403213
-      - 0.039780477064753801
-      - 0.19566579839013171
-      - -0.23528835886091837
-      - 0.00012399440566510019
-      - 0.099026388688222292
-    accelerations:
-      - -0.40008221978767267
-      - -0.22002232963376148
-      - -0.088525455248000859
-      - -0.4354247398982638
-      - 0.52359877557056833
-      - -0.00027593085904527764
-      - -0.22036830091104115
+      - -0.2203367264983829
+      - -0.11382367983674002
+      - -1.4130878582336317
+      - 1.6123480160441543
+      - -1.7700371236851575
+      - -1.5708574463183673
+      - -0.11386775336996469
+    velocities:
+      - 0.17503865344558051
+      - 0.097202754383464762
+      - 0.038792019707156219
+      - 0.19075297504699401
+      - -0.22952281991862625
+      - -7.000181776974459e-05
+      - 0.097262601428613274
+    accelerations:
+      - -0.39930680819187891
+      - -0.22174371680932725
+      - -0.088494268366826084
+      - -0.43515509357366161
+      - 0.52359877561214618
+      - 0.00015969159880424038
+      - -0.22188024284004404
     effort: []
     time_from_start:
       sec: 2
       nanosec: 590000000
   - positions:
-      - -0.22056150708361538
-      - -0.11388936152112737
-      - -1.4130703702990428
-      - 1.6122478549144712
-      - -1.7698394396165422
-      - -1.5706908192866318
-      - -0.11385340010399154
-    velocities:
-      - 0.17578319047588847
-      - 0.096670697086931309
-      - 0.038895222512219767
-      - 0.19131155099088315
-      - -0.23005237110489324
-      - 0.00012123509707447906
-      - 0.096822705678977411
-    accelerations:
-      - -0.40008221981975811
-      - -0.22002232965140014
-      - -0.088525455255099347
-      - -0.43542473993320807
-      - 0.52359877561253476
-      - -0.00027593085906739537
-      - -0.22036830092870757
+      - -0.21860308491223354
+      - -0.11286095112527957
+      - -1.4127036490475393
+      - 1.614237297546917
+      - -1.7723103947469974
+      - -1.5708581396398709
+      - -0.11290443191327776
+    velocities:
+      - 0.17104558536383621
+      - 0.094985317215468532
+      - 0.037907077023526629
+      - 0.1864014241114475
+      - -0.22428683216273351
+      - -6.8404901781771968e-05
+      - 0.095043799000309862
+    accelerations:
+      - -0.39930680812315611
+      - -0.22174371677114946
+      - -0.088494268351602151
+      - -0.43515509349880482
+      - 0.52359877552205158
+      - 0.00015969159877675585
+      - -0.22188024280186625
     effort: []
     time_from_start:
       sec: 2
       nanosec: 600000000
   - positions:
-      - -0.21882251848915707
-      - -0.11293301729277769
-      - -1.4126855874984545
-      - 1.6141404625310507
-      - -1.7721153025610961
-      - -1.5706896199316167
-      - -0.11289555208448236
-    velocities:
-      - 0.17178236827787172
-      - 0.09447047379051661
-      - 0.038009967959708749
-      - 0.18695730359174784
-      - -0.22481638334900425
-      - 0.0001184757884839297
-      - 0.094619022669789846
-    accelerations:
-      - -0.40008221974776015
-      - -0.22002232961183457
-      - -0.088525455239174586
-      - -0.43542473985488184
-      - 0.52359877551836009
-      - -0.00027593085901775246
-      - -0.22036830088905873
+      - -0.21690937400690224
+      - -0.11192039678549939
+      - -1.4123282892882834
+      - 1.6160830635403234
+      - -1.7745313059312771
+      - -1.5708588169922146
+      - -0.11196329848087419
+    velocities:
+      - 0.16705251728198806
+      - 0.092767880047414611
+      - 0.03702213433987403
+      - 0.1820498731757878
+      - -0.21905084440670461
+      - -6.6807985793757794e-05
+      - 0.092824996571948745
+    accelerations:
+      - -0.39930680815832242
+      - -0.2217437167906755
+      - -0.08849426835938759
+      - -0.43515509353710752
+      - 0.52359877556812584
+      - 0.00015969159879082338
+      - -0.22188024282139229
     effort: []
     time_from_start:
       sec: 2
       nanosec: 610000000
   - positions:
-      - -0.21712353811667967
-      - -0.11199867529739257
-      - -1.4123096572433913
-      - 1.615989527673638
-      - -1.7743388056280898
-      - -1.5706884481696874
-      - -0.11195974089506547
-    velocities:
-      - 0.16778154607975085
-      - 0.092270250494044692
-      - 0.037124713407174714
-      - 0.18260305619249928
-      - -0.21958039559297909
-      - 0.00011571647989330855
-      - 0.092415339660544937
-    accelerations:
-      - -0.4000822197799011
-      - -0.22002232962948712
-      - -0.088525455246273074
-      - -0.43542473988979835
-      - 0.52359877556038203
-      - -0.00027593085903989729
-      - -0.22036830090675291
+      - -0.21525559378238915
+      - -0.11100201681739966
+      - -1.4119617789558638
+      - 1.6178853140243734
+      - -1.7766998572379971
+      - -1.5708594783753984
+      - -0.11104435307275412
+    velocities:
+      - 0.16305944920013993
+      - 0.090550442879360718
+      - 0.03613719165622143
+      - 0.17769832224012813
+      - -0.21381485665067573
+      - -6.5211069805743647e-05
+      - 0.090606194143587643
+    accelerations:
+      - -0.39930680819343323
+      - -0.2217437168101738
+      - -0.088494268367173029
+      - -0.43515509357538246
+      - 0.5235987756142001
+      - 0.00015969159880486379
+      - -0.22188024284090446
     effort: []
     time_from_start:
       sec: 2
       nanosec: 620000000
   - positions:
-      - -0.21546456596618319
-      - -0.11108633553497201
-      - -1.4119425795338536
-      - 1.6177950503422329
-      - -1.776509948817524
-      - -1.5706873040008444
-      - -0.11104596653574086
-    velocities:
-      - 0.16378072388162998
-      - 0.090070027197572761
-      - 0.036239458854640666
-      - 0.17824880879325067
-      - -0.21434440783695388
-      - 0.00011295717130268739
-      - 0.090211656651300029
-    accelerations:
-      - -0.40008221981201431
-      - -0.22002232964715354
-      - -0.088525455253385441
-      - -0.43542473992477038
-      - 0.52359877560243173
-      - -0.00027593085906206922
-      - -0.22036830092446097
+      - -0.21364174423869434
+      - -0.11010581122098032
+      - -1.4116041180502805
+      - 1.6196440489990669
+      - -1.7788160486671569
+      - -1.5708601237894222
+      - -0.11014759568891754
+    velocities:
+      - 0.15906638111839561
+      - 0.08833300571136446
+      - 0.03525224897259184
+      - 0.17334677130458159
+      - -0.20857886889478297
+      - -6.3614153817771011e-05
+      - 0.08838739171528423
+    accelerations:
+      - -0.39930680812476593
+      - -0.22174371677203764
+      - -0.088494268351949096
+      - -0.43515509350052567
+      - 0.52359877552413325
+      - 0.00015969159877739282
+      - -0.22188024280272667
     effort: []
     time_from_start:
       sec: 2
       nanosec: 630000000
   - positions:
-      - -0.21384560203766745
-      - -0.11019599800551592
-      - -1.411584354369841
-      - 1.6195570305368359
-      - -1.7786287321293981
-      - -1.570686187425087
-      - -0.11015422900650845
-    velocities:
-      - 0.15977990168361325
-      - 0.087869803901158089
-      - 0.035354204302129662
-      - 0.17389456139411541
-      - -0.20910842008106498
-      - 0.00011019786271213806
-      - 0.088007973642112491
-    accelerations:
-      - -0.40008221973998859
-      - -0.22002232960754634
-      - -0.08852545523745374
-      - -0.43542473984641639
-      - 0.5235987755081738
-      - -0.00027593085901239921
-      - -0.22036830088478437
+      - -0.21206782537581734
+      - -0.10923177999624115
+      - -1.4112553065715339
+      - 1.6213592684644047
+      - -1.7808798802187573
+      - -1.5708607532342864
+      - -0.10927302632936418
+    velocities:
+      - 0.15507331303654742
+      - 0.086115568543310525
+      - 0.034367306288939234
+      - 0.16899522036892187
+      - -0.20334288113875401
+      - -6.2017237829756837e-05
+      - 0.086168589286923086
+    accelerations:
+      - -0.39930680815993225
+      - -0.22174371679157756
+      - -0.088494268359741474
+      - -0.43515509353885612
+      - 0.52359877557026302
+      - 0.00015969159879146034
+      - -0.22188024282229435
     effort: []
     time_from_start:
       sec: 2
       nanosec: 640000000
   - positions:
-      - -0.21226664633113279
-      - -0.10932766270902447
-      - -1.4112349817513539
-      - 1.6212754682574464
-      - -1.7806951555637123
-      - -1.5706850984424157
-      - -0.1092845283073684
-    velocities:
-      - 0.15577907948549238
-      - 0.085669580604686157
-      - 0.03446894974959562
-      - 0.1695403139948668
-      - -0.20387243232503977
-      - 0.0001074385541215169
-      - 0.085804290632867583
-    accelerations:
-      - -0.40008221977212954
-      - -0.22002232962521276
-      - -0.088525455244559167
-      - -0.43542473988138841
-      - 0.52359877555022349
-      - -0.00027593085903455759
-      - -0.22036830090247855
+      - -0.21053383719375868
+      - -0.10837992314318246
+      - -1.4109153445196236
+      - 1.623030972420386
+      - -1.7828913518927978
+      - -1.5708613667099907
+      - -0.10842064499409437
+    velocities:
+      - 0.15108024495469857
+      - 0.083898131375256452
+      - 0.033482363605289014
+      - 0.16464366943326175
+      - -0.19810689338272577
+      - -6.0420321842996224e-05
+      - 0.083949786858561623
+    accelerations:
+      - -0.39930680819507081
+      - -0.22174371681108973
+      - -0.08849426836754079
+      - -0.43515509357715881
+      - 0.52359877561636503
+      - 0.00015969159880883468
+      - -0.22188024284180652
     effort: []
     time_from_start:
       sec: 2
       nanosec: 650000000
   - positions:
-      - -0.21072769884657894
-      - -0.10848132964549752
-      - -1.4108944616783918
-      - 1.622950363504065
-      - -1.7827092191204668
-      - -1.5706840370528299
-      - -0.10843686443832058
-    velocities:
-      - 0.15177825728737224
-      - 0.083469357308214864
-      - 0.033583695197062634
-      - 0.1651860665956178
-      - -0.19863644456901369
-      - 0.00010467924553699923
-      - 0.083600607623623258
-    accelerations:
-      - -0.40008221980424274
-      - -0.22002232964286531
-      - -0.088525455251671534
-      - -0.43542473991630493
-      - 0.52359877559224544
-      - -0.00027593085907278927
-      - -0.22036830092017273
+      - -0.20903977969251825
+      - -0.10755024066180413
+      - -1.4105842318945498
+      - 1.6246591608670111
+      - -1.7848504636892781
+      - -1.5708619642165349
+      - -0.10759045168310802
+    velocities:
+      - 0.14708717687295428
+      - 0.081680694207260221
+      - 0.032597420921659369
+      - 0.16029211849771524
+      - -0.19287090562683304
+      - -5.8823405854990466e-05
+      - 0.081730984430258224
+    accelerations:
+      - -0.39930680812637576
+      - -0.22174371677292581
+      - -0.088494268352309918
+      - -0.43515509350227427
+      - 0.52359877552624268
+      - 0.00015969159878135016
+      - -0.22188024280362872
     effort: []
     time_from_start:
       sec: 2
       nanosec: 660000000
   - positions:
-      - -0.209228759584006
-      - -0.10765699881493512
-      - -1.4105627941509551
-      - 1.6245817162766916
-      - -1.7846709227996613
-      - -1.5706830032563301
-      - -0.10761123739936505
-    velocities:
-      - 0.14777743508922406
-      - 0.081269134011727889
-      - 0.032698440644522521
-      - 0.16083181919633951
-      - -0.19340045681295281
-      - 0.00010191993694619836
-      - 0.081396924614363306
-    accelerations:
-      - -0.40008221986348974
-      - -0.22002232967546367
-      - -0.088525455264781422
-      - -0.43542473998078202
-      - 0.52359877566978408
-      - -0.00027593085911364955
-      - -0.22036830095279872
+      - -0.20758565287209571
+      - -0.10674273255210603
+      - -1.4102619686963125
+      - 1.6262438338042799
+      - -1.786757215608199
+      - -1.5708625457539194
+      - -0.10678244639640495
+    velocities:
+      - 0.14309410879110615
+      - 0.0794632570392063
+      - 0.0317124782380067
+      - 0.15594056756205557
+      - -0.18763491787080411
+      - -5.722648986694317e-05
+      - 0.079512182001897108
+    accelerations:
+      - -0.39930680816151432
+      - -0.22174371679245186
+      - -0.088494268360102296
+      - -0.43515509354057696
+      - 0.52359877557234469
+      - 0.00015969159879541091
+      - -0.22188024282316865
     effort: []
     time_from_start:
       sec: 2
       nanosec: 670000000
   - positions:
-      - -0.20776982854341391
-      - -0.10685467021733724
-      - -1.4102399791690434
-      - 1.6261695265753255
-      - -1.7865802666012962
-      - -1.5706819970529164
-      - -0.10680764719050179
-    velocities:
-      - 0.14377661289123461
-      - 0.079068910715328233
-      - 0.031813186092017533
-      - 0.15647757179723396
-      - -0.18816446905709966
-      - 9.9160628355506955e-05
-      - 0.07919324160519077
-    accelerations:
-      - -0.40008221976433023
-      - -0.2200223296209384
-      - -0.088525455242845261
-      - -0.43542473987292296
-      - 0.5235987755400372
-      - -0.0002759308590452912
-      - -0.22036830089820419
+      - -0.20617145673249146
+      - -0.10595739881408836
+      - -1.4099485549249116
+      - 1.6277849912321927
+      - -1.78861160764956
+      - -1.5708631113221441
+      - -0.1059966291339854
+    velocities:
+      - 0.13910104070925805
+      - 0.077245819871152407
+      - 0.030827535554354041
+      - 0.15158901662639593
+      - -0.1823989301147752
+      - -5.5629573878895887e-05
+      - 0.07729337957353602
+    accelerations:
+      - -0.39930680819662512
+      - -0.22174371681195015
+      - -0.088494268367884266
+      - -0.43515509357882415
+      - 0.52359877561839119
+      - 0.0001596915988094581
+      - -0.22188024284268082
     effort: []
     time_from_start:
       sec: 2
       nanosec: 680000000
   - positions:
-      - -0.2063509057248028
-      - -0.10607434385270396
-      - -1.4099260167326575
-      - 1.627713794399968
-      - -1.7884372505253712
-      - -1.5706810184425888
-      - -0.10602609381173082
-    velocities:
-      - 0.13977579069311374
-      - 0.076868687418856288
-      - 0.030927931539483464
-      - 0.1521233243979854
-      - -0.1829284813010745
-      - 9.6401319764724926e-05
-      - 0.076989558595945862
-    accelerations:
-      - -0.40008221979644343
-      - -0.22002232963859095
-      - -0.088525455249950688
-      - -0.43542473990783948
-      - 0.52359877558205914
-      - -0.00027593085906742247
-      - -0.2203683009158845
+      - -0.20479719127370544
+      - -0.10519423944775111
+      - -1.4096439905803471
+      - 1.6292826331507491
+      - -1.7904136398133605
+      - -1.5708636609212085
+      - -0.10523299989584933
+    velocities:
+      - 0.1351079726275137
+      - 0.075028382703156121
+      - 0.029942592870724375
+      - 0.14723746569084933
+      - -0.17716294235888236
+      - -5.4032657890890095e-05
+      - 0.075074577145232579
+    accelerations:
+      - -0.39930680812798558
+      - -0.22174371677384175
+      - -0.08849426835267421
+      - -0.43515509350405063
+      - 0.52359877552840761
+      - 0.00015969159878200746
+      - -0.22188024280453078
     effort: []
     time_from_start:
       sec: 2
       nanosec: 690000000
   - positions:
-      - -0.20497199112817255
-      - -0.10531601972103521
-      - -1.4096209068417966
-      - 1.6292145197506178
-      - -1.7902418745718864
-      - -1.5706800674253465
-      - -0.10526657726305214
-    velocities:
-      - 0.13577496849499285
-      - 0.074668464122384343
-      - 0.030042676986949398
-      - 0.14776907699873684
-      - -0.17769249354504935
-      - 9.3642011173942897e-05
-      - 0.074785875586700953
-    accelerations:
-      - -0.40008221982858438
-      - -0.22002232965625737
-      - -0.088525455257052646
-      - -0.43542473994278375
-      - 0.52359877562408108
-      - -0.0002759308590895673
-      - -0.2203683009335648
+      - -0.20346285649573731
+      - -0.10445325445309406
+      - -1.409348275662619
+      - 1.6307367595599493
+      - -1.7921633120996021
+      - -1.5708641945511133
+      - -0.1044915586819965
+    velocities:
+      - 0.1311149045456656
+      - 0.072810945535102228
+      - 0.029057650187071713
+      - 0.14288591475518966
+      - -0.17192695460285345
+      - -5.2435741902842812e-05
+      - 0.072855774716871477
+    accelerations:
+      - -0.39930680816309638
+      - -0.22174371679335392
+      - -0.088494268360459649
+      - -0.43515509354235332
+      - 0.52359877557445411
+      - 0.00015969159879605465
+      - -0.22188024282405683
     effort: []
     time_from_start:
       sec: 2
       nanosec: 700000000
   - positions:
-      - -0.20363308475352321
-      - -0.10457969782233101
-      - -1.4093246494964609
-      - 1.6306717026272757
-      - -1.7919941387408416
-      - -1.5706791440011907
-      - -0.10452909754446571
-    velocities:
-      - 0.13177414629697609
-      - 0.072468240825969657
-      - 0.029157422434438363
-      - 0.14341482959960156
-      - -0.17245650578916044
-      - 9.0882702583232669e-05
-      - 0.072582192577513388
-    accelerations:
-      - -0.40008221975655867
-      - -0.22002232961666404
-      - -0.088525455241120946
-      - -0.43542473986445751
-      - 0.5235987755298509
-      - -0.00027593085903991084
-      - -0.22036830089390208
+      - -0.20216845239858749
+      - -0.10373444383011744
+      - -1.4090614101717276
+      - 1.6321473704597933
+      - -1.7938606245082833
+      - -1.5708647122118582
+      - -0.10377230549242722
+    velocities:
+      - 0.12712183646381744
+      - 0.070593508367048322
+      - 0.028172707503419048
+      - 0.13853436381952999
+      - -0.16669096684682452
+      - -5.0838825914795516e-05
+      - 0.070636972288510375
+    accelerations:
+      - -0.39930680819829045
+      - -0.22174371681286609
+      - -0.088494268368248558
+      - -0.43515509358062826
+      - 0.52359877562052837
+      - 0.00015969159881010862
+      - -0.22188024284358288
     effort: []
     time_from_start:
       sec: 2
       nanosec: 710000000
   - positions:
-      - -0.2023341866008547
-      - -0.1038653781565913
-      - -1.4090372446966506
-      - 1.6320853430299413
-      - -1.793694043032237
-      - -1.5706782481701205
-      - -0.10381365465597153
-    velocities:
-      - 0.12777332409885522
-      - 0.070268017529497712
-      - 0.028272167881904293
-      - 0.139060582200353
-      - -0.16722051803313528
-      - 8.812339399245064e-05
-      - 0.070378509568268466
-    accelerations:
-      - -0.40008221978867187
-      - -0.22002232963431659
-      - -0.088525455248226373
-      - -0.43542473989937402
-      - 0.52359877557187284
-      - -0.00027593085906205567
-      - -0.22036830091159626
+      - -0.20091397898225596
+      - -0.10303780757882128
+      - -1.4087833941076724
+      - 1.6335144658502809
+      - -1.7955055770394046
+      - -1.5708652139034434
+      - -0.10307524032714145
+    velocities:
+      - 0.12312876838207318
+      - 0.068376071199052091
+      - 0.027287764819789399
+      - 0.13418281288398348
+      - -0.16145497909093179
+      - -4.9241909926789758e-05
+      - 0.068418169860206976
+    accelerations:
+      - -0.39930680812955377
+      - -0.22174371677470217
+      - -0.088494268353021155
+      - -0.43515509350577147
+      - 0.52359877553043377
+      - 0.00015969159878263087
+      - -0.22188024280540508
     effort: []
     time_from_start:
       sec: 2
       nanosec: 720000000
   - positions:
-      - -0.20107529667016713
-      - -0.1031730607238162
-      - -1.4087586924423652
-      - 1.6334554409586151
-      - -1.7953415874460728
-      - -1.5706773799321363
-      - -0.10312024859756966
-    velocities:
-      - 0.12377250190073433
-      - 0.068067794233025752
-      - 0.027386913329370217
-      - 0.13470633480110442
-      - -0.1619845302771101
-      - 8.5364085401668584e-05
-      - 0.068174826559023544
-    accelerations:
-      - -0.40008221982079895
-      - -0.22002232965199689
-      - -0.088525455255338739
-      - -0.43542473993434605
-      - 0.5235987756139503
-      - -0.00027593085908422761
-      - -0.22036830092930432
+      - -0.19969943624674225
+      - -0.10236334569920526
+      - -1.4085142274704536
+      - 1.6348380457314124
+      - -1.7970981696929664
+      - -1.5708656996258685
+      - -0.1024003631861389
+    velocities:
+      - 0.11913570030022505
+      - 0.06615863403099817
+      - 0.026402822136136733
+      - 0.12983126194832381
+      - -0.15621899133490286
+      - -4.7644993938742461e-05
+      - 0.066199367431845874
+    accelerations:
+      - -0.39930680816470621
+      - -0.22174371679422822
+      - -0.088494268360810063
+      - -0.43515509354404641
+      - 0.52359877557650802
+      - 0.00015969159879668484
+      - -0.22188024282493113
     effort: []
     time_from_start:
       sec: 2
       nanosec: 730000000
   - positions:
-      - -0.19985641496146045
-      - -0.10250274552400562
-      - -1.4084889927336055
-      - 1.6347819964132964
-      - -1.7969367719823484
-      - -1.5706765392872379
-      - -0.10244887936926006
-    velocities:
-      - 0.11977167970261098
-      - 0.065867570936552461
-      - 0.026501658776835604
-      - 0.13035208740185317
-      - -0.15674854252108172
-      - 8.2604776810884847e-05
-      - 0.065971143549777275
-    accelerations:
-      - -0.40008221985521858
-      - -0.22002232967091176
-      - -0.088525455262949554
-      - -0.43542473997178921
-      - 0.5235987756589594
-      - -0.00027593085910794393
-      - -0.2203683009482468
+      - -0.19852482419204678
+      - -0.10171105819126966
+      - -1.4082539102600715
+      - 1.6361181101031881
+      - -1.7986384024689683
+      - -1.5708661693791337
+      - -0.10174767406941984
+    velocities:
+      - 0.11514263221837694
+      - 0.063941196862944277
+      - 0.025517879452484071
+      - 0.12547971101266417
+      - -0.15098300357887395
+      - -4.6048077950695178e-05
+      - 0.063980565003484771
+    accelerations:
+      - -0.39930680819978925
+      - -0.22174371681371263
+      - -0.088494268368585094
+      - -0.43515509358226584
+      - 0.52359877562252677
+      - 0.00015969159881071849
+      - -0.22188024284442942
     effort: []
     time_from_start:
       sec: 2
       nanosec: 740000000
   - positions:
-      - -0.19867754147473468
-      - -0.10185443255715962
-      - -1.4082281455703709
-      - 1.6360650093939855
-      - -1.7984795966410643
-      - -1.5706757262354254
-      - -0.10179954697104276
-    velocities:
-      - 0.11577085750459663
-      - 0.063667347640139094
-      - 0.025616404224325103
-      - 0.12599784000272052
-      - -0.15151255476519598
-      - 7.9845468220176286e-05
-      - 0.063767460540591028
-    accelerations:
-      - -0.40008221978101133
-      - -0.22002232963011162
-      - -0.088525455246533283
-      - -0.43542473989104735
-      - 0.52359877556185308
-      - -0.00027593085905677019
-      - -0.22036830090737741
+      - -0.19739014281816966
+      - -0.10108094505501453
+      - -1.4080024424765258
+      - 1.6373546589656072
+      - -1.8001262753674103
+      - -1.5708666231632391
+      - -0.10111717297698432
+    velocities:
+      - 0.11114956413653408
+      - 0.061723759694893035
+      - 0.024632936768830997
+      - 0.12112816007701184
+      - -0.14574701582285018
+      - -4.4451161961723938e-05
+      - 0.061761762575126701
+    accelerations:
+      - -0.39930680822956022
+      - -0.22174371683023975
+      - -0.088494268375179375
+      - -0.43515509361474092
+      - 0.52359877566156843
+      - 0.00015969159881930084
+      - -0.22188024286097729
     effort: []
     time_from_start:
       sec: 2
       nanosec: 750000000
   - positions:
-      - -0.19753867620998972
-      - -0.1012281218232781
-      - -1.4079761509526614
-      - 1.6373044799006826
-      - -1.7999700614222205
-      - -1.5706749407766989
-      - -0.10117225140291768
-    velocities:
-      - 0.11177003530647546
-      - 0.061467124343666753
-      - 0.024731149671791901
-      - 0.12164359260347118
-      - -0.14627656700917147
-      - 7.7086159624485301e-05
-      - 0.061563777531345801
-    accelerations:
-      - -0.40008221981337433
-      - -0.22002232964790294
-      - -0.088525455253694221
-      - -0.4354247399262553
-      - 0.52359877560420809
-      - -0.00027593085906152712
-      - -0.22036830092520343
+      - -0.1962953921251103
+      - -0.10047300629043954
+      - -1.4077598241198164
+      - 1.6385476923186699
+      - -1.8015617883882926
+      - -1.5708670609781845
+      - -0.10050885990883199
+    velocities:
+      - 0.10715649605478499
+      - 0.059506322526894126
+      - 0.023747994085200334
+      - 0.11677660914146003
+      - -0.14051102806695118
+      - -4.285424597374952e-05
+      - 0.059542960146820624
+    accelerations:
+      - -0.39930680816571928
+      - -0.22174371679479027
+      - -0.088494268361028638
+      - -0.43515509354515663
+      - 0.52359877557784029
+      - 0.00015969159879376427
+      - -0.22188024282550012
     effort: []
     time_from_start:
       sec: 2
       nanosec: 760000000
   - positions:
-      - -0.19643981916722575
-      - -0.10062381332236117
-      - -1.4077330088804776
-      - 1.6385004079333876
-      - -1.8014081663258168
-      - -1.5706741829110584
-      - -0.10056699266488493
-    velocities:
-      - 0.10776921310836267
-      - 0.059266901047199269
-      - 0.023845895119259587
-      - 0.11728934520423143
-      - -0.14104057925315686
-      - 7.4326851033884551e-05
-      - 0.059360094522105347
-    accelerations:
-      - -0.40008221983735787
-      - -0.22002232966109322
-      - -0.088525455259001323
-      - -0.43542473995236031
-      - 0.52359877563558921
-      - -0.00027593085907806061
-      - -0.22036830093841439
+      - -0.19524057211286924
+      - -0.099887241897544984
+      - -1.4075260551899436
+      - 1.6396972101623766
+      - -1.8029449415316148
+      - -1.5708674828239702
+      - -0.099922734864963211
+    velocities:
+      - 0.10316342797293698
+      - 0.057288885358840302
+      - 0.022863051401547756
+      - 0.11242505820580043
+      - -0.1352750403109225
+      - -4.1257329985735549e-05
+      - 0.057324157718459584
+    accelerations:
+      - -0.39930680820059417
+      - -0.22174371681414978
+      - -0.088494268368758566
+      - -0.4351550935831679
+      - 0.52359877562358148
+      - 0.00015969159880770982
+      - -0.22188024284488045
     effort: []
     time_from_start:
       sec: 2
       nanosec: 770000000
   - positions:
-      - -0.19538097034644261
-      - -0.10004150705440878
-      - -1.4074987193538189
-      - 1.6396527934921006
-      - -1.802793911351853
-      - -1.5706734526385038
-      - -0.099983770756944423
-    velocities:
-      - 0.10376839091033756
-      - 0.057066677750779997
-      - 0.022960640566746671
-      - 0.11293509780508709
-      - -0.13580459149725699
-      - 7.1567542443344272e-05
-      - 0.057156411512913181
-    accelerations:
-      - -0.4000822197740308
-      - -0.22002232962626053
-      - -0.088525455244989379
-      - -0.43542473988342845
-      - 0.52359877555269374
-      - -0.00027593085903438141
-      - -0.22036830090353327
+      - -0.19422568278144647
+      - -0.099323651876330854
+      - -1.4073011356869072
+      - 1.6408032124967271
+      - -1.8042757347973772
+      - -1.570867888700596
+      - -0.099358797845377905
+    velocities:
+      - 0.099170359891104551
+      - 0.055071448190795118
+      - 0.021978108717898626
+      - 0.1080735072701578
+      - -0.13003905255491421
+      - -3.9660413997727799e-05
+      - 0.055105355290107197
+    accelerations:
+      - -0.39930680821972087
+      - -0.22174371682477884
+      - -0.088494268372997092
+      - -0.43515509360401339
+      - 0.52359877564866208
+      - 0.00015969159881536383
+      - -0.22188024285550945
     effort: []
     time_from_start:
       sec: 2
       nanosec: 780000000
   - positions:
-      - -0.19436212974764042
-      - -0.099481203019420955
-      - -1.4072732823726852
-      - 1.6407616365768212
-      - -1.8041272965003297
-      - -1.5706727499590349
-      - -0.099422585679096204
-    velocities:
-      - 0.099767568712216564
-      - 0.054866454454307996
-      - 0.022075386014212543
-      - 0.10858085040583841
-      - -0.13056860374123164
-      - 6.880823385273787e-05
-      - 0.054952728503668211
-    accelerations:
-      - -0.4000822198063938
-      - -0.2200223296440588
-      - -0.088525455252150317
-      - -0.43542473991866415
-      - 0.5235987755950765
-      - -0.00027593085905670242
-      - -0.22036830092135928
+      - -0.1932507241308416
+      - -0.098782236226796952
+      - -1.4070850656107072
+      - 1.6418656993217216
+      - -1.80555416818558
+      - -1.5708682786080619
+      - -0.098817048850075889
+    velocities:
+      - 0.095177291809344783
+      - 0.05285401102279029
+      - 0.021093166034265597
+      - 0.10372195633459436
+      - -0.1248030647990012
+      - -3.8063498009749112e-05
+      - 0.052886552861795187
+    accelerations:
+      - -0.39930680816655195
+      - -0.2217437167952413
+      - -0.088494268361212519
+      - -0.43515509354607257
+      - 0.52359877557893664
+      - 0.00015969159879409631
+      - -0.22188024282595809
     effort: []
     time_from_start:
       sec: 2
       nanosec: 790000000
   - positions:
-      - -0.193383297370819
-      - -0.098942901217397614
-      - -1.4070566979370771
-      - 1.6418269371875498
-      - -1.8054083217712464
-      - -1.5706720748726521
-      - -0.098883437431340218
-    velocities:
-      - 0.095766746514095585
-      - 0.052666231157836009
-      - 0.021190131461678419
-      - 0.10422660300658976
-      - -0.12533261598520631
-      - 6.6048925262131482e-05
-      - 0.052749045494423254
-    accelerations:
-      - -0.40008221983874293
-      - -0.22002232966185012
-      - -0.088525455259307786
-      - -0.43542473995385822
-      - 0.52359877563740376
-      - -0.00027593085907900988
-      - -0.22036830093916449
+      - -0.19231569616105496
+      - -0.098262994948943444
+      - -1.4068778449613437
+      - 1.6428846706373594
+      - -1.8067802416962229
+      - -1.570868652546368
+      - -0.098297487879057344
+    velocities:
+      - 0.091184223727496794
+      - 0.050636573854736459
+      - 0.020208223350613019
+      - 0.099370405398934755
+      - -0.11956707704297252
+      - -3.6466582021735141e-05
+      - 0.050667750433434147
+    accelerations:
+      - -0.39930680820141295
+      - -0.22174371681461469
+      - -0.088494268368942447
+      - -0.43515509358408383
+      - 0.52359877562466395
+      - 0.00015969159880804186
+      - -0.22188024284533842
     effort: []
     time_from_start:
       sec: 2
       nanosec: 800000000
   - positions:
-      - -0.1924444732159786
-      - -0.098426601648338857
-      - -1.4068489660469941
-      - 1.6428486953242862
-      - -1.8066369871646035
-      - -1.5706714273793554
-      - -0.09836632601367655
-    velocities:
-      - 0.091765924315996977
-      - 0.050466007861376311
-      - 0.020304876909149241
-      - 0.099872355607365418
-      - -0.12009662822921026
-      - 6.3289616671540502e-05
-      - 0.050545362485190599
-    accelerations:
-      - -0.40008221984854336
-      - -0.22002232966724802
-      - -0.088525455261478508
-      - -0.435424739964545
-      - 0.52359877565023027
-      - -0.00027593085908578555
-      - -0.22036830094457613
+      - -0.19142059887208654
+      - -0.097765928042770345
+      - -1.4066794737388166
+      - 1.6438601264436412
+      - -1.8079539553293058
+      - -1.5708690105155139
+      - -0.097800114932322268
+    velocities:
+      - 0.087191155645674992
+      - 0.048419136686697187
+      - 0.019323280666966248
+      - 0.095018854463303729
+      - -0.11433108928697819
+      - -3.4869666033731647e-05
+      - 0.048448948005087672
+    accelerations:
+      - -0.39930680820992315
+      - -0.2217437168193318
+      - -0.088494268370821749
+      - -0.43515509359332749
+      - 0.52359877563579738
+      - 0.00015969159881144037
+      - -0.22188024285005548
     effort: []
     time_from_start:
       sec: 2
       nanosec: 810000000
   - positions:
-      - -0.19154565728311906
-      - -0.097932304312244672
-      - -1.4066500867024363
-      - 1.6438269109870305
-      - -1.8078132926804005
-      - -1.5706708074791442
-      - -0.097871251426105157
-    velocities:
-      - 0.087765102117957669
-      - 0.048265784564949232
-      - 0.019419622356633186
-      - 0.095518108208205638
-      - -0.11486064047329181
-      - 6.0530308080990432e-05
-      - 0.04834167947599062
-    accelerations:
-      - -0.4000822197993994
-      - -0.22002232964022159
-      - -0.088525455250606414
-      - -0.43542473991105912
-      - 0.52359877558593104
-      - -0.00027593085905189128
-      - -0.2203683009175082
+      - -0.19056543226393619
+      - -0.097291035508277529
+      - -1.4064899519431262
+      - 1.6447920667405669
+      - -1.8090753090848288
+      - -1.5708693525155
+      - -0.097324930009870581
+    velocities:
+      - 0.083198087563904594
+      - 0.046201699518686454
+      - 0.018438337983330864
+      - 0.090667303527728699
+      - -0.10909510153105124
+      - -3.3272750045748711e-05
+      - 0.046230145576769757
+    accelerations:
+      - -0.39930680816737074
+      - -0.22174371679569926
+      - -0.0884942683613964
+      - -0.43515509354696075
+      - 0.5235987755800191
+      - 0.00015969159879442157
+      - -0.22188024282641605
     effort: []
     time_from_start:
       sec: 2
       nanosec: 820000000
   - positions:
-      - -0.19068684957224036
-      - -0.097460009209114976
-      - -1.4064600599034041
-      - 1.6447615841757828
-      - -1.8089372383186377
-      - -1.5706702151720191
-      - -0.097398213668626013
-    velocities:
-      - 0.083764279919836662
-      - 0.046065561268477231
-      - 0.018534367804099054
-      - 0.091163860808956956
-      - -0.10962465271726647
-      - 5.7770999490384023e-05
-      - 0.04613799646674565
-    accelerations:
-      - -0.40008221983177628
-      - -0.22002232965801985
-      - -0.088525455257767352
-      - -0.43542473994628095
-      - 0.52359877562828605
-      - -0.00027593085907421229
-      - -0.22036830093533422
+      - -0.18975019633660387
+      - -0.096838317345464997
+      - -1.406309279574272
+      - 1.6456804915281364
+      - -1.8101443029627924
+      - -1.5708696785463263
+      - -0.096871933111702238
+    velocities:
+      - 0.079205019482056604
+      - 0.04398426235063263
+      - 0.017553395299678285
+      - 0.086315752592069112
+      - -0.10385911377502256
+      - -3.167583405773474e-05
+      - 0.044011343148408717
+    accelerations:
+      - -0.39930680820223174
+      - -0.22174371681506572
+      - -0.088494268369122858
+      - -0.43515509358495813
+      - 0.52359877562573254
+      - 0.00015969159880836712
+      - -0.22188024284579638
     effort: []
     time_from_start:
       sec: 2
       nanosec: 830000000
   - positions:
-      - -0.18986805008334262
-      - -0.097009716338949864
-      - -1.4062788856498971
-      - 1.6456527148905429
-      - -1.8100088240793151
-      - -1.57066965045798
-      - -0.096947212741239158
-    velocities:
-      - 0.079763457721748726
-      - 0.04386533797202341
-      - 0.01764911325157224
-      - 0.086809613409744246
-      - -0.10438866496128438
-      - 5.5011690899800416e-05
-      - 0.04393431345751888
-    accelerations:
-      - -0.40008221983091857
-      - -0.22002232965754745
-      - -0.088525455257575381
-      - -0.43542473994533815
-      - 0.52359877562715151
-      - -0.00027593085907361538
-      - -0.22036830093486168
+      - -0.1889748910900898
+      - -0.096407773554332929
+      - -1.4061374566322542
+      - 1.6465254008063495
+      - -1.8111609369631958
+      - -1.5708699886079931
+      - -0.096441124237817408
+    velocities:
+      - 0.075211951400245419
+      - 0.041766825182599249
+      - 0.016668452616033867
+      - 0.081964201656449645
+      - -0.098623126019042148
+      - -3.0078918069735491e-05
+      - 0.04179254072006814
+    accelerations:
+      - -0.39930680820012543
+      - -0.22174371681388477
+      - -0.088494268368649875
+      - -0.43515509358264159
+      - 0.52359877562296042
+      - 0.00015969159880752369
+      - -0.22188024284461538
     effort: []
     time_from_start:
       sec: 2
       nanosec: 840000000
   - positions:
-      - -0.18908925881642563
-      - -0.096581425701749213
-      - -1.406106563941915
-      - 1.6465003031313106
-      - -1.8110280499624329
-      - -1.5706691133370265
-      - -0.096518248643944524
-    velocities:
-      - 0.07576263552369876
-      - 0.041665114675590476
-      - 0.016763858699053828
-      - 0.082455366010572864
-      - -0.099152677205351994
-      - 5.2252382309243e-05
-      - 0.04173063044831303
-    accelerations:
-      - -0.40008221979243275
-      - -0.22002232963637744
-      - -0.08852545524905904
-      - -0.43542473990345409
-      - 0.52359877557678558
-      - -0.00027593085904706658
-      - -0.22036830091366405
+      - -0.1882395165243938
+      - -0.095999404134881103
+      - -1.4059744831170731
+      - 1.6473267945752066
+      - -1.8121252110860395
+      - -1.5708702827004997
+      - -0.096032503388215923
+    velocities:
+      - 0.071218883318465195
+      - 0.039549388014582992
+      - 0.015783509932396737
+      - 0.077612650720860571
+      - -0.093387138263102451
+      - -2.8482002080272979e-05
+      - 0.039573738291744556
+    accelerations:
+      - -0.39930680816817565
+      - -0.22174371679615029
+      - -0.088494268361576811
+      - -0.43515509354782117
+      - 0.52359877558105994
+      - 0.00015969159878647301
+      - -0.22188024282686014
     effort: []
     time_from_start:
       sec: 2
       nanosec: 850000000
   - positions:
-      - -0.18835047577148967
-      - -0.096175137297513202
-      - -1.4059430947794584
-      - 1.6473043488980863
-      - -1.8119949159679904
-      - -1.5706686038091591
-      - -0.096111321376742234
-    velocities:
-      - 0.071761813325578072
-      - 0.039464891379118475
-      - 0.015878604146521338
-      - 0.078101118611324197
-      - -0.093916689449326213
-      - 4.9493073719689196e-05
-      - 0.03952694743906783
-    accelerations:
-      - -0.40008221982479575
-      - -0.2200223296541757
-      - -0.088525455256230387
-      - -0.4354247399386898
-      - 0.52359877561915447
-      - -0.00027593085907526261
-      - -0.22036830093148313
+      - -0.18754407263951595
+      - -0.095613209087109685
+      - -1.4058203590287282
+      - 1.6480846728347072
+      - -1.8130371253313236
+      - -1.5708705608238462
+      - -0.095646070562897895
+    velocities:
+      - 0.067225815236617137
+      - 0.037331950846529134
+      - 0.014898567248744119
+      - 0.073261099785201095
+      - -0.088151150507073658
+      - -2.6885086092341715e-05
+      - 0.037354935863383489
+    accelerations:
+      - -0.39930680820307829
+      - -0.22174371681552368
+      - -0.088494268369310208
+      - -0.43515509358584631
+      - 0.52359877562682888
+      - 0.00015969159880043212
+      - -0.22188024284626129
     effort: []
     time_from_start:
       sec: 2
       nanosec: 860000000
   - positions:
-      - -0.18765170094853448
-      - -0.095790851126241666
-      - -1.4057884781625272
-      - 1.6480648521908701
-      - -1.8129094220959887
-      - -1.5706681218743777
-      - -0.095726430939632151
-    velocities:
-      - 0.067760991127500794
-      - 0.037264668082670517
-      - 0.014993349593996792
-      - 0.073746871212123102
-      - -0.088680701693358122
-      - 4.6733765129054259e-05
-      - 0.037323264429846952
-    accelerations:
-      - -0.40008221981325215
-      - -0.22002232964783994
-      - -0.088525455253679192
-      - -0.43542473992613129
-      - 0.523598775604045
-      - -0.00027593085906730668
-      - -0.22036830092513335
+      - -0.18688855943545618
+      - -0.095249188411018565
+      - -1.4056750843672197
+      - 1.6487990355848516
+      - -1.8138966796990474
+      - -1.570870822978033
+      - -0.09528182576186324
+    velocities:
+      - 0.063232747154816582
+      - 0.035114513678501658
+      - 0.01401362456510203
+      - 0.068909548849593397
+      - -0.082915162751107177
+      - -2.5288170104429453e-05
+      - 0.03513613343504883
+    accelerations:
+      - -0.39930680819028608
+      - -0.22174371680842386
+      - -0.088494268366476267
+      - -0.43515509357191406
+      - 0.52359877561005408
+      - 0.00015969159879531626
+      - -0.22188024283914753
     effort: []
     time_from_start:
       sec: 2
       nanosec: 870000000
   - positions:
-      - -0.1869929343475602
-      - -0.095428567187934688
-      - -1.405642714091121
-      - 1.6487818130096616
-      - -1.8137715683464268
-      - -1.5706676675326821
-      - -0.095363577332614358
-    velocities:
-      - 0.063760168929440156
-      - 0.035064444786231719
-      - 0.014108095041475931
-      - 0.069392623812940132
-      - -0.083444713937411805
-      - 4.3974456538430808e-05
-      - 0.035119581420635246
-    accelerations:
-      - -0.40008221978542446
-      - -0.22002232963253329
-      - -0.08852545524752034
-      - -0.43542473989583519
-      - 0.52359877556762624
-      - -0.00027593085904811012
-      - -0.22036830090980603
+      - -0.18627297691221456
+      - -0.094907342106607812
+      - -1.4055386591325478
+      - 1.64946988282564
+      - -1.8147038741892114
+      - -1.5708710691630599
+      - -0.094939768985112027
+    velocities:
+      - 0.059239679073024874
+      - 0.032897076510479087
+      - 0.0131286818814619
+      - 0.06455799791399533
+      - -0.077679174995152284
+      - -2.3691254116520728e-05
+      - 0.032917331006719078
+    accelerations:
+      - -0.39930680816900138
+      - -0.2217437167966152
+      - -0.088494268361760692
+      - -0.43515509354872323
+      - 0.52359877558215628
+      - 0.00015969159878680505
+      - -0.22188024282732505
     effort: []
     time_from_start:
       sec: 2
       nanosec: 880000000
   - positions:
-      - -0.18637417596856681
-      - -0.095088285482592252
-      - -1.40550580256524
-      - 1.6494552313544608
-      - -1.8145813547193048
-      - -1.5706672407840723
-      - -0.09502276055568884
-    velocities:
-      - 0.059759346731319128
-      - 0.032864221489759711
-      - 0.013222840488941708
-      - 0.065038376413691437
-      - -0.078208726181386468
-      - 4.121514794776571e-05
-      - 0.032915898411390275
-    accelerations:
-      - -0.40008221981780828
-      - -0.22002232965033849
-      - -0.088525455254684748
-      - -0.43542473993107089
-      - 0.52359877560999513
-      - -0.00027593085907044469
-      - -0.22036830092763898
+      - -0.18569732506979109
+      - -0.09458767017387737
+      - -1.4054110833247124
+      - 1.6500972145570723
+      - -1.8154587088018161
+      - -1.5708712993789269
+      - -0.094619900232644216
+    velocities:
+      - 0.055246610991176809
+      - 0.030679639342425232
+      - 0.012243739197809283
+      - 0.060206446978335847
+      - -0.072443187239123505
+      - -2.2094338128589464e-05
+      - 0.03069852857835802
+    accelerations:
+      - -0.39930680820390402
+      - -0.22174371681599206
+      - -0.088494268369494089
+      - -0.43515509358676224
+      - 0.52359877562792523
+      - 0.00015969159880076415
+      - -0.22188024284671926
     effort: []
     time_from_start:
       sec: 2
       nanosec: 890000000
   - positions:
-      - -0.18579542581155434
-      - -0.094770006010214375
-      - -1.4053777435848844
-      - 1.650085107225268
-      - -1.8153387812146236
-      - -1.5706668416285485
-      - -0.094703980608855598
-    velocities:
-      - 0.055758524533252495
-      - 0.030663998193317617
-      - 0.012337585936419518
-      - 0.060684129014501931
-      - -0.07297273842543231
-      - 3.8455839357138119e-05
-      - 0.03071221540217527
-    accelerations:
-      - -0.40008221979561348
-      - -0.22002232963813242
-      - -0.088525455249774329
-      - -0.43542473990691749
-      - 0.52359877558095236
-      - -0.00027593085905513651
-      - -0.22036830091541196
+      - -0.1851616039081857
+      - -0.094290172612827294
+      - -1.4052923569437135
+      - 1.650681030779148
+      - -1.8161611835368605
+      - -1.5708715136256339
+      - -0.09432221950445982
+    velocities:
+      - 0.051253542909386891
+      - 0.028462202174403661
+      - 0.01135879651416955
+      - 0.05585489604273973
+      - -0.067207199483170957
+      - -2.0497422140681454e-05
+      - 0.028479726150029267
+    accelerations:
+      - -0.39930680818048142
+      - -0.22174371680298724
+      - -0.088494268364302658
+      - -0.43515509356123511
+      - 0.52359877559721713
+      - 0.00015969159879139619
+      - -0.22188024283370397
     effort: []
     time_from_start:
       sec: 2
       nanosec: 900000000
   - positions:
-      - -0.18525668387652269
-      - -0.094473728770800985
-      - -1.4052585371500543
-      - 1.6506714406220833
-      - -1.8160438478323822
-      - -1.5706664700661106
-      - -0.094407237492114604
-    velocities:
-      - 0.051757702335135047
-      - 0.02846377489684758
-      - 0.011452331383886086
-      - 0.056329881615257121
-      - -0.067736750669411649
-      - 3.5696530766475487e-05
-      - 0.02850853239293227
-    accelerations:
-      - -0.40008221982441683
-      - -0.22002232965397045
-      - -0.088525455256147703
-      - -0.43542473993826741
-      - 0.52359877561864443
-      - -0.00027593085907500452
-      - -0.22036830093127774
+      - -0.18466581342739852
+      - -0.094014849423457572
+      - -1.4051824799895509
+      - 1.6512213314918678
+      - -1.8168112983943454
+      - -1.5708717119031814
+      - -0.094046726800558866
+    velocities:
+      - 0.047260474827584532
+      - 0.026244765006375185
+      - 0.01047385383052706
+      - 0.051503345107130068
+      - -0.061971211727202109
+      - -1.8900506152768473e-05
+      - 0.026260923721693603
+    accelerations:
+      - -0.39930680816984793
+      - -0.2217437167970801
+      - -0.088494268361946307
+      - -0.4351550935496461
+      - 0.52359877558326651
+      - 0.00015969159878714386
+      - -0.22188024282779342
     effort: []
     time_from_start:
       sec: 2
       nanosec: 910000000
   - positions:
-      - -0.18475795016347202
-      - -0.094199453764352209
-      - -1.4051481832607493
-      - 1.6512142315449063
-      - -1.8166965545725811
-      - -1.5706661260967587
-      - -0.094132531205465941
-    velocities:
-      - 0.047756880137060198
-      - 0.026263551600400961
-      - 0.010567076831362078
-      - 0.051975634216058671
-      - -0.062500762913446736
-      - 3.2937222175842231e-05
-      - 0.026304849383712733
-    accelerations:
-      - -0.4000822198108
-      - -0.22002232964648394
-      - -0.08852545525313564
-      - -0.43542473992345893
-      - 0.52359877560083579
-      - -0.00027593085906561321
-      - -0.22036830092378096
+      - -0.18420995362742942
+      - -0.093761700605768189
+      - -1.4050814524622246
+      - 1.6517181166952311
+      - -1.8174090533742702
+      - -1.5708718942115689
+      - -0.093793422120941314
+    velocities:
+      - 0.043267406745775089
+      - 0.024027327838342775
+      - 0.0095889111468830009
+      - 0.047151794171512676
+      - -0.056735223971223971
+      - -1.7303590164852653e-05
+      - 0.024042121293354
+    accelerations:
+      - -0.39930680816630604
+      - -0.22174371679510732
+      - -0.088494268361161615
+      - -0.43515509354578014
+      - 0.52359877557861412
+      - 0.00015969159878572738
+      - -0.22188024282582419
     effort: []
     time_from_start:
       sec: 2
       nanosec: 920000000
   - positions:
-      - -0.18429922467240215
-      - -0.093947180990867921
-      - -1.4050466819169696
-      - 1.6517134799937372
-      - -1.81729690143522
-      - -1.5706658097204926
-      - -0.093879861748909485
-    velocities:
-      - 0.043756057938978216
-      - 0.024063328303950426
-      - 0.0096818222788364952
-      - 0.047621386816852469
-      - -0.057264775157472497
-      - 3.0177913585204062e-05
-      - 0.024101166374489273
-    accelerations:
-      - -0.4000822198043163
-      - -0.2200223296429179
-      - -0.088525455251698693
-      - -0.43542473991639419
-      - 0.52359877559233925
-      - -0.00027593085906113806
-      - -0.22036830092020468
+      - -0.18379402450827845
+      - -0.093530726159759145
+      - -1.4049892743617352
+      - 1.6521713863892384
+      - -1.8179544484766355
+      - -1.5708720605507964
+      - -0.093562305465607176
+    velocities:
+      - 0.039274338663957215
+      - 0.021809890670305677
+      - 0.0087039684632370731
+      - 0.04280024323588609
+      - -0.051499236215234771
+      - -1.5706674176933465e-05
+      - 0.021823318865009714
+    accelerations:
+      - -0.39930680817065595
+      - -0.2217437167975298
+      - -0.08849426836212558
+      - -0.43515509355053533
+      - 0.52359877558432466
+      - 0.00015969159878746595
+      - -0.22188024282824306
     effort: []
     time_from_start:
       sec: 2
       nanosec: 930000000
   - positions:
-      - -0.18388050740331321
-      - -0.093716910450348218
-      - -1.4049540331187151
-      - 1.6521691859685759
-      - -1.8178448884202991
-      - -1.5706655209373124
-      - -0.093649229122445332
-    velocities:
-      - 0.039755235740886748
-      - 0.021863105007494676
-      - 0.0087965677263088116
-      - 0.043267139417635943
-      - -0.052028787401485838
-      - 2.7418604994559347e-05
-      - 0.021897483365260585
-    accelerations:
-      - -0.4000822198067851
-      - -0.22002232964427335
-      - -0.088525455252244575
-      - -0.43542473991907443
-      - 0.52359877559556567
-      - -0.00027593085906283776
-      - -0.22036830092156676
+      - -0.18341802606994562
+      - -0.09332192608543044
+      - -1.4049059456880817
+      - 1.6525811405738895
+      - -1.8184474837014406
+      - -1.5708722109208642
+      - -0.09335337683455644
+    velocities:
+      - 0.035281270582144225
+      - 0.019592453502271293
+      - 0.0078190257795922261
+      - 0.038448692300264833
+      - -0.046263248459251977
+      - -1.4109758189016227e-05
+      - 0.019604516436668142
+    accelerations:
+      - -0.39930680817065978
+      - -0.22174371679753113
+      - -0.088494268362126718
+      - -0.43515509355053428
+      - 0.52359877558432821
+      - 0.00015969159878746912
+      - -0.22188024282824445
     effort: []
     time_from_start:
       sec: 2
       nanosec: 940000000
   - positions:
-      - -0.18350179835620511
-      - -0.093508642142793003
-      - -1.404870236865986
-      - 1.6525813494694224
-      - -1.8183405155278185
-      - -1.5706652597472182
-      - -0.093440633326073413
-    velocities:
-      - 0.035754413542801233
-      - 0.019662881711042194
-      - 0.0079113131737824447
-      - 0.038912892018425883
-      - -0.04679279964550697
-      - 2.4659296403918735e-05
-      - 0.019693800356035174
-    accelerations:
-      - -0.40008221980382641
-      - -0.2200223296426502
-      - -0.088525455251591736
-      - -0.43542473991586778
-      - 0.5235987755917042
-      - -0.00027593085906080542
-      - -0.22036830091994028
+      - -0.18308195831243088
+      - -0.09313530038278206
+      - -1.4048314664412651
+      - 1.6529473792491842
+      - -1.8188881590486863
+      - -1.5708723453217719
+      - -0.093166636227789104
+    velocities:
+      - 0.031288202500322063
+      - 0.01737501633423227
+      - 0.0069340830959435645
+      - 0.034097141364637637
+      - -0.041027260703260834
+      - -1.2512842203640684e-05
+      - 0.017385714008321659
+    accelerations:
+      - -0.3993068081778593
+      - -0.22174371680153621
+      - -0.088494268363699516
+      - -0.4351550935584228
+      - 0.52359877559381718
+      - 0.00015969159882283252
+      - -0.22188024283224961
     effort: []
     time_from_start:
       sec: 2
       nanosec: 950000000
   - positions:
-      - -0.18316309753107796
-      - -0.093322376068202387
-      - -1.4047952931587819
-      - 1.6529499704962769
-      - -1.818783782757778
-      - -1.57066502615021
-      - -0.093254074359793812
-    velocities:
-      - 0.031753591344708308
-      - 0.017462658414585993
-      - 0.0070260586212481605
-      - 0.03455864461920926
-      - -0.041556811889518777
-      - 2.1899987812827444e-05
-      - 0.017490117346806489
-    accelerations:
-      - -0.40008221980797309
-      - -0.22002232964493712
-      - -0.088525455252429885
-      - -0.43542473992039793
-      - 0.52359877559714096
-      - -0.00027593085905805144
-      - -0.22036830092223431
+      - -0.18278582123573434
+      - -0.092970849051814075
+      - -1.4047658366212845
+      - 1.6532701024151231
+      - -1.8192764745183718
+      - -1.5708724637535196
+      - -0.093002083645305239
+    velocities:
+      - 0.027295134418501159
+      - 0.015157579166193438
+      - 0.0060491404122971935
+      - 0.029745590429007242
+      - -0.035791272947267201
+      - -1.091592621539544e-05
+      - 0.015166911579975668
+    accelerations:
+      - -0.39930680818544578
+      - -0.22174371680574759
+      - -0.088494268365380532
+      - -0.43515509356669357
+      - 0.52359877560375701
+      - 0.00015969159882586728
+      - -0.22188024283646426
     effort: []
     time_from_start:
       sec: 2
       nanosec: 960000000
   - positions:
-      - -0.18286440492793166
-      - -0.093158112226576245
-      - -1.4047292019971034
-      - 1.6532750490491392
-      - -1.8191746901101775
-      - -1.5706648201462874
-      - -0.093089552223606431
-    velocities:
-      - 0.027752769146613381
-      - 0.015262435118128293
-      - 0.0061408040687205021
-      - 0.030204397219988778
-      - -0.036320824133527552
-      - 1.9140679222236485e-05
-      - 0.015286434337575795
-    accelerations:
-      - -0.40008221981375447
-      - -0.22002232964811344
-      - -0.088525455253708391
-      - -0.43542473992668734
-      - 0.5235987756046937
-      - -0.00027593085906203421
-      - -0.22036830092541537
+      - -0.18252961483985591
+      - -0.092828572092526401
+      - -1.4047090562281408
+      - 1.6535493100717054
+      - -1.8196124301104974
+      - -1.5708725662161078
+      - -0.092859719087104775
+    velocities:
+      - 0.023302066336702076
+      - 0.012940141998166722
+      - 0.0051641977286556572
+      - 0.025394039493400623
+      - -0.03055528519130217
+      - -9.3190102271589212e-06
+      - 0.012948109151641799
+    accelerations:
+      - -0.39930680817210307
+      - -0.22174371679833776
+      - -0.08849426836242423
+      - -0.43515509355215454
+      - 0.52359877558626766
+      - 0.00015969159882053051
+      - -0.22188024282904936
     effort: []
     time_from_start:
       sec: 2
       nanosec: 970000000
   - positions:
-      - -0.18260572054676627
-      - -0.093015850617914703
-      - -1.4046719633809501
-      - 1.6535565851280094
-      - -1.8195132375850176
-      - -1.5706646417354508
-      - -0.092947066917511367
-    velocities:
-      - 0.023751946948520824
-      - 0.013062211821671896
-      - 0.0052555495161933684
-      - 0.025850149820770874
-      - -0.031084836377539418
-      - 1.638137063164716e-05
-      - 0.013082751328346406
-    accelerations:
-      - -0.40008221981784919
-      - -0.22002232965036569
-      - -0.088525455254615068
-      - -0.43542473993114467
-      - 0.52359877561005752
-      - -0.00027593085906486045
-      - -0.22036830092767123
+      - -0.18231333912479564
+      - -0.092708469504919094
+      - -1.4046611252618333
+      - 1.6537850022189315
+      - -1.8198960258250634
+      - -1.5708726527095358
+      - -0.092739542553187726
+    velocities:
+      - 0.019308998254871482
+      - 0.010722704830122507
+      - 0.0042792550450071387
+      - 0.021042488557759666
+      - -0.025319297435295825
+      - -7.7220942389098004e-06
+      - 0.01072930672329042
+    accelerations:
+      - -0.39930680819009257
+      - -0.22174371680832763
+      - -0.088494268366410889
+      - -0.4351550935717628
+      - 0.5235987756098599
+      - 0.00015969159882772498
+      - -0.22188024283904798
     effort: []
     time_from_start:
       sec: 2
       nanosec: 980000000
   - positions:
-      - -0.18238704438758171
-      - -0.092895591242217662
-      - -1.4046235773103219
-      - 1.6537945787328874
-      - -1.8197994251822975
-      - -1.5706644909177003
-      - -0.092826618441508552
-    velocities:
-      - 0.01975112475043888
-      - 0.010861988525221336
-      - 0.0043702949636685827
-      - 0.02149590242156452
-      - -0.025848848621565172
-      - 1.3622062041065152e-05
-      - 0.010879068319122861
-    accelerations:
-      - -0.40008221981151193
-      - -0.22002232964688001
-      - -0.088525455253212246
-      - -0.43542473992424557
-      - 0.52359877560176571
-      - -0.00027593085906048754
-      - -0.22036830092418241
+      - -0.18213699409055348
+      - -0.09261054128899214
+      - -1.4046220437223624
+      - 1.6539771788568016
+      - -1.8201272616620696
+      - -1.5708727232338044
+      - -0.092641554043554092
+    velocities:
+      - 0.015315930173068721
+      - 0.0085052676620937465
+      - 0.0033943123613647875
+      - 0.01669093762214904
+      - -0.020083309679325978
+      - -6.1251782506718114e-06
+      - 0.0085105042949545073
+    accelerations:
+      - -0.39930680817936692
+      - -0.22174371680237048
+      - -0.088494268364033249
+      - -0.43515509356007148
+      - 0.52359877559579104
+      - 0.00015969159882343485
+      - -0.22188024283308538
     effort: []
     time_from_start:
       sec: 2
       nanosec: 990000000
   - positions:
-      - -0.1822083764503781
-      - -0.092797334099485207
-      - -1.4045840437852193
-      - 1.6539890298637734
-      - -1.8200332529020178
-      - -1.5706643676930354
-      - -0.092728206795598012
-    velocities:
-      - 0.01575030255234763
-      - 0.0086617652287656575
-      - 0.0034850404111417379
-      - 0.017141655022348035
-      - -0.020612860865578751
-      - 1.0862753450476726e-05
-      - 0.0086753853098941909
-    accelerations:
-      - -0.40008221981323611
-      - -0.22002232964782784
-      - -0.088525455253593774
-      - -0.43542473992612368
-      - 0.52359877560402046
-      - -0.00027593085906167729
-      - -0.22036830092513118
+      - -0.18200057973712944
+      - -0.092534787444745498
+      - -1.4045918116097278
+      - 1.6541258399853154
+      - -1.8203061376215159
+      - -1.5708727777889127
+      - -0.092565753558203873
+    velocities:
+      - 0.011322862091251901
+      - 0.0062878304940571809
+      - 0.0025093696777193208
+      - 0.012339386686523094
+      - -0.014847321923337693
+      - -4.5282622624281989e-06
+      - 0.0062917018666107834
+    accelerations:
+      - -0.3993068081837583
+      - -0.22174371680480956
+      - -0.088494268365006956
+      - -0.43515509356485721
+      - 0.52359877560155044
+      - 0.00015969159882519196
+      - -0.22188024283552632
     effort: []
     time_from_start:
       sec: 3
       nanosec: 0
   - positions:
-      - -0.18206971673515535
-      - -0.092721079189717254
-      - -1.4045533628056417
-      - 1.654139938520667
-      - -1.8202147207441781
-      - -1.5706642720614568
-      - -0.092651831979779734
-    velocities:
-      - 0.011749480354262124
-      - 0.0064615419323131402
-      - 0.0025997858586161646
-      - 0.012787407623137808
-      - -0.015376873109599848
-      - 8.1034448598922641e-06
-      - 0.0064717023006686863
-    accelerations:
-      - -0.40008221981046721
-      - -0.220022329646305
-      - -0.088525455252981111
-      - -0.43542473992310859
-      - 0.5235987756003968
-      - -0.00027593085905976752
-      - -0.22036830092360607
+      - -0.18190409606452351
+      - -0.092481207972179222
+      - -1.4045704289239298
+      - 1.6542309856044728
+      - -1.8204326537034023
+      - -1.5708728163748611
+      - -0.092512141097137054
+    velocities:
+      - 0.0073297940094409642
+      - 0.0040703933260238809
+      - 0.0016244269940751577
+      - 0.0079878357509035585
+      - -0.0096113341673571221
+      - -2.9313462741869399e-06
+      - 0.0040728994382703276
+    accelerations:
+      - -0.39930680818280267
+      - -0.22174371680427846
+      - -0.088494268364794931
+      - -0.43515509356381465
+      - 0.52359877560029666
+      - 0.00015969159882480921
+      - -0.22188024283499463
     effort: []
     time_from_start:
       sec: 3
       nanosec: 10000000
   - positions:
-      - -0.18197106524191345
-      - -0.092666826512913858
-      - -1.4045315343715894
-      - 1.6542473047035688
-      - -1.8203438287087785
-      - -1.5706642040229639
-      - -0.092597493994053731
-    velocities:
-      - 0.0077486581561765208
-      - 0.0042613186358605665
-      - 0.0017145313060905689
-      - 0.0084331602239274706
-      - -0.010140885353620814
-      - 5.3441362693077334e-06
-      - 0.0042680192914431271
-    accelerations:
-      - -0.40008221980815861
-      - -0.22002232964503657
-      - -0.088525455252470714
-      - -0.43542473992059649
-      - 0.52359877559737866
-      - -0.00027593085905817651
-      - -0.22036830092233478
+      - -0.18184755144135931
+      - -0.092449800109353386
+      - -1.4045579015905867
+      - 1.6542926257866419
+      - -1.8205068171426475
+      - -1.5708728292425809
+      - -0.092480722233136442
+    velocities:
+      - 0.0029226499103693049
+      - 0.0019785971530752091
+      - 0.00045234131475317918
+      - 0.0041061194978037228
+      - -0.0047062484352057973
+      - 0.00046655205978999784
+      - 0.0015797301464478325
+    accelerations:
+      - -0.81338282544487817
+      - -0.096102721718750769
+      - -0.37563726404332193
+      - 0.034679588958600738
+      - 0.19269675176808362
+      - 0.46804618167735151
+      - -0.49624710631797359
     effort: []
     time_from_start:
       sec: 3
       nanosec: 20000000
   - positions:
-      - -0.18191043381613506
-      - -0.092633699211190079
-      - -1.4045187863724586
-      - 1.6543115691903341
-      - -1.8204227523493046
-      - -1.5706652988494751
-      - -0.092565632180270183
-    velocities:
-      - 0.0054650987941871282
-      - 0.0027822813634491373
-      - 0.00052079190717649836
-      - 0.0041715749239033253
-      - -0.0067127386753954967
-      - -0.0011680312259682486
-      - 0.0014283240005780395
-    accelerations:
-      - 0.17348868751620619
-      - 0.0073333525722297952
-      - -0.23326885424253097
-      - -0.5120877578382913
-      - -0.053594220834621537
-      - -0.46225558927437876
-      - -0.52863310719193068
+      - -0.18184518620378134
+      - -0.092431026097754845
+      - -1.4045669710366671
+      - 1.6543404318812931
+      - -1.8205528285655466
+      - -1.570849863444538
+      - -0.092481582256384712
+    velocities:
+      - -0.0030833983577073392
+      - 0.0009998625547607391
+      - -0.002173517154423842
+      - 0.0036651155781783785
+      - -0.0026220238411627083
+      - 0.0035686497428463393
+      - -0.0020510653342435455
+    accelerations:
+      - -0.46863729462032827
+      - -0.2205096146365827
+      - -0.12569141923173519
+      - -0.40778363883233465
+      - 0.51685985998550765
+      - 0.052452656904694285
+      - -0.26535270424501706
     effort: []
     time_from_start:
       sec: 3
       nanosec: 30000000
   - positions:
-      - -0.18185395113903913
-      - -0.092608202231563588
-      - -1.4045234538124087
-      - 1.6543287532659769
-      - -1.8204857126203606
-      - -1.5706944761796027
-      - -0.092573962159370679
-    velocities:
-      - 0.005309637118244526
-      - 0.0020622951717618144
-      - -0.0014706047536855308
-      - -0.0010468811247473402
-      - -0.0052597191892124751
-      - -0.004499064850759754
-      - -0.0031539509801623623
-    accelerations:
-      - -0.14656217095214058
-      - -0.12638794051189817
-      - -0.17365345205747193
-      - -0.52388179114182243
-      - 0.28198286370659337
-      - -0.2404725420165866
-      - -0.4052214328307987
+      - -0.18188069512597679
+      - -0.09242244110182922
+      - -1.404585980105107
+      - 1.6543668934283819
+      - -1.8205711268795077
+      - -1.5708156222066429
+      - -0.092502267658689269
+    velocities:
+      - -0.0024209532435919986
+      - 0.002133380978158871
+      - -0.00077467011930314146
+      - 0.0032773003001765645
+      - -0.0035911585538432899
+      - 0.0034371152116888545
+      - -0.00080384655010256754
+    accelerations:
+      - 0.40196950352937455
+      - 0.34126876894838049
+      - 0.31009537449070729
+      - 0.21523339204412339
+      - -0.5127967920578691
+      - -0.039437432199776877
+      - 0.37519813717242068
     effort: []
     time_from_start:
       sec: 3
       nanosec: 40000000
   - positions:
-      - -0.18180425122847191
-      - -0.092587041988325042
-      - -1.4045366261968975
-      - 1.65430881062542
-      - -1.8205341870184069
-      - -1.5707416792384761
-      - -0.092607536547550121
-    velocities:
-      - 0.0052473433084550313
-      - 0.00319892196328564
-      - 0.00029065264604958451
-      - -0.00071103462353349495
-      - -0.0059048597973348389
-      - -0.0036600159883210266
-      - -0.0010468602007544007
-    accelerations:
-      - 0.015130971952667051
-      - 0.18975400663132802
-      - 0.33262644115796225
-      - 0.34225495375060738
-      - -0.17903839407257355
-      - 0.28677188191655184
-      - 0.52196184230221365
+      - -0.18187672734622631
+      - -0.092393324433647186
+      - -1.4045762008860387
+      - 1.6543971316295143
+      - -1.8206172477810134
+      - -1.57079634372763
+      - -0.092489614968452691
+    velocities:
+      - 0.0035652010248902774
+      - 0.0034822907372326767
+      - 0.0028691810439755413
+      - 0.0024062870514443332
+      - -0.0052744722540534949
+      - -1.8750862138508977e-06
+      - 0.0034860612377777128
+    accelerations:
+      - 0.35391880011308741
+      - 0.3456882657561326
+      - 0.28482464391255213
+      - 0.23887298921693947
+      - -0.52359877559550339
+      - -0.0001861404892127016
+      - 0.34606256471414631
     effort: []
     time_from_start:
       sec: 3
       nanosec: 50000000
   - positions:
-      - -0.18175564437562056
-      - -0.092550249195589393
-      - -1.4045207733994416
-      - 1.6543158811439369
-      - -1.8205953107480404
-      - -1.5707637889860668
-      - -0.092596410310962177
-    velocities:
-      - 0.0038458797029231363
-      - 0.003973495271628073
-      - 0.0032067938892324475
-      - 0.0025855797056930844
-      - -0.0057896364367085069
-      - 3.1160943099952611e-07
-      - 0.0039697027996531522
-    accelerations:
-      - -0.28604439752482552
-      - -0.015016673042486139
-      - 0.27704397223384136
-      - 0.34269757219465108
-      - 0.17887053808530726
-      - 0.4619816652131139
-      - 0.52049631920985839
+      - -0.18182691414344956
+      - -0.092344669658387571
+      - -1.4045361125162248
+      - 1.6544307524166719
+      - -1.8206909430240299
+      - -1.5707963699264471
+      - -0.092440907511533069
+    velocities:
+      - 0.0071043890260408908
+      - 0.0069391733948132861
+      - 0.0057174274831169481
+      - 0.0047950169436270533
+      - -0.010510460010037737
+      - -3.7364911059882968e-06
+      - 0.0069466868849384781
+    accelerations:
+      - 0.35391880011660676
+      - 0.34568826575957073
+      - 0.28482464391538503
+      - 0.23887298921931532
+      - -0.52359877560071133
+      - -0.00018614048921455282
+      - 0.34606256471758812
     effort: []
     time_from_start:
       sec: 3
       nanosec: 60000000
   - positions:
-      - -0.18170139282916856
-      - -0.092494230075487571
-      - -1.4044755970154725
-      - 1.6543522921655245
-      - -1.8206769524420219
-      - -1.5707638383201712
-      - -0.092540506934785577
-    velocities:
-      - 0.007323987396838318
-      - 0.0075670149715502634
-      - 0.0061069299726523394
-      - 0.0049239067887702848
-      - -0.011025624192691104
-      - 5.9342041916751576e-07
-      - 0.0075597926923598683
-    accelerations:
-      - 0.34781076939005001
-      - 0.3593519699907019
-      - 0.29001360834076467
-      - 0.23383270830673275
-      - -0.52359877559604839
-      - 2.8181098816680021e-05
-      - 0.35900898926915509
+      - -0.18174170906066131
+      - -0.092261446056552149
+      - -1.4044675416820194
+      - 1.6544882605027516
+      - -1.8208169981446061
+      - -1.5707964147393132
+      - -0.09235759379814186
+    velocities:
+      - 0.010643577027192317
+      - 0.01039605605239469
+      - 0.0085656739222590081
+      - 0.0071837468358103215
+      - -0.015746447766023179
+      - -5.5978959981261227e-06
+      - 0.010407312532100036
+    accelerations:
+      - 0.35391880011763299
+      - 0.34568826576057343
+      - 0.28482464391620965
+      - 0.2388729892200073
+      - -0.52359877560222545
+      - -0.00018614048921509208
+      - 0.34606256471858926
     effort: []
     time_from_start:
       sec: 3
       nanosec: 70000000
   - positions:
-      - -0.1816124342110392
-      - -0.092402319595750293
-      - -1.4044014210206293
-      - 1.6544120989237825
-      - -1.8208108718822191
-      - -1.5707638311123679
-      - -0.092448684178298185
-    velocities:
-      - 0.010802095090758107
-      - 0.011160534671477214
-      - 0.0090070660560760737
-      - 0.0072622338718505829
-      - -0.01626161194868064
-      - 8.7523140733587874e-07
-      - 0.011149882585071342
-    accelerations:
-      - 0.3478107693933169
-      - 0.35935196999407687
-      - 0.29001360834348872
-      - 0.23383270830892974
-      - -0.52359877560096757
-      - 2.8181098816944783e-05
-      - 0.35900898927252939
+      - -0.18162111209786155
+      - -0.092143653628140934
+      - -1.4043704883834227
+      - 1.6545696558877532
+      - -1.8209954131427422
+      - -1.5707964781662282
+      - -0.092239673828279023
+    velocities:
+      - 0.014182765028343479
+      - 0.013852938709975835
+      - 0.011413920361400858
+      - 0.009572476727993412
+      - -0.020982435522008236
+      - -7.4593008902638105e-06
+      - 0.013867938179261338
+    accelerations:
+      - 0.35391880011871163
+      - 0.34568826576162814
+      - 0.28482464391707901
+      - 0.23887298922073621
+      - -0.52359877560382651
+      - -0.00018614048921566028
+      - 0.34606256471964714
     effort: []
     time_from_start:
       sec: 3
       nanosec: 80000000
   - positions:
-      - -0.18148869451597072
-      - -0.092274473919013805
-      - -1.404298243664952
-      - 1.6544952889528712
-      - -1.8209971511999761
-      - -1.5707638210864547
-      - -0.09232096052288373
-    velocities:
-      - 0.014280202784673143
-      - 0.014754054371399254
-      - 0.011907202139495844
-      - 0.0096005609549276848
-      - -0.021497599704663018
-      - 1.1570423955038565e-06
-      - 0.014739972477777908
-    accelerations:
-      - 0.34781076939337091
-      - 0.35935196999413238
-      - 0.29001360834353335
-      - 0.23383270830896458
-      - -0.52359877560104751
-      - 2.8181098816949083e-05
-      - 0.3590089892725844
+      - -0.18146512325505026
+      - -0.091991292373153899
+      - -1.4042449526204344
+      - 1.6546749385716764
+      - -1.8212261880184382
+      - -1.570796560207192
+      - -0.092087147601944599
+    velocities:
+      - 0.017721953029482072
+      - 0.017309821367544703
+      - 0.014262166800532591
+      - 0.011961206620168018
+      - -0.026218423277974693
+      - -9.320705782394888e-06
+      - 0.017328563826410348
+    accelerations:
+      - 0.35391880010723087
+      - 0.34568826575041317
+      - 0.2848246439078419
+      - 0.23887298921298841
+      - -0.52359877558684342
+      - -0.00018614048920962334
+      - 0.34606256470842145
     effort: []
     time_from_start:
       sec: 3
       nanosec: 90000000
   - positions:
-      - -0.18133017374396304
-      - -0.092110693045278053
-      - -1.4041660649484402
-      - 1.6546018622527905
-      - -1.8212357903952927
-      - -1.5707638082424316
-      - -0.092157335968542156
-    velocities:
-      - 0.017758310478584165
-      - 0.018347574071317149
-      - 0.014807338222912268
-      - 0.011938888038002089
-      - -0.026733587460639356
-      - 1.4388533836715092e-06
-      - 0.018330062370480332
-    accelerations:
-      - 0.34781076938832256
-      - 0.35935196998891783
-      - 0.29001360833932321
-      - 0.23383270830557068
-      - -0.52359877559344914
-      - 2.8181098816539881e-05
-      - 0.35900898926737224
+      - -0.1812737425322275
+      - -0.091804362291591071
+      - -1.404090934393055
+      - 1.6548041085545215
+      - -1.8215093227716936
+      - -1.5707966608622048
+      - -0.091900015119138562
+    velocities:
+      - 0.021261141030645549
+      - 0.020766704025137875
+      - 0.017110413239684347
+      - 0.014349936512359419
+      - -0.031454411033977961
+      - -1.1182110674539051e-05
+      - 0.020789189473583689
+    accelerations:
+      - 0.3539188001209525
+      - 0.34568826576381217
+      - 0.28482464391887646
+      - 0.23887298922224662
+      - -0.52359877560713275
+      - -0.00018614048921683835
+      - 0.34606256472183433
     effort: []
     time_from_start:
       sec: 3
       nanosec: 100000000
   - positions:
-      - -0.1811368718950162
-      - -0.09191097697454309
-      - -1.4040048848710944
-      - 1.6547318188235409
-      - -1.8215267894681695
-      - -1.5707637925802986
-      - -0.091957810515273547
-    velocities:
-      - 0.021236418172495938
-      - 0.021941093771235817
-      - 0.017707474306329317
-      - 0.014277215121076997
-      - -0.031969575216616815
-      - 1.7206643718392226e-06
-      - 0.021920152263183529
-    accelerations:
-      - 0.34781076938495042
-      - 0.35935196998543101
-      - 0.29001360833651207
-      - 0.23383270830330294
-      - -0.5235987755883631
-      - 2.8181098816266544e-05
-      - 0.35900898926388858
+      - -0.18104696992939329
+      - -0.091582863383452465
+      - -1.4039084337012839
+      - 1.6549571658362883
+      - -1.8218448174025093
+      - -1.5707967801312666
+      - -0.091678276379860951
+    velocities:
+      - 0.024800329031785476
+      - 0.024223586682708048
+      - 0.019958659678817155
+      - 0.016738666404534926
+      - -0.036690398789946399
+      - -1.3043515566670829e-05
+      - 0.024249815120734007
+    accelerations:
+      - 0.35391880011159166
+      - 0.34568826575467276
+      - 0.2848246439113491
+      - 0.23887298921592956
+      - -0.52359877559329682
+      - -0.00018614048921191436
+      - 0.34606256471268498
     effort: []
     time_from_start:
       sec: 3
       nanosec: 110000000
   - positions:
-      - -0.18090878896913026
-      - -0.091675325706808919
-      - -1.4038147034329143
-      - 1.6548851586651219
-      - -1.821870148418606
-      - -1.570763774100056
-      - -0.091722384163077875
-    velocities:
-      - 0.024714525866420062
-      - 0.025534613471167249
-      - 0.020607610389756666
-      - 0.01661554220416021
-      - -0.037205562972612884
-      - 2.002475360007937e-06
-      - 0.02551024215589948
-    accelerations:
-      - 0.34781076939392946
-      - 0.35935196999471175
-      - 0.29001360834399997
-      - 0.23383270830933928
-      - -0.52359877560189405
-      - 2.8181098816994399e-05
-      - 0.35900898927316205
+      - -0.18078480544654749
+      - -0.091326795648738024
+      - -1.4036974505451216
+      - 1.6551341104169772
+      - -1.8222326719108848
+      - -1.5707969180143773
+      - -0.091421931384111699
+    velocities:
+      - 0.028339517032933342
+      - 0.027680469340285976
+      - 0.022806906117956351
+      - 0.019127396296715792
+      - -0.041926386545926571
+      - -1.4904920458806783e-05
+      - 0.027710440767892086
+    accelerations:
+      - 0.35391880010951587
+      - 0.34568826575264572
+      - 0.28482464390967871
+      - 0.23887298921452937
+      - -0.52359877559021928
+      - -0.00018614048921082374
+      - 0.34606256471065433
     effort: []
     time_from_start:
       sec: 3
       nanosec: 120000000
   - positions:
-      - -0.18064592496630516
-      - -0.091403739242075538
-      - -1.4035955206339001
-      - 1.6550618817775338
-      - -1.8222658672466019
-      - -1.5707637528017033
-      - -0.091451056911955153
-    velocities:
-      - 0.028192633560343804
-      - 0.029128133171098282
-      - 0.023507746473183697
-      - 0.018953869287243168
-      - -0.04244155072860837
-      - 2.2842863481766203e-06
-      - 0.029100332048615032
-    accelerations:
-      - 0.34781076940193334
-      - 0.35935197000297603
-      - 0.29001360835067092
-      - 0.23383270831472436
-      - -0.52359877561393986
-      - 2.8181098817642759e-05
-      - 0.35900898928142316
+      - -0.18048724908369029
+      - -0.09103615908744786
+      - -1.4034579849245676
+      - 1.6553349422965877
+      - -1.8226728862968198
+      - -1.5707970745115369
+      - -0.091130980131890943
+    velocities:
+      - 0.031878705034074924
+      - 0.031137351997857762
+      - 0.025655152557090492
+      - 0.021516126188892419
+      - -0.047162374301897458
+      - -1.6766325350939432e-05
+      - 0.031171066415044021
+    accelerations:
+      - 0.35391880010115345
+      - 0.34568826574447781
+      - 0.28482464390295331
+      - 0.23887298920888952
+      - -0.52359877557785761
+      - -0.00018614048920642629
+      - 0.34606256470248276
     effort: []
     time_from_start:
       sec: 3
       nanosec: 130000000
   - positions:
-      - -0.18034827988654084
-      - -0.091096217580342878
-      - -1.4033473364740516
-      - 1.6552619881607762
-      - -1.8227139459521582
-      - -1.5707637286852405
-      - -0.091143828761905299
-    velocities:
-      - 0.031670741254252344
-      - 0.032721652871013612
-      - 0.026407882556598049
-      - 0.021292196370315902
-      - -0.047677538484580964
-      - 2.5660973363440715e-06
-      - 0.032690421941314891
-    accelerations:
-      - 0.34781076939520095
-      - 0.3593519699960267
-      - 0.29001360834505774
-      - 0.23383270831019648
-      - -0.52359877560379875
-      - 2.818109881709708e-05
-      - 0.35900898927447367
+      - -0.1801543008408224
+      - -0.09071095369958268
+      - -1.4031900368396233
+      - 1.6555596614751198
+      - -1.8231654605603136
+      - -1.5707972496227456
+      - -0.09080542262319935
+    velocities:
+      - 0.035191733816557644
+      - 0.034373334866952224
+      - 0.028321391940082753
+      - 0.023752212795144133
+      - -0.052063774887189614
+      - -1.850878378544869e-05
+      - 0.034410553091285406
+    accelerations:
+      - 0.35278316053586112
+      - 0.34457903596567968
+      - 0.28391071072355439
+      - 0.2381065037406449
+      - -0.52191867413397486
+      - -0.00018554320985872467
+      - 0.34495213389004192
     effort: []
     time_from_start:
       sec: 3
       nanosec: 140000000
   - positions:
-      - -0.18001585428863182
-      - -0.090752761298947562
-      - -1.4030701514193062
-      - 1.655485477439173
-      - -1.8232143836940582
-      - -1.5707637017507134
-      - -0.090800700289713904
-    velocities:
-      - 0.035316261656887761
-      - 0.036488140437300004
-      - 0.029447611683162414
-      - 0.023743074790299166
-      - -0.053165551471008911
-      - 2.8614728099367553e-06
-      - 0.036453314612536994
-    accelerations:
-      - 0.34781076939947714
-      - 0.3593519700004329
-      - 0.2900136083486074
-      - 0.2338327083130724
-      - -0.52359877561028323
-      - 2.8181098818132388e-05
-      - 0.35900898927887276
+      - -0.17978596475667893
+      - -0.090351183429955129
+      - -1.4028936095405569
+      - 1.6558082652266797
+      - -1.8237103887263324
+      - -1.5707974433458787
+      - -0.090445262807120869
+    velocities:
+      - 0.03873092181770834
+      - 0.037830217524532868
+      - 0.031169638379224287
+      - 0.026140942687326956
+      - -0.057299762643173859
+      - -2.0370188677597885e-05
+      - 0.03787117873844624
+    accelerations:
+      - 0.35391880012208327
+      - 0.34568826576491801
+      - 0.28482464391980067
+      - 0.23887298922302111
+      - -0.52359877560880519
+      - -0.00018614048921860931
+      - 0.34606256472294761
     effort: []
     time_from_start:
       sec: 3
       nanosec: 150000000
   - positions:
-      - -0.17964865142725459
-      - -0.090373373760564174
-      - -1.4027639681834971
-      - 1.6557323474246091
-      - -1.8237671755726697
-      - -1.5707636719983855
-      - -0.09042167485484609
-    velocities:
-      - 0.038794369350792814
-      - 0.040081660137211671
-      - 0.032347747766573724
-      - 0.026081401873369599
-      - -0.058401539226976759
-      - 3.1432837981108134e-06
-      - 0.040043404505233172
-    accelerations:
-      - 0.34781076938908601
-      - 0.35935196998969843
-      - 0.29001360833994683
-      - 0.2338327083060889
-      - -0.52359877559464973
-      - 2.8181098817290817e-05
-      - 0.3590089892681525
+      - -0.17938223686647892
+      - -0.089956844405986836
+      - -1.4025686998366165
+      - 1.656080756227247
+      - -1.8243076766604995
+      - -1.5707976556830221
+      - -0.090050496806884081
+    velocities:
+      - 0.042270109818843805
+      - 0.041287100182098628
+      - 0.034017884818353564
+      - 0.028529672579499493
+      - -0.062535750399135573
+      - -2.2231593569739066e-05
+      - 0.041331804385592176
+    accelerations:
+      - 0.35391880010752091
+      - 0.34568826575069245
+      - 0.28482464390808621
+      - 0.23887298921319017
+      - -0.52359877558726331
+      - -0.00018614048921095078
+      - 0.346062564708708
     effort: []
     time_from_start:
       sec: 3
       nanosec: 160000000
   - positions:
-      - -0.17924666748893828
-      - -0.08995805102518159
-      - -1.4024287835868541
-      - 1.6560026006808759
-      - -1.8243723273288412
-      - -1.5707636394279474
-      - -0.090006748521051227
-    velocities:
-      - 0.042272477044710904
-      - 0.043675179837136813
-      - 0.035247883849995908
-      - 0.0284197289564488
-      - -0.063637526982964238
-      - 3.4250947862859278e-06
-      - 0.043633494397942812
-    accelerations:
-      - 0.34781076939220334
-      - 0.35935196999292501
-      - 0.29001360834254586
-      - 0.2338327083081842
-      - -0.52359877559933699
-      - 2.8181098817543466e-05
-      - 0.35900898927137198
+      - -0.17894311709626745
+      - -0.089527936555442778
+      - -1.4022153076682842
+      - 1.6563771345267357
+      - -1.8249573244722264
+      - -1.5707978866342143
+      - -0.089621124550175707
+    velocities:
+      - 0.045809297820013521
+      - 0.044743982839697841
+      - 0.036866131257510398
+      - 0.030918402471695146
+      - -0.067771738155147948
+      - -2.4092998461898263e-05
+      - 0.044792430032771599
+    accelerations:
+      - 0.35391880012736615
+      - 0.34568826577007972
+      - 0.2848246439240526
+      - 0.23887298922658223
+      - -0.52359877561661483
+      - -0.00018614048922138961
+      - 0.34606256472810915
     effort: []
     time_from_start:
       sec: 3
       nanosec: 170000000
   - positions:
-      - -0.17880990247368275
-      - -0.089506793092799769
-      - -1.4020645976293766
-      - 1.6562962372079733
-      - -1.8250298389625725
-      - -1.5707636040393995
-      - -0.089555921288329302
-    velocities:
-      - 0.045750584738635171
-      - 0.047268699537068332
-      - 0.03814801993342324
-      - 0.030758056039532158
-      - -0.068873514738961014
-      - 3.7069057744615428e-06
-      - 0.047223584290658822
-    accelerations:
-      - 0.34781076940149636
-      - 0.3593519700025215
-      - 0.29001360835029355
-      - 0.23383270831443589
-      - -0.52359877561332246
-      - 2.8181098818296289e-05
-      - 0.35900898928096137
+      - -0.17846860544604448
+      - -0.089064459878322927
+      - -1.4018334330355608
+      - 1.6566974001251467
+      - -1.8256593321615133
+      - -1.5707981361994556
+      - -0.08915714603699576
+    velocities:
+      - 0.049348485821139557
+      - 0.048200865497254386
+      - 0.039714377696632081
+      - 0.033307132363861319
+      - -0.073007725911095694
+      - -2.5954403354034481e-05
+      - 0.048253055679908306
+    accelerations:
+      - 0.3539188001033739
+      - 0.34568826574663925
+      - 0.28482464390474005
+      - 0.2388729892103918
+      - -0.52359877558111889
+      - -0.00018614048920876749
+      - 0.34606256470464769
     effort: []
     time_from_start:
       sec: 3
       nanosec: 180000000
   - positions:
-      - -0.17833835638148809
-      - -0.089019599963418738
-      - -1.401671410311065
-      - 1.6566132570059016
-      - -1.8257397104738635
-      - -1.5707635658327419
-      - -0.089069193156680299
-    velocities:
-      - 0.04922869243252169
-      - 0.050862219236960854
-      - 0.041048156016819097
-      - 0.033096383122590133
-      - -0.074109502494900975
-      - 3.9887167626340999e-06
-      - 0.050813674183335877
-    accelerations:
-      - 0.34781076937258532
-      - 0.3593519699726565
-      - 0.290013608326187
-      - 0.23383270829499361
-      - -0.52359877556980849
-      - 2.8181098815954199e-05
-      - 0.35900898925112446
+      - -0.17795870191580998
+      - -0.088566414374627256
+      - -1.4014230759384458
+      - 1.6570415530224794
+      - -1.82641369972836
+      - -1.5707984043787455
+      - -0.088658561267344199
+    velocities:
+      - 0.052887673822306157
+      - 0.051657748154850559
+      - 0.04256262413578641
+      - 0.035695862256054867
+      - -0.078243713667103476
+      - -2.7815808246192038e-05
+      - 0.051713681327084683
+    accelerations:
+      - 0.35391880012013827
+      - 0.34568826576301503
+      - 0.28482464391822926
+      - 0.23887298922170219
+      - -0.5235987756059185
+      - -0.00018614048921758341
+      - 0.34606256472103736
     effort: []
     time_from_start:
       sec: 3
       nanosec: 190000000
   - positions:
-      - -0.17783202921235425
-      - -0.088496471637038457
-      - -1.4012492216319195
-      - 1.6569536600746606
-      - -1.8265019418627144
-      - -1.5707635248079741
-      - -0.088546564126104205
-    velocities:
-      - 0.052706800126449051
-      - 0.054455738936895565
-      - 0.043948292100249003
-      - 0.035434710205675561
-      - -0.079345490250902401
-      - 4.2705277508099652e-06
-      - 0.054403764076055079
-    accelerations:
-      - 0.34781076938496608
-      - 0.35935196998544489
-      - 0.29001360833650902
-      - 0.23383270830332004
-      - -0.5235987755884568
-      - 2.8181098816957743e-05
-      - 0.35900898926389879
+      - -0.177413406505564
+      - -0.088033800044355792
+      - -1.4009842363769396
+      - 1.6574095932187336
+      - -1.8272204271727666
+      - -1.5707986911720848
+      - -0.088125370241221024
+    velocities:
+      - 0.056426861823433566
+      - 0.055114630812408458
+      - 0.045410870574909203
+      - 0.03808459214822197
+      - -0.083479701423053262
+      - -2.9677213138328984e-05
+      - 0.055174306974222743
+    accelerations:
+      - 0.35391880009788973
+      - 0.34568826574129025
+      - 0.28482464390032852
+      - 0.23887298920668842
+      - -0.52359877557301082
+      - -0.00018614048920588213
+      - 0.34606256469928498
     effort: []
     time_from_start:
       sec: 3
       nanosec: 200000000
   - positions:
-      - -0.17729092096628135
-      - -0.087937408113659035
-      - -1.4007980315919395
-      - 1.6573174464142506
-      - -1.8273165331291252
-      - -1.5707634809650968
-      - -0.087988034196601131
-    velocities:
-      - 0.056184907820369875
-      - 0.058049258636823524
-      - 0.04684842818367347
-      - 0.037773037288756604
-      - -0.084581478006893987
-      - 4.5523387389853011e-06
-      - 0.057993853968767536
-    accelerations:
-      - 0.34781076939050848
-      - 0.35935196999116947
-      - 0.29001360834113338
-      - 0.23383270830704647
-      - -0.52359877559678691
-      - 2.8181098817406013e-05
-      - 0.35900898926961661
+      - -0.17683271921530649
+      - -0.087466616887508536
+      - -1.4005169143510419
+      - 1.6578015207139098
+      - -1.8280795144947328
+      - -1.5707989965794726
+      - -0.087557572958626234
+    velocities:
+      - 0.059966049824603344
+      - 0.058571513470007726
+      - 0.048259117014066093
+      - 0.040473322040417668
+      - -0.088715689179065735
+      - -3.1538618030488211e-05
+      - 0.058634932621402222
+    accelerations:
+      - 0.35391880011785293
+      - 0.3456882657607816
+      - 0.28482464391639206
+      - 0.23887298922016376
+      - -0.52359877560254275
+      - -0.00018614048921637857
+      - 0.34606256471879715
     effort: []
     time_from_start:
       sec: 3
       nanosec: 210000000
   - positions:
-      - -0.17671503164326927
-      - -0.087342409393280376
-      - -1.4003178401911254
-      - 1.6577046160246711
-      - -1.828183484273096
-      - -1.5707634343041093
-      - -0.087393603368170966
-    velocities:
-      - 0.059663015514303398
-      - 0.061642778336764611
-      - 0.049748564267108518
-      - 0.040111364371846182
-      - -0.089817465762904711
-      - 4.8341497271616661e-06
-      - 0.061583943861493108
-    accelerations:
-      - 0.34781076940905792
-      - 0.3593519700103347
-      - 0.29001360835659712
-      - 0.23383270831951541
-      - -0.52359877562471946
-      - 2.8181098818909307e-05
-      - 0.35900898928876779
+      - -0.17621664004503756
+      - -0.086864864904085501
+      - -1.4000211098607527
+      - 1.6582173355080079
+      - -1.8289909616942588
+      - -1.5707993206009094
+      - -0.0869551694195599
+    velocities:
+      - 0.063505237825773095
+      - 0.06202839612760698
+      - 0.051107363453222962
+      - 0.042862051932613346
+      - -0.093951676935078166
+      - -3.3400022922647428e-05
+      - 0.062095558268581687
+    accelerations:
+      - 0.35391880013778143
+      - 0.34568826578025907
+      - 0.28482464393244172
+      - 0.23887298923361827
+      - -0.52359877563203305
+      - -0.00018614048922686822
+      - 0.34606256473830238
     effort: []
     time_from_start:
       sec: 3
       nanosec: 220000000
   - positions:
-      - -0.17610436124331802
-      - -0.08671147547590248
-      - -1.3998086474294771
-      - 1.6581151689059226
-      - -1.8291027952946262
-      - -1.5707633848250122
-      - -0.086763271640813738
-    velocities:
-      - 0.063141123208187183
-      - 0.065236298036654317
-      - 0.052648700350502099
-      - 0.042449691454902322
-      - -0.09505345351884055
-      - 5.1159607153340017e-06
-      - 0.065174033754167346
-    accelerations:
-      - 0.34781076937771493
-      - 0.35935196997796476
-      - 0.29001360833046524
-      - 0.23383270829844893
-      - -0.52359877557753498
-      - 2.8181098816369902e-05
-      - 0.35900898925641866
+      - -0.1755651689947571
+      - -0.086228544094086659
+      - -1.3994968229060722
+      - 1.6586570376010275
+      - -1.8299547687713449
+      - -1.5707996632363952
+      - -0.086318159624021951
+    velocities:
+      - 0.067044425826883469
+      - 0.065485278785148232
+      - 0.053955609892332036
+      - 0.045250781824768951
+      - -0.099187664691002764
+      - -3.5261427814775413e-05
+      - 0.065556183915703087
+    accelerations:
+      - 0.35391880009818361
+      - 0.34568826574157385
+      - 0.28482464390056283
+      - 0.23887298920689459
+      - -0.52359877557345835
+      - -0.00018614048920604344
+      - 0.3460625646995823
     effort: []
     time_from_start:
       sec: 3
       nanosec: 230000000
   - positions:
-      - -0.17545890976642758
-      - -0.086044606361525305
-      - -1.3992704533069946
-      - 1.6585491050580048
-      - -1.8300744661937165
-      - -1.570763332527805
-      - -0.086097039014529364
-    velocities:
-      - 0.066619230902098731
-      - 0.068829817736572679
-      - 0.055548836433918822
-      - 0.04478801853797712
-      - -0.10028944127481816
-      - 5.3977717035085846e-06
-      - 0.06876412364687022
-    accelerations:
-      - 0.34781076937398003
-      - 0.35935196997408592
-      - 0.2900136083273458
-      - 0.23383270829593036
-      - -0.52359877557190404
-      - 2.8181098816066007e-05
-      - 0.35900898925255387
+      - -0.17487830606446511
+      - -0.085557654457512011
+      - -1.3989440534870003
+      - 1.6591206269929692
+      - -1.8309709357259905
+      - -1.5708000244859301
+      - -0.085646543572012401
+    velocities:
+      - 0.070583613828023473
+      - 0.068942161442718419
+      - 0.056803856331464959
+      - 0.047639511716944548
+      - -0.10442365244697117
+      - -3.7122832706918977e-05
+      - 0.069016809562853443
+    accelerations:
+      - 0.35391880008852916
+      - 0.34568826573213784
+      - 0.28482464389279288
+      - 0.23887298920037403
+      - -0.52359877555916079
+      - -0.00018614048920095579
+      - 0.34606256469013258
     effort: []
     time_from_start:
       sec: 3
       nanosec: 240000000
   - positions:
-      - -0.17477867735496383
-      - -0.085341802197238789
-      - -1.3987032579423861
-      - 1.6590064243852056
-      - -1.8310984967560473
-      - -1.5707632774124995
-      - -0.085394905636267435
-    velocities:
-      - 0.069829730708337243
-      - 0.072146849673363656
-      - 0.058225834144537233
-      - 0.046946433201293492
-      - -0.10512256869793901
-      - 5.6578999705685617e-06
-      - 0.072077989668063072
-    accelerations:
-      - 0.34781076937160693
-      - 0.35935196997164343
-      - 0.29001360832539597
-      - 0.23383270829434136
-      - -0.52359877556832357
-      - 2.8181098821796185e-05
-      - 0.35900898925012525
+      - -0.17415605296235734
+      - -0.08485219766283246
+      - -1.3983628029782484
+      - 1.6596081025309077
+      - -1.8320394600310368
+      - -1.5708004043486152
+      - -0.084940322933808668
+    velocities:
+      - 0.07422290771861173
+      - 0.07249682198409757
+      - 0.059732665386391319
+      - 0.050095806804984093
+      - -0.10980774005275613
+      - -3.903688741435587e-05
+      - 0.072575318964227586
+    accelerations:
+      - 0.35391880014213906
+      - 0.34568826578448486
+      - 0.28482464393593199
+      - 0.23887298923653261
+      - -0.52359877563844459
+      - -0.00018614048923211305
+      - 0.34606256474253511
     effort: []
     time_from_start:
       sec: 3
       nanosec: 250000000
   - positions:
-      - -0.17406366526958408
-      - -0.084603064285531895
-      - -1.3981070623868204
-      - 1.6594871260399864
-      - -1.8321748850838091
-      - -1.5707632194791978
-      - -0.084656872807273728
-    velocities:
-      - 0.073307838402282832
-      - 0.075740369373317212
-      - 0.061125970227982496
-      - 0.049284760284391153
-      - -0.11035855645396757
-      - 5.9397109588051169e-06
-      - 0.075668079560801113
-    accelerations:
-      - 0.34781076940207045
-      - 0.35935197000311131
-      - 0.29001360835078926
-      - 0.23383270831481084
-      - -0.52359877561415846
-      - 2.8181098824264249e-05
-      - 0.35900898928155134
+      - -0.17339840807062995
+      - -0.084112172129866852
+      - -1.3977530700778502
+      - 1.6601194653067592
+      - -1.8331603440799142
+      - -1.5708008028253018
+      - -0.084199496127518716
+    velocities:
+      - 0.077762095719712515
+      - 0.075953704641629455
+      - 0.062580911825492677
+      - 0.052484536697133065
+      - -0.11504372780866641
+      - -4.0898292306508412e-05
+      - 0.076035944611339612
+    accelerations:
+      - 0.35391880009278515
+      - 0.34568826573630029
+      - 0.28482464389621909
+      - 0.23887298920321698
+      - -0.52359877556543699
+      - -0.00018614048920615186
+      - 0.34606256469429486
     effort: []
     time_from_start:
       sec: 3
       nanosec: 260000000
   - positions:
-      - -0.1733138721072652
-      - -0.083828391176825834
-      - -1.3974818654704204
-      - 1.6599912109655977
-      - -1.8333036332891302
-      - -1.5707631587277864
-      - -0.083882939079353
-    velocities:
-      - 0.076785946096166555
-      - 0.079333889073206862
-      - 0.064026106311376174
-      - 0.051623087367447223
-      - -0.11559454420990299
-      - 6.2215219470366585e-06
-      - 0.079258169453475288
-    accelerations:
-      - 0.34781076937049848
-      - 0.35935196997049851
-      - 0.29001360832447004
-      - 0.23383270829359171
-      - -0.52359877556664092
-      - 2.818109882170621e-05
-      - 0.35900898924896629
+      - -0.17260537129889106
+      - -0.083337577770325466
+      - -1.3971148547130605
+      - 1.6606547153815328
+      - -1.8343335880063516
+      - -1.5708012199160373
+      - -0.083424063064757151
+    velocities:
+      - 0.081301283720861969
+      - 0.079410587299208857
+      - 0.065429158264633192
+      - 0.054873266589314892
+      - -0.12027971556464867
+      - -4.2759697198686555e-05
+      - 0.079496570258499225
+    accelerations:
+      - 0.35391880009241494
+      - 0.34568826573592648
+      - 0.28482464389591539
+      - 0.23887298920297612
+      - -0.52359877556489232
+      - -0.00018614048920596345
+      - 0.34606256469393509
     effort: []
     time_from_start:
       sec: 3
       nanosec: 270000000
   - positions:
-      - -0.17252929786800708
-      - -0.083017782871120424
-      - -1.3968276671931863
-      - 1.6605186791620405
-      - -1.8344847413720118
-      - -1.5707630951582647
-      - -0.083073104452505098
-    velocities:
-      - 0.080264053790137083
-      - 0.082927408773186176
-      - 0.066926242394842225
-      - 0.05396141445056165
-      - -0.12083053196596909
-      - 6.5033329352752347e-06
-      - 0.082848259346239073
-    accelerations:
-      - 0.34781076942574596
-      - 0.35935197002756397
-      - 0.29001360837051654
-      - 0.23383270833072867
-      - -0.52359877564979662
-      - 2.8181098826181932e-05
-      - 0.35900898930599012
+      - -0.17177694264714066
+      - -0.082528414584208259
+      - -1.3964481568838794
+      - 1.6612138527552278
+      - -1.8355591918103489
+      - -1.5708016556208217
+      - -0.082614023745523998
+    velocities:
+      - 0.084840471722031671
+      - 0.082867469956808062
+      - 0.068277404703790012
+      - 0.057261996481510383
+      - -0.12551570332066089
+      - -4.4621102090875343e-05
+      - 0.082957195905678627
+    accelerations:
+      - 0.35391880011213528
+      - 0.34568826575520273
+      - 0.28482464391179158
+      - 0.23887298921629185
+      - -0.52359877559406343
+      - -0.00018614048921633791
+      - 0.34606256471321134
     effort: []
     time_from_start:
       sec: 3
       nanosec: 280000000
   - positions:
-      - -0.17170994255180994
-      - -0.082171239368415944
-      - -1.396144467555118
-      - 1.6610695306293137
-      - -1.8357182093324527
-      - -1.5707630287706336
-      - -0.082227368926730285
-    velocities:
-      - 0.083742161484020805
-      - 0.086520928473075825
-      - 0.069826378478235904
-      - 0.05629974153361772
-      - -0.12606651972190452
-      - 6.7851439235067762e-06
-      - 0.086438349238913262
-    accelerations:
-      - 0.34781076939417399
-      - 0.35935196999496505
-      - 0.29001360834420425
-      - 0.23383270830950259
-      - -0.52359877560229295
-      - 2.8181098823623892e-05
-      - 0.35900898927340508
+      - -0.17091312211537879
+      - -0.081684682571515302
+      - -1.3957529765903069
+      - 1.6617968774278449
+      - -1.8368371554919058
+      - -1.5708021099396552
+      - -0.081769378169819273
+    velocities:
+      - 0.088379659723201387
+      - 0.086324352614407268
+      - 0.071125651142946847
+      - 0.05965072637370588
+      - -0.13075169107667314
+      - -4.6482506983064139e-05
+      - 0.086417821552858057
+    accelerations:
+      - 0.35391880013186949
+      - 0.34568826577447898
+      - 0.28482464392768164
+      - 0.23887298922960759
+      - -0.52359877562327617
+      - -0.00018614048922671914
+      - 0.34606256473251534
     effort: []
     time_from_start:
       sec: 3
       nanosec: 290000000
   - positions:
-      - -0.17085580615867355
-      - -0.081288760668712143
-      - -1.3954322665562153
-      - 1.6616437653674172
-      - -1.8370040371704535
-      - -1.5707629595648922
-      - -0.081345732502028284
-    velocities:
-      - 0.087220269177914006
-      - 0.090114448172975259
-      - 0.072726514561637493
-      - 0.058638068616680167
-      - -0.13130250747785421
-      - 7.0669549117390869e-06
-      - 0.090028439131597221
-    accelerations:
-      - 0.34781076937194
-      - 0.35935196997197649
-      - 0.29001360832565964
-      - 0.23383270829455646
-      - -0.52359877556880929
-      - 2.8181098821821596e-05
-      - 0.35900898925044444
+      - -0.17001390970360541
+      - -0.080806381732246538
+      - -1.3950293138323431
+      - 1.6624037893993835
+      - -1.8381674790510227
+      - -1.5708025828725374
+      - -0.080890126337642934
+    velocities:
+      - 0.091918847724371089
+      - 0.08978123527200646
+      - 0.073973897582103668
+      - 0.062039456265901377
+      - -0.13598767883268537
+      - -4.8343911875252927e-05
+      - 0.089878447200037459
+    accelerations:
+      - 0.35391880015160371
+      - 0.34568826579375522
+      - 0.28482464394355783
+      - 0.23887298924293027
+      - -0.52359877565244728
+      - -0.0001861404892370936
+      - 0.34606256475180547
     effort: []
     time_from_start:
       sec: 3
       nanosec: 300000000
   - positions:
-      - -0.16996688868859805
-      - -0.08037034677200916
-      - -1.3946910641964787
-      - 1.6622413833763521
-      - -1.8383422248860144
-      - -1.5707628875410409
-      - -0.080428195178399262
-    velocities:
-      - 0.090698376871875042
-      - 0.093707967872944775
-      - 0.075626650645095633
-      - 0.060976395699788209
-      - -0.13653849523390602
-      - 7.3487658999768932e-06
-      - 0.093618529024351207
-    accelerations:
-      - 0.34781076941783562
-      - 0.35935197001940383
-      - 0.29001360836392459
-      - 0.23383270832540654
-      - -0.5235987756378756
-      - 2.8181098825540728e-05
-      - 0.35900898929782998
+      - -0.16907930541182056
+      - -0.079893512066401967
+      - -1.394277168609988
+      - 1.6630345886698441
+      - -1.8395501624876993
+      - -1.570803074419469
+      - -0.079976268248994981
+    velocities:
+      - 0.09545803572545615
+      - 0.093238117929522968
+      - 0.076822144021192362
+      - 0.064428186158039732
+      - -0.14122366658857238
+      - -5.0205316767397202e-05
+      - 0.093339072847134108
+    accelerations:
+      - 0.35391880008652626
+      - 0.34568826573018019
+      - 0.28482464389118145
+      - 0.23887298919900507
+      - -0.52359877555618051
+      - -0.00018614048920287214
+      - 0.34606256468817476
     effort: []
     time_from_start:
       sec: 3
       nanosec: 310000000
   - positions:
-      - -0.16904319014158342
-      - -0.079415997678306982
-      - -1.3939208604759079
-      - 1.6628623846561175
-      - -1.839732772479135
-      - -1.5707628126990802
-      - -0.079474756955843204
-    velocities:
-      - 0.09417648456575875
-      - 0.097301487572834411
-      - 0.078526786728489312
-      - 0.063314722782844279
-      - -0.14177448298984144
-      - 7.6305768882084356e-06
-      - 0.097208618917025397
-    accelerations:
-      - 0.34781076938624977
-      - 0.35935196998679103
-      - 0.29001360833761231
-      - 0.23383270830419434
-      - -0.52359877559035806
-      - 2.8181098822983535e-05
-      - 0.35900898926524494
+      - -0.1681093092400241
+      - -0.078946073573981507
+      - -1.3934965409232409
+      - 1.6636892752392265
+      - -1.8409852058019358
+      - -1.5708035845804489
+      - -0.079027803903875343
+    velocities:
+      - 0.098997223726621328
+      - 0.096695000587117746
+      - 0.079670390460345547
+      - 0.06681691605023217
+      - -0.14645965434457792
+      - -5.2066721659583612e-05
+      - 0.096799698494309097
+    accelerations:
+      - 0.35391880010187959
+      - 0.34568826574518297
+      - 0.28482464390354817
+      - 0.23887298920936684
+      - -0.52359877557892276
+      - -0.00018614048921095078
+      - 0.34606256470319158
     effort: []
     time_from_start:
       sec: 3
       nanosec: 320000000
   - positions:
-      - -0.16808471051762952
-      - -0.07842571338760547
-      - -1.3931216553945027
-      - 1.6635067692067138
-      - -1.8411756799498153
-      - -1.5707627350390092
-      - -0.078485417834359972
-    velocities:
-      - 0.097654592259642681
-      - 0.10089500727272425
-      - 0.081426922811883157
-      - 0.065653049865900481
-      - -0.14701047074577717
-      - 7.912387876439995e-06
-      - 0.10079870880969978
-    accelerations:
-      - 0.34781076935474542
-      - 0.35935196995421292
-      - 0.29001360831132389
-      - 0.23383270828299627
-      - -0.52359877554291334
-      - 2.8181098820429921e-05
-      - 0.35900898923270863
+      - -0.16710392118821626
+      - -0.077964066254985365
+      - -1.3926874307721029
+      - 1.6643678491075307
+      - -1.8424726089937322
+      - -1.570804113355478
+      - -0.07804473330228423
+    velocities:
+      - 0.1025364117277911
+      - 0.10015188324471701
+      - 0.082518636899502423
+      - 0.069205645942427715
+      - -0.15169564210059025
+      - -5.3928126551772435e-05
+      - 0.10026032414148857
+    accelerations:
+      - 0.35391880012172483
+      - 0.34568826576457024
+      - 0.2848246439195215
+      - 0.23887298922277278
+      - -0.52359877560828816
+      - -0.00018614048922138622
+      - 0.34606256472259272
     effort: []
     time_from_start:
       sec: 3
       nanosec: 330000000
   - positions:
-      - -0.16709144981673657
-      - -0.077399493899904817
-      - -1.3922934489522634
-      - 1.6641745370281409
-      - -1.8426709472980556
-      - -1.5707626545608284
-      - -0.077460177813949746
-    velocities:
-      - 0.10113269995361292
-      - 0.10448852697270328
-      - 0.084327058895348972
-      - 0.06799137694901472
-      - -0.15224645850184285
-      - 8.1941988646785458e-06
-      - 0.10438879870246326
-    accelerations:
-      - 0.34781076940975875
-      - 0.3593519700110494
-      - 0.29001360835719386
-      - 0.23383270831998726
-      - -0.52359877562574642
-      - 2.8181098824885971e-05
-      - 0.35900898928948943
+      - -0.1660631412563969
+      - -0.07694749010941343
+      - -1.3918498381565736
+      - 1.6650703102747568
+      - -1.8440123720630883
+      - -1.5708046607445558
+      - -0.077027056444221517
+    velocities:
+      - 0.10607559972896093
+      - 0.10360876590231631
+      - 0.085366883338659327
+      - 0.071594375834623275
+      - -0.15693162985660264
+      - -5.5789531443961284e-05
+      - 0.1037209497886681
+    accelerations:
+      - 0.35391880014169497
+      - 0.34568826578406853
+      - 0.28482464393556423
+      - 0.23887298923622036
+      - -0.52359877563779234
+      - -0.00018614048923187588
+      - 0.34606256474211877
     effort: []
     time_from_start:
       sec: 3
       nanosec: 340000000
   - positions:
-      - -0.16606340807046815
-      - -0.076337339247815994
-      - -1.3914362411755086
-      - 1.6648656880991783
-      - -1.8442185744763393
-      - -1.5707625712645403
-      - -0.076399036927192396
-    velocities:
-      - 0.10463752830616654
-      - 0.10810965398719508
-      - 0.087249475354508249
-      - 0.07034766829464166
-      - -0.15752267187870297
-      - 8.4781748743941665e-06
-      - 0.10800646956015046
-    accelerations:
-      - 0.34781076938423749
-      - 0.35935196998469549
-      - 0.29001360833591922
-      - 0.23383270830284819
-      - -0.5235987755873327
-      - 2.8181098825356922e-05
-      - 0.35900898926314939
+      - -0.16498696991323722
+      - -0.075896345595037704
+      - -1.3909837634538271
+      - 1.6657966584245809
+      - -1.8456044943166372
+      - -1.5708052267474364
+      - -0.075974773787954877
+    velocities:
+      - 0.10964811035792955
+      - 0.10709819625563158
+      - 0.088241946961854001
+      - 0.074005596410300592
+      - -0.16221691617237446
+      - -5.7668462076479209e-05
+      - 0.10721415837305079
+    accelerations:
+      - 0.35391880006695858
+      - 0.34568826571107047
+      - 0.28482464387544404
+      - 0.23887298918580729
+      - -0.5235987755272592
+      - -0.00018614048918115422
+      - 0.34606256466905116
     effort: []
     time_from_start:
       sec: 3
       nanosec: 350000000
   - positions:
-      - -0.16500058562709113
-      - -0.075239249791162227
-      - -1.390550032354632
-      - 1.665580222185687
-      - -1.845818560960381
-      - -1.5707624851501729
-      - -0.075301995533567673
-    velocities:
-      - 0.10811563600013693
-      - 0.11170317368717426
-      - 0.090149611437974106
-      - 0.072685995377756163
-      - -0.16275865963476888
-      - 8.7599858626581062e-06
-      - 0.11159655945291409
-    accelerations:
-      - 0.34781076943924905
-      - 0.35935197004152503
-      - 0.29001360838177143
-      - 0.2338327083398325
-      - -0.52359877567012758
-      - 2.8181098829814009e-05
-      - 0.35900898931992342
+      - -0.16387540672487677
+      - -0.074810632288087375
+      - -1.3900892063147037
+      - 1.666546893849832
+      - -1.8472489763962461
+      - -1.5708058113643473
+      - -0.074887884909254646
+    velocities:
+      - 0.11318729835909615
+      - 0.11055507891322774
+      - 0.09109019340100831
+      - 0.076394326302494056
+      - -0.1674529039283823
+      - -5.9529866968552171e-05
+      - 0.11067478402022715
+    accelerations:
+      - 0.35391880008375071
+      - 0.34568826572747402
+      - 0.28482464388893325
+      - 0.23887298919713157
+      - -0.52359877555210044
+      - -0.00018614048918998369
+      - 0.34606256468545471
     effort: []
     time_from_start:
       sec: 3
       nanosec: 360000000
   - positions:
-      - -0.16390298210677495
-      - -0.074105225137509168
-      - -1.3896348221729213
-      - 1.6663181395430269
-      - -1.8474709073219826
-      - -1.5707623962176962
-      - -0.074169053241015845
-    velocities:
-      - 0.11159374369402054
-      - 0.1152966933870638
-      - 0.093049747521367632
-      - 0.075024322460812323
-      - -0.16799464739070419
-      - 9.0417968509150156e-06
-      - 0.11518664934558817
-    accelerations:
-      - 0.34781076940748279
-      - 0.35935197000870406
-      - 0.29001360835529261
-      - 0.2338327083184607
-      - -0.52359877562233248
-      - 2.8181098827240723e-05
-      - 0.35900898928714409
+      - -0.16272845165650479
+      - -0.073690350154561185
+      - -1.3891661667111892
+      - 1.6673210165740051
+      - -1.8489458183534144
+      - -1.5708064145953073
+      - -0.073766389774082744
+    velocities:
+      - 0.11672648636027712
+      - 0.11401196157083794
+      - 0.093938439840174207
+      - 0.078783056194697207
+      - -0.1726888916844114
+      - -6.1391271860632688e-05
+      - 0.11413540966741759
+    accelerations:
+      - 0.35391880011506349
+      - 0.34568826575806155
+      - 0.2848246439141508
+      - 0.2388729892182625
+      - -0.52359877559843493
+      - -0.00018614048920645812
+      - 0.34606256471607016
     effort: []
     time_from_start:
       sec: 3
       nanosec: 370000000
   - positions:
-      - -0.16277059750951961
-      - -0.072935265286856926
-      - -1.3886906106303765
-      - 1.667079440171197
-      - -1.8491756135611439
-      - -1.5707623044671088
-      - -0.073000210049536968
-    velocities:
-      - 0.11507185138790414
-      - 0.11889021308695331
-      - 0.09594988360476113
-      - 0.077362649543868484
-      - -0.17323063514663944
-      - 9.3236078391719233e-06
-      - 0.11877673923826222
-    accelerations:
-      - 0.34781076937568878
-      - 0.35935196997585533
-      - 0.29001360832879991
-      - 0.23383270829710279
-      - -0.52359877557445411
-      - 2.8181098824664049e-05
-      - 0.359008989254337
+      - -0.16154610470812131
+      - -0.072535499194459244
+      - -1.388214644643283
+      - 1.6681190265970995
+      - -1.8506950201881427
+      - -1.5708070364403159
+      - -0.072610288382439284
+    velocities:
+      - 0.12026567436144692
+      - 0.11746884422843723
+      - 0.096786686279331111
+      - 0.081171786086892836
+      - -0.17792487944042398
+      - -6.3252676752707337e-05
+      - 0.1175960353145971
+    accelerations:
+      - 0.35391880013506138
+      - 0.3456882657775876
+      - 0.28482464393024903
+      - 0.23887298923176559
+      - -0.52359877562799462
+      - -0.00018614048921696132
+      - 0.34606256473562397
     effort: []
     time_from_start:
       sec: 3
       nanosec: 380000000
   - positions:
-      - -0.16160343183532508
-      - -0.071729370239205392
-      - -1.3877173977269972
-      - 1.6678641240701984
-      - -1.8509326796778653
-      - -1.5707622098984122
-      - -0.071795465959130972
-    velocities:
-      - 0.11854995908187452
-      - 0.1224837327869325
-      - 0.098850019688226987
-      - 0.079700976626982986
-      - -0.17846662290270535
-      - 9.605418827435863e-06
-      - 0.12236682913102585
-    accelerations:
-      - 0.34781076943068645
-      - 0.35935197003269875
-      - 0.29001360837465212
-      - 0.23383270833408709
-      - -0.52359877565724899
-      - 2.8181098829121136e-05
-      - 0.35900898931109715
+      - -0.16032836587972638
+      - -0.071346079407781496
+      - -1.3872346401109859
+      - 1.668940923919116
+      - -1.8524965819004309
+      - -1.5708076768993737
+      - -0.071419580734324223
+    velocities:
+      - 0.12380486236261666
+      - 0.12092572688603646
+      - 0.099634932718487959
+      - 0.083560515979088409
+      - -0.18316086719643646
+      - -6.5114081644781959e-05
+      - 0.12105666096177654
+    accelerations:
+      - 0.35391880015498989
+      - 0.34568826579705814
+      - 0.28482464394627788
+      - 0.23887298924521316
+      - -0.52359877565747104
+      - -0.00018614048922745098
+      - 0.34606256475510838
     effort: []
     time_from_start:
       sec: 3
       nanosec: 390000000
   - positions:
-      - -0.16040148508419147
-      - -0.070487539994554732
-      - -1.386715183462784
-      - 1.6686721912400304
-      - -1.8527421056721463
-      - -1.5707621125116056
-      - -0.070554820969797982
-    velocities:
-      - 0.12202806677575812
-      - 0.12607725248682203
-      - 0.10175015577162048
-      - 0.082039303710039133
-      - -0.18370261065864063
-      - 9.8872298156927707e-06
-      - 0.1259569190236999
-    accelerations:
-      - 0.34781076939890632
-      - 0.35935196999985003
-      - 0.29001360834814555
-      - 0.23383270831270142
-      - -0.52359877560942614
-      - 2.8181098826546156e-05
-      - 0.35900898927830394
+      - -0.15907523517131988
+      - -0.070122090794527941
+      - -1.386226153114297
+      - 1.6697867085400544
+      - -1.854350503490279
+      - -1.5708083359724805
+      - -0.070194266829737562
+    velocities:
+      - 0.12734405036367344
+      - 0.12438260954352537
+      - 0.10248317915755391
+      - 0.085949245871207766
+      - -0.18839685495228184
+      - -6.6975486536797167e-05
+      - 0.12451728660884555
+    accelerations:
+      - 0.35391880006179605
+      - 0.34568826570604672
+      - 0.28482464387129458
+      - 0.23887298918232397
+      - -0.52359877551962641
+      - -0.00018614048917844371
+      - 0.34606256466399965
     effort: []
     time_from_start:
       sec: 3
       nanosec: 400000000
   - positions:
-      - -0.15916475725611862
-      - -0.069209774552904724
-      - -1.3856839678377364
-      - 1.669503641680693
-      - -1.8546038915439871
-      - -1.5707620123066888
-      - -0.069278275081537818
-    velocities:
-      - 0.1255061744696172
-      - 0.12967077218668621
-      - 0.10465029185499354
-      - 0.084377630793078806
-      - -0.18893859841453897
-      - 1.0169040803947691e-05
-      - 0.12954700891634865
-    accelerations:
-      - 0.3478107693424497
-      - 0.35935196994151475
-      - 0.2900136083010682
-      - 0.23383270827475286
-      - -0.52359877552440037
-      - 2.8181098821971521e-05
-      - 0.35900898922002433
+      - -0.15778671258290183
+      - -0.068863533354698497
+      - -1.3851891836532166
+      - 1.6706563804599144
+      - -1.856256784957687
+      - -1.5708090136596362
+      - -0.068934346668679203
+    velocities:
+      - 0.13088323836486698
+      - 0.12783949220114785
+      - 0.10533142559672991
+      - 0.08833797576341941
+      - -0.19363284270832956
+      - -6.8836891428884298e-05
+      - 0.12797791225604827
+    accelerations:
+      - 0.35391880010569599
+      - 0.34568826574891609
+      - 0.28482464390661516
+      - 0.23887298921194811
+      - -0.5235987755845849
+      - -0.000186140489201525
+      - 0.34606256470691082
     effort: []
     time_from_start:
       sec: 3
       nanosec: 410000000
   - positions:
-      - -0.1578932483511066
-      - -0.067896073914255547
-      - -1.3846237508518544
-      - 1.6703584753921863
-      - -1.8565180372933878
-      - -1.5707619092836624
-      - -0.067965828294350619
-    velocities:
-      - 0.1289842821636121
-      - 0.13326429188669073
-      - 0.10755042793847985
-      - 0.086715957876209795
-      - -0.19417458617064179
-      - 1.0450851792213616e-05
-      - 0.1331370988091376
-    accelerations:
-      - 0.34781076942212386
-      - 0.3593519700238586
-      - 0.29001360836750506
-      - 0.23383270832831393
-      - -0.52359877564434265
-      - 2.8181098828426569e-05
-      - 0.359008989302257
+      - -0.15646279811447236
+      - -0.067570407088293344
+      - -1.3841237317277448
+      - 1.6715499396786964
+      - -1.8582154263026545
+      - -1.5708097099608405
+      - -0.067639820251149313
+    velocities:
+      - 0.13442242636603674
+      - 0.13129637485874709
+      - 0.10817967203588678
+      - 0.090726705655614998
+      - -0.19886883046434206
+      - -7.0698296320958933e-05
+      - 0.13143853790322774
+    accelerations:
+      - 0.35391880012565224
+      - 0.3456882657684005
+      - 0.28482464392267176
+      - 0.23887298922540956
+      - -0.52359877561408907
+      - -0.0001861404892120282
+      - 0.34606256472642299
     effort: []
     time_from_start:
       sec: 3
       nanosec: 420000000
   - positions:
-      - -0.15658695836915543
-      - -0.066546438078607079
-      - -1.3835345325051385
-      - 1.6712366923745108
-      - -1.8584845429203487
-      - -1.5707618034425259
-      - -0.066617480608236301
-    velocities:
-      - 0.1324623898574957
-      - 0.13685781158658025
-      - 0.11045056402187337
-      - 0.089054284959265956
-      - -0.1994105739265771
-      - 1.0732662780470526e-05
-      - 0.13672718870181166
-    accelerations:
-      - 0.34781076939034372
-      - 0.35935196999102376
-      - 0.29001360834101236
-      - 0.23383270830695602
-      - -0.52359877559654755
-      - 2.8181098825853283e-05
-      - 0.35900898926947766
+      - -0.15510349176603133
+      - -0.066242711995312342
+      - -1.3830297973378818
+      - 1.6724673861964003
+      - -1.8602264275251821
+      - -1.5708104248760941
+      - -0.066310687577147795
+    velocities:
+      - 0.13796161436720653
+      - 0.13475325751634637
+      - 0.11102791847504366
+      - 0.093115435547810613
+      - -0.20410481822035462
+      - -7.2559701213033569e-05
+      - 0.13489916355040724
+    accelerations:
+      - 0.3539188001456085
+      - 0.34568826578791267
+      - 0.28482464393874224
+      - 0.23887298923889877
+      - -0.52359877564362101
+      - -0.00018614048922253141
+      - 0.34606256474596292
     effort: []
     time_from_start:
       sec: 3
       nanosec: 430000000
   - positions:
-      - -0.1552458873102652
-      - -0.065160867045959511
-      - -1.3824163127975886
-      - 1.672138292627666
-      - -1.8605034084248691
-      - -1.5707616947832796
-      - -0.065233232023195031
-    velocities:
-      - 0.13594049755146609
-      - 0.14045133128655943
-      - 0.11335070010533922
-      - 0.091392612042380458
-      - -0.204646561682643
-      - 1.1014473768734466e-05
-      - 0.1403172785945753
-    accelerations:
-      - 0.34781076944535527
-      - 0.35935197004783942
-      - 0.29001360838687845
-      - 0.23383270834394032
-      - -0.52359877567931468
-      - 2.8181098830308676e-05
-      - 0.35900898932623782
+      - -0.15370879353757891
+      - -0.064880448075755603
+      - -1.3819073804836273
+      - 1.6734087200130259
+      - -1.8622897886252694
+      - -1.5708111584053965
+      - -0.064946948646674746
+    velocities:
+      - 0.14150080236837628
+      - 0.13821014017394562
+      - 0.11387616491420052
+      - 0.0955041654400062
+      - -0.20934080597636714
+      - -7.4421106105108191e-05
+      - 0.13835978919758671
+    accelerations:
+      - 0.35391880016556476
+      - 0.34568826580739709
+      - 0.28482464395478496
+      - 0.23887298925236022
+      - -0.52359877567315294
+      - -0.00018614048923302107
+      - 0.34606256476547509
     effort: []
     time_from_start:
       sec: 3
       nanosec: 440000000
   - positions:
-      - -0.15387003518583908
-      - -0.063739360828094394
-      - -1.3812690917387125
-      - 1.6730632761439852
-      - -1.8625746337897826
-      - -1.5707615833059247
-      - -0.06381308255099713
-    velocities:
-      - 0.13943197199853982
-      - 0.14405866128076367
-      - 0.11626198173299281
-      - 0.093739925575461985
-      - -0.20990267191959341
-      - 1.1297367788404792e-05
-      - 0.14392116560043489
-    accelerations:
-      - 0.34781076943866618
-      - 0.35935197004092828
-      - 0.2900136083812857
-      - 0.23383270833941616
-      - -0.5235987756692394
-      - 2.8181098831174344e-05
-      - 0.35900898931932668
+      - -0.15227870361258086
+      - -0.063483615508822408
+      - -1.3807564813126301
+      - 1.6743739410047453
+      - -1.8644055093314911
+      - -1.5708119105486513
+      - -0.063548603639123444
+    velocities:
+      - 0.14505665681041058
+      - 0.14168330168713858
+      - 0.11673782407142508
+      - 0.097904144134323509
+      - -0.21460145059724989
+      - -7.6291276571087814e-05
+      - 0.14183671132652553
+    accelerations:
+      - 0.35391880015490662
+      - 0.34568826579696099
+      - 0.28482464394619461
+      - 0.23887298924515765
+      - -0.52359877565733226
+      - -0.00018614048924080022
+      - 0.34606256475501124
     effort: []
     time_from_start:
       sec: 3
       nanosec: 450000000
   - positions:
-      - -0.15245940213378772
-      - -0.062281919567498539
-      - -1.3800928694435042
-      - 1.6740116428307519
-      - -1.864698218807477
-      - -1.5707614690104716
-      - -0.062357032333993395
-    velocities:
-      - 0.14291007969242345
-      - 0.14765218098065319
-      - 0.11916211781638632
-      - 0.096078252658517979
-      - -0.2151386596755287
-      - 1.1579178776675798e-05
-      - 0.14751125549310895
-    accelerations:
-      - 0.34781076940688604
-      - 0.35935197000809344
-      - 0.29001360835479301
-      - 0.23383270831804437
-      - -0.52359877562138879
-      - 2.8181098828599364e-05
-      - 0.35900898928651959
+      - -0.15081322182270732
+      - -0.062052214130097434
+      - -1.3795770996894225
+      - 1.6753630492851708
+      - -1.8665735898928801
+      - -1.5708126813059471
+      - -0.062115652389900584
+    velocities:
+      - 0.14859584481158034
+      - 0.14514018434473783
+      - 0.11958607051058197
+      - 0.10029287402651915
+      - -0.21983743835326236
+      - -7.8152681463296376e-05
+      - 0.145297336973705
+    accelerations:
+      - 0.35391880017483512
+      - 0.34568826581644541
+      - 0.28482464396226509
+      - 0.23887298925861911
+      - -0.52359877568686419
+      - -0.00018614048925128988
+      - 0.34606256477452341
     effort: []
     time_from_start:
       sec: 3
       nanosec: 460000000
   - positions:
-      - -0.1510139880047971
-      - -0.060788543109903358
-      - -1.3788876457874615
-      - 1.6749833927883491
-      - -1.8668741637027311
-      - -1.5707613518969086
-      - -0.0608650812180625
-    velocities:
-      - 0.14638818738626402
-      - 0.15124570068049828
-      - 0.12206225389974396
-      - 0.098416579741545065
-      - -0.22037464743139923
-      - 1.1860989764943319e-05
-      - 0.15110134538573861
-    accelerations:
-      - 0.34781076933190258
-      - 0.35935196993063456
-      - 0.29001360829228356
-      - 0.23383270826764743
-      - -0.52359877550855194
-      - 2.8181098822527174e-05
-      - 0.35900898920914415
+      - -0.14931234815282213
+      - -0.060586243924796473
+      - -1.3783692356018233
+      - 1.6763760448645182
+      - -1.8687940303318293
+      - -1.5708134706772918
+      - -0.060648094884205937
+    velocities:
+      - 0.15213503281266091
+      - 0.14859706700224998
+      - 0.12243431694966708
+      - 0.10268160391865461
+      - -0.22507342610914288
+      - -8.0014086355458046e-05
+      - 0.1487579626207973
+    accelerations:
+      - 0.35391880010561272
+      - 0.34568826574880507
+      - 0.28482464390654577
+      - 0.23887298921189259
+      - -0.52359877558441836
+      - -0.00018614048921487423
+      - 0.34606256470685531
     effort: []
     time_from_start:
       sec: 3
       nanosec: 470000000
   - positions:
-      - -0.14953379279886739
-      - -0.059259231455309036
-      - -1.3776534207705846
-      - 1.6759785260167772
-      - -1.8691024684755453
-      - -1.5707612319652358
-      - -0.059337229203204611
-    velocities:
-      - 0.14986629508027752
-      - 0.15483922038052197
-      - 0.12496238998324576
-      - 0.10075490682468838
-      - -0.22561063518753002
-      - 1.2142800753224846e-05
-      - 0.1546914352785467
-    accelerations:
-      - 0.34781076943014522
-      - 0.35935197003212976
-      - 0.29001360837419415
-      - 0.23383270833369851
-      - -0.52359877565644408
-      - 2.8181098830486553e-05
-      - 0.35900898931052816
+      - -0.14777608260292552
+      - -0.059085704892919796
+      - -1.3771328890498329
+      - 1.6774129277427874
+      - -1.871066830648338
+      - -1.5708142786626855
+      - -0.059145931122039773
+    velocities:
+      - 0.15567422081383067
+      - 0.15205394965984925
+      - 0.12528256338882396
+      - 0.10507033381085025
+      - -0.23030941386515535
+      - -8.1875491247666621e-05
+      - 0.15221858826797677
+    accelerations:
+      - 0.35391880012554122
+      - 0.34568826576831724
+      - 0.28482464392258849
+      - 0.23887298922535405
+      - -0.5235987756139503
+      - -0.00018614048922537744
+      - 0.34606256472633973
     effort: []
     time_from_start:
       sec: 3
       nanosec: 480000000
   - positions:
-      - -0.14801881651599849
-      - -0.057693984603715429
-      - -1.3763901943928736
-      - 1.6769970425160361
-      - -1.871383133125919
-      - -1.5707611092154532
-      - -0.057773476289419604
-    velocities:
-      - 0.15334440277416114
-      - 0.15843274008041153
-      - 0.12786252606663928
-      - 0.10309323390774439
-      - -0.23084662294346533
-      - 1.2424611741495852e-05
-      - 0.15828152517122077
-    accelerations:
-      - 0.34781076939836508
-      - 0.35935196999929492
-      - 0.29001360834771533
-      - 0.23383270831232672
-      - -0.52359877560859347
-      - 2.8181098827911573e-05
-      - 0.35900898927772107
+      - -0.14620442517301729
+      - -0.05755059703446723
+      - -1.3758680600334507
+      - 1.6784736979199781
+      - -1.8733919908424066
+      - -1.570815105262128
+      - -0.057609161103401904
+    velocities:
+      - 0.15921340881500046
+      - 0.15551083231744853
+      - 0.12813080982798086
+      - 0.10745906370304591
+      - -0.23554540162116785
+      - -8.3736896139875196e-05
+      - 0.15567921391515627
+    accelerations:
+      - 0.35391880014552524
+      - 0.34568826578780165
+      - 0.28482464393867285
+      - 0.23887298923884326
+      - -0.52359877564350998
+      - -0.00018614048923588065
+      - 0.34606256474587965
     effort: []
     time_from_start:
       sec: 3
       nanosec: 490000000
   - positions:
-      - -0.14646905915619057
-      - -0.056092802555122737
-      - -1.3750979666543284
-      - 1.6780389422861259
-      - -1.8737161576538526
-      - -1.5707609836475607
-      - -0.056173822476707644
-    velocities:
-      - 0.15682251046813156
-      - 0.1620262597803907
-      - 0.13076266215010515
-      - 0.10543156099085874
-      - -0.23608261069953126
-      - 1.270642272977389e-05
-      - 0.16187161506398443
-    accelerations:
-      - 0.34781076945337663
-      - 0.35935197005611058
-      - 0.29001360839356755
-      - 0.23383270834929715
-      - -0.52359877569138835
-      - 2.818109883236866e-05
-      - 0.35900898933450898
+      - -0.14459737586309768
+      - -0.05598092034943894
+      - -1.3745747485526776
+      - 1.6795583553960909
+      - -1.8757695109140349
+      - -1.5708159504756194
+      - -0.056037784828292525
+    velocities:
+      - 0.16275259681617024
+      - 0.1589677149750478
+      - 0.13097905626713774
+      - 0.10984779359524155
+      - -0.24078138937718033
+      - -8.5598301032083771e-05
+      - 0.15913983956233574
+    accelerations:
+      - 0.35391880016550925
+      - 0.34568826580731382
+      - 0.28482464395471557
+      - 0.23887298925230471
+      - -0.52359877567301416
+      - -0.00018614048924637031
+      - 0.34606256476536407
     effort: []
     time_from_start:
       sec: 3
       nanosec: 500000000
   - positions:
-      - -0.14488452071944333
-      - -0.054455685309530662
-      - -1.373776737554949
-      - 1.6791042253270463
-      - -1.8761015420593461
-      - -1.5707608552615584
-      - -0.054538267765068475
-    velocities:
-      - 0.16030061816201516
-      - 0.16561977948028025
-      - 0.13366279823349866
-      - 0.10776988807391474
-      - -0.24131859845546655
-      - 1.2988233718044894e-05
-      - 0.16546170495665849
-    accelerations:
-      - 0.34781076942156874
-      - 0.35935197002330349
-      - 0.29001360836706097
-      - 0.23383270832793923
-      - -0.52359877564353774
-      - 2.8181098829791986e-05
-      - 0.35900898930170189
+      - -0.1429549346731665
+      - -0.054376674837834815
+      - -1.3732529546075125
+      - 1.6806669001711256
+      - -1.8781993908632231
+      - -1.5708168143031598
+      - -0.05443180229671149
+    velocities:
+      - 0.16629178481733997
+      - 0.16242459763264705
+      - 0.13382730270629462
+      - 0.11223652348743718
+      - -0.24601737713319274
+      - -8.7459705924292319e-05
+      - 0.16260046520951521
+    accelerations:
+      - 0.35391880018541
+      - 0.34568826582677048
+      - 0.2848246439707583
+      - 0.23887298926575229
+      - -0.52359877570249058
+      - -0.00018614048925684641
+      - 0.34606256478487624
     effort: []
     time_from_start:
       sec: 3
       nanosec: 510000000
   - positions:
-      - -0.14326520120575698
-      - -0.052782632866939398
-      - -1.3724265070947355
-      - 1.6801928916387976
-      - -1.8785392863423998
-      - -1.5707607240574459
-      - -0.052866812154502271
-    velocities:
-      - 0.16377872585589878
-      - 0.16921329918016978
-      - 0.13656293431689218
-      - 0.11010821515697075
-      - -0.24655458621140183
-      - 1.3270044706315899e-05
-      - 0.16905179484933255
-    accelerations:
-      - 0.34781076938978861
-      - 0.35935196999044089
-      - 0.2900136083405544
-      - 0.23383270830656744
-      - -0.52359877559568713
-      - 2.8181098827217006e-05
-      - 0.3590089892688948
+      - -0.14127710160322382
+      - -0.052737860499654919
+      - -1.3719026781979564
+      - 1.6817993322450822
+      - -1.8806816306899712
+      - -1.5708176967447491
+      - -0.052791213508658903
+    velocities:
+      - 0.16983097281842058
+      - 0.1658814802901592
+      - 0.13667554914537974
+      - 0.11462525337957265
+      - -0.25125336488907329
+      - -8.9321110816454002e-05
+      - 0.1660610908566075
+    accelerations:
+      - 0.35391880011621535
+      - 0.3456882657591579
+      - 0.28482464391505286
+      - 0.23887298921903966
+      - -0.52359877560010026
+      - -0.00018614048922045788
+      - 0.34606256471720814
     effort: []
     time_from_start:
       sec: 3
       nanosec: 520000000
   - positions:
-      - -0.14161110061513144
-      - -0.051073645227348898
-      - -1.3710472752736875
-      - 1.6813049412213796
-      - -1.8810293905030131
-      - -1.5707605900352237
-      - -0.051159455645008983
-    velocities:
-      - 0.1672568335498692
-      - 0.17280681888014895
-      - 0.13946307040035805
-      - 0.1124465422400851
-      - -0.25179057396746779
-      - 1.3551855694593937e-05
-      - 0.17264188474209619
-    accelerations:
-      - 0.34781076944480016
-      - 0.35935197004725655
-      - 0.29001360838640661
-      - 0.23383270834355174
-      - -0.52359877567848201
-      - 2.8181098831674093e-05
-      - 0.35900898932565495
+      - -0.13956387665326955
+      - -0.051064477334899092
+      - -1.3705239193240089
+      - 1.6829556516179605
+      - -1.8832162303942792
+      - -1.5708185978003875
+      - -0.05111601846413457
+    velocities:
+      - 0.17337016081959036
+      - 0.1693383629477585
+      - 0.13952379558453665
+      - 0.1170139832717683
+      - -0.25648935264508582
+      - -9.1182515708662578e-05
+      - 0.169521716503787
+    accelerations:
+      - 0.35391880013617161
+      - 0.34568826577869782
+      - 0.28482464393112333
+      - 0.23887298923251499
+      - -0.5235987756296322
+      - -0.00018614048923094753
+      - 0.34606256473672031
     effort: []
     time_from_start:
       sec: 3
       nanosec: 530000000
   - positions:
-      - -0.13992221894756682
-      - -0.049328722390759215
-      - -1.3696390420918054
-      - 1.6824403740747924
-      - -1.8835718545411861
-      - -1.5707604531948918
-      - -0.04941619823658866
-    velocities:
-      - 0.1707349412437528
-      - 0.17640033858003851
-      - 0.14236320648375156
-      - 0.11478486932314111
-      - -0.2570265617234031
-      - 1.3833666682864943e-05
-      - 0.17623197463477025
-    accelerations:
-      - 0.34781076941299227
-      - 0.35935197001442171
-      - 0.29001360835990003
-      - 0.23383270832217995
-      - -0.52359877563068691
-      - 2.8181098829097419e-05
-      - 0.35900898929284786
+      - -0.13781525982330389
+      - -0.049356525343567582
+      - -1.3691166779856698
+      - 1.6841358582897605
+      - -1.8858031899761469
+      - -1.5708195174700748
+      - -0.049406217163138762
+    velocities:
+      - 0.17690934882076012
+      - 0.17279524560535775
+      - 0.14237204202369352
+      - 0.11940271316396395
+      - -0.26172534040109829
+      - -9.3043920600871153e-05
+      - 0.17298234215096647
+    accelerations:
+      - 0.35391880015612787
+      - 0.34568826579815448
+      - 0.28482464394719381
+      - 0.23887298924597644
+      - -0.52359877565916413
+      - -0.00018614048924145074
+      - 0.34606256475623248
     effort: []
     time_from_start:
       sec: 3
       nanosec: 540000000
   - positions:
-      - -0.13819855620838403
-      - -0.047547864362667905
-      - -1.3682018075535263
-      - 1.6835991901954583
-      - -1.8861666784489084
-      - -1.5707603135364501
-      - -0.047637039934733616
-    velocities:
-      - 0.17422107207219256
-      - 0.18000214764144892
-      - 0.14527003246408801
-      - 0.11712859034867548
-      - -0.26227462760859865
-      - 1.4116127737840774e-05
-      - 0.17983034597724817
-    accelerations:
-      - 0.34781076940835709
-      - 0.35935197000961999
-      - 0.29001360835604201
-      - 0.23383270831905745
-      - -0.52359877562363699
-      - 2.8181098825582232e-05
-      - 0.35900898928804614
+      - -0.13603125120277812
+      - -0.047614004613031419
+      - -1.3676809542549275
+      - 1.6853399522001082
+      - -1.8884425093032375
+      - -1.5708204557537637
+      - -0.047661809693137096
+    velocities:
+      - 0.18045853989547789
+      - 0.17626189871071435
+      - 0.14522833867623094
+      - 0.12179819450331909
+      - -0.26697612702357221
+      - -9.491058652005969e-05
+      - 0.17645274882499667
+    accelerations:
+      - 0.35391880016992239
+      - 0.34568826581164369
+      - 0.28482464395829604
+      - 0.23887298925528844
+      - -0.52359877567953672
+      - -0.00018614048924512348
+      - 0.34606256476972169
     effort: []
     time_from_start:
       sec: 3
       nanosec: 550000000
   - positions:
-      - -0.13644011246533799
-      - -0.045731071213078046
-      - -1.3667355717153451
-      - 1.6847813895378267
-      - -1.8888138621241815
-      - -1.5707601710599048
-      - -0.045821980809380138
-    velocities:
-      - 0.1776991797661632
-      - 0.18359566734142835
-      - 0.14817016854755408
-      - 0.11946691743179004
-      - -0.26751061536466497
-      - 1.4397938726087427e-05
-      - 0.18342043587001206
-    accelerations:
-      - 0.34781076946384049
-      - 0.3593519700669075
-      - 0.2900136084022828
-      - 0.23383270835634706
-      - -0.52359877570712576
-      - 2.8181098830074895e-05
-      - 0.3590089893453059
+      - -0.13421185071001768
+      - -0.045836915063515442
+      - -1.3662167480660523
+      - 1.686567933404129
+      - -1.8911341884963822
+      - -1.5708214126514974
+      - -0.045882795974268031
+    velocities:
+      - 0.1839977278966477
+      - 0.17971878136831362
+      - 0.14807658511538779
+      - 0.12418692439551465
+      - -0.27221211477958468
+      - -9.6771991412232378e-05
+      - 0.17991337447217617
+    accelerations:
+      - 0.35391880018987865
+      - 0.34568826583112811
+      - 0.28482464397436652
+      - 0.23887298926876377
+      - -0.52359877570906865
+      - -0.00018614048925561313
+      - 0.34606256478923386
     effort: []
     time_from_start:
       sec: 3
       nanosec: 560000000
   - positions:
-      - -0.13464688764535276
-      - -0.043878342866488958
-      - -1.3652403345163298
-      - 1.6859869721510257
-      - -1.8915134056770144
-      - -1.5707600257652494
-      - -0.043971020785099561
-    velocities:
-      - 0.18117728746004699
-      - 0.18718918704131809
-      - 0.15107030463094775
-      - 0.12180524451484624
-      - -0.27274660312060062
-      - 1.4679749714327047e-05
-      - 0.18701052576268634
-    accelerations:
-      - 0.34781076943244893
-      - 0.35935197003451674
-      - 0.29001360837613704
-      - 0.2338327083352667
-      - -0.52359877565994128
-      - 2.8181098827533796e-05
-      - 0.35900898931294289
+      - -0.1323570583372457
+      - -0.044025256687423658
+      - -1.3647240594127859
+      - 1.6878198019070716
+      - -1.8938782275670869
+      - -1.5708223881632803
+      - -0.044069175998927367
+    velocities:
+      - 0.18753691589772831
+      - 0.1831756640258258
+      - 0.15092483155447287
+      - 0.12657565428765
+      - -0.2774481025354652
+      - -9.8633396304358161e-05
+      - 0.18337400011926847
+    accelerations:
+      - 0.35391880012065624
+      - 0.34568826576348777
+      - 0.28482464391863332
+      - 0.2388729892220095
+      - -0.52359877560665058
+      - -0.00018614048921919749
+      - 0.34606256472153801
     effort: []
     time_from_start:
       sec: 3
       nanosec: 570000000
   - positions:
-      - -0.13281888174842832
-      - -0.04198967932290059
-      - -1.3637160959564802
-      - 1.6872159380350555
-      - -1.8942653091074073
-      - -1.5707598776524843
-      - -0.042084159861891873
-    velocities:
-      - 0.18465539515393081
-      - 0.19078270674120784
-      - 0.15397044071434143
-      - 0.12414357159790244
-      - -0.27798259087653626
-      - 1.4961560702566668e-05
-      - 0.1906006156553606
-    accelerations:
-      - 0.34781076940111288
-      - 0.35935197000215374
-      - 0.29001360834999129
-      - 0.23383270831418634
-      - -0.52359877561275681
-      - 2.8181098824994392e-05
-      - 0.35900898928057989
+      - -0.13046687408446217
+      - -0.042179029484755978
+      - -1.3632028882951279
+      - 1.6890955577089359
+      - -1.8966746265153516
+      - -1.5708233822891122
+      - -0.042220949767115004
+    velocities:
+      - 0.19107610389889809
+      - 0.1866325466834251
+      - 0.15377307799362971
+      - 0.12896438417984557
+      - -0.28268409029147767
+      - -0.00010049480119653085
+      - 0.18683462576644796
+    accelerations:
+      - 0.35391880014058474
+      - 0.34568826578299994
+      - 0.28482464393467605
+      - 0.23887298923549871
+      - -0.52359877563618251
+      - -0.00018614048922968715
+      - 0.34606256474102243
     effort: []
     time_from_start:
       sec: 3
       nanosec: 580000000
   - positions:
-      - -0.13095609477456485
-      - -0.040065080582313124
-      - -1.3621628560357968
-      - 1.6884682871899162
-      - -1.8970695724153597
-      - -1.5707597267216089
-      - -0.04016139803975724
-    velocities:
-      - 0.1881335028478146
-      - 0.19437622644109756
-      - 0.15687057679773508
-      - 0.12648189868095863
-      - -0.28321857863247185
-      - 1.5243371690806286e-05
-      - 0.19419070554803486
-    accelerations:
-      - 0.34781076936974908
-      - 0.35935196996973523
-      - 0.29001360832381778
-      - 0.23383270829310598
-      - -0.52359877556551682
-      - 2.8181098822451599e-05
-      - 0.35900898924818914
+      - -0.12854129795166747
+      - -0.040298233455512852
+      - -1.361653234713079
+      - 1.6903952008097218
+      - -1.8995233853411757
+      - -1.5708243950289926
+      - -0.040338117278831388
+    velocities:
+      - 0.19461529190006793
+      - 0.19008942934102441
+      - 0.15662132443278659
+      - 0.13135311407204114
+      - -0.2879200780474902
+      - -0.00010235620608870355
+      - 0.19029525141362749
+    accelerations:
+      - 0.35391880016056876
+      - 0.34568826580251211
+      - 0.28482464395074653
+      - 0.23887298924898792
+      - -0.52359877566571444
+      - -0.00018614048924019036
+      - 0.34606256476056235
     effort: []
     time_from_start:
       sec: 3
       nanosec: 590000000
   - positions:
-      - -0.12905852672376217
-      - -0.038104546644726373
-      - -1.3605806147542787
-      - 1.6897440196156073
-      - -1.8999261956008719
-      - -1.5707595729726238
-      - -0.038202735318695467
-    velocities:
-      - 0.19161161054170198
-      - 0.19796974614099094
-      - 0.15977071288113173
-      - 0.12882022576401719
-      - -0.28845456638841283
-      - 1.5525182679046194e-05
-      - 0.19778079544071281
-    accelerations:
-      - 0.34781076934178357
-      - 0.35935196994082086
-      - 0.29001360830051309
-      - 0.23383270827429489
-      - -0.52359877552342893
-      - 2.8181098820185975e-05
-      - 0.35900898921933044
+      - -0.12658032993886109
+      - -0.03838286859969374
+      - -1.3600750986666383
+      - 1.6917187312094299
+      - -1.9024245040445598
+      - -1.5708254263829222
+      - -0.038420678534075992
+    velocities:
+      - 0.19815447990123772
+      - 0.19354631199862368
+      - 0.15946957087194344
+      - 0.13374184396423669
+      - -0.29315606580350267
+      - -0.00010421761098087624
+      - 0.19375587706080699
+    accelerations:
+      - 0.35391880018052502
+      - 0.34568826582199652
+      - 0.284824643966817
+      - 0.23887298926244938
+      - -0.52359877569524638
+      - -0.00018614048925068001
+      - 0.34606256478007452
     effort: []
     time_from_start:
       sec: 3
       nanosec: 600000000
   - positions:
-      - -0.12712617759602049
-      - -0.036108077510140571
-      - -1.3589693721119269
-      - 1.6910431353121296
-      - -1.9028351786639439
-      - -1.5707594164055292
-      - -0.036208171698706805
-    velocities:
-      - 0.19508971823558274
-      - 0.20156326584087753
-      - 0.16267084896452286
-      - 0.13115855284707134
-      - -0.29369055414434381
-      - 1.5806993667285567e-05
-      - 0.20137088533338393
-    accelerations:
-      - 0.34781076930739441
-      - 0.35935196990526597
-      - 0.29001360827184158
-      - 0.23383270825114674
-      - -0.52359877547158151
-      - 2.8181098817397543e-05
-      - 0.35900898918383106
+      - -0.1245839700460433
+      - -0.036432934917298918
+      - -1.3584684801558062
+      - 1.6930661489080596
+      - -1.9053779826255035
+      - -1.5708264763509008
+      - -0.036468633532849071
+    velocities:
+      - 0.20169366790240753
+      - 0.19700319465622299
+      - 0.16231781731110032
+      - 0.13613057385643226
+      - -0.29839205355951515
+      - -0.00010607901587304894
+      - 0.19721650270798652
+    accelerations:
+      - 0.35391880020045352
+      - 0.34568826584145318
+      - 0.28482464398285973
+      - 0.23887298927591083
+      - -0.5235987757247228
+      - -0.00018614048926118322
+      - 0.34606256479958669
     effort: []
     time_from_start:
       sec: 3
       nanosec: 610000000
   - positions:
-      - -0.12515904739133965
-      - -0.034075673178555532
-      - -1.3573291281087407
-      - 1.6923656342794822
-      - -1.9057965216045758
-      - -1.5707592570203244
-      - -0.034177707179791059
-    velocities:
-      - 0.1985678259296397
-      - 0.20515678554094618
-      - 0.16557098504806092
-      - 0.13349687993024395
-      - -0.29892654190054013
-      - 1.6088804655539217e-05
-      - 0.20496097522623694
-    accelerations:
-      - 0.34781076944929656
-      - 0.35935197005194724
-      - 0.29001360839018137
-      - 0.23383270834656322
-      - -0.52359877568525437
-      - 2.8181098828899213e-05
-      - 0.35900898933031788
+      - -0.1225522182732139
+      - -0.034448432408328192
+      - -1.3568333791805827
+      - 1.6944374539056113
+      - -1.9083838210840076
+      - -1.5708275449329281
+      - -0.034481982275150466
+    velocities:
+      - 0.20523285590339496
+      - 0.20046007731364415
+      - 0.16516606375011042
+      - 0.13851930374850474
+      - -0.30362804131525784
+      - -0.00010794042076512572
+      - 0.20067712835498772
+    accelerations:
+      - 0.35391880003767645
+      - 0.34568826568245448
+      - 0.28482464385186568
+      - 0.23887298916603145
+      - -0.52359877548390499
+      - -0.00018614048917555703
+      - 0.34606256464042129
     effort: []
     time_from_start:
       sec: 3
       nanosec: 620000000
   - positions:
-      - -0.12315713610971966
-      - -0.032007333649971256
-      - -1.3556598827447204
-      - 1.6937115165176657
-      - -1.9088102244227674
-      - -1.5707590948170098
-      - -0.032111341761948235
-    velocities:
-      - 0.20204593362352349
-      - 0.2087503052408359
-      - 0.16847112113145457
-      - 0.13583520701330015
-      - -0.30416252965647572
-      - 1.6370615643778836e-05
-      - 0.20855106511891119
-    accelerations:
-      - 0.34781076941793276
-      - 0.35935197001952873
-      - 0.29001360836400786
-      - 0.23383270832549674
-      - -0.52359877563801438
-      - 2.8181098826358115e-05
-      - 0.35900898929795488
+      - -0.12048507462037301
+      - -0.032429361072781673
+      - -1.3551697957409679
+      - 1.6958326462020847
+      - -1.911442019420071
+      - -1.5708286321290046
+      - -0.032460724760980247
+    velocities:
+      - 0.20877204390456142
+      - 0.20391695997124015
+      - 0.16801431018926458
+      - 0.14090803364069801
+      - -0.30886402907126537
+      - -0.00010980182565729664
+      - 0.20413775400216391
+    accelerations:
+      - 0.35391880005405224
+      - 0.34568826569844169
+      - 0.28482464386504958
+      - 0.23887298917707817
+      - -0.52359877550816336
+      - -0.00018614048918416288
+      - 0.3460625646564085
     effort: []
     time_from_start:
       sec: 3
       nanosec: 630000000
   - positions:
-      - -0.12112044375116041
-      - -0.02990305892438766
-      - -1.3539616360198659
-      - 1.6950807820266802
-      - -1.9118762871185191
-      - -1.5707589297955851
-      - -0.030009075445178245
-    velocities:
-      - 0.20552404131740729
-      - 0.2123438249407256
-      - 0.17137125721484822
-      - 0.13817353409635633
-      - -0.30939851741241137
-      - 1.6652426632018456e-05
-      - 0.21214115501158545
-    accelerations:
-      - 0.34781076938656896
-      - 0.35935196998708246
-      - 0.29001360833783435
-      - 0.2338327083044025
-      - -0.5235987755908299
-      - 2.8181098823817016e-05
-      - 0.35900898926556413
+      - -0.11838253908752051
+      - -0.030375720910659258
+      - -1.3534777298369616
+      - 1.6972517257974802
+      - -1.9145525776336947
+      - -1.5708297379391298
+      - -0.030404860990338334
+    velocities:
+      - 0.21231123190573781
+      - 0.20737384262884589
+      - 0.17086255662842675
+      - 0.14329676353289802
+      - -0.31410001682728761
+      - -0.00011166323054947281
+      - 0.20759837964934988
+    accelerations:
+      - 0.35391880008052168
+      - 0.34568826572432465
+      - 0.28482464388638135
+      - 0.23887298919494782
+      - -0.52359877554736467
+      - -0.00018614048919810976
+      - 0.34606256468231938
     effort: []
     time_from_start:
       sec: 3
       nanosec: 640000000
   - positions:
-      - -0.11904897031855761
-      - -0.027762849004796544
-      - -1.3522343879365912
-      - 1.6964734308045784
-      - -1.9149947096874713
-      - -1.570758761956051
-      - -0.027870908232470029
-    velocities:
-      - 0.20900749927520701
-      - 0.21594287243919838
-      - 0.17427585448656654
-      - 0.14051545815458261
-      - -0.31464255952399667
-      - 1.69346711215438e-05
-      - 0.21573676742687786
-    accelerations:
-      - 0.3478107694203475
-      - 0.35935197002197122
-      - 0.29001360836600626
-      - 0.23383270832707881
-      - -0.52359877564167812
-      - 2.8181098827025577e-05
-      - 0.35900898930042513
+      - -0.11624461172471347
+      - -0.028287511970853881
+      - -1.3517571815088483
+      - 1.698694692658012
+      - -1.9177154956508222
+      - -1.5708308623632774
+      - -0.028314391012170599
+    velocities:
+      - 0.21585709030015215
+      - 0.21083724055681791
+      - 0.17371617122655572
+      - 0.14568999552211379
+      - -0.31934587297609185
+      - -0.00011352814367172687
+      - 0.21106552762140504
+    accelerations:
+      - 0.35391880014166721
+      - 0.34568826578402689
+      - 0.28482464393556423
+      - 0.23887298923622036
+      - -0.52359877563779234
+      - -0.00018614048922246365
+      - 0.34606256474207714
     effort: []
     time_from_start:
       sec: 3
       nanosec: 650000000
   - positions:
-      - -0.11694271585002596
-      - -0.025586703930577281
-      - -1.3504781385266784
-      - 1.6978894628257366
-      - -1.9181654920722462
-      - -1.5707585912984103
-      - -0.025696840163165389
-    velocities:
-      - 0.2124856069690908
-      - 0.2195363921390881
-      - 0.1771759905699602
-      - 0.14285378523763881
-      - -0.31987854727993226
-      - 1.7216482109788183e-05
-      - 0.21932685731955212
-    accelerations:
-      - 0.34781076938895594
-      - 0.35935196998958047
-      - 0.29001360833986051
-      - 0.23383270830601233
-      - -0.52359877559438261
-      - 2.8181098824484478e-05
-      - 0.35900898926803437
+      - -0.11407129248638649
+      - -0.026164734208859824
+      - -1.3500081507199582
+      - 1.7001615468144342
+      - -1.9209307735388648
+      - -1.5708320054014719
+      - -0.026189314781923132
+    velocities:
+      - 0.21939627830132172
+      - 0.21429412321441699
+      - 0.17656441766571246
+      - 0.14807872541430928
+      - -0.32458186073210399
+      - -0.00011538954856382158
+      - 0.21452615326858432
+    accelerations:
+      - 0.35391880016117938
+      - 0.34568826580309497
+      - 0.28482464395124613
+      - 0.23887298924940426
+      - -0.52359877566665813
+      - -0.00018614048923273647
+      - 0.34606256476117297
     effort: []
     time_from_start:
       sec: 3
       nanosec: 660000000
   - positions:
-      - -0.11480168030455511
-      - -0.023374623659358787
-      - -1.3486928877559308
-      - 1.6993288781177254
-      - -1.921388634334581
-      - -1.5707584178226597
-      - -0.023486871194933666
-    velocities:
-      - 0.21596371466297468
-      - 0.2231299118389779
-      - 0.1800761266533539
-      - 0.14519211232069504
-      - -0.32511453503586801
-      - 1.7498293098032573e-05
-      - 0.22291694721222646
-    accelerations:
-      - 0.34781076935767541
-      - 0.35935196995724522
-      - 0.29001360831374251
-      - 0.2338327082849736
-      - -0.52359877554730916
-      - 2.8181098821950155e-05
-      - 0.35900898923572688
+      - -0.111862581368048
+      - -0.024007387620289967
+      - -1.3482306374666768
+      - 1.7016522882697784
+      - -1.924198411304467
+      - -1.570833167053715
+      - -0.024029632295204061
+    velocities:
+      - 0.22293546630249125
+      - 0.21775100587201601
+      - 0.17941266410486917
+      - 0.15046745530650474
+      - -0.32981784848811607
+      - -0.00011725095345591625
+      - 0.21798677891576357
+    accelerations:
+      - 0.3539188001806638
+      - 0.3456882658221353
+      - 0.28482464396692803
+      - 0.2388729892625604
+      - -0.52359877569546842
+      - -0.00018614048924296862
+      - 0.3460625647802133
     effort: []
     time_from_start:
       sec: 3
       nanosec: 670000000
   - positions:
-      - -0.11262586368214511
-      - -0.021126608191141052
-      - -1.3468786356243494
-      - 1.7007916766805451
-      - -1.9246641364744757
-      - -1.5707582415287993
-      - -0.021241001327774865
-    velocities:
-      - 0.21944182235683735
-      - 0.2267234315388458
-      - 0.18297626273672996
-      - 0.147530439403737
-      - -0.33035052279177179
-      - 1.7780104086275246e-05
-      - 0.22650703710487891
-    accelerations:
-      - 0.34781076930500743
-      - 0.35935196990285123
-      - 0.29001360826987094
-      - 0.23383270824956467
-      - -0.5235987754680288
-      - 2.8181098817682146e-05
-      - 0.35900898918136082
+      - -0.1096184783696981
+      - -0.021815472205144387
+      - -1.346424641749004
+      - 1.7031669170240442
+      - -1.9275184089476289
+      - -1.5708343473200073
+      - -0.02183534355201347
+    velocities:
+      - 0.22647465430366082
+      - 0.22120788852961509
+      - 0.18226091054402593
+      - 0.15285618519870023
+      - -0.33505383624412821
+      - -0.00011911235834801095
+      - 0.22144740456294285
+    accelerations:
+      - 0.35391880020020372
+      - 0.34568826584120338
+      - 0.28482464398266544
+      - 0.2388729892757443
+      - -0.52359877572433422
+      - -0.00018614048925324144
+      - 0.34606256479930914
     effort: []
     time_from_start:
       sec: 3
       nanosec: 680000000
   - positions:
-      - -0.11041526598279601
-      - -0.018842657525924175
-      - -1.3450353821319334
-      - 1.7022778585141956
-      - -1.9279919984919296
-      - -1.5707580624168287
-      - -0.018959230561689071
-    velocities:
-      - 0.2229199300509159
-      - 0.23031695123893672
-      - 0.18587639882028598
-      - 0.1498687664869241
-      - -0.33558651054800059
-      - 1.8061915074535408e-05
-      - 0.23009712699775417
-    accelerations:
-      - 0.34781076946853118
-      - 0.35935197007179248
-      - 0.29001360840619633
-      - 0.23383270835949732
-      - -0.52359877571423119
-      - 2.8181098830932092e-05
-      - 0.35900898935016312
+      - -0.1073389834913366
+      - -0.019588987963422917
+      - -1.3445901635669397
+      - 1.7047054330772315
+      - -1.9308907664683508
+      - -1.5708355462003483
+      - -0.019606448552351184
+    velocities:
+      - 0.23001384230462621
+      - 0.22466477118701472
+      - 0.18510915698301836
+      - 0.15524491509075788
+      - -0.34028982399983831
+      - -0.00012097376323999827
+      - 0.2249080302099225
+    accelerations:
+      - 0.35391880001538872
+      - 0.34568826566069411
+      - 0.28482464383393558
+      - 0.23887298915098792
+      - -0.52359877545093136
+      - -0.00018614048915604139
+      - 0.34606256461863316
     effort: []
     time_from_start:
       sec: 3
       nanosec: 690000000
   - positions:
-      - -0.10816988720650778
-      - -0.016522771663708066
-      - -1.3431631272786837
-      - 1.7037874236186767
-      - -1.9313722203869439
-      - -1.5707578804867484
-      - -0.016641558896676199
-    velocities:
-      - 0.22639803774479969
-      - 0.23391047093882644
-      - 0.18877653490367963
-      - 0.15220709356998027
-      - -0.34082249830393618
-      - 1.8343726062779791e-05
-      - 0.23368721689042843
-    accelerations:
-      - 0.34781076943716738
-      - 0.35935197003937397
-      - 0.29001360838005058
-      - 0.23383270833840308
-      - -0.5235987756669912
-      - 2.8181098828390994e-05
-      - 0.35900898931777236
+      - -0.1050240967329636
+      - -0.017327934895125647
+      - -1.3427272029204842
+      - 1.7062678364293413
+      - -1.9343154838666328
+      - -1.5708367636947385
+      - -0.017342947296217291
+    velocities:
+      - 0.23355303030579261
+      - 0.22812165384461069
+      - 0.18795740342217257
+      - 0.15763364498295124
+      - -0.34552581175584579
+      - -0.0001228351681320913
+      - 0.22836865585709867
+    accelerations:
+      - 0.35391880003173676
+      - 0.34568826567665356
+      - 0.28482464384711947
+      - 0.23887298916203464
+      - -0.52359877547513423
+      - -0.00018614048916464724
+      - 0.34606256463459262
     effort: []
     time_from_start:
       sec: 3
       nanosec: 700000000
   - positions:
-      - -0.10588972735328044
-      - -0.014166950604492808
-      - -1.3412618710645998
-      - 1.7053203719939884
-      - -1.9348048021595177
-      - -1.5707576957385583
-      - -0.014287986332736334
-    velocities:
-      - 0.22987614543868354
-      - 0.23750399063871622
-      - 0.19167667098707331
-      - 0.15454542065303647
-      - -0.34605848605987183
-      - 1.8625537051024178e-05
-      - 0.23727730678310274
-    accelerations:
-      - 0.34781076940583133
-      - 0.35935197000701097
-      - 0.29001360835390483
-      - 0.2338327083173366
-      - -0.52359877561980672
-      - 2.8181098825853283e-05
-      - 0.35900898928543712
+      - -0.10267381809457909
+      - -0.015032313000252567
+      - -1.340835759809637
+      - 1.7078541270803727
+      - -1.9377925611424744
+      - -1.5708379998031774
+      - -0.015044839783611794
+    velocities:
+      - 0.23709221830699112
+      - 0.23157853650223803
+      - 0.19080564986135259
+      - 0.16002237487516627
+      - -0.35076179951190073
+      - -0.00012469657302420124
+      - 0.23182928150430626
+    accelerations:
+      - 0.35391880008035514
+      - 0.34568826572415812
+      - 0.28482464388621481
+      - 0.23887298919486455
+      - -0.5235987755470316
+      - -0.00018614048919023574
+      - 0.34606256468215285
     effort: []
     time_from_start:
       sec: 3
       nanosec: 710000000
   - positions:
-      - -0.10357478642311377
-      - -0.011775194348278138
-      - -1.3393316134896813
-      - 1.7068767036401313
-      - -1.9382897438096516
-      - -1.5707575081722585
-      - -0.011898512869869213
-    velocities:
-      - 0.23335425313256733
-      - 0.24109751033860594
-      - 0.19457680707046696
-      - 0.15688374773609265
-      - -0.35129447381580747
-      - 1.8907348039268562e-05
-      - 0.240867396675777
-    accelerations:
-      - 0.34781076937446753
-      - 0.35935196997459246
-      - 0.29001360832775908
-      - 0.23383270829624236
-      - -0.52359877557262224
-      - 2.8181098823312184e-05
-      - 0.35900898925304636
+      - -0.10029222784007735
+      - -0.0127061076544011
+      - -1.3389191179246416
+      - 1.7094615511081468
+      - -1.9413159618231639
+      - -1.5708392523796861
+      - -0.012716115705355042
+    velocities:
+      - 0.2378912713111436
+      - 0.23235900718411318
+      - 0.19144870693348967
+      - 0.16056168552942843
+      - -0.35194394404470442
+      - -0.0001251168279443922
+      - 0.23261059725207436
+    accelerations:
+      - -0.35391880010178245
+      - -0.34568826574508582
+      - -0.28482464390347878
+      - -0.2388729892093252
+      - 0.52359877557883949
+      - 0.00018614048920151144
+      - -0.34606256470310831
     effort: []
     time_from_start:
       sec: 3
       nanosec: 720000000
   - positions:
-      - -0.10123673604029354
-      - -0.0093595618120074185
-      - -1.3373820866558994
-      - 1.7084485717399351
-      - -1.9418094747250383
-      - -1.5707573187335326
-      - -0.0094851859154777476
-    velocities:
-      - 0.23264810917800535
-      - 0.24036793482369628
-      - 0.19398800599156515
-      - 0.15640900811362718
-      - -0.35023143568547116
-      - 1.8850133271011716e-05
-      - 0.24013851749860146
-    accelerations:
-      - -0.34781076947706424
-      - -0.35935197008059794
-      - -0.29001360841331175
-      - -0.23383270836524991
-      - 0.52359877572704383
-      - -2.8181098831624308e-05
-      - -0.35900898935894099
+      - -0.09793059121309422
+      - -0.010399391905853449
+      - -1.3370185342000236
+      - 1.7110555076890104
+      - -1.9448098424700657
+      - -1.5708404944617598
+      - -0.010406902327044819
+    velocities:
+      - 0.23435208330997406
+      - 0.22890212452651415
+      - 0.18860046049433296
+      - 0.15817295563723299
+      - -0.34670795628869233
+      - -0.00012325542305229752
+      - 0.22914997160489511
+    accelerations:
+      - -0.35391880012129462
+      - -0.34568826576412615
+      - -0.28482464391916068
+      - -0.23887298922245359
+      - 0.52359877560764978
+      - 0.00018614048921175715
+      - -0.34606256472217639
     effort: []
     time_from_start:
       sec: 3
       nanosec: 730000000
   - positions:
-      - -0.098927310474823366
-      - -0.0069735039335985204
-      - -1.3354564279346042
-      - 1.7100011954138763
-      - -1.9452861134746982
-      - -1.5707571316141107
-      - -0.0071014053916435681
-    velocities:
-      - 0.22917000148415478
-      - 0.2367744151238409
-      - 0.19108786990819923
-      - 0.15407068103059335
-      - -0.34499544792958559
-      - 1.8568322282770027e-05
-      - 0.23654842760596151
-    accelerations:
-      - -0.34781076941260369
-      - -0.35935197001400537
-      - -0.29001360835953921
-      - -0.23383270832191627
-      - 0.52359877563002077
-      - -2.8181098826398772e-05
-      - -0.35900898929240377
+      - -0.095604346466122606
+      - -0.0081272449838816017
+      - -1.3351464329397966
+      - 1.7126255769709524
+      - -1.9482513632394078
+      - -1.5708417179297842
+      - -0.0081322952052062039
+    velocities:
+      - 0.2308128953088045
+      - 0.22544524186891507
+      - 0.1857522140551762
+      - 0.1557842257450375
+      - -0.34147196853268019
+      - -0.00012139401816020282
+      - 0.22568934595771584
+    accelerations:
+      - -0.35391880014080679
+      - -0.34568826578319423
+      - -0.28482464393487034
+      - -0.23887298923563749
+      - 0.52359877563651558
+      - 0.00018614048922201642
+      - -0.34606256474124447
     effort: []
     time_from_start:
       sec: 3
       nanosec: 740000000
   - positions:
-      - -0.096652665986292394
-      - -0.004623381252188908
-      - -1.3335597705741429
-      - 1.7115304358169867
-      - -1.9487103923467979
-      - -1.5707569473127987
-      - -0.0047535257667365161
-    velocities:
-      - 0.22569189379027055
-      - 0.23318089542395046
-      - 0.18818773382480622
-      - 0.15173235394753903
-      - -0.33975946017365005
-      - 1.8286511293528489e-05
-      - 0.23295833771328653
-    accelerations:
-      - -0.34781076938168398
-      - -0.35935196998230851
-      - -0.29001360833275508
-      - -0.23383270829896241
-      - 0.52359877558272527
-      - -2.8181099821011964e-05
-      - -0.35900898926076241
+      - -0.093313493599162411
+      - -0.0058896668884854727
+      - -1.3333028141439613
+      - 1.7141717589539727
+      - -1.95164052413119
+      - -1.5708429227837599
+      - -0.0058922943398391076
+    velocities:
+      - 0.22727370730761173
+      - 0.22198835921129337
+      - 0.18290396761599617
+      - 0.15339549585282541
+      - -0.33623598077663447
+      - -0.00011953261327427363
+      - 0.22222872031051397
+    accelerations:
+      - -0.35391880018386507
+      - -0.34568826582525691
+      - -0.28482464396949381
+      - -0.23887298926467476
+      - 0.52359877570017643
+      - 0.00018614048925428366
+      - -0.34606256478333475
     effort: []
     time_from_start:
       sec: 3
       nanosec: 750000000
   - positions:
-      - -0.094412802574700555
-      - -0.0023091937677784885
-      - -1.331692114574516
-      - 1.7130362929492666
-      - -1.9520823113413381
-      - -1.5707567658295967
-      - -0.0024415470407565028
-    velocities:
-      - 0.2222137860963867
-      - 0.22958737572406068
-      - 0.18528759774141251
-      - 0.1493940268644828
-      - -0.33452347241771441
-      - 1.8004700305299471e-05
-      - 0.22936824782061224
-    accelerations:
-      - -0.34781076934990385
-      - -0.35935196994922386
-      - -0.29001360830727546
-      - -0.23383270827975555
-      - 0.52359877553559631
-      - -2.8181098819781751e-05
-      - -0.35900898922770552
+      - -0.091058032612213693
+      - -0.0036866576196651411
+      - -1.3314876778125173
+      - 1.7156940536380709
+      - -1.9549773251454126
+      - -1.5708441090236867
+      - -0.0036868997309436121
+    velocities:
+      - 0.22373451930644533
+      - 0.2185314765536974
+      - 0.18005572117684204
+      - 0.15100676596063206
+      - -0.33099999302062699
+      - -0.00011767120838208439
+      - 0.21876809466333777
+    accelerations:
+      - -0.3539188002002131
+      - -0.34568826584121637
+      - -0.28482464398264995
+      - -0.23887298927574924
+      - 0.5235987757243793
+      - 0.00018614048926287596
+      - -0.34606256479932196
     effort: []
     time_from_start:
       sec: 3
       nanosec: 760000000
   - positions:
-      - -0.092207720240047961
-      - -3.0941480367393474e-05
-      - -1.3298534599357232
-      - 1.7145187668107154
-      - -1.9554018704583183
-      - -1.5707565871645046
-      - -0.00016546921370365992
-    velocities:
-      - 0.21873567840250291
-      - 0.22599385602417096
-      - 0.18238746165801886
-      - 0.1470556997814266
-      - -0.32928748466177876
-      - 1.7722889317070456e-05
-      - 0.22577815792793798
-    accelerations:
-      - -0.34781076931854005
-      - -0.35935196991680535
-      - -0.29001360828110195
-      - -0.23383270825866131
-      - 0.52359877548841183
-      - -2.8181098817240652e-05
-      - -0.35900898919534252
+      - -0.088837963505276507
+      - -0.0015182171774206143
+      - -1.3297010239454647
+      - 1.7171924610232474
+      - -1.9582617662820752
+      - -1.5708452766495644
+      - -0.0015161113785197231
+    velocities:
+      - 0.22019533130547467
+      - 0.2150745938962926
+      - 0.17720747473784543
+      - 0.14861803606857085
+      - -0.32576400526490906
+      - -0.0001158098034899981
+      - 0.21530746901635298
+    accelerations:
+      - -0.35391880002098597
+      - -0.34568826566617672
+      - -0.28482464383844747
+      - -0.23887298915475774
+      - 0.52359877545926847
+      - 0.00018614048916860591
+      - -0.34606256462408819
     effort: []
     time_from_start:
       sec: 3
       nanosec: 770000000
   - positions:
-      - -0.090037418982334361
-      - 0.0022113756100446461
-      - -1.3280438066577647
-      - 1.7159778574013336
-      - -1.9586690696977389
-      - -1.5707564113175221
-      - 0.0020747077144222825
-    velocities:
-      - 0.21525757070842771
-      - 0.22240033632408351
-      - 0.17948732557446559
-      - 0.14471737269824173
-      - -0.32405149690555507
-      - 1.744107832882593e-05
-      - 0.22218806803506619
-    accelerations:
-      - -0.34781076947839651
-      - -0.35935197008198572
-      - -0.29001360841442198
-      - -0.23383270836613809
-      - 0.52359877572904223
-      - -2.8181098830194517e-05
-      - -0.35900898936032877
+      - -0.086653286278350977
+      - 0.0006156544382479338
+      - -1.3279428525428036
+      - 1.7186669811095019
+      - -1.9614938475411776
+      - -1.5708464256613932
+      - 0.00062007071743238554
+    velocities:
+      - 0.21665614330430508
+      - 0.21161771123869352
+      - 0.17435922829868875
+      - 0.14622930617637536
+      - -0.32052801750889692
+      - -0.0001139483985978072
+      - 0.21184684336917367
+    accelerations:
+      - -0.35391880004052589
+      - -0.3456882656852448
+      - -0.28482464385415712
+      - -0.23887298916794164
+      - 0.52359877548807876
+      - 0.00018614048917887872
+      - -0.34606256464318402
     effort: []
     time_from_start:
       sec: 3
       nanosec: 780000000
   - positions:
-      - -0.087901898801560019
-      - 0.0044177575034573622
-      - -1.3262631547406405
-      - 1.7174135647211211
-      - -1.9618839090595996
-      - -1.57075623828865
-      - 0.0042789837436210554
-    velocities:
-      - 0.21177946301456163
-      - 0.21880681662421209
-      - 0.1765871894910867
-      - 0.1423790456151974
-      - -0.31881550914964607
-      - 1.7159267340598348e-05
-      - 0.21859797814241019
-    accelerations:
-      - -0.34781076942947908
-      - -0.35935197003143587
-      - -0.29001360837361129
-      - -0.2338327083332683
-      - 0.52359877565544488
-      - -2.8181098826232754e-05
-      - -0.35900898930986203
+      - -0.084504000931436965
+      - 0.0027149572273406763
+      - -1.326213163604534
+      - 1.7201176138968348
+      - -1.9646735689227204
+      - -1.5708475560591733
+      - 0.0027216465569128859
+    velocities:
+      - 0.21311695530313554
+      - 0.2081608285810945
+      - 0.17151098185953212
+      - 0.14384057628417993
+      - -0.31529202975288478
+      - -0.00011208699370561631
+      - 0.20838621772199442
+    accelerations:
+      - -0.35391880006001031
+      - -0.34568826570425737
+      - -0.28482464386981127
+      - -0.23887298918109778
+      - 0.52359877551694456
+      - 0.00018614048918912443
+      - -0.34606256466222435
     effort: []
     time_from_start:
       sec: 3
       nanosec: 790000000
   - positions:
-      - -0.085801159697724755
-      - 0.0065882041998709326
-      - -1.32451150418435
-      - 1.7188258887700778
-      - -1.9650463885439007
-      - -1.5707560680778871
-      - 0.0064473588738928394
-    velocities:
-      - 0.20830135532067784
-      - 0.21521329692432237
-      - 0.17368705340769303
-      - 0.1400407185321412
-      - -0.31357952139371048
-      - 1.6877456352369333e-05
-      - 0.21500788824973596
-    accelerations:
-      - -0.34781076939811528
-      - -0.35935196999904512
-      - -0.29001360834749329
-      - -0.23383270831217406
-      - 0.52359877560820489
-      - -2.8181098823688267e-05
-      - -0.35900898927744351
+      - -0.082390107464534276
+      - 0.0047796911898577901
+      - -1.3245119571306558
+      - 1.7215443593852457
+      - -1.9678009304267032
+      - -1.5708486678429043
+      - 0.0047886161399219567
+    velocities:
+      - 0.20957776730196598
+      - 0.20470394592349542
+      - 0.16866273542037544
+      - 0.14145184639198444
+      - -0.31005604199687264
+      - -0.00011022558881342541
+      - 0.20492559207481514
+    accelerations:
+      - -0.35391880007952248
+      - -0.34568826572332545
+      - -0.28482464388552092
+      - -0.23887298919428168
+      - 0.52359877554581036
+      - 0.00018614048919939725
+      - -0.34606256468129243
     effort: []
     time_from_start:
       sec: 3
       nanosec: 800000000
   - positions:
-      - -0.083735201670828652
-      - 0.0087227156992852675
-      - -1.3227888549888942
-      - 1.7202148295482038
-      - -1.9681565081506416
-      - -1.5707559006852345
-      - 0.0085798331052375412
-    velocities:
-      - 0.20482324762679405
-      - 0.21161977722443268
-      - 0.17078691732429938
-      - 0.137702391449085
-      - -0.30834353363777489
-      - 1.6595645364140315e-05
-      - 0.2114177983570617
-    accelerations:
-      - -0.34781076936675148
-      - -0.35935196996659885
-      - -0.29001360832131978
-      - -0.23383270829107983
-      - 0.5235987755609649
-      - -2.8181098821150556e-05
-      - -0.35900898924508051
+      - -0.080311605877643272
+      - 0.0068098563257989256
+      - -1.3228392331211691
+      - 1.7229472175747349
+      - -1.9708759320531262
+      - -1.5708497610125864
+      - 0.0068209794664592467
+    velocities:
+      - 0.20603857930079644
+      - 0.20124706326589636
+      - 0.16581448898121878
+      - 0.139063116499789
+      - -0.30482005424086051
+      - -0.00010836418392123452
+      - 0.20146496642763589
+    accelerations:
+      - -0.35391880009897914
+      - -0.34568826574236577
+      - -0.28482464390120282
+      - -0.23887298920741007
+      - 0.52359877557462065
+      - 0.00018614048920964296
+      - -0.34606256470036051
     effort: []
     time_from_start:
       sec: 3
       nanosec: 810000000
   - positions:
-      - -0.081704024720871793
-      - 0.01082129200170028
-      - -1.3210952071542725
-      - 1.7215803870554987
-      - -1.9712142678798226
-      - -1.5707557361106916
-      - 0.010676406437655077
-    velocities:
-      - 0.20134513993291023
-      - 0.2080262575245429
-      - 0.16788678124090567
-      - 0.13536406436602877
-      - -0.30310754588183919
-      - 1.6313834375911297e-05
-      - 0.20782770846438742
-    accelerations:
-      - -0.34781076933538768
-      - -0.3593519699342636
-      - -0.29001360829520179
-      - -0.23383270827001335
-      - 0.52359877551383593
-      - -2.8181098818609457e-05
-      - -0.35900898921274527
+      - -0.078268496170763688
+      - 0.0088054526351643431
+      - -1.3211949915760737
+      - 1.7243261884653023
+      - -1.9738985738019896
+      - -1.5708508355682198
+      - 0.008818736536525016
+    velocities:
+      - 0.20249939129962685
+      - 0.19779018060829731
+      - 0.1629662425420621
+      - 0.13667438660759351
+      - -0.29958406648484831
+      - -0.00010650277902904362
+      - 0.19800434078045659
+    accelerations:
+      - -0.35391880011851906
+      - -0.34568826576143385
+      - -0.28482464391691248
+      - -0.23887298922062172
+      - 0.52359877560354195
+      - 0.00018614048921991577
+      - -0.34606256471945634
     effort: []
     time_from_start:
       sec: 3
       nanosec: 820000000
   - positions:
-      - -0.079707628847854109
-      - 0.012883933107116056
-      - -1.319430560680485
-      - 1.7229225612919628
-      - -1.9742196677314436
-      - -1.5707555743542589
-      - 0.012737078871145531
-    velocities:
-      - 0.19786703223902644
-      - 0.20443273782465321
-      - 0.16498664515751202
-      - 0.13302573728297257
-      - -0.2978715581259036
-      - 1.6032023387682282e-05
-      - 0.20423761857171316
-    accelerations:
-      - -0.34781076930402388
-      - -0.35935196990181734
-      - -0.29001360826902828
-      - -0.23383270824891911
-      - 0.52359877546659594
-      - -2.818109881606497e-05
-      - -0.35900898918035451
+      - -0.076260778343895608
+      - 0.010766480117953954
+      - -1.3195792324953697
+      - 1.7256812720569477
+      - -1.976868855673293
+      - -1.570851891509804
+      - 0.010781887350119177
+    velocities:
+      - 0.19896020329845723
+      - 0.19433329795069818
+      - 0.16011799610290539
+      - 0.13428565671539802
+      - -0.29434807872883612
+      - -0.00010464137413685269
+      - 0.19454371513327726
+    accelerations:
+      - -0.35391880013819776
+      - -0.34568826578064071
+      - -0.28482464393273316
+      - -0.23887298923386113
+      - 0.52359877563257429
+      - 0.0001861404892302428
+      - -0.3460625647386632
     effort: []
     time_from_start:
       sec: 3
       nanosec: 830000000
   - positions:
-      - -0.077746014051775586
-      - 0.014910639015532599
-      - -1.3177949155675319
-      - 1.7242413522575963
-      - -1.9771727077055052
-      - -1.5707554154159358
-      - 0.014761850405708907
-    velocities:
-      - 0.19438892454496981
-      - 0.20083921812458491
-      - 0.16208650907397423
-      - 0.13068741019980015
-      - -0.29263557036970783
-      - 1.575021239943926e-05
-      - 0.20064752867886052
-    accelerations:
-      - -0.34781076944533962
-      - -0.3593519700478186
-      - -0.29001360838686069
-      - -0.23383270834393363
-      - 0.52359877567930424
-      - -2.8181098827517892e-05
-      - -0.35900898932621716
+      - -0.074288452397039115
+      - 0.012692938774167677
+      - -1.3179919558790572
+      - 1.7270124683496713
+      - -1.9797867776670364
+      - -1.5708529288373394
+      - 0.012710431907241649
+    velocities:
+      - 0.19542101529728745
+      - 0.1908764152930989
+      - 0.15726974966374854
+      - 0.13189692682320239
+      - -0.28911209097282364
+      - -0.00010277996924466168
+      - 0.19108308948609776
+    accelerations:
+      - -0.35391880015812627
+      - -0.34568826580012513
+      - -0.28482464394880364
+      - -0.23887298924735034
+      - 0.52359877566210622
+      - 0.00018614048924073246
+      - -0.34606256475817537
     effort: []
     time_from_start:
       sec: 3
       nanosec: 840000000
   - positions:
-      - -0.075819180332636113
-      - 0.016901409726950017
-      - -1.3161882718154128
-      - 1.725536759952399
-      - -1.9800733878020069
-      - -1.5707552592957226
-      - 0.016750721041345312
-    velocities:
-      - 0.19091081685108527
-      - 0.1972456984246945
-      - 0.15918637299058161
-      - 0.12834908311674251
-      - -0.28739958261377008
-      - 1.5468401410206688e-05
-      - 0.19705743878618548
-    accelerations:
-      - -0.34781076941487965
-      - -0.35935197001628133
-      - -0.29001360835978901
-      - -0.23383270832438652
-      - 0.52359877563446167
-      - -2.8181099828543781e-05
-      - -0.35900898929479075
+      - -0.072351518330193973
+      - 0.014584828603805744
+      - -1.3164331617271359
+      - 1.7283197773434731
+      - -1.9826523397832205
+      - -1.5708539475508259
+      - 0.014604370207892665
+    velocities:
+      - 0.1918818272961248
+      - 0.18741953263550654
+      - 0.15442150322459958
+      - 0.12950819693101245
+      - -0.28387610321682288
+      - -0.00010091856434961761
+      - 0.18762246383892522
+    accelerations:
+      - -0.35391880017015381
+      - -0.34568826581187873
+      - -0.2848246439585026
+      - -0.23887298925545991
+      - 0.52359877567991486
+      - 0.00018614048924180178
+      - -0.34606256476995656
     effort: []
     time_from_start:
       sec: 3
       nanosec: 850000000
   - positions:
-      - -0.073927127690435843
-      - 0.01885624524136818
-      - -1.3146106294241275
-      - 1.7268087843763711
-      - -1.9829217080209487
-      - -1.5707551059936193
-      - 0.018703690778054616
-    velocities:
-      - 0.1874327091572017
-      - 0.193652178724805
-      - 0.1562862369071881
-      - 0.12601075603368644
-      - -0.28216359485783482
-      - 1.518659042199597e-05
-      - 0.19346734889351144
-    accelerations:
-      - -0.34781076938315503
-      - -0.35935196998358526
-      - -0.29001360833500328
-      - -0.23383270830212655
-      - 0.52359877558566736
-      - -2.8181098820649112e-05
-      - -0.35900898926203917
+      - -0.070449976143360321
+      - 0.016442149606868024
+      - -1.3149028500396058
+      - 1.7296031990383531
+      - -1.9854655420218443
+      - -1.5708549476502631
+      - 0.016463702252072089
+    velocities:
+      - 0.18834263929495818
+      - 0.18396264997791034
+      - 0.15157325678544523
+      - 0.12711946703881896
+      - -0.27864011546081507
+      - -9.9057159457480949e-05
+      - 0.18416183819174881
+    accelerations:
+      - -0.35391880018697369
+      - -0.34568826582831003
+      - -0.28482464397201956
+      - -0.23887298926678419
+      - 0.52359877570478386
+      - 0.00018614048925063803
+      - -0.34606256478638786
     effort: []
     time_from_start:
       sec: 3
       nanosec: 860000000
   - positions:
-      - -0.072069856125174719
-      - 0.020775145558787109
-      - -1.3130619883936769
-      - 1.7280574255295122
-      - -1.9857176683623308
-      - -1.5707549555096261
-      - 0.020620759615836842
-    velocities:
-      - 0.1839546014633181
-      - 0.19005865902491551
-      - 0.15338610082379456
-      - 0.12367242895063039
-      - -0.27692760710189951
-      - 1.4904779433785251e-05
-      - 0.18987725900083741
-    accelerations:
-      - -0.34781076935137489
-      - -0.35935196995072266
-      - -0.29001360830852446
-      - -0.23383270828074088
-      - 0.52359877553787226
-      - -2.8181098818075826e-05
-      - -0.35900898922923208
+      - -0.06858382583653827
+      - 0.018264901783354413
+      - -1.3134010208164677
+      - 1.7308627334343116
+      - -1.9882263843829084
+      - -1.5708559291356519
+      - 0.018288428039779821
+    velocities:
+      - 0.18480345129395581
+      - 0.1805057673204746
+      - 0.1487250103464231
+      - 0.12473073714673633
+      - -0.27340412770505029
+      - -9.719575456543068e-05
+      - 0.18070121254473304
+    accelerations:
+      - -0.35391880003966547
+      - -0.34568826568441213
+      - -0.28482464385346323
+      - -0.23887298916738653
+      - 0.52359877548685752
+      - 0.00018614048917317311
+      - -0.34606256464235136
     effort: []
     time_from_start:
       sec: 3
       nanosec: 870000000
   - positions:
-      - -0.070247365636852854
-      - 0.022658110679206714
-      - -1.3115423487240605
-      - 1.7292826834118227
-      - -1.9884612688261525
-      - -1.5707548078437426
-      - 0.022501927554691901
-    velocities:
-      - 0.18047649376943448
-      - 0.18646513932502595
-      - 0.15048596474040099
-      - 0.1213341018675743
-      - -0.27169161934596414
-      - 1.4622968445574531e-05
-      - 0.18628716910816331
-    accelerations:
-      - -0.34781076931962251
-      - -0.35935196991794333
-      - -0.29001360828204564
-      - -0.23383270825941072
-      - 0.52359877549007716
-      - -2.818109881550254e-05
-      - -0.35900898919645274
+      - -0.066753067409727723
+      - 0.020053085133264995
+      - -1.3119276740577206
+      - 1.7320983805313479
+      - -1.9909348668664126
+      - -1.5708568920069914
+      - 0.020078547571015948
+    velocities:
+      - 0.18126426329278605
+      - 0.17704888466287536
+      - 0.14587676390726623
+      - 0.12234200725454071
+      - -0.26816813994903776
+      - -9.5334349673292375e-05
+      - 0.17724058689755356
+    accelerations:
+      - -0.35391880005959397
+      - -0.34568826570389655
+      - -0.28482464386950596
+      - -0.23887298918083411
+      - 0.52359877551638945
+      - 0.00018614048918366276
+      - -0.34606256466183577
     effort: []
     time_from_start:
       sec: 3
       nanosec: 880000000
   - positions:
-      - -0.068459656225470067
-      - 0.024505140602627176
-      - -1.3100517104152782
-      - 1.7304845580233024
-      - -1.991152509412415
-      - -1.5707546629959688
-      - 0.024347194594619967
-    velocities:
-      - 0.1769983860753935
-      - 0.18287161962497384
-      - 0.14758582865687625
-      - 0.11899577478441246
-      - -0.26645563158979196
-      - 1.4341157457351062e-05
-      - 0.18269707921532682
-    accelerations:
-      - -0.34781076944506206
-      - -0.35935197004754105
-      - -0.29001360838663864
-      - -0.23383270834371159
-      - 0.52359877567886015
-      - -2.8181098825664584e-05
-      - -0.35900898932593961
+      - -0.06495770086292868
+      - 0.021806699656599777
+      - -1.3104828097633652
+      - 1.7333101403294624
+      - -1.9935909894723571
+      - -1.5708578362642822
+      - 0.021834060845780469
+    velocities:
+      - 0.1777250752916163
+      - 0.17359200200527611
+      - 0.14302851746810938
+      - 0.11995327736234511
+      - -0.26293215219302535
+      - -9.347294478115407e-05
+      - 0.17377996125037409
+    accelerations:
+      - -0.35391880007955023
+      - -0.34568826572335321
+      - -0.28482464388554868
+      - -0.23887298919428168
+      - 0.52359877554586587
+      - 0.00018614048919413887
+      - -0.34606256468134794
     effort: []
     time_from_start:
       sec: 3
       nanosec: 890000000
   - positions:
-      - -0.066706727891026441
-      - 0.0263162353290484
-      - -1.3085900734673301
-      - 1.7316630493639509
-      - -1.9937913901211175
-      - -1.5707545209663052
-      - 0.026156560735620952
-    velocities:
-      - 0.1735202783814937
-      - 0.17927809992506757
-      - 0.14468569257346922
-      - 0.11665744770134551
-      - -0.26121964383383228
-      - 1.405934646913903e-05
-      - 0.17910698932263605
-    accelerations:
-      - -0.34781076942964562
-      - -0.35935197003160241
-      - -0.29001360837375006
-      - -0.23383270833335157
-      - 0.52359877565566693
-      - -2.8181098824416715e-05
-      - -0.3590089893100008
+      - -0.063197726196141141
+      - 0.023525745353358753
+      - -1.3090664279334012
+      - 1.7344980128286551
+      - -1.9961947522007417
+      - -1.570858761907524
+      - 0.023554967864073382
+    velocities:
+      - 0.17418588729044648
+      - 0.17013511934767681
+      - 0.14018027102895247
+      - 0.11756454747014945
+      - -0.25769616443701282
+      - -9.1611539889015738e-05
+      - 0.17031933560319457
+    accelerations:
+      - -0.35391880009953425
+      - -0.34568826574289313
+      - -0.28482464390164691
+      - -0.23887298920778477
+      - 0.5235987755753978
+      - 0.00018614048920465563
+      - -0.34606256470088786
     effort: []
     time_from_start:
       sec: 3
       nanosec: 900000000
   - positions:
-      - -0.064988580633521906
-      - 0.028091394858470477
-      - -1.307157437880216
-      - 1.7328181574337691
-      - -1.9963779109522601
-      - -1.5707543817547513
-      - 0.02793002597769495
-    velocities:
-      - 0.1700421706876101
-      - 0.17568458022517808
-      - 0.14178555649007568
-      - 0.11431912061828944
-      - -0.25598365607789697
-      - 1.3777535480928313e-05
-      - 0.17551689942996201
-    accelerations:
-      - -0.34781076939786548
-      - -0.35935196999873981
-      - -0.29001360834727125
-      - -0.23383270831199365
-      - 0.52359877560781631
-      - -2.8181098821840041e-05
-      - -0.35900898927719371
+      - -0.061473143409365098
+      - 0.025210222223541925
+      - -1.3076785285678283
+      - 1.7356619980289261
+      - -1.9987461550515664
+      - -1.5708596689367169
+      - 0.025241268625894688
+    velocities:
+      - 0.17064669928927675
+      - 0.16667823669007756
+      - 0.1373320245897956
+      - 0.11517581757795385
+      - -0.25246017668100035
+      - -8.9750134996877432e-05
+      - 0.16685870995601512
+    accelerations:
+      - -0.35391880011946275
+      - -0.34568826576234979
+      - -0.28482464391768963
+      - -0.23887298922123235
+      - 0.52359877560492973
+      - 0.00018614048921513173
+      - -0.34606256472037228
     effort: []
     time_from_start:
       sec: 3
       nanosec: 910000000
   - positions:
-      - -0.063305214452956532
-      - 0.029830619190893321
-      - -1.3057538036539362
-      - 1.7339498822327564
-      - -1.9989120719058429
-      - -1.5707542453613073
-      - 0.029667590320841864
-    velocities:
-      - 0.1665640629937265
-      - 0.17209106052528855
-      - 0.13888542040668214
-      - 0.11198079353523339
-      - -0.25074766832196166
-      - 1.3495724492717594e-05
-      - 0.17192680953728795
-    accelerations:
-      - -0.34781076936605759
-      - -0.35935196996593272
-      - -0.29001360832076467
-      - -0.23383270829060798
-      - 0.5235987755599657
-      - -2.8181098819265061e-05
-      - -0.35900898924438662
+      - -0.059783952502600483
+      - 0.026860130267149375
+      - -1.306319111666647
+      - 1.7368020959302752
+      - -2.0012451980248316
+      - -1.570860557351861
+      - 0.026892963131244476
+    velocities:
+      - 0.16710751128810697
+      - 0.16322135403247831
+      - 0.13448377815063872
+      - 0.11278708768575824
+      - -0.24722418892498788
+      - -8.7888730104739113e-05
+      - 0.16339808430883565
+    accelerations:
+      - -0.35391880013941901
+      - -0.3456882657818342
+      - -0.28482464393376011
+      - -0.2388729892346938
+      - 0.52359877563443391
+      - 0.00018614048922563494
+      - -0.34606256473985669
     effort: []
     time_from_start:
       sec: 3
       nanosec: 920000000
   - positions:
-      - -0.061656629349330305
-      - 0.031533908326316931
-      - -1.3043791707884906
-      - 1.7350582237609129
-      - -2.0013938729818657
-      - -1.5707541117859731
-      - 0.031369253765061708
-    velocities:
-      - 0.16308595529984288
-      - 0.16849754082539903
-      - 0.1359852843232886
-      - 0.10964246645217732
-      - -0.24551168056602635
-      - 1.3213913504506875e-05
-      - 0.16833671964461389
-    accelerations:
-      - -0.34781076933430521
-      - -0.35935196993309787
-      - -0.29001360829428585
-      - -0.23383270826926394
-      - 0.52359877551214284
-      - -2.818109881669008e-05
-      - -0.35900898921160729
+      - -0.058130153475847372
+      - 0.028475469484181028
+      - -1.3049881772298568
+      - 1.7379183065327024
+      - -2.0036918811205364
+      - -1.570861427152956
+      - 0.028510051380122657
+    velocities:
+      - 0.16356832328693721
+      - 0.15976447137487904
+      - 0.13163553171148187
+      - 0.11039835779356261
+      - -0.2419882011689754
+      - -8.6027325212600808e-05
+      - 0.15993745866165615
+    accelerations:
+      - -0.35391880015934751
+      - -0.34568826580131862
+      - -0.28482464394977508
+      - -0.23887298924816913
+      - 0.52359877566393809
+      - 0.00018614048923611104
+      - -0.34606256475939662
     effort: []
     time_from_start:
       sec: 3
       nanosec: 930000000
   - positions:
-      - -0.060042825322643427
-      - 0.033201262264741127
-      - -1.3030335392838797
-      - 1.7361431820182385
-      - -2.0038233141803286
-      - -1.570753981028749
-      - 0.033035016310354284
-    velocities:
-      - 0.15960784760581737
-      - 0.1649040211253629
-      - 0.13308514823977674
-      - 0.10730413936902586
-      - -0.2402756928098774
-      - 1.2932102516284659e-05
-      - 0.16474662975179336
-    accelerations:
-      - -0.34781076944428491
-      - -0.35935197004670838
-      - -0.29001360838597251
-      - -0.23383270834319811
-      - 0.52359877567772217
-      - -2.8181098825601904e-05
-      - -0.35900898932510694
+      - -0.056511746329105751
+      - 0.030056239874636872
+      - -1.3036857252574585
+      - 1.739010629836208
+      - -2.0060862043386818
+      - -1.5708622783400021
+      - 0.030092533372529234
+    velocities:
+      - 0.16002913528580348
+      - 0.15630758871731498
+      - 0.128787285272354
+      - 0.10800962790139132
+      - -0.23675221341301625
+      - -8.4165920320481449e-05
+      - 0.15647683301451193
+    accelerations:
+      - -0.35391880014311988
+      - -0.34568826578545542
+      - -0.28482464393671447
+      - -0.23887298923719674
+      - 0.52359877563989132
+      - 0.00018614048922757162
+      - -0.34606256474347774
     effort: []
     time_from_start:
       sec: 3
       nanosec: 940000000
   - positions:
-      - -0.058463802372895564
-      - 0.034832681006166252
-      - -1.3017169091401024
-      - 1.7372047570047335
-      - -2.006200395501232
-      - -1.5707538530896348
-      - 0.034664877956719943
-    velocities:
-      - 0.15612973991193829
-      - 0.16131050142547804
-      - 0.13018501215638481
-      - 0.10496581228597231
-      - -0.23503970505394409
-      - 1.2650291526843025e-05
-      - 0.16115653985912398
-    accelerations:
-      - -0.34781076940798061
-      - -0.3593519700092106
-      - -0.29001360835788387
-      - -0.23383270831931444
-      - 0.52359877562787316
-      - -2.8181100053941979e-05
-      - -0.35900898928763691
+      - -0.054928731062375676
+      - 0.031602441438516891
+      - -1.3024117557494514
+      - 1.7400790658407916
+      - -2.0084281676792677
+      - -1.5708631109129993
+      - 0.031640409108464183
+    velocities:
+      - 0.15648994728463736
+      - 0.15285070605971937
+      - 0.12593903883319996
+      - 0.10562089800919656
+      - -0.23151622565700777
+      - -8.230451542485448e-05
+      - 0.15301620736733598
+    accelerations:
+      - -0.35391880015991201
+      - -0.34568826580185896
+      - -0.28482464395023144
+      - -0.23887298924853489
+      - 0.52359877566476032
+      - 0.0001861404892285203
+      - -0.34606256475990904
     effort: []
     time_from_start:
       sec: 3
       nanosec: 950000000
   - positions:
-      - -0.056919560500086917
-      - 0.036428164550592085
-      - -1.3004292803571595
-      - 1.7382429487203976
-      - -2.0085251169445755
-      - -1.5707537279686303
-      - 0.036258838704158462
-    velocities:
-      - 0.15265163221801992
-      - 0.1577169817255526
-      - 0.12728487607296235
-      - 0.10262748520289289
-      - -0.22980371729795657
-      - 1.2368480538656919e-05
-      - 0.15756644996641406
-    accelerations:
-      - -0.34781076941252043
-      - -0.35935197001389435
-      - -0.2900136083594837
-      - -0.23383270832184688
-      - 0.523598775629882
-      - -2.8181098820286582e-05
-      - -0.35900898929234826
+      - -0.053381107675657152
+      - 0.033114074175821046
+      - -1.3011662687058356
+      - 1.7411236145464533
+      - -2.0107177711422928
+      - -1.5708639248719476
+      - 0.033153678587927463
+    velocities:
+      - 0.15295075928347074
+      - 0.14939382340212318
+      - 0.12309079239404562
+      - 0.10323216811700311
+      - -0.22628023790099999
+      - -8.0443110532796771e-05
+      - 0.14955558172015956
+    accelerations:
+      - -0.35391880017670413
+      - -0.34568826581826251
+      - -0.2848246439637484
+      - -0.23887298925985917
+      - 0.52359877568960156
+      - 0.000186140489237343
+      - -0.3460625647763681
     effort: []
     time_from_start:
       sec: 3
       nanosec: 960000000
   - positions:
-      - -0.055410099704217258
-      - 0.037987712898018861
-      - -1.2991706529350506
-      - 1.7392577571652312
-      - -2.0107974785103591
-      - -1.5707536056657356
-      - 0.037816898552670085
-    velocities:
-      - 0.14917352452413629
-      - 0.15412346202566304
-      - 0.12438473998956882
-      - 0.10028915811983682
-      - -0.22456772954202134
-      - 1.2086669550473627e-05
-      - 0.15397636007373997
-    accelerations:
-      - -0.34781076938071254
-      - -0.3593519699810595
-      - -0.290013608332991
-      - -0.23383270830047509
-      - 0.52359877558203138
-      - -2.8181098817711602e-05
-      - -0.35900898925954117
+      - -0.051868876168950057
+      - 0.034591138086549483
+      - -1.2999492641266115
+      - 1.7421442759531933
+      - -2.0129550147277588
+      - -1.5708647202168469
+      - 0.034632341810919218
+    velocities:
+      - 0.14941157128243693
+      - 0.14593694074465671
+      - 0.12024254595499817
+      - 0.10084343822489929
+      - -0.22104425014518869
+      - -7.8581705640808899e-05
+      - 0.14609495607311304
+    accelerations:
+      - -0.35391880006084298
+      - -0.34568826570509004
+      - -0.28482464387050516
+      - -0.23887298918166677
+      - 0.5235987755181658
+      - 0.00018614048917641216
+      - -0.34606256466305702
     effort: []
     time_from_start:
       sec: 3
       nanosec: 970000000
   - positions:
-      - -0.053935419985286934
-      - 0.039511326048446219
-      - -1.2979410268737763
-      - 1.7402491823392336
-      - -2.0130174801985827
-      - -1.5707534861809509
-      - 0.03933905750225445
-    velocities:
-      - 0.14569541683025267
-      - 0.15052994232577349
-      - 0.12148460390617533
-      - 0.097950831036780761
-      - -0.21933174178608608
-      - 1.1804858562290336e-05
-      - 0.1503862701810659
-    accelerations:
-      - -0.3478107693489324
-      - -0.35935196994822466
-      - -0.29001360830648443
-      - -0.2338327082791033
-      - 0.52359877553418077
-      - -2.8181098815134928e-05
-      - -0.35900898922670632
+      - -0.050392036542254548
+      - 0.036033633170702031
+      - -1.2987607420117786
+      - 1.7431410500610114
+      - -2.0151398984356645
+      - -1.5708654969476974
+      - 0.036076398777439289
+    velocities:
+      - 0.14587238328126717
+      - 0.14248005808705747
+      - 0.11739429951584131
+      - 0.098454708332703714
+      - -0.21580826238917625
+      - -7.6720300748749537e-05
+      - 0.14263433042593357
+    accelerations:
+      - -0.35391880008077148
+      - -0.34568826572454669
+      - -0.284824643886534
+      - -0.23887298919511435
+      - 0.52359877554766998
+      - 0.00018614048918688827
+      - -0.34606256468254143
     effort: []
     time_from_start:
       sec: 3
       nanosec: 980000000
   - positions:
-      - -0.052495521343295687
-      - 0.040999004001874437
-      - -1.296740402173336
-      - 1.7412172242424053
-      - -2.0151851220092465
-      - -1.5707533695142764
-      - 0.040825315552911814
-    velocities:
-      - 0.14221730913624253
-      - 0.14693642262575324
-      - 0.11858446782267633
-      - 0.095612503953639641
-      - -0.21409575402996039
-      - 1.1523047574096793e-05
-      - 0.14679618028826122
-    accelerations:
-      - -0.34781076944350775
-      - -0.35935197004595898
-      - -0.29001360838533413
-      - -0.23383270834268463
-      - 0.52359877567655644
-      - -2.8181098822798225e-05
-      - -0.35900898932435754
+      - -0.04895058879557046
+      - 0.037441559428278863
+      - -1.2976007023613372
+      - 1.7441139368699077
+      - -2.0172724222660108
+      - -1.570866255064499
+      - 0.037485849487487836
+    velocities:
+      - 0.14233319528009736
+      - 0.13902317542945813
+      - 0.11454605307668439
+      - 0.096065978440508099
+      - -0.21057227463316372
+      - -7.4858895856690135e-05
+      - 0.13917370477875404
+    accelerations:
+      - -0.35391880010075549
+      - -0.34568826574408662
+      - -0.28482464390263224
+      - -0.23887298920860356
+      - 0.52359877557725742
+      - 0.00018614048919740503
+      - -0.34606256470208135
     effort: []
     time_from_start:
       sec: 3
       nanosec: 990000000
   - positions:
-      - -0.051090403778243615
-      - 0.042450746758303418
-      - -1.29556877883373
-      - 1.7421618828747465
-      - -2.0173004039423503
-      - -1.5707532556657113
-      - 0.042275672704642109
-    velocities:
-      - 0.13873920144236196
-      - 0.14334290292586688
-      - 0.11568433173928538
-      - 0.093274176870585646
-      - -0.2088597662740298
-      - 1.1241236585913752e-05
-      - 0.14320609039559032
-    accelerations:
-      - -0.3478107694086745
-      - -0.35935197000993224
-      - -0.29001360835627404
-      - -0.23383270831924505
-      - 0.52359877562407064
-      - -2.8181098819972523e-05
-      - -0.35900898928835856
+      - -0.047544532928897959
+      - 0.038814916859279805
+      - -1.296469145175287
+      - 1.7450629363798822
+      - -2.0193525862187967
+      - -1.5708669945672513
+      - 0.038860693941064693
+    velocities:
+      - 0.1387940072789276
+      - 0.13556629277185889
+      - 0.11169780663752753
+      - 0.093677248548312511
+      - -0.2053362868771513
+      - -7.2997490964630773e-05
+      - 0.13571307913157457
+    accelerations:
+      - -0.353918800120684
+      - -0.34568826576354328
+      - -0.28482464391867496
+      - -0.23887298922206501
+      - 0.52359877560670609
+      - 0.00018614048920788113
+      - -0.34606256472156577
     effort: []
     time_from_start:
       sec: 4
       nanosec: 0
   - positions:
-      - -0.049720067290130621
-      - 0.043866554317733251
-      - -1.294426156854958
-      - 1.7430831582362569
-      - -2.0193633259978947
-      - -1.5707531446352563
-      - 0.043690128957445416
-    velocities:
-      - 0.13526109374854847
-      - 0.13974938322604979
-      - 0.11278419565595035
-      - 0.090935849787576711
-      - -0.20362377851820013
-      - 1.0959425597736142e-05
-      - 0.13961600050298861
-    accelerations:
-      - -0.34781076930703719
-      - -0.35935196990494678
-      - -0.29001360827154404
-      - -0.23383270825095195
-      - 0.52359877547113065
-      - -2.8181098811740677e-05
-      - -0.35900898918348378
+      - -0.046173868942236879
+      - 0.040153705463705024
+      - -1.2953660704536285
+      - 1.7459880485909349
+      - -2.0213803902940235
+      - -1.5708677154559552
+      - 0.040200932138170026
+    velocities:
+      - 0.13525481927787814
+      - 0.13210941011437713
+      - 0.10884956019846748
+      - 0.091288518656198137
+      - -0.20010029912131683
+      - -7.1136086072634674e-05
+      - 0.13225245348451273
+    accelerations:
+      - -0.35391880002047704
+      - -0.34568826566566407
+      - -0.28482464383801886
+      - -0.23887298915441973
+      - 0.52359877545847411
+      - 0.00018614048915517671
+      - -0.34606256462357571
     effort: []
     time_from_start:
       sec: 4
       nanosec: 10000000
   - positions:
-      - -0.048384511878956787
-      - 0.045246426680163848
-      - -1.2933125362370204
-      - 1.7439810503269366
-      - -2.0213738881758792
-      - -1.5707530364229112
-      - 0.045068684311321633
-    velocities:
-      - 0.13178298605466174
-      - 0.13615586352615702
-      - 0.10988405957255425
-      - 0.088597522704518566
-      - -0.19838779076226024
-      - 1.0677614609552599e-05
-      - 0.13602591061031133
-    accelerations:
-      - -0.34781076927836568
-      - -0.35935196987533158
-      - -0.29001360824764649
-      - -0.23383270823166183
-      - 0.52359877542794298
-      - -2.8181098809418113e-05
-      - -0.35900898915389634
+      - -0.044838596835587399
+      - 0.041457925241554353
+      - -1.2942914781963613
+      - 1.7468892735030657
+      - -2.0233558344916895
+      - -1.5708684177306098
+      - 0.041506564078803668
+    velocities:
+      - 0.13171563127670516
+      - 0.12865252745677475
+      - 0.10600131375930803
+      - 0.088899788764000398
+      - -0.19486431136529966
+      - -6.9274681180573618e-05
+      - 0.12879182783733012
+    accelerations:
+      - -0.35391880004362519
+      - -0.34568826568825711
+      - -0.28482464385664286
+      - -0.23887298917003225
+      - 0.52359877549269673
+      - 0.00018614048916736043
+      - -0.34606256464622426
     effort: []
     time_from_start:
       sec: 4
       nanosec: 20000000
   - positions:
-      - -0.047083737544722212
-      - 0.046590363845595124
-      - -1.2922279169799167
-      - 1.7448555591467851
-      - -2.0233320904763037
-      - -1.5707529310286761
-      - 0.046411338766270682
-    velocities:
-      - 0.12830487836054677
-      - 0.13256234382602849
-      - 0.10698392348896786
-      - 0.086259195621306975
-      - -0.19315180300597676
-      - 1.0395803621350566e-05
-      - 0.13243582071739848
-    accelerations:
-      - -0.34781076947761935
-      - -0.35935197008115305
-      - -0.29001360841375584
-      - -0.23383270836561074
-      - 0.52359877572784874
-      - -2.8181098825559552e-05
-      - -0.35900898935952386
+      - -0.043538716608949417
+      - 0.042727576192827875
+      - -1.2932453684034857
+      - 1.7477666111162746
+      - -2.0252789188117966
+      - -1.5708691013912155
+      - 0.042777589762965702
+    velocities:
+      - 0.12817644327548255
+      - 0.12519564479912387
+      - 0.10315306732010864
+      - 0.086511058871769145
+      - -0.18962832360920903
+      - -6.741327628848646e-05
+      - 0.12533120219009899
+    accelerations:
+      - -0.35391880011608595
+      - -0.34568826575903211
+      - -0.2848246439149541
+      - -0.23887298921894745
+      - 0.52359877559992329
+      - 0.00018614048920546745
+      - -0.34606256471705443
     effort: []
     time_from_start:
       sec: 4
       nanosec: 30000000
   - positions:
-      - -0.045817744287426701
-      - 0.047898365814027261
-      - -1.2911722990836474
-      - 1.7457066846958034
-      - -2.0252379328991688
-      - -1.5707528284525505
-      - 0.047718092322292745
-    velocities:
-      - 0.12482677066666625
-      - 0.12896882412614216
-      - 0.10408378740557694
-      - 0.083920868538252993
-      - -0.18791581525004619
-      - 1.0113992633167524e-05
-      - 0.12884573082472761
-    accelerations:
-      - -0.34781076944270284
-      - -0.35935197004509856
-      - -0.290013608384668
-      - -0.23383270834215727
-      - 0.52359877567533519
-      - -2.818109882273385e-05
-      - -0.35900898932349712
+      - -0.042274228262322758
+      - 0.043962658317525771
+      - -1.2922277410750009
+      - 1.7486200614305618
+      - -2.0271496432543437
+      - -1.5708697664377724
+      - 0.04401400919065631
+    velocities:
+      - 0.12463725527431592
+      - 0.12173876214152766
+      - 0.10030482088095428
+      - 0.084122328979575681
+      - -0.18439233585320122
+      - -6.5551871396428738e-05
+      - 0.12187057654292256
+    accelerations:
+      - -0.35391880013287808
+      - -0.34568826577546341
+      - -0.28482464392848494
+      - -0.2388729892302856
+      - 0.52359877562476453
+      - 0.0001861404892143037
+      - -0.34606256473349961
     effort: []
     time_from_start:
       sec: 4
       nanosec: 40000000
   - positions:
-      - -0.044586532107070365
-      - 0.049170432585460146
-      - -1.2901456825482125
-      - 1.7465344269739904
-      - -2.0270914154444735
-      - -1.5707527286945349
-      - 0.04898894497938773
-    velocities:
-      - 0.12134866297278447
-      - 0.12537530442625447
-      - 0.10118365132218535
-      - 0.081582541455197971
-      - -0.1826798274941189
-      - 9.8321816485592094e-06
-      - 0.12525564093205541
-    accelerations:
-      - -0.34781076940907696
-      - -0.35935197001040409
-      - -0.29001360835624629
-      - -0.23383270831974465
-      - 0.52359877561954649
-      - -2.8181095245181777e-05
-      - -0.35900898928880265
+      - -0.041045131795707644
+      - 0.045163171615647819
+      - -1.2912385962109079
+      - 1.7494496244459274
+      - -2.0289680078193304
+      - -1.5708704128702804
+      - 0.045215822361875269
+    velocities:
+      - 0.12109806727314977
+      - 0.11828187948393178
+      - 0.097456574441799726
+      - 0.081733599087385103
+      - -0.17915634809719136
+      - -6.3690466509957219e-05
+      - 0.11840995089574663
+    accelerations:
+      - -0.35391880014968408
+      - -0.34568826579188083
+      - -0.28482464394200191
+      - -0.23887298924163763
+      - 0.52359877564963353
+      - 0.00018614048923947074
+      - -0.34606256474993091
     effort: []
     time_from_start:
       sec: 4
       nanosec: 50000000
   - positions:
-      - -0.043390101003653037
-      - 0.050406564159893967
-      - -1.2891480673736113
-      - 1.747338785981347
-      - -2.0288925381122187
-      - -1.5707526317546292
-      - 0.050223896737555798
-    velocities:
-      - 0.1178705552789399
-      - 0.12178178472640529
-      - 0.098283515238824393
-      - 0.079244214372168179
-      - -0.17744383973824232
-      - 9.5503706602766214e-06
-      - 0.12166555103942166
-    accelerations:
-      - -0.34781076933760996
-      - -0.35935196993650487
-      - -0.29001360829702366
-      - -0.2338327082714772
-      - 0.52359877551712164
-      - -2.8181098824461418e-05
-      - -0.35900898921501412
+      - -0.039851427209104
+      - 0.046329116087194117
+      - -1.2902779338112063
+      - 1.7502553001623711
+      - -2.0307340125067581
+      - -1.5708710406887396
+      - 0.046383029276622675
+    velocities:
+      - 0.11755887927198315
+      - 0.11482499682633558
+      - 0.094608328002645389
+      - 0.079344869195191556
+      - -0.17392036034118366
+      - -6.1829061617736257e-05
+      - 0.11494932524857022
+    accelerations:
+      - -0.35391880016646232
+      - -0.3456882658082705
+      - -0.28482464395551887
+      - -0.23887298925297579
+      - 0.52359877567444701
+      - 0.00018614048924827989
+      - -0.34606256476634834
     effort: []
     time_from_start:
       sec: 4
       nanosec: 60000000
   - positions:
-      - -0.042228450977175036
-      - 0.051606760537328385
-      - -1.2881794535598445
-      - 1.7481197617178728
-      - -2.030641300902404
-      - -1.5707525376328335
-      - 0.051422947596796602
-    velocities:
-      - 0.11439244758505294
-      - 0.11818826502651231
-      - 0.095383379155428105
-      - 0.076905887289109881
-      - -0.17220785198230193
-      - 9.2685596719905978e-06
-      - 0.11807546114674414
-    accelerations:
-      - -0.34781076930939642
-      - -0.35935196990736151
-      - -0.29001360827350081
-      - -0.23383270825250627
-      - 0.52359877547465561
-      - -2.8181098822176123e-05
-      - -0.35900898918589852
+      - -0.038693114502511845
+      - 0.0474604917321646
+      - -1.2893457538758961
+      - 1.7510370885798929
+      - -2.0324476573166255
+      - -1.5708716498931499
+      - 0.047515629934898454
+    velocities:
+      - 0.11401969127081649
+      - 0.11136811416873937
+      - 0.091760081563491053
+      - 0.076956139302998008
+      - -0.16868437258517591
+      - -5.9967656725515268e-05
+      - 0.11148869960139379
+    accelerations:
+      - -0.3539188001832822
+      - -0.34568826582468792
+      - -0.28482464396903584
+      - -0.23887298926431394
+      - 0.52359877569931601
+      - 0.00018614048925712969
+      - -0.34606256478277964
     effort: []
     time_from_start:
       sec: 4
       nanosec: 70000000
   - positions:
-      - -0.04110158202763621
-      - 0.052771021717763572
-      - -1.2872398411069121
-      - 1.7488773541835676
-      - -2.0323377038150299
-      - -1.570752446329148
-      - 0.052586097557110335
-    velocities:
-      - 0.11091433989096873
-      - 0.11459474532641552
-      - 0.092483243071867324
-      - 0.074567560205918954
-      - -0.16697186422606458
-      - 8.9867486836885907e-06
-      - 0.114485371253863
-    accelerations:
-      - -0.34781076947814671
-      - -0.35935197008170816
-      - -0.29001360841421381
-      - -0.23383270836597156
-      - 0.52359877572868141
-      - -2.8181098835851003e-05
-      - -0.35900898936007897
+      - -0.037570193675931118
+      - 0.048557298550559361
+      - -1.2884420564049772
+      - 1.7517949896984928
+      - -2.0341089422489333
+      - -1.5708722404835109
+      - 0.048613624336702722
+    velocities:
+      - 0.11048050326964984
+      - 0.10791123151114315
+      - 0.088911835124336702
+      - 0.074567409410804447
+      - -0.16344838482916815
+      - -5.8106251833294278e-05
+      - 0.10802807395421736
+    accelerations:
+      - -0.3539188002000882
+      - -0.34568826584110535
+      - -0.28482464398256668
+      - -0.23887298927566597
+      - 0.52359877572418501
+      - 0.00018614048926597271
+      - -0.34606256479921094
     effort: []
     time_from_start:
       sec: 4
       nanosec: 80000000
   - positions:
-      - -0.040009494155036456
-      - 0.053899347701199599
-      - -1.2863292300148137
-      - 1.7496115633784317
-      - -2.0339817468500954
-      - -1.5707523578435718
-      - 0.053713346618497068
-    velocities:
-      - 0.10743623219708802
-      - 0.11100122562652899
-      - 0.089583106988476241
-      - 0.072229233122864861
-      - -0.16173587647013357
-      - 8.7049376954030754e-06
-      - 0.11089528136119194
-    accelerations:
-      - -0.34781076944368816
-      - -0.35935197004611164
-      - -0.29001360838548679
-      - -0.23383270834279565
-      - 0.52359877567683399
-      - -2.8181098833057488e-05
-      - -0.35900898932452407
+      - -0.036482664729361985
+      - 0.049619536542378238
+      - -1.2875668413984498
+      - 1.7525290035181711
+      - -2.0357178673036813
+      - -1.5708728124598235
+      - 0.049677012482035307
+    velocities:
+      - 0.10694131526867348
+      - 0.10445434885373281
+      - 0.086063588685335507
+      - 0.072178679518739325
+      - -0.15821239707344192
+      - -5.6244846941173375e-05
+      - 0.104567448307227
+    accelerations:
+      - -0.35391880002691634
+      - -0.34568826567195071
+      - -0.28482464384319528
+      - -0.23887298915877736
+      - 0.52359877546796652
+      - 0.00018614048917489563
+      - -0.34606256462987622
     effort: []
     time_from_start:
       sec: 4
       nanosec: 90000000
   - positions:
-      - -0.038952187359375869
-      - 0.054991738487636395
-      - -1.2854476202835499
-      - 1.7503223893024651
-      - -2.0355734300076014
-      - -1.5707522721761058
-      - 0.054804694780956731
-    velocities:
-      - 0.10395812450320727
-      - 0.10740770592664241
-      - 0.08668297090508513
-      - 0.069890906039810727
-      - -0.15649988871420253
-      - 8.4231267071175549e-06
-      - 0.10730519146852083
-    accelerations:
-      - -0.34781076940928513
-      - -0.35935197001057062
-      - -0.29001360835678752
-      - -0.23383270831967526
-      - 0.52359877562501433
-      - -2.8181098830269055e-05
-      - -0.35900898928899694
+      - -0.035430527662804447
+      - 0.050647205707621226
+      - -1.2867201088563138
+      - 1.7532391300389274
+      - -2.0372744324808689
+      - -1.5708733658220868
+      - 0.050705794370896187
+    velocities:
+      - 0.10340212726750055
+      - 0.10099746619613045
+      - 0.083215342246176105
+      - 0.069789949626541531
+      - -0.15297640931742487
+      - -5.4383442048949085e-05
+      - 0.10110682266004442
+    accelerations:
+      - -0.35391880005000897
+      - -0.34568826569451599
+      - -0.28482464386177764
+      - -0.23887298917436212
+      - 0.52359877550213363
+      - 0.0001861404891870387
+      - -0.34606256465246926
     effort: []
     time_from_start:
       sec: 4
       nanosec: 99999999
   - positions:
-      - -0.037929661640654269
-      - 0.056048194077074134
-      - -1.2845950119131198
-      - 1.7510098319556677
-      - -2.0371127532875475
-      - -1.5707521893267495
-      - 0.05586014204448949
-    velocities:
-      - 0.10048001680932656
-      - 0.10381418622675588
-      - 0.083782834821694033
-      - 0.067552578956756634
-      - -0.15126390095827155
-      - 8.1413157188320379e-06
-      - 0.10371510157584976
-    accelerations:
-      - -0.34781076937482658
-      - -0.35935196997497409
-      - -0.29001360832807438
-      - -0.23383270829649935
-      - 0.52359877557313916
-      - -2.8181098827477235e-05
-      - -0.35900898925342817
+      - -0.034413782476258321
+      - 0.051640306046288491
+      - -1.2859018587785691
+      - 1.7539253692607617
+      - -2.0387786377804975
+      - -1.5708739005703012
+      - 0.05169997000328555
+    velocities:
+      - 0.099862939266327624
+      - 0.097540583538528111
+      - 0.080367095807016703
+      - 0.067401219734343751
+      - -0.14774042156140782
+      - -5.2522037156724796e-05
+      - 0.097646197012861854
+    accelerations:
+      - -0.35391880007307386
+      - -0.34568826571703964
+      - -0.28482464388036
+      - -0.23887298918993299
+      - 0.52359877553630074
+      - 0.00018614048919917499
+      - -0.34606256467502067
     effort: []
     time_from_start:
       sec: 4
       nanosec: 110000000
   - positions:
-      - -0.036941916998872011
-      - 0.05706871446951247
-      - -1.283771404903524
-      - 1.7516738913380396
-      - -2.0385997166899337
-      - -1.5707521092955032
-      - 0.056879688409094985
-    velocities:
-      - 0.097001909115444873
-      - 0.10022066652686835
-      - 0.080882698738302145
-      - 0.065214251873701876
-      - -0.14602791320233907
-      - 7.8595047305464412e-06
-      - 0.10012501168317768
-    accelerations:
-      - -0.34781076934163452
-      - -0.3593519699406682
-      - -0.29001360830038209
-      - -0.23383270827419725
-      - 0.52359877552320011
-      - -2.8181098824790067e-05
-      - -0.35900898921917745
+      - -0.0334324291697237
+      - 0.052598837558379949
+      - -1.2851120911652161
+      - 1.7545877211836745
+      - -2.0402304832025657
+      - -1.5708744167044668
+      - 0.052659539379203306
+    velocities:
+      - 0.096323751265154786
+      - 0.094083700880925866
+      - 0.077518849367857384
+      - 0.065012489842146026
+      - -0.14250443380539093
+      - -5.0660632264500561e-05
+      - 0.094185571365679385
+    accelerations:
+      - -0.35391880009594445
+      - -0.34568826573938288
+      - -0.28482464389876194
+      - -0.23887298920536509
+      - 0.52359877557010703
+      - 0.00018614048921120286
+      - -0.34606256469739166
     effort: []
     time_from_start:
       sec: 4
       nanosec: 120000000
   - positions:
-      - -0.035988953434028914
-      - 0.058053299664951562
-      - -1.2829767992547625
-      - 1.7523145674495806
-      - -2.0400343202147599
-      - -1.5707520320823667
-      - 0.057863333874773409
-    velocities:
-      - 0.093523801421558084
-      - 0.096627146826975541
-      - 0.077982562654905982
-      - 0.062875924790643689
-      - -0.14079192544639893
-      - 7.5776937422604311e-06
-      - 0.096534921790500328
-    accelerations:
-      - -0.3478107693131573
-      - -0.35935196991124729
-      - -0.29001360827665107
-      - -0.2338327082550459
-      - 0.52359877548031775
-      - -2.8181098822481902e-05
-      - -0.3590089891897843
+      - -0.032486467743200499
+      - 0.053522800243895698
+      - -1.2843508060162543
+      - 1.7552261858076654
+      - -2.0416299687470745
+      - -1.5708749142245835
+      - 0.053584502498649537
+    velocities:
+      - 0.092784563263995146
+      - 0.0906268182233365
+      - 0.074670602928708682
+      - 0.062623759949957197
+      - -0.13726844604939356
+      - -4.8799227372283265e-05
+      - 0.090724945718509822
+    accelerations:
+      - -0.35391880010531679
+      - -0.34568826574852662
+      - -0.28482464390630824
+      - -0.23887298921170325
+      - 0.52359877558396384
+      - 0.00018614048921612652
+      - -0.34606256470653507
     effort: []
     time_from_start:
       sec: 4
       nanosec: 130000000
   - positions:
-      - -0.035070770946124985
-      - 0.059001949663391423
-      - -1.2822111949668351
-      - 1.7529318602902908
-      - -2.0414165638620263
-      - -1.5707519576873401
-      - 0.05881107844152475
-    velocities:
-      - 0.090045693727511034
-      - 0.093033627126917151
-      - 0.075082426571376204
-      - 0.060537597707477769
-      - -0.13555593769021754
-      - 7.2958827539614378e-06
-      - 0.092944831897657579
-    accelerations:
-      - -0.34781076944461797
-      - -0.35935197004708308
-      - -0.29001360838626394
-      - -0.23383270834342709
-      - 0.52359877567822177
-      - -2.8181098833132874e-05
-      - -0.35900898932546776
+      - -0.031575898196688892
+      - 0.05441219410283555
+      - -1.283618003331684
+      - 1.7558407631327344
+      - -2.0429770944140229
+      - -1.5708753931306514
+      - 0.054474859361624085
+    velocities:
+      - 0.089245375262828608
+      - 0.087169935565740389
+      - 0.071822356489554429
+      - 0.060235030057763719
+      - -0.13203245829338597
+      - -4.6937822480062337e-05
+      - 0.087264320071333501
+    accelerations:
+      - -0.35391880012190075
+      - -0.34568826576473588
+      - -0.28482464391964479
+      - -0.23887298922288874
+      - 0.52359877560849977
+      - 0.00018614048922485434
+      - -0.3460625647227582
     effort: []
     time_from_start:
       sec: 4
       nanosec: 139999999
   - positions:
-      - -0.034187369535160085
-      - 0.059914664464832179
-      - -1.2814745920397421
-      - 1.7535257698601703
-      - -2.0427464476317332
-      - -1.5707518861104235
-      - 0.059722922109349146
-    velocities:
-      - 0.086567586033630226
-      - 0.089440107427030624
-      - 0.072182290487984621
-      - 0.058199270624425307
-      - -0.13031994993428653
-      - 7.0140717624767323e-06
-      - 0.089354742004986415
-    accelerations:
-      - -0.34781076941015943
-      - -0.35935197001137553
-      - -0.29001360835793938
-      - -0.23383270831855116
-      - 0.52359877562623558
-      - -2.8181102029521815e-05
-      - -0.35900898928989899
+      - -0.030700720530188592
+      - 0.055267019135199789
+      - -1.2829136831115049
+      - 1.7564314531588818
+      - -2.0442718602034122
+      - -1.5708758534226701
+      - 0.05533060996812722
+    velocities:
+      - 0.085706187261661529
+      - 0.083713052908143834
+      - 0.068974110050399884
+      - 0.057846300165566335
+      - -0.12679647053738088
+      - -4.5076417585045583e-05
+      - 0.083803694424156652
+    accelerations:
+      - -0.35391880013867899
+      - -0.34568826578112555
+      - -0.28482464393314788
+      - -0.23887298923419914
+      - 0.52359877563336876
+      - 0.00018614048922213028
+      - -0.34606256473916175
     effort: []
     time_from_start:
       sec: 4
       nanosec: 150000000
   - positions:
-      - -0.033338749201134311
-      - 0.060791444069273746
-      - -1.2807669904734829
-      - 1.754096296159219
-      - -2.0440239715238802
-      - -1.5707518173516166
-      - 0.060598864878246506
-    velocities:
-      - 0.083089478339749612
-      - 0.08584658772714418
-      - 0.069282154404593635
-      - 0.055860943541371201
-      - -0.12508396217835566
-      - 6.7322607743197593e-06
-      - 0.085764652112315445
-    accelerations:
-      - -0.34781076937534006
-      - -0.35935196997550145
-      - -0.29001360832847684
-      - -0.23383270829685324
-      - 0.52359877557394408
-      - -2.8181098814666709e-05
-      - -0.35900898925395552
+      - -0.029860934743699906
+      - 0.056087275340988105
+      - -1.2822378453557173
+      - 1.7569982558861068
+      - -2.0455142661152412
+      - -1.5708762951006399
+      - 0.056151754318158623
+    velocities:
+      - 0.082166999260494894
+      - 0.080256170250547626
+      - 0.066125863611245547
+      - 0.05545757027337294
+      - -0.12156048278137302
+      - -4.3215012692940041e-05
+      - 0.080343068776980234
+    accelerations:
+      - -0.35391880015548499
+      - -0.34568826579754297
+      - -0.28482464394667872
+      - -0.23887298924554423
+      - 0.52359877565822388
+      - 0.00018614048923097331
+      - -0.34606256475560693
     effort: []
     time_from_start:
       sec: 4
       nanosec: 160000000
   - positions:
-      - -0.032524909944047796
-      - 0.061632288476715993
-      - -1.2800883902680582
-      - 1.7546434391874373
-      - -2.0452491355384672
-      - -1.5707517514109197
-      - 0.061438906748216685
-    velocities:
-      - 0.079611370645837176
-      - 0.08225306802722486
-      - 0.066382018321176101
-      - 0.053522616458295702
-      - -0.11984797442237689
-      - 6.4504497861602079e-06
-      - 0.082174562219611613
-    accelerations:
-      - -0.34781076937281791
-      - -0.3593519699729063
-      - -0.29001360832638906
-      - -0.23383270829515965
-      - 0.52359877557014867
-      - -2.8181098814462194e-05
-      - -0.35900898925137392
+      - -0.029056540837222731
+      - 0.056872962720200634
+      - -1.2815904900643211
+      - 1.7575411713144107
+      - -2.0467043121495108
+      - -1.5708767181645609
+      - 0.056938292411718439
+    velocities:
+      - 0.078627811259328273
+      - 0.076799287592951446
+      - 0.063277617172091224
+      - 0.053068840381179545
+      - -0.11632449502536517
+      - -4.1353607800834512e-05
+      - 0.076882443129803829
+    accelerations:
+      - -0.35391880017227711
+      - -0.34568826581394652
+      - -0.28482464396019569
+      - -0.23887298925688238
+      - 0.523598775683079
+      - 0.00018614048923980956
+      - -0.34606256477203823
     effort: []
     time_from_start:
       sec: 4
       nanosec: 170000000
   - positions:
-      - -0.031745851763900435
-      - 0.062437197687158996
-      - -1.2794387914234677
-      - 1.7551671989448243
-      - -2.0464219396754944
-      - -1.5707516882883326
-      - 0.0622430477192598
-    velocities:
-      - 0.076133262951950359
-      - 0.078659548327332032
-      - 0.063481882237779952
-      - 0.051184289375237432
-      - -0.11461198666643672
-      - 6.1686387980027334e-06
-      - 0.078584472326934246
-    accelerations:
-      - -0.34781076934436844
-      - -0.35935196994349927
-      - -0.29001360830265804
-      - -0.23383270827603606
-      - 0.52359877552730794
-      - -2.818109881215657e-05
-      - -0.35900898922200852
+      - -0.028287538810757053
+      - 0.057624081272837351
+      - -1.2809716172373165
+      - 1.7580601994437925
+      - -2.0478419983062199
+      - -1.5708771226144327
+      - 0.057690224248806633
+    velocities:
+      - 0.075088623258295323
+      - 0.073342404935485814
+      - 0.060429370733044475
+      - 0.050680110489076384
+      - -0.11108850726955509
+      - -3.9492202908799288e-05
+      - 0.073421817482758139
+    accelerations:
+      - -0.35391880005571275
+      - -0.34568826570009487
+      - -0.28482464386638506
+      - -0.23887298917820626
+      - 0.52359877551061296
+      - 0.00018614048917850061
+      - -0.34606256465804813
     effort: []
     time_from_start:
       sec: 4
       nanosec: 179999999
   - positions:
-      - -0.031001574660692154
-      - 0.063206171700602859
-      - -1.2788181939397112
-      - 1.7556675754313806
-      - -2.047542383934962
-      - -1.5707516279838554
-      - 0.063011287791375922
-    velocities:
-      - 0.072655155257934229
-      - 0.075066028627305575
-      - 0.060581746154275952
-      - 0.048845962292092211
-      - -0.10937599891030185
-      - 5.8868278098347794e-06
-      - 0.074994382434123388
-    accelerations:
-      - -0.34781076944492328
-      - -0.35935197004740227
-      - -0.29001360838652068
-      - -0.23383270834364914
-      - 0.5235987756787075
-      - -2.8181098820305407e-05
-      - -0.35900898932580083
+      - -0.027553928664302889
+      - 0.05834063099889826
+      - -1.2803812268747028
+      - 1.7585553402742522
+      - -2.0489273245853696
+      - -1.570877508450256
+      - 0.058407549829423228
+    velocities:
+      - 0.071549435257122401
+      - 0.069885522277883472
+      - 0.05758112429388508
+      - 0.048291380596878743
+      - -0.10585251951353793
+      - -3.7630798016690446e-05
+      - 0.069961191835575573
+    accelerations:
+      - -0.35391880007881926
+      - -0.34568826572264627
+      - -0.28482464388496742
+      - -0.23887298919379102
+      - 0.52359877554478007
+      - 0.00018614048919065045
+      - -0.34606256468064117
     effort: []
     time_from_start:
       sec: 4
       nanosec: 190000000
   - positions:
-      - -0.030292078634423042
-      - 0.063939210517047498
-      - -1.278226597816789
-      - 1.7561445686471064
-      - -2.0486104683168698
-      - -1.5707515704974884
-      - 0.063743626964564967
-    velocities:
-      - 0.069177047564053601
-      - 0.071472508927419132
-      - 0.057681610070884952
-      - 0.046507635209038105
-      - -0.10414001115437098
-      - 5.6050168216778064e-06
-      - 0.071404292541452405
-    accelerations:
-      - -0.34781076941028433
-      - -0.35935197001161145
-      - -0.29001360835764101
-      - -0.23383270832035527
-      - 0.52359877562655477
-      - -2.818109881749834e-05
-      - -0.35900898929005165
+      - -0.026855710397860222
+      - 0.05902261189838337
+      - -1.279819318976481
+      - 1.7590265938057905
+      - -2.0499602909869594
+      - -1.5708778756720303
+      - 0.059090269153568215
+    velocities:
+      - 0.068010247255949494
+      - 0.066428639620281144
+      - 0.054732877854725692
+      - 0.045902650704681108
+      - -0.10061653175752078
+      - -3.576939312458161e-05
+      - 0.066500566188393034
+    accelerations:
+      - -0.35391880010189802
+      - -0.34568826574519768
+      - -0.28482464390354978
+      - -0.23887298920937577
+      - 0.52359877557893331
+      - 0.00018614048920278674
+      - -0.34606256470319258
     effort: []
     time_from_start:
       sec: 4
       nanosec: 200000000
   - positions:
-      - -0.029617363685093087
-      - 0.064636314136492887
-      - -1.2776640030547011
-      - 1.7565981785920013
-      - -2.0496261928212176
-      - -1.5707515158292309
-      - 0.064440065238826921
-    velocities:
-      - 0.065698939870172973
-      - 0.067878989227532688
-      - 0.054781473987493959
-      - 0.044169308125983991
-      - -0.098904023398440108
-      - 5.3232058335208325e-06
-      - 0.067814202648781421
-    accelerations:
-      - -0.34781076937565925
-      - -0.35935196997582064
-      - -0.29001360832875439
-      - -0.23383270829707528
-      - 0.52359877557441592
-      - -2.818109881469212e-05
-      - -0.35900898925430247
+      - -0.026192884011429066
+      - 0.059670023971292674
+      - -1.2792858935426505
+      - 1.7594739600384068
+      - -2.0509408975109893
+      - -1.5708782242797552
+      - 0.059738382221241601
+    velocities:
+      - 0.064471059254776572
+      - 0.062971756962678802
+      - 0.051884631415566297
+      - 0.043513920812483474
+      - -0.095380544001503614
+      - -3.3907988232472768e-05
+      - 0.063039940541210468
+    accelerations:
+      - -0.35391880012499066
+      - -0.34568826576774908
+      - -0.28482464392213214
+      - -0.23887298922495359
+      - 0.52359877561310042
+      - 0.0001861404892149298
+      - -0.34606256472578562
     effort: []
     time_from_start:
       sec: 4
       nanosec: 210000000
   - positions:
-      - -0.02897742981270239
-      - 0.065297482558938955
-      - -1.2771304096534475
-      - 1.7570284052660654
-      - -2.0505895574480055
-      - -1.5707514639790834
-      - 0.065100602614161715
-    velocities:
-      - 0.062220832176229639
-      - 0.064285469527581462
-      - 0.051881337904050674
-      - 0.041830981042887724
-      - -0.093668035642414854
-      - 5.0413948453587781e-06
-      - 0.064224112756045726
-    accelerations:
-      - -0.34781076940403599
-      - -0.35935197000514441
-      - -0.29001360835241685
-      - -0.2338327083161498
-      - 0.52359877561712498
-      - -2.8181098816991434e-05
-      - -0.35900898928358427
+      - -0.025565449505009413
+      - 0.060282867217626178
+      - -1.2787809505732115
+      - 1.7598974389721012
+      - -2.0518691441574592
+      - -1.5708785542734318
+      - 0.060351889032443373
+    velocities:
+      - 0.060931871253673435
+      - 0.05951487430514462
+      - 0.049036384976463059
+      - 0.041125190920332934
+      - -0.090144556245589688
+      - -3.2046583340400626e-05
+      - 0.059579314894096146
+    accelerations:
+      - -0.35391880007799142
+      - -0.34568826572183964
+      - -0.28482464388431195
+      - -0.23887298919323191
+      - 0.52359877554355172
+      - 0.00018614048919021408
+      - -0.34606256467982033
     effort: []
     time_from_start:
       sec: 4
       nanosec: 219999999
   - positions:
-      - -0.028372277017250595
-      - 0.065922715784386063
-      - -1.2766258176130278
-      - 1.7574352486692988
-      - -2.0515005621972335
-      - -1.5707514149470458
-      - 0.065725239090569695
-    velocities:
-      - 0.058742724482342829
-      - 0.060691949827688621
-      - 0.048981201820654519
-      - 0.039492653959829455
-      - -0.088432047886474671
-      - 4.7595838572013036e-06
-      - 0.060634022863368359
-    accelerations:
-      - -0.34781076937557959
-      - -0.35935196997574431
-      - -0.29001360832869277
-      - -0.23383270829701927
-      - 0.52359877557429813
-      - -2.8181098814685811e-05
-      - -0.35900898925421193
+      - -0.024973406878601175
+      - 0.060861141637383966
+      - -1.2783044900681637
+      - 1.7602970306068739
+      - -2.0527450309263697
+      - -1.570878865653059
+      - 0.060930789587173635
+    velocities:
+      - 0.057392683252506807
+      - 0.056057991647548419
+      - 0.046188138537308729
+      - 0.038736461028139532
+      - -0.084908568489581823
+      - -3.0185178448295091e-05
+      - 0.056118689246919727
+    accelerations:
+      - -0.35391880009479049
+      - -0.34568826573825706
+      - -0.28482464389782891
+      - -0.238872989204577
+      - 0.52359877556842072
+      - 0.00018614048919905033
+      - -0.34606256469625857
     effort: []
     time_from_start:
       sec: 4
       nanosec: 230000000
   - positions:
-      - -0.02780190529873823
-      - 0.06651201381283367
-      - -1.2761502269334424
-      - 1.7578187088017012
-      - -2.0523592070689016
-      - -1.570751368733118
-      - 0.066313974668050321
-    velocities:
-      - 0.055264616788456039
-      - 0.057098430127795814
-      - 0.046081065737258384
-      - 0.037154326876771206
-      - -0.08319606013053453
-      - 4.4777728690438309e-06
-      - 0.057043932970691012
-    accelerations:
-      - -0.34781076934710237
-      - -0.3593519699463234
-      - -0.29001360830494788
-      - -0.23383270827787486
-      - 0.52359877553141576
-      - -2.8181098812378493e-05
-      - -0.35900898922481878
+      - -0.02441675613220453
+      - 0.061404847230565857
+      - -1.2778565120275074
+      - 1.7606727349427247
+      - -2.0535685578177203
+      - -1.5708791584186375
+      - 0.0614750838854322
+    velocities:
+      - 0.053853495251340172
+      - 0.052601108989952218
+      - 0.043339892098154392
+      - 0.036347731135946137
+      - -0.079672580733573958
+      - -2.8323773556189556e-05
+      - 0.052658063599743316
+    accelerations:
+      - -0.35391880011159649
+      - -0.34568826575467448
+      - -0.28482464391135282
+      - -0.23887298921592209
+      - 0.52359877559328971
+      - 0.00018614048920788997
+      - -0.34606256471268987
     effort: []
     time_from_start:
       sec: 4
       nanosec: 240000000
   - positions:
-      - -0.027266314657164965
-      - 0.067065376644282096
-      - -1.2757036376146915
-      - 1.7581787856632731
-      - -2.0531654920630102
-      - -1.5707513253373002
-      - 0.066866809346603939
-    velocities:
-      - 0.051786509094477372
-      - 0.053504910427808083
-      - 0.043180929653784277
-      - 0.034815999793650451
-      - -0.077960072374455194
-      - 4.1959618817590078e-06
-      - 0.053453843077919033
-    accelerations:
-      - -0.34781076941020106
-      - -0.35935197001150043
-      - -0.29001360835891776
-      - -0.2338327083210214
-      - 0.52359877562727641
-      - -2.8181097937396379e-05
-      - -0.35900898928974634
+      - -0.023895497265819323
+      - 0.06191398399717201
+      - -1.2774370164512425
+      - 1.7610245519796537
+      - -2.0543397248315109
+      - -1.5708794325701672
+      - 0.061984771927219219
+    velocities:
+      - 0.050314307250173509
+      - 0.049144226332356017
+      - 0.040491645659000437
+      - 0.033959001243752895
+      - -0.074436592977565885
+      - -2.6462368665428719e-05
+      - 0.049197437952566682
+    accelerations:
+      - -0.35391880012843024
+      - -0.34568826577111272
+      - -0.28482464392490447
+      - -0.23887298922728106
+      - 0.52359877561820034
+      - 0.00018614048922619943
+      - -0.34606256472914199
     effort: []
     time_from_start:
       sec: 4
       nanosec: 250000000
   - positions:
-      - -0.026765505092530745
-      - 0.067582804278731409
-      - -1.2752860496567744
-      - 1.7585154792540139
-      - -2.0539194171795585
-      - -1.5707512847595919
-      - 0.067383743126230591
-    velocities:
-      - 0.048308401400596716
-      - 0.049911390727921612
-      - 0.040280793570393346
-      - 0.032477672710596373
-      - -0.072724084618524337
-      - 3.9141508935429229e-06
-      - 0.049863753185248008
-    accelerations:
-      - -0.34781076937597843
-      - -0.35935196997615371
-      - -0.29001360832901113
-      - -0.23383270829727651
-      - 0.52359877557488776
-      - -2.8181098820628973e-05
-      - -0.3590089892546286
+      - -0.023409630279445693
+      - 0.062388551937202302
+      - -1.2770460033393691
+      - 1.7613524817176609
+      - -2.0550585319677417
+      - -1.5708796881076479
+      - 0.062459853712534569
+    velocities:
+      - 0.046775119249006895
+      - 0.045687343674759837
+      - 0.037643399219846087
+      - 0.031570271351559494
+      - -0.069200605221558062
+      - -2.4600963773228604e-05
+      - 0.045736812305390298
+    accelerations:
+      - -0.35391880014521543
+      - -0.34568826578750933
+      - -0.28482464393842144
+      - -0.23887298923861922
+      - 0.5235987756430277
+      - 0.0001861404892350289
+      - -0.34606256474555941
     effort: []
     time_from_start:
       sec: 4
       nanosec: 260000000
   - positions:
-      - -0.026299476604835868
-      - 0.068064296716181305
-      - -1.2748974630596916
-      - 1.7588287895739243
-      - -2.0546209824185473
-      - -1.570751246999994
-      - 0.067864776006929986
-    velocities:
-      - 0.044830293706636139
-      - 0.04631787102795256
-      - 0.037380657486935774
-      - 0.030139345627488559
-      - -0.067488096862473174
-      - 3.6323399053203616e-06
-      - 0.046273663292494487
-    accelerations:
-      - -0.34781076942095274
-      - -0.35935197002262353
-      - -0.29001360836651502
-      - -0.23383270832751668
-      - 0.52359877564259039
-      - -2.8181098824273292e-05
-      - -0.35900898930105013
+      - -0.022959155173083473
+      - 0.062828551050656864
+      - -1.2766834726918868
+      - 1.7616565241567463
+      - -2.0557249792264125
+      - -1.5708799250310794
+      - 0.062900329241378394
+    velocities:
+      - 0.043235931247917379
+      - 0.04223046101723895
+      - 0.034795152780753784
+      - 0.029181541459418134
+      - -0.0639646174656643
+      - -2.2739558881069035e-05
+      - 0.042276186658289298
+    accelerations:
+      - -0.35391880008522386
+      - -0.34568826572891209
+      - -0.2848246438901369
+      - -0.23887298919812436
+      - 0.52359877555427248
+      - 0.00018614048920347791
+      - -0.34606256468690005
     effort: []
     time_from_start:
       sec: 4
       nanosec: 270000000
   - positions:
-      - -0.025868229194079981
-      - 0.068509853956632158
-      - -1.2745378778234433
-      - 1.7591187166230038
-      - -2.0552701877799766
-      - -1.5707512120585059
-      - 0.068309907988702484
-    velocities:
-      - 0.041352186012735645
-      - 0.042724351328045584
-      - 0.034480521403528301
-      - 0.027801018544421137
-      - -0.062252109106512445
-      - 3.350528917102669e-06
-      - 0.042683573399802985
-    accelerations:
-      - -0.34781076940676992
-      - -0.35935197000797547
-      - -0.29001360835469281
-      - -0.23383270831798861
-      - 0.52359877562125356
-      - -2.8181098823124377e-05
-      - -0.35900898928641534
+      - -0.022544071946732847
+      - 0.063233981337535536
+      - -1.2763494245087963
+      - 1.7619366792969098
+      - -2.0563390666075234
+      - -1.5708801433404624
+      - 0.063306198513750536
+    velocities:
+      - 0.039696743246744458
+      - 0.038773578359636608
+      - 0.031946906341594361
+      - 0.026792811567220486
+      - -0.058728629709647144
+      - -2.0878153988865603e-05
+      - 0.038815561011106753
+    accelerations:
+      - -0.3539188001083165
+      - -0.34568826575147044
+      - -0.28482464390871925
+      - -0.23887298921370911
+      - 0.52359877558843959
+      - 0.00018614048921562437
+      - -0.34606256470948615
     effort: []
     time_from_start:
       sec: 4
       nanosec: 280000000
   - positions:
-      - -0.025471762860263255
-      - 0.068919476000083774
-      - -1.2742072939480287
-      - 1.7593852604012525
-      - -2.0558670332638456
-      - -1.5707511799351275
-      - 0.068719139071547891
-    velocities:
-      - 0.037874078318848821
-      - 0.039130831628152729
-      - 0.031580385320132222
-      - 0.025462691461362909
-      - -0.057016121350572303
-      - 3.0687179288860835e-06
-      - 0.03909348350712559
-    accelerations:
-      - -0.34781076937830657
-      - -0.35935196997856844
-      - -0.29001360833096179
-      - -0.23383270829884767
-      - 0.52359877557839896
-      - -2.8181098820817906e-05
-      - -0.35900898925702912
+      - -0.022164380600393642
+      - 0.063604842797838484
+      - -1.2760438587900969
+      - 1.7621929471381517
+      - -2.0569007941110753
+      - -1.570880343035796
+      - 0.063677461529651147
+    velocities:
+      - 0.036157555245571543
+      - 0.035316695702034273
+      - 0.029098659902434945
+      - 0.024404081675022837
+      - -0.053492641953630002
+      - -1.9016749096662175e-05
+      - 0.035354935363924214
+    accelerations:
+      - -0.35391880013140914
+      - -0.34568826577402184
+      - -0.28482464392729812
+      - -0.2388729892292904
+      - 0.52359877562259283
+      - 0.00018614048922776743
+      - -0.34606256473205838
     effort: []
     time_from_start:
       sec: 4
       nanosec: 290000000
   - positions:
-      - -0.025110077603385871
-      - 0.069293162846535972
-      - -1.2739057114334489
-      - 1.7596284209086703
-      - -2.0564115188701546
-      - -1.5707511506298593
-      - 0.069092469255466055
-    velocities:
-      - 0.034395970624900588
-      - 0.035537311928196438
-      - 0.028680249236684951
-      - 0.023124364378263398
-      - -0.051780133594539729
-      - 2.7869069406645233e-06
-      - 0.035503393614384815
-    accelerations:
-      - -0.34781076941093658
-      - -0.35935197001227759
-      - -0.29001360835816142
-      - -0.23383270832078201
-      - 0.52359877562751234
-      - -2.8181098823461452e-05
-      - -0.35900898929070391
+      - -0.021820081134066024
+      - 0.063941135431565557
+      - -1.2757667755357891
+      - 1.7624253276804713
+      - -2.0574101617370664
+      - -1.5708805241170813
+      - 0.064014118289080074
+    velocities:
+      - 0.032618367244456881
+      - 0.031859813044488823
+      - 0.026250413463322398
+      - 0.022015351782864501
+      - -0.048256654197699027
+      - -1.7155344204489381e-05
+      - 0.03189430971679863
+    accelerations:
+      - -0.35391880009656407
+      - -0.34568826573998829
+      - -0.28482464389926121
+      - -0.23887298920577502
+      - 0.52359877557105083
+      - 0.00018614048920944035
+      - -0.34606256469798352
     effort: []
     time_from_start:
       sec: 4
       nanosec: 300000000
   - positions:
-      - -0.024783173423447304
-      - 0.06963091449598928
-      - -1.2736331302797028
-      - 1.7598481981452574
-      - -2.0569036445989042
-      - -1.5707511241427006
-      - 0.069429898540457502
-    velocities:
-      - 0.030917862931019946
-      - 0.031943792228309981
-      - 0.025780113153294027
-      - 0.020786037295209323
-      - -0.046544145838608893
-      - 2.5050959524484388e-06
-      - 0.031913303721713797
-    accelerations:
-      - -0.34781076937628375
-      - -0.3593519699764729
-      - -0.29001360832927137
-      - -0.23383270829749161
-      - 0.52359877557535273
-      - -2.8181098820653961e-05
-      - -0.35900898925494779
+      - -0.021511173547749826
+      - 0.064242859238716907
+      - -1.2755181747458726
+      - 1.7626338209238694
+      - -2.0578671694854984
+      - -1.5708806865843172
+      - 0.064316168792037484
+    velocities:
+      - 0.029079179243300092
+      - 0.028402930386902243
+      - 0.023402167024175958
+      - 0.01962662189067774
+      - -0.043020666441705741
+      - -1.5293939312294437e-05
+      - 0.028433684069631857
+    accelerations:
+      - -0.35391880010258076
+      - -0.34568826574586387
+      - -0.28482464390410545
+      - -0.23887298920983616
+      - 0.52359877557995305
+      - 0.00018614048921260354
+      - -0.34606256470387198
     effort: []
     time_from_start:
       sec: 4
       nanosec: 310000000
   - positions:
-      - -0.024491050320448245
-      - 0.069932730948443017
-      - -1.2733895504867909
-      - 1.7600445921110137
-      - -2.0573434104500938
-      - -1.5707511004736519
-      - 0.069731426926521484
-    velocities:
-      - 0.02743975523709025
-      - 0.028350272528372831
-      - 0.022879977069862206
-      - 0.01844771021212227
-      - -0.041308158082604206
-      - 2.22328496422838e-06
-      - 0.028323213828992153
-    accelerations:
-      - -0.34781076939038341
-      - -0.35935196999104113
-      - -0.29001360834102502
-      - -0.23383270830696715
-      - 0.52359877559657164
-      - -2.8181098821796144e-05
-      - -0.35900898926949204
+      - -0.021237657841445132
+      - 0.06451001421929245
+      - -1.2752980564203478
+      - 1.7628184268683458
+      - -2.0582718173563701
+      - -1.5708808304375044
+      - 0.06458361303852328
+    velocities:
+      - 0.025539991242139747
+      - 0.024946047729312179
+      - 0.020553920585026655
+      - 0.017237891998488575
+      - -0.037784678685707188
+      - -1.3432534420097617e-05
+      - 0.024973058422461607
+    accelerations:
+      - -0.35391880011310012
+      - -0.34568826575614037
+      - -0.28482464391256745
+      - -0.23887298921693811
+      - 0.52359877559551693
+      - 0.00018614048921813806
+      - -0.34606256471415542
     effort: []
     time_from_start:
       sec: 4
       nanosec: 320000000
   - positions:
-      - -0.024233708294388093
-      - 0.070198612203897781
-      - -1.2731749720547136
-      - 1.7602176028059393
-      - -2.0577308164237236
-      - -1.5707510796227131
-      - 0.06999705441365868
-    velocities:
-      - 0.023961647543170844
-      - 0.024756752828446318
-      - 0.01997984098643896
-      - 0.016109383129042136
-      - -0.03607217032661502
-      - 1.9414739760091547e-06
-      - 0.024733123936281125
-    accelerations:
-      - -0.34781076939542149
-      - -0.35935196999624869
-      - -0.29001360834522905
-      - -0.23383270831035535
-      - 0.52359877560415635
-      - -2.8181098822204963e-05
-      - -0.35900898927469871
+      - -0.020999534015151946
+      - 0.064742600373292186
+      - -1.275106420559214
+      - 1.7629791455139001
+      - -2.0586241053496819
+      - -1.5708809556766425
+      - 0.064816451028537475
+    velocities:
+      - 0.022000803240979402
+      - 0.021489165071722119
+      - 0.01770567414587735
+      - 0.014849162106299411
+      - -0.032548690929708642
+      - -1.1571129527900798e-05
+      - 0.021512432775291357
+    accelerations:
+      - -0.35391880012361604
+      - -0.34568826576641337
+      - -0.28482464392103291
+      - -0.23887298922403485
+      - 0.52359877561107393
+      - 0.00018614048922366917
+      - -0.34606256472443886
     effort: []
     time_from_start:
       sec: 4
       nanosec: 330000000
   - positions:
-      - -0.024011147345267197
-      - 0.070428558262353211
-      - -1.2729893949834703
-      - 1.7603672302300339
-      - -2.0580658625197934
-      - -1.5707510615898841
-      - 0.070226781001868688
-    velocities:
-      - 0.020483539849241152
-      - 0.021163233128509176
-      - 0.017079704903007142
-      - 0.013771056045955087
-      - -0.03083618257061034
-      - 1.6596629877890964e-06
-      - 0.021143034043559484
-    accelerations:
-      - -0.34781076940951422
-      - -0.35935197001080998
-      - -0.2900136083569792
-      - -0.23383270831982916
-      - 0.52359877562537527
-      - -2.8181098823346509e-05
-      - -0.35900898928924296
+      - -0.020796802068870263
+      - 0.06494061770071613
+      - -1.2749432671624716
+      - 1.7631159768605327
+      - -2.0589240334654342
+      - -1.5708810623017317
+      - 0.065014682762080056
+    velocities:
+      - 0.018461615239852167
+      - 0.018032282414164397
+      - 0.014857427706754691
+      - 0.012460432214132592
+      - -0.027312703173759074
+      - -9.7097246357213935e-06
+      - 0.018051807128153477
+    accelerations:
+      - -0.3539188001013408
+      - -0.34568826574465472
+      - -0.28482464390310769
+      - -0.23887298920900055
+      - 0.52359877557811785
+      - 0.00018614048921195402
+      - -0.34606256470265973
     effort: []
     time_from_start:
       sec: 4
       nanosec: 340000000
   - positions:
-      - -0.023823367473085392
-      - 0.070622569123809473
-      - -1.2728328192730609
-      - 1.7604934743832983
-      - -2.0583485487383033
-      - -1.570751046375165
-      - 0.070420606691151716
-    velocities:
-      - 0.017005432155353453
-      - 0.017569713428616889
-      - 0.014179568819614699
-      - 0.011432728962897985
-      - -0.025600194814668385
-      - 1.3778520089788878e-06
-      - 0.017552944150881371
-    accelerations:
-      - -0.34781076938192174
-      - -0.35935196998083396
-      - -0.29001360832961048
-      - -0.23383270829956412
-      - 0.52359877558433865
-      - -2.818108941466335e-05
-      - -0.35900898926057839
+      - -0.020629462002600112
+      - 0.065104066201564226
+      - -1.2748085962301212
+      - 1.7632289209082437
+      - -2.0591716017036266
+      - -1.5708811503127722
+      - 0.065178308239151009
+    velocities:
+      - 0.014922427238687157
+      - 0.014575399756569359
+      - 0.012009181267597988
+      - 0.010071702321941402
+      - -0.022076715417749773
+      - -7.8483197369816522e-06
+      - 0.01459118148097828
+    accelerations:
+      - -0.35391880011773391
+      - -0.34568826576065581
+      - -0.28482464391621182
+      - -0.23887298922009062
+      - 0.52359877560227908
+      - 0.00018614048906545459
+      - -0.34606256471867813
     effort: []
     time_from_start:
       sec: 4
       nanosec: 350000000
   - positions:
-      - -0.023670368677842828
-      - 0.070780644788266456
-      - -1.2727052449234859
-      - 1.7605963352657312
-      - -2.0585788750792537
-      - -1.570751033978556
-      - 0.070578531481507556
-    velocities:
-      - 0.013527324461418379
-      - 0.013976193728673888
-      - 0.011279432736177502
-      - 0.0090944018798069688
-      - -0.020364207058655711
-      - 1.0960410188344999e-06
-      - 0.013962854258154135
-    accelerations:
-      - -0.34781076940012562
-      - -0.35935197000113722
-      - -0.29001360834923889
-      - -0.23383270831355041
-      - 0.52359877561123003
-      - -2.8181099014974923e-05
-      - -0.35900898927955516
+      - -0.020497513816341427
+      - 0.065232945875836557
+      - -1.2747024077621616
+      - 1.7633179776570325
+      - -2.059366810064259
+      - -1.5708812197097637
+      - 0.065307327459750375
+    velocities:
+      - 0.011383239237541014
+      - 0.011118517098993268
+      - 0.0091609348284609777
+      - 0.0076829724297615568
+      - -0.016840727661773146
+      - -5.9869148463435228e-06
+      - 0.011130555833822007
+    accelerations:
+      - -0.35391880011375138
+      - -0.34568826575676659
+      - -0.28482464391300572
+      - -0.23887298921740321
+      - 0.52359877559638812
+      - 0.00018614048906335918
+      - -0.34606256471478403
     effort: []
     time_from_start:
       sec: 4
       nanosec: 360000000
   - positions:
-      - -0.023552150959539345
-      - 0.070902785255724271
-      - -1.2726066719347453
-      - 1.7606758128773339
-      - -2.0587568415426443
-      - -1.5707510244000564
-      - 0.070700555372936416
-    velocities:
-      - 0.01004921676750802
-      - 0.010382674028756424
-      - 0.0083792966527609109
-      - 0.0067560747967325661
-      - -0.015128219302680245
-      - 8.1423002869211459e-07
-      - 0.010372764365452413
-    accelerations:
-      - -0.34781076939451178
-      - -0.35935196999533636
-      - -0.29001360834455692
-      - -0.23383270830977662
-      - 0.52359877560277646
-      - -2.818109901452009e-05
-      - -0.35900898927375841
+      - -0.020400957510094249
+      - 0.065327256723533095
+      - -1.2746247017585937
+      - 1.7633831471068997
+      - -2.0595096585473311
+      - -1.570881270492706
+      - 0.065401740423878155
+    velocities:
+      - 0.0078440512363823038
+      - 0.0076616344414049053
+      - 0.0063126883893138541
+      - 0.0052942425375732301
+      - -0.011604739905777929
+      - -4.1255099556987839e-06
+      - 0.0076699301866534472
+    accelerations:
+      - -0.35391880012232646
+      - -0.34568826576514095
+      - -0.28482464391990703
+      - -0.23887298922318989
+      - 0.52359877560907075
+      - 0.00018614048906786894
+      - -0.34606256472316738
     effort: []
     time_from_start:
       sec: 4
       nanosec: 370000000
   - positions:
-      - -0.023468714318175109
-      - 0.07098899052618278
-      - -1.2725371003068386
-      - 1.7607319072181054
-      - -2.0588824481284744
-      - -1.5707510176396671
-      - 0.070786678365438102
-    velocities:
-      - 0.0065711090735925829
-      - 0.0067891543288337115
-      - 0.0054791605693400858
-      - 0.0044177477136547495
-      - -0.0098922315466971316
-      - 5.3241903854931781e-07
-      - 0.0067826744727454459
-    accelerations:
-      - -0.34781076939768074
-      - -0.35935196999861219
-      - -0.29001360834720041
-      - -0.23383270831190811
-      - 0.52359877560755019
-      - -2.8181099014776951e-05
-      - -0.35900898927703118
+      - -0.020339793083858578
+      - 0.065386998744653813
+      - -1.2745754782194172
+      - 1.7634244292578449
+      - -2.0596001471528442
+      - -1.5708813026615995
+      - 0.06546154713153432
+    velocities:
+      - 0.0043048632352349035
+      - 0.0042047517838275867
+      - 0.0034644419501758312
+      - 0.0029055126453925361
+      - -0.0063687521497994412
+      - -2.2641050650599921e-06
+      - 0.0042093045394959441
+    accelerations:
+      - -0.35391880012053939
+      - -0.34568826576339573
+      - -0.28482464391846862
+      - -0.23887298922198288
+      - 0.52359877560642765
+      - 0.00018614048906692894
+      - -0.34606256472142005
     effort: []
     time_from_start:
       sec: 4
       nanosec: 380000000
   - positions:
-      - -0.023419302903697519
-      - 0.071039395439962905
-      - -1.2724962168044482
-      - 1.7607650208448651
-      - -2.0589566603858711
-      - -1.5707514337750852
-      - 0.07083758657104669
-    velocities:
-      - 0.0040140587915999055
-      - 0.0031346486834058431
-      - 0.0028501787730399256
-      - 0.0025331410702723912
-      - -0.0057727457399824895
-      - -0.00065815096349679096
-      - 0.00399585678241171
-    accelerations:
-      - 0.16660997646362394
-      - -0.52065390901765873
-      - -0.20100304727589763
-      - -0.0012216416072571867
-      - -0.066043883683127941
-      - -0.45049458718810181
-      - 0.07110063147385344
+      - -0.020304399140740562
+      - 0.065431436994134506
+      - -1.2745552828538704
+      - 1.7634601943675854
+      - -2.0596560718135248
+      - -1.5708681384443097
+      - 0.065482494748511241
+    velocities:
+      - 0.0027187534043031213
+      - 0.0049535142527776252
+      - 0.00025764142370509496
+      - 0.0046008461929224944
+      - -0.0048516898601171799
+      - 0.0030686745607936918
+      - -0.00052298040858578428
+    accelerations:
+      - -0.20584673933024486
+      - 0.031313836159300938
+      - -0.36085707658668925
+      - 0.14075128261279052
+      - 0.22065889690403107
+      - 0.31055871323373369
+      - -0.52298040858488637
     effort: []
     time_from_start:
       sec: 4
       nanosec: 390000000
   - positions:
-      - -0.023374885863827469
-      - 0.071045137901399769
-      - -1.272478880034972
-      - 1.7607883203070527
-      - -2.0590128184758565
-      - -1.5707775378501356
-      - 0.070877587888370536
-    velocities:
-      - 0.0042944545824987971
-      - -0.0021074195137684329
-      - 0.0003697528306035852
-      - 0.0018175121421710502
-      - -0.0047194932981140655
-      - -0.0042553188065414848
-      - 0.0034798309134486988
-    accelerations:
-      - -0.35130601790641391
-      - -0.35684694869772482
-      - -0.28992702651788321
-      - -0.23518288990759037
-      - 0.52722931770254733
-      - 0.0039488026635927966
-      - -0.36172621932509602
+      - -0.020289625673597073
+      - 0.065476915773938313
+      - -1.274568719812146
+      - 1.7635067086050422
+      - -2.0596890646655401
+      - -1.570827187662859
+      - 0.065454888388700311
+    velocities:
+      - 0.00066652638186942385
+      - 0.0044321970714857779
+      - -0.0014614880879208166
+      - 0.0037099695182702041
+      - -0.0022403653806019651
+      - 0.0042357853949124549
+      - -0.00312750474060764
+    accelerations:
+      - 0.15336295311296214
+      - 0.42045530225854377
+      - 0.49654393806861469
+      - -0.22856766797019321
+      - -0.2682443711877272
+      - -0.054055390583715147
+      - 0.51696844919970097
     effort: []
     time_from_start:
       sec: 4
       nanosec: 400000000
   - positions:
-      - -0.023338028525479882
-      - 0.071039064347634448
-      - -1.272464202976382
-      - 1.7607958571644926
-      - -2.0590556391791566
-      - -1.5708121456716688
-      - 0.070916960821652691
-    velocities:
-      - 0.002938679578590809
-      - 0.0020896899367395892
-      - 0.003317059357557702
-      - -0.00055825081341006569
-      - -0.0039606013147846309
-      - -0.0020150497421113048
-      - 0.0047365556534388628
-    accelerations:
-      - -0.20653263917683562
-      - 0.52137651238067317
-      - 0.31969100614291529
-      - -0.2535901079895887
-      - 0.13576486147649261
-      - 0.33962201444762946
-      - 0.075518544548253158
+      - -0.020277890979315774
+      - 0.065531708833557939
+      - -1.2745621593529195
+      - 1.76353006499009
+      - -2.0597189214223448
+      - -1.570792498538083
+      - 0.065447772506928251
+    velocities:
+      - 0.0015623505036693201
+      - 0.0058234350947211555
+      - 0.0029183795725774178
+      - 0.0004523925796683446
+      - -0.0033680157937096499
+      - 0.0020926551739834562
+      - 0.0020889253197662679
+    accelerations:
+      - 0.039906411204322555
+      - -0.077917815899680387
+      - 0.38949475206984124
+      - -0.39770699263261583
+      - 0.0074750361600105387
+      - -0.33556841995290032
+      - 0.52100121071759797
     effort: []
     time_from_start:
       sec: 4
       nanosec: 410000000
   - positions:
-      - -0.023316579944883647
-      - 0.071083965268145657
-      - -1.2724154650740105
-      - 1.7607787904728984
-      - -2.0590908729431412
-      - -1.5708180678565271
-      - 0.070969652002509473
-    velocities:
-      - 0.0023788835347616807
-      - 0.007212500107821102
-      - 0.0072524459305938673
-      - -0.0028711659889859749
-      - -0.0043841810769285261
-      - 4.6619826142571383e-06
-      - 0.007208458714992547
-    accelerations:
-      - 0.17174626574572238
-      - 0.52071484043164473
-      - 0.52359877560254076
-      - -0.20728717053139212
-      - -0.31652105591246138
-      - 0.00033657726125308521
-      - 0.52042306737231925
+      - -0.020260721580831961
+      - 0.06558594797722353
+      - -1.2745165300015751
+      - 1.7635174187942462
+      - -2.0597519090525398
+      - -1.5707862477502503
+      - 0.065490859655293221
+    velocities:
+      - 0.0023225734191933203
+      - 0.0068447406281307204
+      - 0.0068566709168390843
+      - -0.0025997881250707376
+      - -0.0042592425612268617
+      - 4.5684212754836388e-07
+      - 0.00684448875545275
+    accelerations:
+      - 0.17735962732715818
+      - 0.52268773805995083
+      - 0.52359877559346191
+      - -0.19852868769688473
+      - -0.32525028794032229
+      - 3.4886022900178381e-05
+      - 0.5226685042032595
     effort: []
     time_from_start:
       sec: 4
       nanosec: 420000000
   - positions:
-      - -0.023284613010509814
-      - 0.071180885320871592
-      - -1.2723180082377572
-      - 1.7607402083509049
-      - -2.0591497866422444
-      - -1.5708180052097895
-      - 0.071066517747852359
-    velocities:
-      - 0.0040963461922025411
-      - 0.012419648512087931
-      - 0.012488433686569374
-      - -0.0049440376942801447
-      - -0.0075493916360229755
-      - 8.0277552267559172e-06
-      - 0.012412689388666152
-    accelerations:
-      - 0.17174626574403176
-      - 0.52071484042651783
-      - 0.52359877559738588
-      - -0.20728717052935147
-      - -0.3165210559093446
-      - 0.00033657726124977047
-      - 0.52042306736719623
+      - -0.020229272814601372
+      - 0.065678629072315836
+      - -1.2744236873646098
+      - 1.7634822164069641
+      - -2.0598095812546418
+      - -1.5707862415643872
+      - 0.06558353733990778
+    velocities:
+      - 0.0040961696924848049
+      - 0.012071618008788886
+      - 0.012092658672832466
+      - -0.0045850750020618673
+      - -0.0075117454406665868
+      - 8.0570235655406304e-07
+      - 0.012071173797544006
+    accelerations:
+      - 0.17735962733209482
+      - 0.52268773807450009
+      - 0.52359877560803747
+      - -0.19852868770241083
+      - -0.32525028794937538
+      - 3.4886022901149535e-05
+      - 0.52266850421780864
     effort: []
     time_from_start:
       sec: 4
       nanosec: 430000000
   - positions:
-      - -0.023235471449561555
-      - 0.071329876857640265
-      - -1.272168191523944
-      - 1.7606808975118589
-      - -2.0592403524469387
-      - -1.570817908905326
-      - 0.071215425799932064
-    velocities:
-      - 0.0058138088496488636
-      - 0.017626796916371319
-      - 0.017724421442561533
-      - -0.0070169093995809066
-      - -0.010714602195127491
-      - 1.13935278392654e-05
-      - 0.017616920062356309
-    accelerations:
-      - 0.17174626574627708
-      - 0.52071484043332661
-      - 0.52359877560423207
-      - -0.20728717053206086
-      - -0.31652105591348401
-      - 0.00033657726125417114
-      - 0.52042306737400279
+      - -0.020180088085637912
+      - 0.065823578941214586
+      - -1.2742784848500845
+      - 1.7634271611509116
+      - -2.0598997784855375
+      - -1.5707862318899217
+      - 0.065728481874943109
+    velocities:
+      - 0.005869765965768106
+      - 0.017298495389422932
+      - 0.017328646428801685
+      - -0.0065703618790438371
+      - -0.010764248320091305
+      - 1.1545625855581524e-06
+      - 0.017297858839611144
+    accelerations:
+      - 0.17735962732664337
+      - 0.52268773805843294
+      - 0.52359877559194024
+      - -0.19852868769630938
+      - -0.32525028793937966
+      - 3.4886022900077164e-05
+      - 0.52266850420174149
     effort: []
     time_from_start:
       sec: 4
       nanosec: 440000000
   - positions:
-      - -0.02316915526203886
-      - 0.071530939878451674
-      - -1.2719660149325711
-      - 1.7606008579557595
-      - -2.0593625703572243
-      - -1.5708177789431361
-      - 0.071416376158748573
-    velocities:
-      - 0.0075312715070937819
-      - 0.022833945320650452
-      - 0.022960409198549411
-      - -0.0090897811048799744
-      - -0.013879812754229419
-      - 1.4759300451772134e-05
-      - 0.022821150736042208
-    accelerations:
-      - 0.17174626574833932
-      - 0.52071484043957816
-      - 0.52359877561051915
-      - -0.20728717053455087
-      - -0.31652105591728508
-      - 0.00033657726125821381
-      - 0.52042306738025013
+      - -0.020113167393941582
+      - 0.06602079758391978
+      - -1.2740809224579994
+      - 1.7633522530260894
+      - -2.0600225007452275
+      - -1.570786218726854
+      - 0.06592569326039921
+    velocities:
+      - 0.0076433622390601579
+      - 0.02252537277008277
+      - 0.022564634184796744
+      - -0.0085556487560356012
+      - -0.014016751199532069
+      - 1.5034228145639633e-06
+      - 0.022524543881704072
+    accelerations:
+      - 0.17735962733041447
+      - 0.52268773806954694
+      - 0.52359877560307688
+      - -0.19852868770053034
+      - -0.32525028794629418
+      - 3.4886022900819029e-05
+      - 0.52266850421285904
     effort: []
     time_from_start:
       sec: 4
       nanosec: 450000000
   - positions:
-      - -0.023085664447941773
-      - 0.07178407438330571
-      - -1.2717114784636383
-      - 1.7605000896826071
-      - -2.0595164403731006
-      - -1.5708176153232203
-      - 0.071669368824301777
-    velocities:
-      - 0.0092487341645407263
-      - 0.028041093724935729
-      - 0.028196396954543471
-      - -0.011162652810181488
-      - -0.01704502331333508
-      - 1.8125073064282838e-05
-      - 0.028025381409734252
-    accelerations:
-      - 0.17174626575227603
-      - 0.52071484045151173
-      - 0.52359877562252022
-      - -0.20728717053930099
-      - -0.31652105592453816
-      - 0.0003365772612659285
-      - 0.52042306739217625
+      - -0.02002851073951235
+      - 0.066270285000431514
+      - -1.2738310001883544
+      - 1.7632574920324973
+      - -2.0601777480337118
+      - -1.5707862020751839
+      - 0.066175171496276192
+    velocities:
+      - 0.0094169585123435873
+      - 0.027752250150717195
+      - 0.027800621940766341
+      - -0.010540935633017714
+      - -0.017269254078957023
+      - 1.8522830435680777e-06
+      - 0.027751228923771586
+    accelerations:
+      - 0.1773596273263516
+      - 0.52268773805757185
+      - 0.52359877559107648
+      - -0.19852868769598178
+      - -0.32525028793884281
+      - 3.4886022900019633e-05
+      - 0.5226685042008804
     effort: []
     time_from_start:
       sec: 4
       nanosec: 460000000
   - positions:
-      - -0.022984999007270215
-      - 0.072089280372202608
-      - -1.2714045821171458
-      - 1.7603785926924018
-      - -2.0597019624945681
-      - -1.5708174180455785
-      - 0.07197440379659191
-    velocities:
-      - 0.01096619682197994
-      - 0.033248242129197567
-      - 0.033432384710513956
-      - -0.013235524515473671
-      - -0.020210233872426497
-      - 2.149084567677839e-05
-      - 0.033229612083402867
-    accelerations:
-      - 0.17174626574771754
-      - 0.52071484043769667
-      - 0.52359877560862467
-      - -0.20728717053380122
-      - -0.31652105591614177
-      - 0.00033657726125699842
-      - 0.52042306737836552
+      - -0.019926118122350213
+      - 0.066572041190749817
+      - -1.2735287180411496
+      - 1.7631428781701353
+      - -2.0603655203509907
+      - -1.5707861819349116
+      - 0.066476916582574069
+    velocities:
+      - 0.011190554785626189
+      - 0.032979127531349184
+      - 0.033036609696733499
+      - -0.012526222509998901
+      - -0.020521756958380457
+      - 2.2011432725720296e-06
+      - 0.032977913965836665
+    accelerations:
+      - 0.17735962732067279
+      - 0.52268773804083657
+      - 0.52359877557431189
+      - -0.19852868768962526
+      - -0.32525028792842919
+      - 3.4886022898902688e-05
+      - 0.52266850418414867
     effort: []
     time_from_start:
       sec: 4
       nanosec: 470000000
   - positions:
-      - -0.02286715894002422
-      - 0.072446557845142243
-      - -1.2710453258930932
-      - 1.7602363669851435
-      - -2.0599191367216267
-      - -1.5708171871102103
-      - 0.072331481075618834
-    velocities:
-      - 0.01268365947941366
-      - 0.038455390533442747
-      - 0.03866837246646769
-      - -0.015308396220759222
-      - -0.023375444431507783
-      - 2.4856618289263172e-05
-      - 0.038433842757054831
-    accelerations:
-      - 0.17174626573827703
-      - 0.52071484040907134
-      - 0.52359877557983536
-      - -0.20728717052240433
-      - -0.31652105589873569
-      - 0.00033657726123848984
-      - 0.52042306734975374
+      - -0.019805989542455243
+      - 0.066926066154874453
+      - -1.2731740760163852
+      - 1.7630084114390034
+      - -2.0605858176970644
+      - -1.5707861583060372
+      - 0.066830928519292607
+    velocities:
+      - 0.012964151058919075
+      - 0.038206004912011475
+      - 0.038272597452731018
+      - -0.014511509386991599
+      - -0.023774259837822751
+      - 2.5500035015780043e-06
+      - 0.03820459900793205
+    accelerations:
+      - 0.17735962732544536
+      - 0.52268773805490232
+      - 0.5235987755884115
+      - -0.19852868769496881
+      - -0.32525028793718169
+      - 3.4886022899841553e-05
+      - 0.52266850419821442
     effort: []
     time_from_start:
       sec: 4
       nanosec: 480000000
   - positions:
-      - -0.022732144246203796
-      - 0.072855906802124615
-      - -1.2706337097914808
-      - 1.7600734125608324
-      - -2.0601679630542762
-      - -1.5708169225171162
-      - 0.072740600661382576
-    velocities:
-      - 0.014401122136853899
-      - 0.04366253893770769
-      - 0.043904360222441305
-      - -0.017381267926052643
-      - -0.026540654990601088
-      - 2.8222390901760734e-05
-      - 0.043638073430726551
-    accelerations:
-      - 0.17174626573489629
-      - 0.52071484039882043
-      - 0.52359877556953083
-      - -0.20728717051832554
-      - -0.31652105589250779
-      - 0.00033657726123186786
-      - 0.52042306733951038
+      - -0.019668124999827372
+      - 0.067332359892805629
+      - -1.2727670741140606
+      - 1.762854091839102
+      - -2.0608386400719318
+      - -1.5707861311885605
+      - 0.067237207306432026
+    velocities:
+      - 0.014737747332204849
+      - 0.043432882292652818
+      - 0.04350858520870754
+      - -0.016496796263976338
+      - -0.027026762717252004
+      - 2.8988637305825802e-06
+      - 0.043431284050006479
+    accelerations:
+      - 0.1773596273235816
+      - 0.52268773804941238
+      - 0.52359877558290235
+      - -0.19852868769288418
+      - -0.32525028793376609
+      - 3.4886022899474923e-05
+      - 0.52266850419272448
     effort: []
     time_from_start:
       sec: 4
       nanosec: 490000000
   - positions:
-      - -0.022579954925808943
-      - 0.073317327243149738
-      - -1.2701697338123088
-      - 1.7598897294194682
-      - -2.0604484414925164
-      - -1.5708166242662958
-      - 0.073201762553883123
-    velocities:
-      - 0.016118584794319147
-      - 0.048869687342048468
-      - 0.049140347978491171
-      - -0.019454139631376249
-      - -0.029705865549740484
-      - 3.1588163514307315e-05
-      - 0.048842304104474064
-    accelerations:
-      - 0.17174626575713695
-      - 0.52071484046625471
-      - 0.52359877563734492
-      - -0.2072871705451691
-      - -0.31652105593349605
-      - 0.00033657726127545772
-      - 0.52042306740690936
+      - -0.019512524494466634
+      - 0.06779092240454325
+      - -1.2723077123341766
+      - 1.7626799193704303
+      - -2.061123987475594
+      - -1.570786100582481
+      - 0.067695752943992216
+    velocities:
+      - 0.016511343605494579
+      - 0.048659759673305811
+      - 0.04874457296469574
+      - -0.018482083140965503
+      - -0.030279265596688511
+      - 3.2477239595879345e-06
+      - 0.048657969092092565
+    accelerations:
+      - 0.17735962732520041
+      - 0.522687738054187
+      - 0.52359877558768309
+      - -0.19852868769469584
+      - -0.32525028793673505
+      - 3.4886022899793767e-05
+      - 0.52266850419749911
     effort: []
     time_from_start:
       sec: 4
       nanosec: 500000000
   - positions:
-      - -0.022410591371514962
-      - 0.073830817977671409
-      - -1.2696533991527168
-      - 1.7596853180349858
-      - -2.060760571312664
-      - -1.5708162923585189
-      - 0.073714965563241419
-    velocities:
-      - 0.017815556851643738
-      - 0.054014710613500119
-      - 0.054313866526847186
-      - -0.021502280443679835
-      - -0.032833312805175333
-      - 3.4913779973728185e-05
-      - 0.053984444456016911
-    accelerations:
-      - 0.17174626575152352
-      - 0.52071484044922911
-      - 0.52359877562019874
-      - -0.20728717053844509
-      - -0.31652105592311192
-      - 0.00033657726130547581
-      - 0.52042306738989796
+      - -0.019339188637063669
+      - 0.0683017518903513
+      - -1.2717959924796054
+      - 1.7624858947165696
+      - -2.0614418587881369
+      - -1.5707860664879199
+      - 0.068206563632303374
+    velocities:
+      - 0.018332050515907198
+      - 0.054025474469933492
+      - 0.054119640128363122
+      - -0.020520103625402141
+      - -0.0336181621414696
+      - 3.6058506873053457e-06
+      - 0.054023486441216011
+    accelerations:
+      - 0.1773596273175142
+      - 0.52268773803152524
+      - 0.5235987755649858
+      - -0.19852868768608528
+      - -0.32525028792261346
+      - 3.4886022897881946e-05
+      - 0.52266850417483735
     effort: []
     time_from_start:
       sec: 4
       nanosec: 510000000
   - positions:
-      - -0.022224053706705656
-      - 0.074396378631604212
-      - -1.2690847061888622
-      - 1.7594601785563022
-      - -2.0611043522873276
-      - -1.5708159267940272
-      - 0.074280209315581602
-    velocities:
-      - 0.019533019509089609
-      - 0.059221859017782104
-      - 0.05954985428283769
-      - -0.023575152148980559
-      - -0.03599852336427864
-      - 3.8279552586646943e-05
-      - 0.059188675129705645
-    accelerations:
-      - 0.17174626575414975
-      - 0.52071484045719252
-      - 0.52359877562819945
-      - -0.20728717054161291
-      - -0.31652105592795188
-      - 0.00033657726131061297
-      - 0.52042306739784716
+      - -0.019148117949544512
+      - 0.068864846812087488
+      - -1.2712319160911705
+      - 1.7622720184617411
+      - -2.0617922530524297
+      - -1.5707860289049789
+      - 0.068769637833279856
+    velocities:
+      - 0.020105646789212037
+      - 0.059252351850631026
+      - 0.05935562788439587
+      - -0.022505390502408181
+      - -0.036870665020933641
+      - 3.9547109163096827e-06
+      - 0.059250171483346638
+    accelerations:
+      - 0.17735962733467342
+      - 0.52268773808210145
+      - 0.52359877561564694
+      - -0.19852868770529439
+      - -0.32525028795409011
+      - 3.4886022901257928e-05
+      - 0.52266850422541355
     effort: []
     time_from_start:
       sec: 4
       nanosec: 520000000
   - positions:
-      - -0.022020341415321915
-      - 0.075014010769579753
-      - -1.2684636533474474
-      - 1.7592143103605653
-      - -2.0614797853675815
-      - -1.570815527571809
-      - 0.07489749537465859
-    velocities:
-      - 0.021250482166505505
-      - 0.064429007421973203
-      - 0.064785842038736802
-      - -0.025648023854245101
-      - -0.039163733923326699
-      - 4.1645325199506956e-05
-      - 0.064392905803303535
-    accelerations:
-      - 0.17174626572634238
-      - 0.52071484037287596
-      - 0.52359877554341971
-      - -0.20728717050804904
-      - -0.31652105587670792
-      - 0.00033657726125611669
-      - 0.52042306731357968
+      - -0.018939311299292452
+      - 0.069480210507630244
+      - -1.2706154798251761
+      - 1.7620382893381425
+      - -2.0621751723455173
+      - -1.5707859878334358
+      - 0.06938497888467722
+    velocities:
+      - 0.021879243062492223
+      - 0.064479229231255902
+      - 0.064591615640355829
+      - -0.024490677379386622
+      - -0.040123167900352461
+      - 4.30357114530917e-06
+      - 0.064476856525404608
+    accelerations:
+      - 0.17735962732670962
+      - 0.52268773805864177
+      - 0.52359877559212398
+      - -0.19852868769637852
+      - -0.32525028793947935
+      - 3.4886022899691276e-05
+      - 0.52266850420192612
     effort: []
     time_from_start:
       sec: 4
       nanosec: 530000000
   - positions:
-      - -0.021799454497363743
-      - 0.075683714391598059
-      - -1.2677902406284733
-      - 1.758947713447776
-      - -2.061886870553427
-      - -1.5708150946918651
-      - 0.075566823740472411
-    velocities:
-      - 0.022967944823954419
-      - 0.069636155826264409
-      - 0.07002182979473659
-      - -0.027720895559549503
-      - -0.042328944482435613
-      - 4.5011097812431677e-05
-      - 0.069597136477001498
-    accelerations:
-      - 0.171746265731994
-      - 0.52071484039000571
-      - 0.52359877556064915
-      - -0.20728717051487366
-      - -0.31652105588711987
-      - 0.00033657726126718992
-      - 0.5204230673307092
+      - -0.018712768686307484
+      - 0.070147842976979555
+      - -1.2699466836816216
+      - 1.7617847073457744
+      - -2.0625906166673991
+      - -1.5707859432732905
+      - 0.07005258678649548
+    velocities:
+      - 0.023652839335770968
+      - 0.069706106611876525
+      - 0.069827603396311541
+      - -0.026475964256363452
+      - -0.043375670779768644
+      - 4.6524313743083744e-06
+      - 0.069703541567458338
+    accelerations:
+      - 0.17735962731763497
+      - 0.52268773803189161
+      - 0.52359877556534695
+      - -0.19852868768621937
+      - -0.32525028792283733
+      - 3.4886022897907065e-05
+      - 0.52266850417518984
     effort: []
     time_from_start:
       sec: 4
       nanosec: 540000000
   - positions:
-      - -0.021561392952831139
-      - 0.076405489497659088
-      - -1.267064468031939
-      - 1.7586603878179332
-      - -2.0623256078448637
-      - -1.5708146281541948
-      - 0.076288194413023022
-    velocities:
-      - 0.024685407481409415
-      - 0.074843304230574059
-      - 0.075257817550754905
-      - -0.029793767264861236
-      - -0.045494155041555732
-      - 4.8376870425368317e-05
-      - 0.074801367150717876
-    accelerations:
-      - 0.17174626574372059
-      - 0.52071484042556504
-      - 0.52359877559640544
-      - -0.20728717052902229
-      - -0.31652105590873114
-      - 0.00033657726129016899
-      - 0.52042306736624055
+      - -0.018468490110589687
+      - 0.070867744220135184
+      - -1.2692255276605073
+      - 1.761511272484636
+      - -2.0630385860180747
+      - -1.5707858952245428
+      - 0.070772461538734385
+    velocities:
+      - 0.025426435609089894
+      - 0.074932983992615568
+      - 0.075063591152385881
+      - -0.028461251133385261
+      - -0.046628173659258518
+      - 5.0012916033154817e-06
+      - 0.074930226609630488
+    accelerations:
+      - 0.17735962734859284
+      - 0.52268773812312419
+      - 0.52359877565674606
+      - -0.19852868772087567
+      - -0.3252502879796183
+      - 3.4886022903995538e-05
+      - 0.5226685042664363
     effort: []
     time_from_start:
       sec: 4
       nanosec: 550000000
   - positions:
-      - -0.021306156781724025
-      - 0.07717933608776309
-      - -1.2662863355578449
-      - 1.7583523334710374
-      - -2.0627959972418912
-      - -1.5708141279587986
-      - 0.077061607392310674
-    velocities:
-      - 0.026402870138853732
-      - 0.080050452634851332
-      - 0.080493805306740676
-      - -0.031866638970160087
-      - -0.048659365600656174
-      - 5.1742643038284038e-05
-      - 0.080005597824401906
-    accelerations:
-      - 0.17174626574446319
-      - 0.52071484042782268
-      - 0.52359877559867429
-      - -0.20728717052992413
-      - -0.31652105591010149
-      - 0.0003365772612916319
-      - 0.52042306736848454
+      - -0.018206475572138989
+      - 0.071639914237097368
+      - -1.2684520117618332
+      - 1.761217984754728
+      - -2.0635190803975449
+      - -1.5707858436871929
+      - 0.071544603141394186
+    velocities:
+      - 0.027200031882360653
+      - 0.080159861373212654
+      - 0.080299578908318014
+      - -0.030446538010353155
+      - -0.049880676538660053
+      - 5.3501518323131148e-06
+      - 0.080156911651660681
+    accelerations:
+      - 0.17735962733122684
+      - 0.52268773807193669
+      - 0.52359877560547441
+      - -0.19852868770143697
+      - -0.32525028794776439
+      - 3.4886022900579813e-05
+      - 0.5226685042152488
     effort: []
     time_from_start:
       sec: 4
       nanosec: 560000000
   - positions:
-      - -0.021033745984042514
-      - 0.078005254161909732
-      - -1.2654558432061909
-      - 1.7580235504070889
-      - -2.0632980387445099
-      - -1.5708135941056762
-      - 0.077887062678335034
-    velocities:
-      - 0.028120332796314835
-      - 0.085257601039179495
-      - 0.085729793062777615
-      - -0.033939510675479193
-      - -0.051824576159787548
-      - 5.5108415651232645e-05
-      - 0.085209828498136797
-    accelerations:
-      - 0.17174626576229601
-      - 0.52071484048189498
-      - 0.52359877565304069
-      - -0.20728717055144533
-      - -0.31652105594296764
-      - 0.00033657726132657785
-      - 0.52042306742252886
+      - -0.017926725070955378
+      - 0.072464353027866121
+      - -1.2676261359855991
+      - 1.76090484415605
+      - -2.0640320998058095
+      - -1.5707857886612404
+      - 0.072369011594474869
+    velocities:
+      - 0.028973628155648853
+      - 0.085386738753861158
+      - 0.085535566664301635
+      - -0.032431824887340567
+      - -0.053133179418093576
+      - 5.6990120613141794e-06
+      - 0.085383596693742278
+    accelerations:
+      - 0.17735962733161684
+      - 0.52268773807309477
+      - 0.52359877560661949
+      - -0.19852868770187004
+      - -0.32525028794848349
+      - 3.4886022900656534e-05
+      - 0.52266850421639299
     effort: []
     time_from_start:
       sec: 4
       nanosec: 570000000
   - positions:
-      - -0.02074416055978661
-      - 0.078883243720098986
-      - -1.2645729909769774
-      - 1.7576740386260874
-      - -2.0638317323527189
-      - -1.5708130265948277
-      - 0.078764560271096073
-    velocities:
-      - 0.029837795453753042
-      - 0.090464749443438242
-      - 0.090965780818744749
-      - -0.036012382380770668
-      - -0.054989786718876728
-      - 5.847418826413638e-05
-      - 0.090414059171802313
-    accelerations:
-      - 0.17174626575692545
-      - 0.52071484046561189
-      - 0.52359877563667168
-      - -0.20728717054496765
-      - -0.31652105593306923
-      - 0.00033657726131605355
-      - 0.52042306740627375
+      - -0.017629238607038904
+      - 0.073341060592441304
+      - -1.2667479003318054
+      - 1.7605718506886023
+      - -2.0645776442428687
+      - -1.5707857301466857
+      - 0.073245686897976323
+    velocities:
+      - 0.030747224428913318
+      - 0.09061361613443969
+      - 0.090771554420215186
+      - -0.034417111764301414
+      - -0.056385682297483572
+      - 6.0478722903105742e-06
+      - 0.090610281735753931
+    accelerations:
+      - 0.17735962730795379
+      - 0.52268773800335266
+      - 0.52359877553676548
+      - -0.19852868767538837
+      - -0.3252502879050902
+      - 3.4886022896002447e-05
+      - 0.52266850414667865
     effort: []
     time_from_start:
       sec: 4
       nanosec: 580000000
   - positions:
-      - -0.02043740050895624
-      - 0.079813304762331089
-      - -1.2636377788702038
-      - 1.7573037981280328
-      - -2.0643970780665195
-      - -1.570812425426253
-      - 0.079694100170594043
-    velocities:
-      - 0.031555258111164351
-      - 0.095671897847615428
-      - 0.096201768574629878
-      - -0.038085254086029675
-      - -0.058154997277916336
-      - 6.1839960876987408e-05
-      - 0.095618289845386312
-    accelerations:
-      - 0.17174626572481572
-      - 0.52071484036824534
-      - 0.52359877553876388
-      - -0.20728717050620699
-      - -0.3165210558738874
-      - 0.00033657726125312239
-      - 0.52042306730894883
+      - -0.017314016180389604
+      - 0.074270036930822819
+      - -1.2658173048004517
+      - 1.7602190043523847
+      - -2.0651557137087218
+      - -1.570785668143529
+      - 0.074174629051898436
+    velocities:
+      - 0.032520820702229093
+      - 0.095840493515169448
+      - 0.096007542176280214
+      - -0.036402398641319694
+      - -0.059638185176967659
+      - 6.3967325193170622e-06
+      - 0.095836966777916782
+    accelerations:
+      - 0.17735962733575794
+      - 0.522687738085301
+      - 0.5235987756188526
+      - -0.1985286877065093
+      - -0.32525028795607719
+      - 3.4886022901471739e-05
+      - 0.52266850422861311
     effort: []
     time_from_start:
       sec: 4
       nanosec: 590000000
   - positions:
-      - -0.020113465831551432
-      - 0.080795437288605956
-      - -1.2626502068858705
-      - 1.7569128289129252
-      - -2.0649940758859113
-      - -1.5708117905999521
-      - 0.080675682376828817
-    velocities:
-      - 0.033272720768634606
-      - 0.10087904625197135
-      - 0.10143775633069474
-      - -0.040158125791359835
-      - -0.061320207837064586
-      - 6.5205733489953952e-05
-      - 0.10082252051914894
-    accelerations:
-      - 0.17174626575180094
-      - 0.52071484045007321
-      - 0.52359877562105239
-      - -0.20728717053878185
-      - -0.31652105592362895
-      - 0.00033657726130600511
-      - 0.52042306739073485
+      - -0.016981057791007354
+      - 0.075251282043011
+      - -1.2648343493915384
+      - 1.7598463051473971
+      - -2.0657663082033695
+      - -1.5707856026517699
+      - 0.075155838056241556
+    velocities:
+      - 0.034294416975526751
+      - 0.1010673708958458
+      - 0.10124352993229176
+      - -0.038387685518317692
+      - -0.062890688056418523
+      - 6.745592748319986e-06
+      - 0.10106365182002625
+    accelerations:
+      - 0.17735962734560912
+      - 0.5226877381143118
+      - 0.52359877564791979
+      - -0.19852868771753113
+      - -0.32525028797412964
+      - 3.4886022903408544e-05
+      - 0.52266850425763778
     effort: []
     time_from_start:
       sec: 4
       nanosec: 600000000
   - positions:
-      - -0.019772356717674921
-      - 0.081829640722554026
-      - -1.261610275603539
-      - 1.756501131210207
-      - -2.0656227254605422
-      - -1.5708111221162979
-      - 0.081709306313753838
-    velocities:
-      - 0.035013184156048954
-      - 0.10615593021285118
-      - 0.10674386586776893
-      - -0.042258757961866046
-      - -0.064527807762278455
-      - 6.8616581448484028e-05
-      - 0.10609644767438908
-    accelerations:
-      - 0.17174626574442503
-      - 0.52071484042771166
-      - 0.52359877559853552
-      - -0.20728717052985474
-      - -0.31652105591004598
-      - 0.00033657726127971245
-      - 0.52042306736838739
+      - -0.016630363749192897
+      - 0.076284795014533974
+      - -1.2637990350211308
+      - 1.7594537534209767
+      - -2.0664094271577675
+      - -1.5707855336714693
+      - 0.076189312996567449
+    velocities:
+      - 0.03612472805737732
+      - 0.10646138966852764
+      - 0.10664695040545823
+      - -0.040436456496434889
+      - -0.066247197175001965
+      - 7.1056085808384419e-06
+      - 0.10645747210367419
+    accelerations:
+      - 0.17735962731996502
+      - 0.5226877380387549
+      - 0.52359877557225099
+      - -0.19852868768884982
+      - -0.32525028792711425
+      - 3.4886022886522455e-05
+      - 0.52266850418206701
     effort: []
     time_from_start:
       sec: 4
       nanosec: 610000000
   - positions:
-      - -0.019414073285632955
-      - 0.082915914705484442
-      - -1.2605179853838868
-      - 1.7560687051626664
-      - -2.0662830265723797
-      - -1.5708104199755217
-      - 0.082794971622879229
-    velocities:
-      - 0.036730646813460228
-      - 0.11136307861702829
-      - 0.11197985362365372
-      - -0.044331629667124756
-      - -0.067693018321318132
-      - 7.1982354061216573e-05
-      - 0.11130067834797301
-    accelerations:
-      - 0.17174626571220775
-      - 0.52071484033003979
-      - 0.52359877550032241
-      - -0.20728717049096917
-      - -0.3165210558506768
-      - 0.00033657726121658478
-      - 0.52042306727077103
+      - -0.016261934401135075
+      - 0.077370574825155844
+      - -1.2627113627112427
+      - 1.7590413495606323
+      - -2.0670850699370593
+      - -1.5707854612026957
+      - 0.077275052852677745
+    velocities:
+      - 0.037898324330681361
+      - 0.11168826704922281
+      - 0.1118829381614888
+      - -0.042421743373440228
+      - -0.069499700054464514
+      - 7.4544688097241956e-06
+      - 0.11168415714580246
+    accelerations:
+      - 0.17735962733621385
+      - 0.52268773808665336
+      - 0.5235987756202336
+      - -0.19852868770703952
+      - -0.32525028795692118
+      - 3.4886022889718798e-05
+      - 0.52266850422996547
     effort: []
     time_from_start:
       sec: 4
       nanosec: 620000000
   - positions:
-      - -0.019038615227016591
-      - 0.084054260172457498
-      - -1.2593733352866749
-      - 1.755615550398073
-      - -2.0669749797898085
-      - -1.5708096841770196
-      - 0.083932679238741315
-    velocities:
-      - 0.038448109470948219
-      - 0.11657022702143796
-      - 0.11721584137977235
-      - -0.046404501372476051
-      - -0.070858228880499169
-      - 7.5348126674099457e-05
-      - 0.11650490902178938
-    accelerations:
-      - 0.17174626575670687
-      - 0.52071484046493188
-      - 0.52359877563596391
-      - -0.20728717054467621
-      - -0.31652105593266677
-      - 0.00033657726130378174
-      - 0.52042306740559374
+      - -0.015875769090344424
+      - 0.078508623409584033
+      - -1.2615713305237952
+      - 1.7586090928315183
+      - -2.0677932377451453
+      - -1.57078538524532
+      - 0.078413059559208687
+    velocities:
+      - 0.039671920603929947
+      - 0.11691514442975455
+      - 0.11711892591735563
+      - -0.044407030250383499
+      - -0.072752202933825366
+      - 7.803329038599042e-06
+      - 0.1169108421877673
+    accelerations:
+      - 0.17735962729669891
+      - 0.52268773797017087
+      - 0.52359877550354206
+      - -0.19852868766280815
+      - -0.32525028788444005
+      - 3.4886022881945089e-05
+      - 0.52266850411349686
     effort: []
     time_from_start:
       sec: 4
       nanosec: 630000000
   - positions:
-      - -0.01864598254182576
-      - 0.085244677123473417
-      - -1.2581763253119029
-      - 1.7551416669164266
-      - -2.0676985851128276
-      - -1.5708089147207911
-      - 0.085122429161340316
-    velocities:
-      - 0.0401655721283595
-      - 0.12177737542561509
-      - 0.12245182913565715
-      - -0.048477373077734767
-      - -0.07402343943953886
-      - 7.8713899286832016e-05
-      - 0.12170913969537332
-    accelerations:
-      - 0.17174626572449653
-      - 0.52071484036727389
-      - 0.52359877553776468
-      - -0.20728717050579759
-      - -0.31652105587331147
-      - 0.00033657726124065407
-      - 0.52042306730799126
+      - -0.01547186781682091
+      - 0.079698940767818666
+      - -1.2603789384587878
+      - 1.7581569832336343
+      - -2.0685339305820252
+      - -1.5707853057993417
+      - 0.079603333116160413
+    velocities:
+      - 0.041445516877245701
+      - 0.12214202181048424
+      - 0.12235491367342077
+      - -0.046392317127401946
+      - -0.076004705813309398
+      - 8.1521892674870988e-06
+      - 0.12213752722993007
+    accelerations:
+      - 0.17735962732450306
+      - 0.52268773805211921
+      - 0.52359877558562917
+      - -0.19852868769392909
+      - -0.32525028793542704
+      - 3.4886022887413533e-05
+      - 0.52266850419543132
     effort: []
     time_from_start:
       sec: 4
       nanosec: 640000000
   - positions:
-      - -0.018236175230060495
-      - 0.086487165558532073
-      - -1.2569269554595714
-      - 1.7546470547177271
-      - -2.0684538425414383
-      - -1.5708081116068369
-      - 0.086364221390676149
-    velocities:
-      - 0.041883034785845027
-      - 0.12698452383001732
-      - 0.12768781689176828
-      - -0.050550244783083086
-      - -0.077188649998715372
-      - 8.2079671899710062e-05
-      - 0.12691337036918224
-    accelerations:
-      - 0.17174626576667792
-      - 0.5207148404951899
-      - 0.52359877566636337
-      - -0.20728717055670501
-      - -0.31652105595105839
-      - 0.00033657726132332524
-      - 0.52042306743580991
+      - -0.015050230580564448
+      - 0.08094152689985995
+      - -1.2591341865162204
+      - 1.7576850207669803
+      - -2.0693071484477001
+      - -1.5707852228647616
+      - 0.080845873523533146
+    velocities:
+      - 0.043219113150559187
+      - 0.12736889919120725
+      - 0.12759090142947924
+      - -0.04837760400441786
+      - -0.079257208692789266
+      - 8.5010494963747117e-06
+      - 0.12736421227208619
+    accelerations:
+      - 0.17735962735020266
+      - 0.52268773812784264
+      - 0.52359877566150614
+      - -0.19852868772269366
+      - -0.32525028798255345
+      - 3.4886022892469114e-05
+      - 0.52266850427116862
     effort: []
     time_from_start:
       sec: 4
       nanosec: 650000000
   - positions:
-      - -0.017809193291720832
-      - 0.087781725477633354
-      - -1.2556252257296801
-      - 1.7541317138019747
-      - -2.0692407520756397
-      - -1.5708072748351563
-      - 0.087658055926748649
-    velocities:
-      - 0.043600497443258765
-      - 0.13219167223420189
-      - 0.13292380464766057
-      - -0.052623116488344765
-      - -0.080353860557759574
-      - 8.5445444512447432e-05
-      - 0.13211760104277362
-    accelerations:
-      - 0.17174626573677837
-      - 0.52071484040452187
-      - 0.52359877557519308
-      - -0.20728717052061907
-      - -0.31652105589594615
-      - 0.00033657726126472336
-      - 0.52042306734519761
+      - -0.01461085738157516
+      - 0.082236381805707581
+      - -1.2578370746960936
+      - 1.7571932054315567
+      - -2.0701128913421689
+      - -1.5707851364415788
+      - 0.082140680781326525
+    velocities:
+      - 0.044992709423798322
+      - 0.13259577657171115
+      - 0.13282688918531818
+      - -0.050362890881350555
+      - -0.082509711572132799
+      - 8.8499097252476997e-06
+      - 0.13259089731402318
+    accelerations:
+      - 0.17735962730123694
+      - 0.52268773798354906
+      - 0.52359877551693412
+      - -0.19852868766788742
+      - -0.32525028789276672
+      - 3.4886022882839555e-05
+      - 0.52266850412687504
     effort: []
     time_from_start:
       sec: 4
       nanosec: 660000000
   - positions:
-      - -0.017365036726806702
-      - 0.089128356880777498
-      - -1.254271136122229
-      - 1.7535956441691694
-      - -2.0700593137154324
-      - -1.5708064044057495
-      - 0.089003932769558092
-    velocities:
-      - 0.045317960100670053
-      - 0.13739882063837902
-      - 0.1381597924035454
-      - -0.054695988193603488
-      - -0.083519071116799279
-      - 8.8811217125180005e-05
-      - 0.13732183171635759
-    accelerations:
-      - 0.17174626570457496
-      - 0.52071484030687776
-      - 0.52359877547702161
-      - -0.20728717048174738
-      - -0.31652105583660473
-      - 0.00033657726120160924
-      - 0.52042306724760901
+      - -0.014153748219852965
+      - 0.083583505485361753
+      - -1.2564876029984067
+      - 1.756681537227363
+      - -2.0709511592654324
+      - -1.5707850465297937
+      - 0.083487754889540799
+    velocities:
+      - 0.046766305697114083
+      - 0.13782265395244087
+      - 0.13806287694138336
+      - -0.052348177758369016
+      - -0.085762214451616844
+      - 9.1987699541357582e-06
+      - 0.13781758235618599
+    accelerations:
+      - 0.17735962732904803
+      - 0.52268773806551128
+      - 0.52359877559906287
+      - -0.19852868769902224
+      - -0.32525028794376759
+      - 3.4886022888309694e-05
+      - 0.52266850420883726
     effort: []
     time_from_start:
       sec: 4
       nanosec: 670000000
   - positions:
-      - -0.016903705535318177
-      - 0.090527059767964255
-      - -1.252864686637218
-      - 1.7530388458193111
-      - -2.0709095274608158
-      - -1.5708055003186168
-      - 0.090401851919104215
-    velocities:
-      - 0.047035422758158044
-      - 0.14260596904278872
-      - 0.14339578015966403
-      - -0.056768859898954784
-      - -0.086684281675980329
-      - 9.2176989738062889e-05
-      - 0.14252606239017396
-    accelerations:
-      - 0.17174626574906715
-      - 0.52071484044179761
-      - 0.5235987756126631
-      - -0.20728717053544748
-      - -0.31652105591860857
-      - 0.0003365772612888062
-      - 0.52042306738244559
+      - -0.013678903095397942
+      - 0.084982897938822258
+      - -1.25508577142316
+      - 1.7561500161543997
+      - -2.0718219522174901
+      - -1.5707849531294065
+      - 0.08488709584817572
+    velocities:
+      - 0.048539901970437019
+      - 0.14304953133319173
+      - 0.14329886469746972
+      - -0.054333464635395505
+      - -0.08901471733111406
+      - 9.5476301830252295e-06
+      - 0.14304426739836995
+    accelerations:
+      - 0.17735962736419841
+      - 0.52268773816911518
+      - 0.5235987757028342
+      - -0.19852868773836169
+      - -0.32525028800822736
+      - 3.4886022895223665e-05
+      - 0.52266850431244116
     effort: []
     time_from_start:
       sec: 4
       nanosec: 680000000
   - positions:
-      - -0.016425199717255177
-      - 0.091977834139193887
-      - -1.251405877274647
-      - 1.7524613187523999
-      - -2.0717913933117904
-      - -1.5708045625737577
-      - 0.091851813375387267
-    velocities:
-      - 0.048752885415569318
-      - 0.14781311744696582
-      - 0.14863176791554883
-      - -0.0588417316042135
-      - -0.089849492235020006
-      - 9.5542762350795435e-05
-      - 0.1477302930637579
-    accelerations:
-      - 0.17174626571684987
-      - 0.52071484034409798
-      - 0.52359877551446388
-      - -0.2072871704965758
-      - -0.3165210558592394
-      - 0.00033657726122567853
-      - 0.52042306728482923
+      - -0.013186322008209975
+      - 0.086434559166089428
+      - -1.2536315799703535
+      - 1.7555986422126661
+      - -2.0727252701983421
+      - -1.570784856240417
+      - 0.086338703657231647
+    velocities:
+      - 0.050313498243666689
+      - 0.14827640871366773
+      - 0.14853485245328071
+      - -0.056318751512317598
+      - -0.092267220210440218
+      - 9.8964904118963541e-06
+      - 0.14827095244027905
+    accelerations:
+      - 0.1773596273057611
+      - 0.52268773799689949
+      - 0.52359877553031231
+      - -0.19852868767295281
+      - -0.32525028790106564
+      - 3.488602288372894e-05
+      - 0.52266850414022548
     effort: []
     time_from_start:
       sec: 4
       nanosec: 690000000
   - positions:
-      - -0.015929519272617747
-      - 0.093480679994466243
-      - -1.2498947080345164
-      - 1.7518630629684355
-      - -2.0727049112683558
-      - -1.5708035911711726
-      - 0.093353817138407139
-    velocities:
-      - 0.050470348073070097
-      - 0.15302026585141429
-      - 0.15386775567170646
-      - -0.060914603309580234
-      - -0.093014702794224621
-      - 9.8908534963703391e-05
-      - 0.15293452373761304
-    accelerations:
-      - 0.17174626577428989
-      - 0.52071484051825478
-      - 0.52359877568956703
-      - -0.20728717056589904
-      - -0.31652105596507496
-      - 0.00033657726133824658
-      - 0.52042306745887479
+      - -0.012676004958289178
+      - 0.087938489167162917
+      - -1.252125028639987
+      - 1.755027415402163
+      - -2.0736611132079883
+      - -1.5707847558628252
+      - 0.08784257831670822
+    velocities:
+      - 0.052087094516995926
+      - 0.15350328609443717
+      - 0.15377084020938567
+      - -0.058304038389351144
+      - -0.09551972308994898
+      - 1.0245350640787064e-05
+      - 0.15349763748248155
+    accelerations:
+      - 0.177359627347212
+      - 0.52268773811904412
+      - 0.52359877565267987
+      - -0.19852868771934218
+      - -0.32525028797707173
+      - 3.4886022891881273e-05
+      - 0.52266850426234235
     effort: []
     time_from_start:
       sec: 4
       nanosec: 700000000
   - positions:
-      - -0.015416664246931186
-      - 0.095035597195753885
-      - -1.2483311790556177
-      - 1.7512440785223644
-      - -2.073650081246611
-      - -1.5708025861109505
-      - 0.094907863070213705
-    velocities:
-      - 0.052195486057782223
-      - 0.15825068496143979
-      - 0.15912714301628456
-      - -0.062996738662423293
-      - -0.096194058654710882
-      - 0.00010228934918853347
-      - 0.15816201207772962
-    accelerations:
-      - 0.17174626570994567
-      - 0.52071484032317028
-      - 0.52359877549342515
-      - -0.20728717048826301
-      - -0.31652105584649959
-      - 0.00033657726121342704
-      - 0.52042306726390153
+      - -0.012147952029903642
+      - 0.089494687693700448
+      - -1.2505661176808363
+      - 1.7544363358172159
+      - -2.0746294810918942
+      - -1.5707846519966475
+      - 0.089398719578272307
+    velocities:
+      - 0.053702198439530245
+      - 0.15826307854959398
+      - 0.15853892891728188
+      - -0.060111915791139114
+      - -0.098481575365887045
+      - 1.0563035976880082e-05
+      - 0.15825725478685668
+    accelerations:
+      - 0.17735962731379634
+      - 0.522687738020575
+      - 0.52359877555401557
+      - -0.19852868768193868
+      - -0.32525028791581773
+      - 3.4886022892922636e-05
+      - 0.52266850416390098
     effort: []
     time_from_start:
       sec: 4
       nanosec: 710000000
   - positions:
-      - -0.014886634671395796
-      - 0.096642585648461107
-      - -1.2467152904330707
-      - 1.7506043654518433
-      - -2.0746269031890554
-      - -1.5708015473931527
-      - 0.096513951076264232
-    velocities:
-      - 0.053912948715289198
-      - 0.16345783336590705
-      - 0.16436313077246129
-      - -0.06506961036779764
-      - -0.099359269213926835
-      - 0.00010565512180146624
-      - 0.16336624275160352
-    accelerations:
-      - 0.17174626577369315
-      - 0.52071484051645067
-      - 0.52359877568779067
-      - -0.20728717056519128
-      - -0.31652105596397861
-      - 0.000336577261338355
-      - 0.52042306745707068
+      - -0.011602163335769957
+      - 0.091103154413520557
+      - -1.2489548474256613
+      - 1.7538254035839955
+      - -2.0756303736433543
+      - -1.5707845446419064
+      - 0.091007127109754657
+    velocities:
+      - 0.055475794712865498
+      - 0.16348995593038115
+      - 0.16377491667340463
+      - -0.062097202668179294
+      - -0.10173407824540696
+      - 1.0911896205848105e-05
+      - 0.16348393982907694
+    accelerations:
+      - 0.1773596273612702
+      - 0.5226877381604832
+      - 0.52359877569417446
+      - -0.19852868773507959
+      - -0.32525028800287054
+      - 3.4886022902260815e-05
+      - 0.52266850430380918
     effort: []
     time_from_start:
       sec: 4
       nanosec: 720000000
   - positions:
-      - -0.014339430469285895
-      - 0.098301645585211289
-      - -1.2450470419329636
-      - 1.7499439236642695
-      - -2.0756353772370906
-      - -1.5708004750176288
-      - 0.098172081389051827
-    velocities:
-      - 0.05563041137268164
-      - 0.16866498177002706
-      - 0.16959911852828882
-      - -0.067142482073033749
-      - -0.10252447977293172
-      - 0.00010902089441417456
-      - 0.16857047342513037
-    accelerations:
-      - 0.17174626572260221
-      - 0.52071484036155624
-      - 0.5235987755320054
-      - -0.20728717050352857
-      - -0.31652105586982815
-      - 0.00033657726123822817
-      - 0.52042306730225973
+      - -0.011038638678903367
+      - 0.092763889907147234
+      - -1.2472912172929265
+      - 1.7531946184820049
+      - -2.0766637912236092
+      - -1.570784433798563
+      - 0.092667801491657903
+    velocities:
+      - 0.057249390986082858
+      - 0.16871683331082085
+      - 0.16901090442917932
+      - -0.064082489545087495
+      - -0.10498658112471068
+      - 1.1260756434792939e-05
+      - 0.16871062487094976
+    accelerations:
+      - 0.17735962729053023
+      - 0.52268773795199097
+      - 0.52359877548534828
+      - -0.19852868765588313
+      - -0.32525028787314353
+      - 3.488602288834527e-05
+      - 0.52266850409531695
     effort: []
     time_from_start:
       sec: 4
       nanosec: 730000000
   - positions:
-      - -0.013775051640601676
-      - 0.10001277700600389
-      - -1.2433264335552972
-      - 1.7492627531596425
-      - -2.0766755033907165
-      - -1.5707993689843787
-      - 0.099882254008575866
-    velocities:
-      - 0.057347874030194722
-      - 0.17387213017451283
-      - 0.17483510628448418
-      - -0.069215353778415464
-      - -0.10568969033215893
-      - 0.00011238666702711929
-      - 0.17377470409902279
-    accelerations:
-      - 0.17174626579245592
-      - 0.5207148405733496
-      - 0.52359877574499492
-      - -0.20728717058783983
-      - -0.31652105599856206
-      - 0.000336577261375123
-      - 0.52042306751394185
+      - -0.010457378059303872
+      - 0.094476894174580439
+      - -1.2455752272826319
+      - 1.7525439805112444
+      - -2.0777297338326584
+      - -1.5707843194666173
+      - 0.094380742723982031
+    velocities:
+      - 0.059022987259398592
+      - 0.17394371069155051
+      - 0.17424689218524442
+      - -0.066067776422105831
+      - -0.10823908400419481
+      - 1.1609616663757122e-05
+      - 0.17393730991311249
+    accelerations:
+      - 0.1773596273183205
+      - 0.52268773803392543
+      - 0.52359877556739376
+      - -0.19852868768699714
+      - -0.32525028792411664
+      - 3.488602289381202e-05
+      - 0.52266850417722366
     effort: []
     time_from_start:
       sec: 4
       nanosec: 740000000
   - positions:
-      - -0.013193498185343027
-      - 0.10177597991083923
-      - -1.2415534653000708
-      - 1.7485608539379629
-      - -2.0777472816499341
-      - -1.5707982292934028
-      - 0.10164446893483672
-    velocities:
-      - 0.059065336687581078
-      - 0.17907927857861436
-      - 0.18007109404029317
-      - -0.071288225483644219
-      - -0.10885490089115259
-      - 0.00011575243963981568
-      - 0.17897893477253118
-    accelerations:
-      - 0.17174626573527957
-      - 0.52071484039996996
-      - 0.52359877557066892
-      - -0.20728717051882189
-      - -0.31652105589318447
-      - 0.00033657726126306995
-      - 0.52042306734067345
+      - -0.0098583814769715485
+      - 0.096242167215819976
+      - -1.2438068773947775
+      - 1.7518734896717141
+      - -2.0788282014705017
+      - -1.5707842016460691
+      - 0.096145950806726804
+    velocities:
+      - 0.060796583532743302
+      - 0.17917058807236552
+      - 0.17948287994139508
+      - -0.068053063299156585
+      - -0.11149158688373206
+      - 1.1958476892727004e-05
+      - 0.17916399495536062
+    accelerations:
+      - 0.17735962737525207
+      - 0.52268773820167247
+      - 0.52359877573547475
+      - -0.19852868775071986
+      - -0.32525028802850281
+      - 3.488602290500859e-05
+      - 0.52266850434499845
     effort: []
     time_from_start:
       sec: 4
       nanosec: 750000000
   - positions:
-      - -0.01259477010350998
-      - 0.10359125429971716
-      - -1.2397281371672846
-      - 1.74783822599923
-      - -2.0788507120147424
-      - -1.5707970559447004
-      - 0.10345872616783428
-    velocities:
-      - 0.060782799344992436
-      - 0.18428642698279171
-      - 0.18530708179617839
-      - -0.073361097188903157
-      - -0.11202011145019232
-      - 0.00011911821225256106
-      - 0.18418316544611535
-    accelerations:
-      - 0.17174626570325657
-      - 0.52071484030288095
-      - 0.5235987754730248
-      - -0.20728717048017226
-      - -0.31652105583414836
-      - 0.00033657726120030819
-      - 0.52042306724363996
+      - -0.0092416489319063974
+      - 0.098059709030865846
+      - -1.2419861676293633
+      - 1.751183145963414
+      - -2.0799591941371398
+      - -1.5707840803369189
+      - 0.097963425739892238
+    velocities:
+      - 0.062570179805951198
+      - 0.18439746545277738
+      - 0.18471886769714185
+      - -0.070038350176054212
+      - -0.11474408976301843
+      - 1.2307337121669977e-05
+      - 0.18439067999720557
+    accelerations:
+      - 0.17735962729504745
+      - 0.5226877379653414
+      - 0.52359877549869871
+      - -0.19852868766094853
+      - -0.32525028788144245
+      - 3.4886022889234654e-05
+      - 0.52266850410866739
     effort: []
     time_from_start:
       sec: 4
       nanosec: 760000000
   - positions:
-      - -0.011978867395102387
-      - 0.10545860017263822
-      - -1.2378504491569384
-      - 1.747094869343444
-      - -2.079985794485141
-      - -1.5707958489382721
-      - 0.10532502570756896
-    velocities:
-      - 0.062500262002514656
-      - 0.18949357538730519
-      - 0.19054306955240158
-      - -0.075433968894295905
-      - -0.11518532200943638
-      - 0.00012248398486552371
-      - 0.18938739612003544
-    accelerations:
-      - 0.1717462657822488
-      - 0.52071484054237438
-      - 0.52359877571385316
-      - -0.20728717057550247
-      - -0.3165210559797299
-      - 0.00033657726135511947
-      - 0.52042306748299438
+      - -0.0086071804241083013
+      - 0.099929519619718382
+      - -1.2401130979863892
+      - 1.7504729493863442
+      - -2.0811227118325717
+      - -1.5707839555391665
+      - 0.099833167523478678
+    velocities:
+      - 0.064343776079266959
+      - 0.18962434283350707
+      - 0.18995485545320701
+      - -0.072023637053072562
+      - -0.1179965926425026
+      - 1.2656197350634165e-05
+      - 0.18961736503936835
+    accelerations:
+      - 0.17735962732287242
+      - 0.52268773804730362
+      - 0.5235987755807997
+      - -0.19852868769207641
+      - -0.32525028793245719
+      - 3.4886022894706487e-05
+      - 0.5226685041906296
     effort: []
     time_from_start:
       sec: 4
       nanosec: 770000000
   - positions:
-      - -0.0113457900601204
-      - 0.10737801752960188
-      - -1.2359204012690326
-      - 1.7463307839706053
-      - -2.0811525290611312
-      - -1.5707946082741173
-      - 0.10724336755404038
-    velocities:
-      - 0.064217724659891867
-      - 0.19470072379137901
-      - 0.19577905730818268
-      - -0.077506840599513627
-      - -0.11835053256841319
-      - 0.00012584975747820216
-      - 0.19459162679351613
-    accelerations:
-      - 0.17174626571592005
-      - 0.52071484034129467
-      - 0.52359877551163281
-      - -0.2072871704954517
-      - -0.31652105585750467
-      - 0.00033657726122512287
-      - 0.52042306728202592
+      - -0.0079549759535773382
+      - 0.10185159898237736
+      - -1.2381876684658553
+      - 1.7497428999405042
+      - -2.0823187545567983
+      - -1.5707838272528116
+      - 0.10175517615748589
+    velocities:
+      - 0.066117372352503812
+      - 0.19485122021400425
+      - 0.19519084320903923
+      - -0.074008923930002593
+      - -0.12124909552184206
+      - 1.3005057579582832e-05
+      - 0.19484405008129863
+    accelerations:
+      - 0.17735962727178828
+      - 0.52268773789675738
+      - 0.5235987754299759
+      - -0.19852868763489992
+      - -0.32525028783875437
+      - 3.4886022884657288e-05
+      - 0.5226685040400556
     effort: []
     time_from_start:
       sec: 4
       nanosec: 780000000
   - positions:
-      - -0.010695538098564017
-      - 0.10934950637060818
-      - -1.2339379935035668
-      - 1.7455459698807134
-      - -2.0823509157427122
-      - -1.5707933339522366
-      - 0.10921375170724847
-    velocities:
-      - 0.06593518731742018
-      - 0.19990787219591097
-      - 0.20101504506442447
-      - -0.079579712304913744
-      - -0.12151574312766847
-      - 0.00012921553009117675
-      - 0.19979585746745471
-    accelerations:
-      - 0.17174626580100463
-      - 0.52071484059927331
-      - 0.5235987757710574
-      - -0.2072871705981649
-      - -0.31652105601431335
-      - 0.00033657726139187393
-      - 0.52042306753986556
+      - -0.0072850355203135497
+      - 0.10382594711884266
+      - -1.2362098790677616
+      - 1.7489929976258944
+      - -2.0835473223098187
+      - -1.5707836954778542
+      - 0.10372945164191374
+    velocities:
+      - 0.067890968625819545
+      - 0.20007809759473391
+      - 0.20042683096510439
+      - -0.075994210807020943
+      - -0.1245015984013262
+      - 1.3353917808547017e-05
+      - 0.20007073512346138
+    accelerations:
+      - 0.17735962729957161
+      - 0.52268773797869184
+      - 0.5235987755120769
+      - -0.1985286876660278
+      - -0.32525028788974136
+      - 3.4886022890125733e-05
+      - 0.52266850412199006
     effort: []
     time_from_start:
       sec: 4
       nanosec: 790000000
   - positions:
-      - -0.010028111510433242
-      - 0.11137306669565709
-      - -1.2319032258605414
-      - 1.744740427073769
-      - -2.0835809545298845
-      - -1.57079202597263
-      - 0.11123617816719325
-    velocities:
-      - 0.067652649974791285
-      - 0.20511502059996625
-      - 0.20625103282018695
-      - -0.081652584010124082
-      - -0.12468095368663401
-      - 0.00013258130270384324
-      - 0.20500008814091686
-    accelerations:
-      - 0.1717462657285766
-      - 0.52071484037965288
-      - 0.52359877555021306
-      - -0.20728717051073114
-      - -0.31652105588081936
-      - 0.000336577261249924
-      - 0.52042306732035637
+      - -0.0065973591243168924
+      - 0.1058525640291144
+      - -1.2341797297921084
+      - 1.748223242442515
+      - -2.0848084150916337
+      - -1.5707835602142948
+      - 0.10575599397676239
+    velocities:
+      - 0.06966456489918002
+      - 0.20530497497559538
+      - 0.20566281872130154
+      - -0.077979497684089336
+      - -0.12775410128089235
+      - 1.3702778037519999e-05
+      - 0.20529742016575594
+    accelerations:
+      - 0.17735962737226835
+      - 0.52268773819287395
+      - 0.52359877572662072
+      - -0.19852868774737531
+      - -0.32525028802303496
+      - 3.4886022904420749e-05
+      - 0.52266850433619993
     effort: []
     time_from_start:
       sec: 4
       nanosec: 800000000
   - positions:
-      - -0.0093435103130521755
-      - 0.11344869845222395
-      - -1.229816098392772
-      - 1.7439141555706803
-      - -2.0848426453907196
-      - -1.570790684335331
-      - 0.11331064688137947
-    velocities:
-      - 0.069373953373182279
-      - 0.21033381368717424
-      - 0.21149872975219419
-      - -0.083730091253316805
-      - -0.12785324256779065
-      - 0.00013595460215348021
-      - 0.21021595697264642
-    accelerations:
-      - 0.17174626570451251
-      - 0.52071484030668347
-      - 0.52359877547685507
-      - -0.20728717048168493
-      - -0.3165210558364937
-      - 0.00033657726120346593
-      - 0.52042306724744247
+      - -0.0058919467981677865
+      - 0.10793144961717645
+      - -1.2320972207350787
+      - 1.7474336344268346
+      - -2.0861020328424953
+      - -1.5707834214621397
+      - 0.10783480306601918
+    velocities:
+      - 0.071447596561651283
+      - 0.21055965892250791
+      - 0.21092666151000997
+      - -0.079975346127206304
+      - -0.13102390721341611
+      - 1.4053494176474794e-05
+      - 0.21055191075087559
+    accelerations:
+      - 0.17735962736885441
+      - 0.52268773818282643
+      - 0.52359877571657321
+      - -0.1985286877435728
+      - -0.3252502880167622
+      - 3.4886022907979981e-05
+      - 0.52266850432615242
     effort: []
     time_from_start:
       sec: 4
       nanosec: 810000000
   - positions:
-      - -0.0086417345187172808
-      - 0.1155764016030273
-      - -1.2276766111377464
-      - 1.7430671553862891
-      - -2.0861359883025563
-      - -1.570789309040364
-      - 0.11543715781254657
-    velocities:
-      - 0.071091416030719667
-      - 0.21554096209173371
-      - 0.21673471750846357
-      - -0.085802962958727774
-      - -0.13101845312706281
-      - 0.00013932037476647961
-      - 0.21542018764661247
-    accelerations:
-      - 0.17174626579857602
-      - 0.52071484059189033
-      - 0.52359877576361891
-      - -0.20728717059520893
-      - -0.31652105600985858
-      - 0.00033657726138780817
-      - 0.52042306753245482
+      - -0.0051687985884252977
+      - 0.1100626037458169
+      - -1.2299623520341236
+      - 1.74662417363097
+      - -2.0874281754770219
+      - -1.5707832792213976
+      - 0.10996587877247731
+    velocities:
+      - 0.073221192834840271
+      - 0.21578653630286404
+      - 0.21616264926570086
+      - -0.081960633004082795
+      - -0.13427641009266769
+      - 1.4402354405456341e-05
+      - 0.21577859579266481
+    accelerations:
+      - 0.17735962726973437
+      - 0.52268773789073442
+      - 0.52359877542395294
+      - -0.19852868763261008
+      - -0.32525028783500737
+      - 3.4886022888484183e-05
+      - 0.52266850403403264
     effort: []
     time_from_start:
       sec: 4
       nanosec: 820000000
   - positions:
-      - -0.0079227840978080312
-      - 0.11775617623787316
-      - -1.2254847640051612
-      - 1.7421994264848453
-      - -2.0874609833199842
-      - -1.5707879000876708
-      - 0.11761571105045025
-    velocities:
-      - 0.072808878688081516
-      - 0.22074811049576096
-      - 0.22197070526419779
-      - -0.087875834663926886
-      - -0.13418366368601142
-      - 0.00014268614737913501
-      - 0.22062441832004662
-    accelerations:
-      - 0.17174626571678048
-      - 0.52071484034393145
-      - 0.52359877551429734
-      - -0.20728717049650641
-      - -0.3165210558591145
-      - 0.00033657726122753522
-      - 0.52042306728463494
+      - -0.0044279144159499809
+      - 0.11224602664826368
+      - -1.2277751234556091
+      - 1.7457948599663351
+      - -2.0887868431403422
+      - -1.570783133492053
+      - 0.11214922132935609
+    velocities:
+      - 0.074994789108156032
+      - 0.22101341368359373
+      - 0.22139863702176599
+      - -0.083945919881101186
+      - -0.13752891297215172
+      - 1.4751214634462823e-05
+      - 0.22100528083482759
+    accelerations:
+      - 0.17735962729754545
+      - 0.52268773797266888
+      - 0.52359877550602618
+      - -0.19852868766373796
+      - -0.32525028788599436
+      - 3.4886022893954322e-05
+      - 0.5226685041159671
     effort: []
     time_from_start:
       sec: 4
       nanosec: 830000000
   - positions:
-      - -0.0071866590503243469
-      - 0.11998802235676174
-      - -1.223240556995016
-      - 1.741310968866348
-      - -2.0888176304430024
-      - -1.5707864574772512
-      - 0.11984630659509074
-    velocities:
-      - 0.074526341345492797
-      - 0.22595525889993803
-      - 0.22720669302008267
-      - -0.089948706369185644
-      - -0.13734887424505116
-      - 0.00014605191999188727
-      - 0.22582864899363053
-    accelerations:
-      - 0.17174626568458401
-      - 0.52071484024628734
-      - 0.52359877541609812
-      - -0.20728717045764861
-      - -0.31652105579977308
-      - 0.00033657726116443466
-      - 0.5204230671870741
+      - -0.0036692942807417597
+      - 0.11448171832451701
+      - -1.2255355349995345
+      - 1.7449456934329306
+      - -2.0901780358324578
+      - -1.5707829842741066
+      - 0.11438483073665574
+    velocities:
+      - 0.076768385381529108
+      - 0.22624029106449239
+      - 0.22663462477800037
+      - -0.085931206758183748
+      - -0.14078141585174089
+      - 1.5100074863480581e-05
+      - 0.22623196587715935
+    accelerations:
+      - 0.17735962738282934
+      - 0.52268773822401571
+      - 0.52359877575781799
+      - -0.19852868775921306
+      - -0.32525028804240835
+      - 3.4886022910731144e-05
+      - 0.52266850436734169
     effort: []
     time_from_start:
       sec: 4
       nanosec: 840000000
   - positions:
-      - -0.0064333593762662313
-      - 0.12227193995969309
-      - -1.2209439901073109
-      - 1.740401782530798
-      - -2.0902059296716122
-      - -1.5707849812091057
-      - 0.12212894444646802
-    velocities:
-      - 0.076243804002980753
-      - 0.23116240730434762
-      - 0.23244268077620137
-      - -0.092021578074536939
-      - -0.14051408480423219
-      - 0.00014941769260478979
-      - 0.23103287966744682
-    accelerations:
-      - 0.17174626572906232
-      - 0.52071484038112392
-      - 0.52359877555171186
-      - -0.20728717051131401
-      - -0.31652105588173529
-      - 0.00033657726125157741
-      - 0.52042306732185517
+      - -0.0028929381828006317
+      - 0.11676967877457689
+      - -1.2232435866659004
+      - 1.7440766740307563
+      - -2.0916017535533671
+      - -1.5707828315675576
+      - 0.11667270699437632
+    velocities:
+      - 0.078541981654708673
+      - 0.23146716844482074
+      - 0.23187061253366342
+      - -0.087916493635049692
+      - -0.14403391873097515
+      - 1.5448935092460273e-05
+      - 0.23145865091892076
+    accelerations:
+      - 0.17735962727428628
+      - 0.52268773790414036
+      - 0.52359877543738664
+      - -0.19852868763770323
+      - -0.32525028784333404
+      - 3.4886022889380344e-05
+      - 0.52266850404743859
     effort: []
     time_from_start:
       sec: 4
       nanosec: 850000000
   - positions:
-      - -0.0056628850756336446
-      - 0.12460792904666729
-      - -1.2185950633420464
-      - 1.7394718674781953
-      - -2.0916258810058128
-      - -1.5707834712832343
-      - 0.12446362460458224
-    velocities:
-      - 0.07796126666039202
-      - 0.23636955570852466
-      - 0.23767866853208622
-      - -0.094094449779795697
-      - -0.1436792953632719
-      - 0.00015278346521754201
-      - 0.23623711034103068
-    accelerations:
-      - 0.17174626569685197
-      - 0.52071484028345205
-      - 0.52359877545348488
-      - -0.20728717047244233
-      - -0.31652105582236612
-      - 0.00033657726118844973
-      - 0.52042306722421106
+      - -0.0020988461221266366
+      - 0.11910990799844323
+      - -1.2208992784547061
+      - 1.7431878017598117
+      - -2.0930579963030707
+      - -1.5707826753724063
+      - 0.11901285010251764
+    velocities:
+      - 0.080315577928024406
+      - 0.23669404582555037
+      - 0.23710660028972849
+      - -0.089901780512068055
+      - -0.14728642161045913
+      - 1.579779532146675e-05
+      - 0.23668533596108349
+    accelerations:
+      - 0.17735962730206961
+      - 0.52268773798601931
+      - 0.52359877551940437
+      - -0.19852868766880336
+      - -0.32525028789429328
+      - 3.48860228948454e-05
+      - 0.52266850412931753
     effort: []
     time_from_start:
       sec: 4
       nanosec: 860000000
   - positions:
-      - -0.0048752361484266241
-      - 0.12699598961768421
-      - -1.2161937766992217
-      - 1.7385212237085392
-      - -2.0930774844456046
-      - -1.5707819276996364
-      - 0.12685034706943327
-    velocities:
-      - 0.07967872931794466
-      - 0.24157670411313042
-      - 0.24291465628840214
-      - -0.096167321485225082
-      - -0.14684450592257217
-      - 0.00015614923783057133
-      - 0.241441341015043
-    accelerations:
-      - 0.17174626580616717
-      - 0.52071484061495521
-      - 0.52359877578679481
-      - -0.20728717060438215
-      - -0.31652105602384739
-      - 0.00033657726140271595
-      - 0.52042306755549195
+      - -0.0012870180987198147
+      - 0.12150240599611588
+      - -1.218502610365952
+      - 1.7422790766200977
+      - -2.0945467640815685
+      - -1.5707825156886528
+      - 0.1214052600610796
+    velocities:
+      - 0.082089174201406948
+      - 0.2419209232064769
+      - 0.24234258804599079
+      - -0.091887067389161206
+      - -0.15053892449006565
+      - 1.6146655550486366e-05
+      - 0.24191202100344308
+    accelerations:
+      - 0.17735962739681815
+      - 0.52268773826523274
+      - 0.52359877579911829
+      - -0.19852868777485333
+      - -0.3252502880680545
+      - 3.4886022913480613e-05
+      - 0.52266850440853097
     effort: []
     time_from_start:
       sec: 4
       nanosec: 870000000
   - positions:
-      - -0.0040704125946452487
-      - 0.12943612167274368
-      - -1.2137401301788375
-      - 1.7375498512218304
-      - -2.0945607399909871
-      - -1.5707803504583127
-      - 0.12928911184102088
-    velocities:
-      - 0.081396191975291257
-      - 0.24678385251711141
-      - 0.24815064404408985
-      - -0.098240193190405778
-      - -0.15000971648149269
-      - 0.00015951501044319684
-      - 0.24664557168843093
-    accelerations:
-      - 0.17174626570913382
-      - 0.52071484032072779
-      - 0.52359877549098266
-      - -0.20728717048726381
-      - -0.31652105584501466
-      - 0.00033657726121254613
-      - 0.52042306726148679
+      - -0.00045745411258020399
+      - 0.12394717276759473
+      - -1.2160535823996388
+      - 1.741350498611614
+      - -2.0960680568888606
+      - -1.5707823525162969
+      - 0.12384993687006211
+    velocities:
+      - 0.083862770474577047
+      - 0.24714780058677735
+      - 0.24757857580162593
+      - -0.093872354266016561
+      - -0.15379142736928256
+      - 1.64955157794642e-05
+      - 0.24713870604517665
+    accelerations:
+      - 0.17735962727881044
+      - 0.52268773791746304
+      - 0.52359877545073708
+      - -0.19852868764276863
+      - -0.32525028785163296
+      - 3.4886022890268034e-05
+      - 0.52266850406076126
     effort: []
     time_from_start:
       sec: 4
       nanosec: 880000000
   - positions:
-      - -0.0032484144142894394
-      - 0.13192832521184586
-      - -1.2112341237808932
-      - 1.7365577500180684
-      - -2.0960756476419609
-      - -1.5707787395592629
-      - 0.13177991891934529
-    velocities:
-      - 0.083113654632702524
-      - 0.25199100092128845
-      - 0.25338663179997473
-      - -0.10031306489566452
-      - -0.1531749270405324
-      - 0.00016288078305594906
-      - 0.25184980236201482
-    accelerations:
-      - 0.17174626567692347
-      - 0.52071484022302816
-      - 0.52359877539275568
-      - -0.20728717044839212
-      - -0.31652105578564549
-      - 0.00033657726114941846
-      - 0.52042306716387043
+      - 0.00038984583629239123
+      - 0.12644420831288039
+      - -1.213552194555765
+      - 1.7404020677343599
+      - -2.0976218747249473
+      - -1.5707821858553388
+      - 0.12634688052946574
+    velocities:
+      - 0.085636366747892795
+      - 0.25237467796750707
+      - 0.25281456355769105
+      - -0.095857641143034952
+      - -0.15704393024876659
+      - 1.684437600847068e-05
+      - 0.25236539108733946
+    accelerations:
+      - 0.17735962730660765
+      - 0.52268773799939749
+      - 0.52359877553281031
+      - -0.1985286876738965
+      - -0.32525028790261995
+      - 3.4886022895736479e-05
+      - 0.52266850414272348
     effort: []
     time_from_start:
       sec: 4
       nanosec: 890000000
   - positions:
-      - -0.0024092416073591585
-      - 0.13447260023499091
-      - -1.2086757575053892
-      - 1.7355449200972537
-      - -2.0976222073985253
-      - -1.5707770950024866
-      - 0.13432276830440665
-    velocities:
-      - 0.084831117290190494
-      - 0.25719814932569812
-      - 0.25862261955609345
-      - -0.10238593660101586
-      - -0.15634013759971349
-      - 0.00016624655566885164
-      - 0.25705403303583113
-    accelerations:
-      - 0.17174626572141566
-      - 0.52071484035797577
-      - 0.52359877552842493
-      - -0.20728717050209916
-      - -0.31652105586766321
-      - 0.00033657726123661542
-      - 0.52042306729870702
+      - 0.0012548817478979708
+      - 0.12899351263197284
+      - -1.2109984468343313
+      - 1.739433783988336
+      - -2.0992082175898283
+      - -1.5707820157057786
+      - 0.12889609103929051
+    velocities:
+      - 0.087409963021129661
+      - 0.25760155534800427
+      - 0.25805055131352328
+      - -0.097842928019965053
+      - -0.16029643312810596
+      - 1.7193236237461647e-05
+      - 0.25759207612926976
+    accelerations:
+      - 0.17735962725552351
+      - 0.52268773784885125
+      - 0.52359877538198651
+      - -0.19852868761672002
+      - -0.32525028780894488
+      - 3.4886022885690668e-05
+      - 0.52266850399217724
     effort: []
     time_from_start:
       sec: 4
       nanosec: 900000000
   - positions:
-      - -0.0015528941822089265
-      - 0.13706894671684886
-      - -1.2060650313777956
-      - 1.7345113614694692
-      - -2.099200419245284
-      - -1.5707754167880008
-      - 0.13691765997088917
-    velocities:
-      - 0.086550885549292703
-      - 0.26241228804789718
-      - 0.26386563634528826
-      - -0.10446159102559037
-      - -0.15950959728450989
-      - 0.00016961684665460478
-      - 0.26226525011053947
-    accelerations:
-      - 0.17174626570062673
-      - 0.5207148402949151
-      - 0.5235987754650312
-      - -0.20728717047699424
-      - -0.31652105582933276
-      - 0.00033657726120262568
-      - 0.52042306723564635
+      - 0.0021376536064782762
+      - 0.13159508567843167
+      - -1.2083923392818587
+      - 1.7384456473911813
+      - -2.1008270854546063
+      - -1.5707818420676189
+      - 0.1314975683530977
+    velocities:
+      - 0.089189222091309486
+      - 0.26284512127577542
+      - 0.26330325670453963
+      - -0.099834553586611335
+      - -0.16355932070640036
+      - 1.75432103175691e-05
+      - 0.26283544910436946
+    accelerations:
+      - 0.17735962729909976
+      - 0.52268773797719303
+      - 0.52359877551060585
+      - -0.19852868766547269
+      - -0.32525028788882543
+      - 3.4886022891511479e-05
+      - 0.52266850412051902
     effort: []
     time_from_start:
       sec: 4
       nanosec: 910000000
   - positions:
-      - -0.00067937214487903143
-      - 0.13971736463910631
-      - -1.2034019454165272
-      - 1.7334570741420052
-      - -2.1008102831711049
-      - -1.570773704915817
-      - 0.13956459390048967
-    velocities:
-      - 0.088268348206703984
-      - 0.26761943645207431
-      - 0.26910162410117322
-      - -0.10653446273084916
-      - -0.16267480784354957
-      - 0.00017298261926742493
-      - 0.26746948078412341
-    accelerations:
-      - 0.17174626566843026
-      - 0.5207148401973265
-      - 0.52359877536683197
-      - -0.20728717043813644
-      - -0.31652105576999134
-      - 0.00033657726113955222
-      - 0.52042306713811326
+      - 0.0030381613887138148
+      - 0.13424892738353322
+      - -1.2057338719671911
+      - 1.7374376579689985
+      - -2.1024784782765154
+      - -1.5707816649408648
+      - 0.13415131240216618
+    velocities:
+      - 0.090962818364546449
+      - 0.26807199865627296
+      - 0.26853924446037225
+      - -0.10181984046354155
+      - -0.16681182358573995
+      - 1.7892070546532626e-05
+      - 0.26806213414630009
+    accelerations:
+      - 0.17735962724820992
+      - 0.52268773782731293
+      - 0.52359877536044819
+      - -0.19852868760853212
+      - -0.32525028779553894
+      - 3.4886022881502937e-05
+      - 0.52266850397063891
     effort: []
     time_from_start:
       sec: 4
       nanosec: 920000000
   - positions:
-      - 0.00021132451902521987
-      - 0.14241785404540624
-      - -1.2006864995776989
-      - 1.7323820580974885
-      - -2.102451799202516
-      - -1.5707719593859071
-      - 0.14226357013682675
-    velocities:
-      - 0.08998581086419194
-      - 0.27282658485648387
-      - 0.274337611857292
-      - -0.10860733443620049
-      - -0.16584001840273058
-      - 0.00017634839188039532
-      - 0.27267371145793967
-    accelerations:
-      - 0.17174626571292245
-      - 0.52071484033216309
-      - 0.52359877550250122
-      - -0.2072871704918296
-      - -0.31652105585198131
-      - 0.00033657726122672207
-      - 0.52042306727289434
+      - 0.0039564051336821015
+      - 0.13695503786244081
+      - -1.2030230447749637
+      - 1.7364098156780459
+      - -2.1041623961272187
+      - -1.5707814843255081
+      - 0.13685732330165504
+    velocities:
+      - 0.092736414637862294
+      - 0.27329887603700292
+      - 0.27377523221643768
+      - -0.10380512734056004
+      - -0.17006432646522418
+      - 1.8240930775511666e-05
+      - 0.27328881918846315
+    accelerations:
+      - 0.17735962727620141
+      - 0.5226877379098025
+      - 0.52359877544310429
+      - -0.19852868763986817
+      - -0.32525028784688675
+      - 3.488602288701204e-05
+      - 0.52266850405312848
     effort: []
     time_from_start:
       sec: 4
       nanosec: 930000000
   - positions:
-      - 0.0011191958095040189
-      - 0.14517041493574928
-      - -1.1979186938613104
-      - 1.7312863133359186
-      - -2.1041249673395188
-      - -1.5707701801982712
-      - 0.145014588679901
-    velocities:
-      - 0.091703273521603207
-      - 0.27803373326066094
-      - 0.27957359961317685
-      - -0.11068020614145926
-      - -0.16900522896177025
-      - 0.00017971416449321542
-      - 0.27787794213152356
-    accelerations:
-      - 0.17174626568071211
-      - 0.52071484023451897
-      - 0.52359877540424649
-      - -0.20728717045295791
-      - -0.31652105579261214
-      - 0.0003365772611635944
-      - 0.52042306717530573
+      - 0.0048923848413833723
+      - 0.13971341711515523
+      - -1.2002598577051762
+      - 1.7353621205183232
+      - -2.1058788390067171
+      - -1.5707813002215494
+      - 0.13961560105156504
+    velocities:
+      - 0.094510010911178152
+      - 0.27852575341773289
+      - 0.27901121997250311
+      - -0.10579041421757854
+      - -0.17331682934470843
+      - 1.8589791004490706e-05
+      - 0.27851550423062621
+    accelerations:
+      - 0.17735962730422067
+      - 0.52268773799234758
+      - 0.5235987755257604
+      - -0.19852868767121809
+      - -0.32525028789823457
+      - 3.4886022892521142e-05
+      - 0.52266850413567356
     effort: []
     time_from_start:
       sec: 4
       nanosec: 940000000
   - positions:
-      - 0.0020442417265571361
-      - 0.14797504731013472
-      - -1.1950985282673627
-      - 1.7301698398572958
-      - -2.1058297875821124
-      - -1.5707683673529089
-      - 0.14781764952971171
-    velocities:
-      - 0.09342073617918023
-      - 0.28324088166534062
-      - 0.28480958736956713
-      - -0.1127530778469181
-      - -0.17217043952111541
-      - 0.00018307993710636039
-      - 0.28308217280560977
-    accelerations:
-      - 0.17174626581441058
-      - 0.52071484063993523
-      - 0.52359877581188585
-      - -0.20728717061431864
-      - -0.31652105603902969
-      - 0.00033657726142564682
-      - 0.52042306758049972
+      - 0.0058461005118175501
+      - 0.14252406514167618
+      - -1.1974443107578288
+      - 1.7342945724898309
+      - -2.107627806915009
+      - -1.5707811126289883
+      - 0.14242614565189593
+    velocities:
+      - 0.096283607184415101
+      - 0.28375263079823038
+      - 0.28424720772833562
+      - -0.10777570109450872
+      - -0.17656933222404797
+      - 1.8938651233454228e-05
+      - 0.28374218927255679
+    accelerations:
+      - 0.17735962725331694
+      - 0.52268773784235645
+      - 0.52359877537549171
+      - -0.19852868761423589
+      - -0.32525028780489257
+      - 3.4886022882509213e-05
+      - 0.52266850398568243
     effort: []
     time_from_start:
       sec: 4
       nanosec: 950000000
   - positions:
-      - 0.002986462270184724
-      - 0.15083175116856296
-      - -1.1922260027958549
-      - 1.7290326376616201
-      - -2.1075662599302967
-      - -1.5707665208498205
-      - 0.15067275268625932
-    velocities:
-      - 0.095138198836502444
-      - 0.28844803006924769
-      - 0.29004557512518059
-      - -0.11482594955206939
-      - -0.17533565007999097
-      - 0.00018644570971900596
-      - 0.28828640347892376
-    accelerations:
-      - 0.17174626569299395
-      - 0.52071484027182247
-      - 0.52359877544177202
-      - -0.20728717046777939
-      - -0.31652105581528844
-      - 0.00033657726118769079
-      - 0.5204230672124982
+      - 0.0068175521449845549
+      - 0.14538698194200347
+      - -1.1945764039329219
+      - 1.7332071715925685
+      - -2.1094092998520959
+      - -1.5707809215478252
+      - 0.14528895710264744
+    velocities:
+      - 0.098057203457730946
+      - 0.28897950817896034
+      - 0.28948319548440105
+      - -0.10976098797152722
+      - -0.17982183510353222
+      - 1.9287511462433268e-05
+      - 0.28896887431471985
+    accelerations:
+      - 0.17735962728132232
+      - 0.52268773792490153
+      - 0.52359877545814781
+      - -0.19852868764558582
+      - -0.32525028785624038
+      - 3.4886022888018315e-05
+      - 0.522668504068172
     effort: []
     time_from_start:
       sec: 4
       nanosec: 960000000
   - positions:
-      - 0.0039458574403867831
-      - 0.15374052651103409
-      - -1.1893011174467871
-      - 1.7278747067488913
-      - -2.1093343843840722
-      - -1.5707646406890059
-      - 0.15357989814954387
-    velocities:
-      - 0.096855661493913697
-      - 0.29365517847342471
-      - 0.2952815628810655
-      - -0.11689882125732816
-      - -0.17850086063903062
-      - 0.00018981148233182605
-      - 0.29349063415250765
-    accelerations:
-      - 0.17174626566076973
-      - 0.52071484017406733
-      - 0.5235987753435728
-      - -0.20728717042890771
-      - -0.31652105575589151
-      - 0.00033657726112456312
-      - 0.5204230671149096
+      - 0.0078067397408843088
+      - 0.14830216751613684
+      - -1.1916561372304553
+      - 1.7320999178265368
+      - -2.1112233178179767
+      - -1.5707807269780596
+      - 0.14820403540381943
+    velocities:
+      - 0.099830799731145087
+      - 0.29420638555997997
+      - 0.29471918324075669
+      - -0.11174627484865575
+      - -0.18307433798319672
+      - 1.9636371691431644e-05
+      - 0.29419555935717256
+    accelerations:
+      - 0.17735962740776773
+      - 0.52268773829751247
+      - 0.52359877583148129
+      - -0.19852868778713517
+      - -0.32525028808814954
+      - 3.4886022912891078e-05
+      - 0.52266850444083846
     effort: []
     time_from_start:
       sec: 4
       nanosec: 970000000
   - positions:
-      - 0.0049224272371632362
-      - 0.15670137333754786
-      - -1.1863238722201597
-      - 1.7266960471191097
-      - -2.1111341609434389
-      - -1.5707627268704654
-      - 0.15653908591956511
-    velocities:
-      - 0.098573124151401653
-      - 0.29886232687783426
-      - 0.30051755063718416
-      - -0.11897169296267947
-      - -0.1816660711982116
-      - 0.00019317725494479642
-      - 0.2986948648263239
-    accelerations:
-      - 0.17174626570526191
-      - 0.52071484030890391
-      - 0.52359877547913103
-      - -0.20728717048257311
-      - -0.31652105583785373
-      - 0.00033657726121167877
-      - 0.52042306724969067
+      - 0.0088136632995170477
+      - 0.15126962186407703
+      - -1.1886835106504288
+      - 1.7309728111917346
+      - -2.1130698608126517
+      - -1.5707805289196914
+      - 0.15117138055541252
+    velocities:
+      - 0.10160439600428377
+      - 0.29943326294018779
+      - 0.29995517099629909
+      - -0.11373156172547594
+      - -0.18632684086235604
+      - 1.9985231920375834e-05
+      - 0.29942224439881354
+    accelerations:
+      - 0.17735962725845172
+      - 0.52268773785745548
+      - 0.52359877539064625
+      - -0.1985286876199813
+      - -0.32525028781430171
+      - 3.4886022883518876e-05
+      - 0.52266850400078146
     effort: []
     time_from_start:
       sec: 4
       nanosec: 980000000
   - positions:
-      - 0.0059161716605140857
-      - 0.15971429164810427
-      - -1.1832942671159725
-      - 1.7254966587722751
-      - -2.1129655896083963
-      - -1.5707607793941989
-      - 0.15955031599632305
-    velocities:
-      - 0.10029058680881291
-      - 0.30406947528201134
-      - 0.30575353839306907
-      - -0.12104456466793824
-      - -0.18483128175725125
-      - 0.00019654302755761651
-      - 0.30389909549990773
-    accelerations:
-      - 0.17174626567303769
-      - 0.5207148402112598
-      - 0.5235987753809318
-      - -0.20728717044368755
-      - -0.31652105577845679
-      - 0.00033657726114855109
-      - 0.52042306715204656
+      - 0.0098383228208826518
+      - 0.15428934498582364
+      - -1.1856585241928421
+      - 1.7298258516881628
+      - -2.1149489288361214
+      - -1.5707803273727214
+      - 0.15419099255742635
+    velocities:
+      - 0.10337799227759961
+      - 0.30466014032091782
+      - 0.30519115875236452
+      - -0.11571684860249444
+      - -0.18957934374184029
+      - 2.0334092149354874e-05
+      - 0.3046489294409766
+    accelerations:
+      - 0.17735962728644322
+      - 0.52268773794000056
+      - 0.52359877547330236
+      - -0.19852868765133122
+      - -0.32525028786564952
+      - 3.488602288902459e-05
+      - 0.52266850408332655
     effort: []
     time_from_start:
       sec: 4
       nanosec: 990000000
   - positions:
-      - 0.0069270907104393657
-      - 0.1627792814427034
-      - -1.1802123021342257
-      - 1.7242765417083876
-      - -2.1148286703789445
-      - -1.5707587982602058
-      - 0.16261358837981782
-    velocities:
-      - 0.10200804946640522
-      - 0.30927662368673731
-      - 0.31098952614950592
-      - -0.12311743637341553
-      - -0.18799649231662457
-      - 0.00019990880017079144
-      - 0.30910332617404024
-    accelerations:
-      - 0.17174626582202948
-      - 0.52071484066297236
-      - 0.52359877583514502
-      - -0.20728717062351962
-      - -0.31652105605304626
-      - 0.0003365772614405546
-      - 0.52042306760353685
+      - 0.010880718304981083
+      - 0.15736133688137655
+      - -1.182581177857696
+      - 1.7286590393158212
+      - -2.1168605218883854
+      - -1.5707801223371489
+      - 0.15726287140986087
+    velocities:
+      - 0.10515158855083659
+      - 0.3098870177014153
+      - 0.31042714650819708
+      - -0.11770213547942465
+      - -0.19283184662117989
+      - 2.06829523783184e-05
+      - 0.30987561448290724
+    accelerations:
+      - 0.17735962723558113
+      - 0.52268773779006494
+      - 0.52359877532308918
+      - -0.19852868759439066
+      - -0.32525028777236303
+      - 3.4886022879019437e-05
+      - 0.52266850393339093
     effort: []
     time_from_start:
       sec: 5
       nanosec: 0
   - positions:
-      - 0.0079551843822927883
-      - 0.16589634270725823
-      - -1.177077977289084
-      - 1.7230356959330548
-      - -2.116723403246521
-      - -1.5707567834684961
-      - 0.16572890305597024
-    velocities:
-      - 0.10372704857106942
-      - 0.31448843042151992
-      - 0.31623019803576319
-      - -0.12519216247592824
-      - -0.19116453448253631
-      - 0.00020327758381081111
-      - 0.31431221256801956
-    accelerations:
-      - 0.17174626567400914
-      - 0.52071484021420189
-      - 0.52359877538387389
-      - -0.20728717044486716
-      - -0.31652105578028866
-      - 0.0003365772611453798
-      - 0.52042306715498865
+      - 0.011940849743045535
+      - 0.16048559752489958
+      - -1.1794514716708717
+      - 1.727472374084523
+      - -2.1188046399533662
+      - -1.5707799138129759
+      - 0.16038701708688075
+    velocities:
+      - 0.10692895954164162
+      - 0.31512501936435094
+      - 0.31567427793593694
+      - -0.11969164761176661
+      - -0.19609127175218841
+      - 2.1032555078863415e-05
+      - 0.31511342339792486
+    accelerations:
+      - 0.1773596272509716
+      - 0.52268773783547307
+      - 0.52359877536855282
+      - -0.19852868761161299
+      - -0.32525028780059045
+      - 3.4886022878301153e-05
+      - 0.52266850397874354
     effort: []
     time_from_start:
       sec: 5
       nanosec: 10000000
   - positions:
-      - 0.009000452672676823
-      - 0.16906547543146791
-      - -1.1738912925909053
-      - 1.7217741214503774
-      - -2.118649788204864
-      - -1.570754735019076
-      - 0.16889626001448518
-    velocities:
-      - 0.10544451122866784
-      - 0.31969557882626443
-      - 0.32146618579221858
-      - -0.12726503418141288
-      - -0.19432974504192083
-      - 0.00020664335642394679
-      - 0.3195164432421706
-    accelerations:
-      - 0.17174626582910715
-      - 0.52071484068445517
-      - 0.52359877585668335
-      - -0.20728717063206833
-      - -0.31652105606609138
-      - 0.00033657726144930954
-      - 0.52042306762501966
+      - 0.013018717121817383
+      - 0.1636621268773189
+      - -1.1762694056715106
+      - 1.7262658560091091
+      - -2.1207812830067505
+      - -1.5707797018002048
+      - 0.16356342954941364
+    velocities:
+      - 0.10870255581495747
+      - 0.32035189674508091
+      - 0.32091026569200237
+      - -0.12167693448878511
+      - -0.19934377463167269
+      - 2.1381415307804999e-05
+      - 0.32034010844008792
+    accelerations:
+      - 0.17735962727897697
+      - 0.52268773791796264
+      - 0.52359877545120892
+      - -0.19852868764296291
+      - -0.32525028785196602
+      - 3.4886022883810255e-05
+      - 0.52266850406123311
     effort: []
     time_from_start:
       sec: 5
       nanosec: 20000000
   - positions:
-      - 0.0100628955896351
-      - 0.17228667963971972
-      - -1.1706522480151675
-      - 1.7204918182506475
-      - -2.1206078252687974
-      - -1.5707526529119296
-      - 0.1721156592797364
-    velocities:
-      - 0.10716197388596865
-      - 0.32490272723010666
-      - 0.32670217354776676
-      - -0.12933790588653835
-      - -0.19749495560075692
-      - 0.00021000912903649927
-      - 0.32472067391541981
-    accelerations:
-      - 0.1717462656862771
-      - 0.52071484025144987
-      - 0.52359877542134392
-      - -0.20728717045968864
-      - -0.31652105580290946
-      - 0.00033657726116942199
-      - 0.52042306719223663
+      - 0.014114320463321943
+      - 0.16689092500354419
+      - -1.1730349797945903
+      - 1.7250394850649258
+      - -2.1227904510889282
+      - -1.5707794862988316
+      - 0.16679210886236681
+    velocities:
+      - 0.11047615208839053
+      - 0.32557877412615627
+      - 0.3261462534484138
+      - -0.1236622213659348
+      - -0.20259627751137188
+      - 2.1730275536769636e-05
+      - 0.32556679348259643
+    accelerations:
+      - 0.17735962742433781
+      - 0.52268773834630677
+      - 0.52359877588038661
+      - -0.1985286878056759
+      - -0.32525028811851414
+      - 3.4886022912403187e-05
+      - 0.52266850448968827
     effort: []
     time_from_start:
       sec: 5
       nanosec: 30000000
   - positions:
-      - 0.011142513133167846
-      - 0.17555995533201441
-      - -1.1673608435618701
-      - 1.7191887863338642
-      - -2.122597514438322
-      - -1.5707505371470574
-      - 0.17538710085172454
-    velocities:
-      - 0.10887943654337995
-      - 0.33010987563428379
-      - 0.33193816130365167
-      - -0.13141077759179712
-      - -0.20066016615979657
-      - 0.00021337490164926822
-      - 0.32992490458900375
-    accelerations:
-      - 0.17174626565409451
-      - 0.52071484015386127
-      - 0.52359877532314469
-      - -0.20728717042083084
-      - -0.31652105574354028
-      - 0.00033657726110632142
-      - 0.52042306709464803
+      - 0.01522765976755917
+      - 0.17017199190357532
+      - -1.1697481940401109
+      - 1.7237932612519726
+      - -2.1248321441999005
+      - -1.5707792673088559
+      - 0.17007305502574022
+    velocities:
+      - 0.11224974836151029
+      - 0.33080565150630842
+      - 0.33138224120390031
+      - -0.1256475082427338
+      - -0.20584878039049659
+      - 2.2079135765672654e-05
+      - 0.33079347852418162
+    accelerations:
+      - 0.1773596272560925
+      - 0.5226877378505721
+      - 0.52359877538370736
+      - -0.19852868761734452
+      - -0.32525028780999959
+      - 3.4886022879310816e-05
+      - 0.52266850399384257
     effort: []
     time_from_start:
       sec: 5
       nanosec: 40000000
   - positions:
-      - 0.012239305303274949
-      - 0.17888530250835155
-      - -1.1640170792310127
-      - 1.7178650257000281
-      - -2.1246188557134378
-      - -1.5707483877244584
-      - 0.17871058473044921
-    velocities:
-      - 0.11059689920086792
-      - 0.3353170240386934
-      - 0.33717414905977033
-      - -0.13348364929714845
-      - -0.20382537671897755
-      - 0.00021674067426218747
-      - 0.33512913526282007
-    accelerations:
-      - 0.1717462656985867
-      - 0.52071484028869786
-      - 0.52359877545875844
-      - -0.20728717047451012
-      - -0.31652105582553025
-      - 0.00033657726119349127
-      - 0.5204230672294291
+      - 0.016358735034529462
+      - 0.17350532757741347
+      - -1.1664090484080709
+      - 1.7225271845702497
+      - -2.1269063623396671
+      - -1.5707790448302781
+      - 0.17340626803953491
+    velocities:
+      - 0.11402334463482613
+      - 0.33603252888703838
+      - 0.33661822895996574
+      - -0.12763279511975231
+      - -0.20910128326998084
+      - 2.2427995994614238e-05
+      - 0.33602016356634468
+    accelerations:
+      - 0.17735962728409788
+      - 0.52268773793306167
+      - 0.52359877546636346
+      - -0.19852868764870832
+      - -0.32525028786134741
+      - 3.4886022884819918e-05
+      - 0.52266850407633214
     effort: []
     time_from_start:
       sec: 5
       nanosec: 50000000
   - positions:
-      - 0.013353272099956561
-      - 0.18226272116873174
-      - -1.1606209550225954
-      - 1.7165205363491391
-      - -2.1266718490941443
-      - -1.5707462046441338
-      - 0.18208611091591098
-    velocities:
-      - 0.11231436185827919
-      - 0.34052417244287048
-      - 0.34241013681565524
-      - -0.13555652100240723
-      - -0.20699058727801717
-      - 0.00022010644687495639
-      - 0.34033336593640395
-    accelerations:
-      - 0.17174626566636247
-      - 0.52071484019099823
-      - 0.52359877536055921
-      - -0.20728717043565231
-      - -0.31652105576616107
-      - 0.0003365772611303636
-      - 0.52042306713178499
+      - 0.017507546264232659
+      - 0.17689093202505818
+      - -1.163017542898471
+      - 1.7212412550197564
+      - -2.129013105508228
+      - -1.570778818863098
+      - 0.17679174790375055
+    velocities:
+      - 0.11579694090806311
+      - 0.34125940626753593
+      - 0.3418542167157983
+      - -0.12961808199668251
+      - -0.21235378614932049
+      - 2.2776856223540304e-05
+      - 0.34124684860827531
+    accelerations:
+      - 0.17735962723322191
+      - 0.52268773778318156
+      - 0.5235987753162058
+      - -0.19852868759175388
+      - -0.32525028776806092
+      - 3.4886022874811377e-05
+      - 0.52266850392645203
     effort: []
     time_from_start:
       sec: 5
       nanosec: 60000000
   - positions:
-      - 0.014484413523212648
-      - 0.18569221131315475
-      - -1.157172470936618
-      - 1.7151553182811972
-      - -2.128756494580442
-      - -1.5707439879060829
-      - 0.18551367940810964
-    velocities:
-      - 0.11403182451589285
-      - 0.34573132084766123
-      - 0.3476461245721571
-      - -0.13762939270791028
-      - -0.21015579783742983
-      - 0.00022347221948812196
-      - 0.34553759661060118
-    accelerations:
-      - 0.1717462658366983
-      - 0.5207148407074923
-      - 0.5235987758798315
-      - -0.20728717064122767
-      - -0.31652105608010794
-      - 0.00033657726146419021
-      - 0.52042306764800128
+      - 0.018674093456668685
+      - 0.18032880524650924
+      - -1.1595736775113115
+      - 1.7199354726004934
+      - -2.1311523737055835
+      - -1.5707785894073156
+      - 0.18022949461838683
+    velocities:
+      - 0.11757053718137896
+      - 0.34648628364826589
+      - 0.34709020447186367
+      - -0.131603368873701
+      - -0.21560628902880474
+      - 2.3125716452481888e-05
+      - 0.34647353365043843
+    accelerations:
+      - 0.17735962726122728
+      - 0.52268773786567113
+      - 0.52359877539880639
+      - -0.19852868762308992
+      - -0.32525028781940873
+      - 3.4886022880317091e-05
+      - 0.52266850400899711
     effort: []
     time_from_start:
       sec: 5
       nanosec: 70000000
   - positions:
-      - 0.015632729573043048
-      - 0.18917377294162016
-      - -1.1536716269730813
-      - 1.7137693714962023
-      - -2.1308727921723305
-      - -1.5707417375103061
-      - 0.18899329020704475
-    velocities:
-      - 0.11574928717317845
-      - 0.35093846925145727
-      - 0.35288211232765881
-      - -0.13970226441301734
-      - -0.21332100839623783
-      - 0.00022683799210064461
-      - 0.35074182728380426
-    accelerations:
-      - 0.17174626567865819
-      - 0.52071484022830172
-      - 0.52359877539797373
-      - -0.20728717045047379
-      - -0.31652105578883738
-      - 0.00033657726115446
-      - 0.52042306716908848
+      - 0.019858376611837456
+      - 0.18381894724176637
+      - -1.1560774522465926
+      - 1.718609837312461
+      - -2.1333241669317324
+      - -1.570778356462931
+      - 0.18371950818344351
+    velocities:
+      - 0.11934413345482775
+      - 0.35171316102938766
+      - 0.35232619222832157
+      - -0.13358865575086831
+      - -0.2188587919085328
+      - 2.3474576681449622e-05
+      - 0.35170021869299323
+    accelerations:
+      - 0.17735962742232553
+      - 0.52268773834042259
+      - 0.52359877587444692
+      - -0.19852868780342769
+      - -0.32525028811482265
+      - 3.4886022912006776e-05
+      - 0.52266850448369306
     effort: []
     time_from_start:
       sec: 5
       nanosec: 80000000
   - positions:
-      - 0.016798220249447961
-      - 0.19270740605412856
-      - -1.1501184231319843
-      - 1.7123626959941542
-      - -2.1330207418698102
-      - -1.5707394534568031
-      - 0.19252494331271694
-    velocities:
-      - 0.11746674983058972
-      - 0.35614561765563435
-      - 0.35811810008354372
-      - -0.14177513611827611
-      - -0.21648621895527745
-      - 0.00023020376471341353
-      - 0.35594605795738815
-    accelerations:
-      - 0.17174626564644785
-      - 0.52071484013065761
-      - 0.52359877529983001
-      - -0.20728717041158823
-      - -0.3165210557294682
-      - 0.00033657726109133232
-      - 0.52042306707144437
+      - 0.021060395729739213
+      - 0.18736135801083029
+      - -1.1525288671043137
+      - 1.7172643491556583
+      - -2.1355284851866765
+      - -1.5707781200299438
+      - 0.18726178859892134
+    velocities:
+      - 0.12111772972793178
+      - 0.35694003840949334
+      - 0.35756217998376166
+      - -0.13557394262764971
+      - -0.22211129478762864
+      - 2.3823436910349542e-05
+      - 0.35692690373453212
+    accelerations:
+      - 0.17735962723835669
+      - 0.52268773779822508
+      - 0.52359877533130483
+      - -0.19852868759749928
+      - -0.32525028777747006
+      - 3.488602287582104e-05
+      - 0.52266850394160658
     effort: []
     time_from_start:
       sec: 5
       nanosec: 90000000
   - positions:
-      - 0.017980885552427266
-      - 0.19629311065067956
-      - -1.1465128594133278
-      - 1.7109352917750535
-      - -2.1352003436728806
-      - -1.5707371357455737
-      - 0.19610863872512582
-    velocities:
-      - 0.1191842124880777
-      - 0.36135276606004402
-      - 0.36335408783966244
-      - -0.14384800782362747
-      - -0.21965142951445846
-      - 0.0002335695373263328
-      - 0.36115028863120452
-    accelerations:
-      - 0.17174626569094004
-      - 0.52071484026554971
-      - 0.52359877543549926
-      - -0.20728717046532302
-      - -0.31652105581145817
-      - 0.00033657726117852928
-      - 0.52042306720628095
+      - 0.022280150810373916
+      - 0.19095603755370089
+      - -1.1489279220844746
+      - 1.7158990081300856
+      - -2.1377653284704152
+      - -1.5707778801083545
+      - 0.19085633586482015
+    velocities:
+      - 0.12289132600124762
+      - 0.36216691579022336
+      - 0.36279816773982709
+      - -0.1375592295046682
+      - -0.22536379766711293
+      - 2.4172297139291127e-05
+      - 0.36215358877669518
+    accelerations:
+      - 0.17735962726634819
+      - 0.52268773788077016
+      - 0.52359877541401645
+      - -0.19852868762883533
+      - -0.32525028782881787
+      - 3.4886022881326755e-05
+      - 0.52266850402409615
     effort: []
     time_from_start:
       sec: 5
       nanosec: 100000000
   - positions:
-      - 0.019180725479145355
-      - 0.19993088672267595
-      - -1.1428549358257565
-      - 1.7094871588423219
-      - -2.1374115975763162
-      - -1.5707347843766239
-      - 0.19974437643567894
-    velocities:
-      - 0.12090276863166584
-      - 0.36656322978800793
-      - 0.36859340928097645
-      - -0.1459221992993916
-      - -0.22281865532197018
-      - 0.00023693745287939956
-      - 0.36635783277089384
-    accelerations:
-      - 0.17174626563932854
-      - 0.52071484010906377
-      - 0.52359877527812515
-      - -0.20728717040301176
-      - -0.31652105571633982
-      - 0.00033657726107252142
-      - 0.52042306704990604
+      - 0.023517641848382582
+      - 0.19460298585458494
+      - -1.1452746172028963
+      - 1.7145138142417418
+      - -2.1400346967731205
+      - -1.5707776366981641
+      - 0.19450314996534734
+    velocities:
+      - 0.12466761482103358
+      - 0.36740172824076206
+      - 0.36804210439641677
+      - -0.13954753030162662
+      - -0.22862123826285435
+      - 2.452168698220847e-05
+      - 0.36738820859667171
+    accelerations:
+      - 0.17735962724220083
+      - 0.52268773780954936
+      - 0.52359877534268462
+      - -0.19852868760177364
+      - -0.32525028778451998
+      - 3.4886022875770218e-05
+      - 0.52266850395287534
     effort: []
     time_from_start:
       sec: 5
       nanosec: 110000000
   - positions:
-      - 0.020397389600209242
-      - 0.20361967180867402
-      - -1.139145720715067
-      - 1.708018720142666
-      - -2.1396538577536646
-      - -1.5707324000367027
-      - 0.20343109457826353
-    velocities:
-      - 0.12192649606127065
-      - 0.36966705311038167
-      - 0.37171442286671214
-      - -0.14715777528910406
-      - -0.22470534139096909
-      - 0.00023894368790907292
-      - 0.36945991692250446
-    accelerations:
-      - -0.17174626563923126
-      - -0.52071484010874902
-      - -0.52359877527786858
-      - 0.20728717040289055
-      - 0.31652105571617684
-      - -0.00033657726107233244
-      - -0.52042306704964658
+      - 0.024769767297281392
+      - 0.19829306250007189
+      - -1.1415781088046038
+      - 1.7131122392274731
+      - -2.1423309023353956
+      - -1.5707773904094355
+      - 0.19819309082344119
+    velocities:
+      - 0.12483985199373354
+      - 0.36790931984751662
+      - 0.36855058072835573
+      - -0.13974032513540055
+      - -0.22893709475657234
+      - 2.4555565436061238e-05
+      - 0.36789578152507679
+    accelerations:
+      - -0.17735962742556804
+      - -0.52268773834995041
+      - -0.52359877588397385
+      - 0.19852868780705388
+      - 0.32525028812077877
+      - -3.4886022911836881e-05
+      - -0.5226685044932764
     effort: []
     time_from_start:
       sec: 5
       nanosec: 120000000
   - positions:
-      - 0.021609497676861298
-      - 0.20729464349425492
-      - -1.1354503955091464
-      - 1.7065557803081575
-      - -2.1418877213351291
-      - -1.5707300246254234
-      - 0.20710400706051779
-    velocities:
-      - 0.12020903340364265
-      - 0.36445990470554745
-      - 0.36647843511016653
-      - -0.1450849035835837
-      - -0.22154013083153001
-      - 0.00023557791529592794
-      - 0.36425568624826382
-    accelerations:
-      - -0.17174626582359781
-      - -0.520714840667728
-      - -0.523598775839898
-      - 0.20728717062541718
-      - 0.31652105605595704
-      - -0.00033657726143366916
-      - -0.52042306760829271
+      - 0.026010160749635143
+      - 0.20194856436194286
+      - -1.1379162354532995
+      - 1.711723796502177
+      - -2.1446055932197714
+      - -1.5707771464283504
+      - 0.20184845817020142
+    velocities:
+      - 0.12306625572049656
+      - 0.36268244246701908
+      - 0.36331459297252322
+      - -0.13775503825847035
+      - -0.22568459187723269
+      - 2.4206705207143225e-05
+      - 0.36266909648314621
+    accelerations:
+      - -0.17735962737469207
+      - -0.52268773820007031
+      - -0.52359877573376068
+      - 0.19852868775009944
+      - 0.32525028802746453
+      - -3.488602290182834e-05
+      - -0.52266850434328527
     effort: []
     time_from_start:
       sec: 5
       nanosec: 130000000
   - positions:
-      - 0.022804431126938959
-      - 0.21091754369579313
-      - -1.1318074301807852
-      - 1.705113569190702
-      - -2.1440899328110028
-      - -1.5707276828718704
-      - 0.21072487723603534
-    velocities:
-      - 0.11849157074623139
-      - 0.35925275630137038
-      - 0.36124244735428163
-      - -0.14301203187832492
-      - -0.21837492027249036
-      - 0.00023221214268320773
-      - 0.35905145557467993
-    accelerations:
-      - -0.17174626579138746
-      - -0.52071484057008388
-      - -0.52359877574175429
-      - 0.20728717058653162
-      - 0.31652105599658786
-      - -0.00033657726137051438
-      - -0.52042306751070411
+      - 0.027232818239255989
+      - 0.20555179745000718
+      - -1.1343067219795551
+      - 1.7103552066456507
+      - -2.1468477590753525
+      - -1.5707769059358672
+      - 0.20545155866654075
+    velocities:
+      - 0.12129265944718072
+      - 0.35745556508628912
+      - 0.35807860521645785
+      - -0.13576975138145184
+      - -0.22243208899774838
+      - 2.3857844978209695e-05
+      - 0.35744241144098315
+    accelerations:
+      - -0.17735962740268357
+      - -0.52268773828255988
+      - -0.52359877581641678
+      - 0.19852868778143548
+      - 0.32525028807881234
+      - -3.488602290734083e-05
+      - -0.52266850442583035
     effort: []
     time_from_start:
       sec: 5
       nanosec: 140000000
   - positions:
-      - 0.023982189950442302
-      - 0.21448837241328902
-      - -1.128216824729984
-      - 1.7036920867902992
-      - -2.1462604921812858
-      - -1.5707253747760435
-      - 0.21429370510481643
-    velocities:
-      - 0.11677410808874342
-      - 0.35404560789696077
-      - 0.35600645959816296
-      - -0.14093916017297356
-      - -0.21520970971330936
-      - 0.00022884637007033719
-      - 0.35384722490086362
-    accelerations:
-      - -0.17174626583587965
-      - -0.52071484070497598
-      - -0.52359877587731252
-      - 0.2072871706402109
-      - 0.31652105607857783
-      - -0.00033657726145771134
-      - -0.52042306764548518
+      - 0.028437739766144086
+      - 0.20910276176426545
+      - -1.1307495683833699
+      - 1.7090064696578944
+      - -2.1490573999021398
+      - -1.5707766689319862
+      - 0.20900239231245965
+    velocities:
+      - 0.11951906317386486
+      - 0.35222868770555915
+      - 0.35284261746039242
+      - -0.13378446450443335
+      - -0.21917958611826405
+      - 2.3508984749276168e-05
+      - 0.35221572639882009
+    accelerations:
+      - -0.17735962743068895
+      - -0.52268773836504945
+      - -0.5235987758991284
+      - 0.19852868781277153
+      - 0.32525028813018791
+      - -3.4886022912846545e-05
+      - -0.52266850450831992
     effort: []
     time_from_start:
       sec: 5
       nanosec: 150000000
   - positions:
-      - 0.02514277414737098
-      - 0.2180071296467414
-      - -1.1246785791567429
-      - 1.7022913331069498
-      - -2.1483993994459771
-      - -1.5707231003379425
-      - 0.21781049066686003
-    velocities:
-      - 0.11505664543133215
-      - 0.34883845949278369
-      - 0.35077047184227805
-      - -0.13886628846771476
-      - -0.21204449915426973
-      - 0.00022548059745761698
-      - 0.34864299422727973
-    accelerations:
-      - -0.17174626580365543
-      - -0.52071484060727635
-      - -0.5235987757791688
-      - 0.2072871706013531
-      - 0.31652105601920866
-      - -0.00033657726139458367
-      - -0.52042306754789658
+      - 0.029624925330299239
+      - 0.21260145730471705
+      - -1.1272447746647454
+      - 1.7076775855389079
+      - -2.1512345157001325
+      - -1.570776435416708
+      - 0.21250095910795755
+    velocities:
+      - 0.1177454669006279
+      - 0.34700181032506161
+      - 0.34760662970455991
+      - -0.13179917762750312
+      - -0.2159270832389244
+      - 2.3160124520358155e-05
+      - 0.34698904135688946
+    accelerations:
+      - -0.17735962737981298
+      - -0.52268773821516934
+      - -0.52359877574891522
+      - 0.19852868775584484
+      - 0.32525028803687367
+      - -3.4886022902838003e-05
+      - -0.52266850435843981
     effort: []
     time_from_start:
       sec: 5
       nanosec: 160000000
   - positions:
-      - 0.02628618371772538
-      - 0.22147381539615157
-      - -1.1211926934610612
-      - 1.7009113081406531
-      - -2.1505066546050777
-      - -1.5707208595575679
-      - 0.2212752339221673
-    velocities:
-      - 0.11333918277404566
-      - 0.34363131108898493
-      - 0.34553448408677362
-      - -0.13679341676260659
-      - -0.20887928859546004
-      - 0.00022211482484514128
-      - 0.34343876355407399
-    accelerations:
-      - -0.17174626564682241
-      - -0.52071484013178615
-      - -0.52359877530096122
-      - 0.20728717041204989
-      - 0.31652105573016565
-      - -0.00033657726108721311
-      - -0.5204230670726282
+      - 0.030794374931721644
+      - 0.21604788407136255
+      - -1.1237923408236798
+      - 1.7063685542886913
+      - -2.1533791064693308
+      - -1.5707762053900316
+      - 0.21594725905303502
+    velocities:
+      - 0.11597187062731207
+      - 0.3417749329443317
+      - 0.34237064194849459
+      - -0.12981389075048463
+      - -0.21267458035944012
+      - 2.2811264291424631e-05
+      - 0.34176235631472646
+    accelerations:
+      - -0.1773596274077906
+      - -0.5226877382976034
+      - -0.52359877583151582
+      - 0.19852868778718089
+      - 0.32525028808819373
+      - -3.4886022908343717e-05
+      - -0.52266850444087387
     effort: []
     time_from_start:
       sec: 5
       nanosec: 170000000
   - positions:
-      - 0.02741241866150539
-      - 0.22488842966151912
-      - -1.1177591676429395
-      - 1.6995520118914094
-      - -2.1525822576585876
-      - -1.5707186524349193
-      - 0.22468793487073785
-    velocities:
-      - 0.11162172011643294
-      - 0.33842416268419706
-      - 0.34029849633027454
-      - -0.13472054505710465
-      - -0.20571407803604913
-      - 0.00021874905223202628
-      - 0.33823453287987965
-    accelerations:
-      - -0.17174626581590952
-      - -0.52071484064446882
-      - -0.52359877581647229
-      - 0.20728717061614682
-      - 0.31652105604177394
-      - -0.00033657726141857164
-      - -0.52042306758497803
+      - 0.031946088570410903
+      - 0.21944204206420082
+      - -1.1203922668601749
+      - 1.7050793759072445
+      - -2.155491172209735
+      - -1.5707759788519577
+      - 0.21934129214769094
+    velocities:
+      - 0.1141982743541992
+      - 0.33654805556419992
+      - 0.33713465419302846
+      - -0.12782860387369335
+      - -0.20942207748032804
+      - 2.2462404062531026e-05
+      - 0.33653567127316159
+    accelerations:
+      - -0.17735962723297699
+      - -0.52268773778236899
+      - -0.52359877531539412
+      - 0.19852868759145836
+      - 0.3252502877676004
+      - -3.4886022873958056e-05
+      - -0.52266850392569497
     effort: []
     time_from_start:
       sec: 5
       nanosec: 180000000
   - positions:
-      - 0.028521478978711004
-      - 0.22825097244284401
-      - -1.1143780017023772
-      - 1.6982134443592187
-      - -2.1546262086065067
-      - -1.570716478969997
-      - 0.2280485935125717
-    velocities:
-      - 0.10990425745902167
-      - 0.33321701428001999
-      - 0.33506250857438968
-      - -0.13264767335184588
-      - -0.20254886747700948
-      - 0.00021538327961930604
-      - 0.33303030220629576
-    accelerations:
-      - -0.17174626578369917
-      - -0.5207148405467692
-      - -0.52359877571827307
-      - 0.2072871705772335
-      - 0.31652105598240476
-      - -0.00033657726135544397
-      - -0.52042306748738942
+      - 0.033080066246367536
+      - 0.22278393128323332
+      - -1.117044552774229
+      - 1.7038100503945677
+      - -2.1575707129213444
+      - -1.5707757558024862
+      - 0.22268305839192676
+    velocities:
+      - 0.11242467808075925
+      - 0.33132117818310419
+      - 0.33189866643659666
+      - -0.12584331699653592
+      - -0.20616957460061613
+      - 2.2113543833573087e-05
+      - 0.33130898623063276
+    accelerations:
+      - -0.17735962738492
+      - -0.52268773823021286
+      - -0.52359877576401426
+      - 0.19852868776156249
+      - 0.3252502880462273
+      - -3.4886022903844278e-05
+      - -0.52266850437348333
     effort: []
     time_from_start:
       sec: 5
       nanosec: 190000000
   - positions:
-      - 0.029613364669342106
-      - 0.23156144374012591
-      - -1.1110491956393751
-      - 1.6968956055440809
-      - -2.1566385074488341
-      - -1.5707143391628005
-      - 0.23135720984766853
-    velocities:
-      - 0.10818679480153369
-      - 0.32800986587561032
-      - 0.32982652081827091
-      - -0.13057480164649449
-      - -0.19938365691782844
-      - 0.00021201750700643548
-      - 0.32782607153247939
-    accelerations:
-      - -0.17174626582820524
-      - -0.52071484068171681
-      - -0.52359877585394232
-      - 0.2072871706309683
-      - 0.31652105606445025
-      - -0.00033657726144266804
-      - -0.52042306762222601
+      - 0.034196307959591263
+      - 0.22607355172845925
+      - -1.1137491985658432
+      - 1.7025605777506605
+      - -2.15961772860416
+      - -1.5707755362416169
+      - 0.22597255778574168
+    velocities:
+      - 0.1106510818074434
+      - 0.32609430080237423
+      - 0.32666267868053128
+      - -0.12385803011951743
+      - -0.20291707172113183
+      - 2.176468360463956e-05
+      - 0.3260823011884697
+    accelerations:
+      - -0.17735962741292538
+      - -0.52268773831270243
+      - -0.52359877584667036
+      - 0.19852868779289853
+      - 0.32525028809757511
+      - -3.4886022909349993e-05
+      - -0.52266850445602842
     effort: []
     time_from_start:
       sec: 5
       nanosec: 200000000
   - positions:
-      - 0.030688075733398643
-      - 0.23481984355336469
-      - -1.1077727494539331
-      - 1.6955984954459962
-      - -2.1586191541855708
-      - -1.5707122330133303
-      - 0.23461378387602816
-    velocities:
-      - 0.10646933214412196
-      - 0.3228027174714318
-      - 0.32459053306238844
-      - -0.12850192994123336
-      - -0.19621844635879088
-      - 0.00020865173439574218
-      - 0.32262184085889434
-    accelerations:
-      - -0.17174626579598101
-      - -0.52071484058401718
-      - -0.5235987757557431
-      - 0.20728717059208274
-      - 0.31652105600508107
-      - -0.00033657726138279297
-      - -0.52042306752463741
+      - 0.035294813710082036
+      - 0.2293109033998785
+      - -1.1105062042350173
+      - 1.7013309579755231
+      - -2.1616322192581809
+      - -1.5707753201693497
+      - 0.22920979032913563
+    velocities:
+      - 0.10887748553420661
+      - 0.32086742342187696
+      - 0.32142669092470005
+      - -0.12187274324258839
+      - -0.19966456884178807
+      - 2.1415823379709504e-05
+      - 0.32085561614653973
+    accelerations:
+      - -0.17735962736204941
+      - -0.52268773816276681
+      - -0.52359877569645719
+      - 0.19852868773595797
+      - 0.32525028800428862
+      - -3.4886022905839888e-05
+      - -0.5226685043060928
     effort: []
     time_from_start:
       sec: 5
       nanosec: 210000000
   - positions:
-      - 0.031745612170880871
-      - 0.23802617188256112
-      - -1.1045486631460508
-      - 1.6943221140649645
-      - -2.1605681488167163
-      - -1.5707101605215863
-      - 0.23781831559765135
-    velocities:
-      - 0.10475186948682019
-      - 0.31759556906758674
-      - 0.31935454530683732
-      - -0.12642905823610676
-      - -0.19305323579995301
-      - 0.00020528596178320384
-      - 0.31741761018564224
-    accelerations:
-      - -0.17174626565444132
-      - -0.52071484015482328
-      - -0.52359877532422039
-      - 0.20728717042126474
-      - 0.31652105574418221
-      - -0.00033657726110540061
-      - -0.52042306709566533
+      - 0.036375583497839911
+      - 0.23249598629749124
+      - -1.1073155697817514
+      - 1.7001211910691563
+      - -2.1636141848834076
+      - -1.5707751075856851
+      - 0.23239475602210868
+    velocities:
+      - 0.10710388926089076
+      - 0.315640546041147
+      - 0.31619070316863468
+      - -0.11988745636556987
+      - -0.19641206596230382
+      - 2.1066963150711013e-05
+      - 0.31562893110437668
+    accelerations:
+      - -0.17735962739005479
+      - -0.52268773824531189
+      - -0.52359877577911329
+      - 0.19852868776729402
+      - 0.32525028805563644
+      - -3.488602291134899e-05
+      - -0.52266850438858237
     effort: []
     time_from_start:
       sec: 5
       nanosec: 220000000
   - positions:
-      - 0.032785973981788827
-      - 0.24118042872771528
-      - -1.1013769367157276
-      - 1.6930664614009856
-      - -2.162485491342272
-      - -1.5707081216875682
-      - 0.2409708050125382
-    velocities:
-      - 0.10303440682922273
-      - 0.31238842066284511
-      - 0.3141185575503847
-      - -0.12435618653062327
-      - -0.18988802524057014
-      - 0.000201920189170086
-      - 0.31221337951149414
-    accelerations:
-      - -0.17174626580827673
-      - -0.52071484062132067
-      - -0.52359877579321312
-      - 0.20728717060691809
-      - 0.31652105602772962
-      - -0.00033657726140688937
-      - -0.52042306756182988
+      - 0.037438617322865075
+      - 0.235628800421298
+      - -1.1041772952060449
+      - 1.6989312770315586
+      - -2.16556362547984
+      - -1.5707748984906225
+      - 0.23552745486466142
+    velocities:
+      - 0.10533029298757492
+      - 0.31041366866041703
+      - 0.31095471541256925
+      - -0.11790216948855134
+      - -0.19315956308281956
+      - 2.0718102921712521e-05
+      - 0.31040224606221362
+    accelerations:
+      - -0.17735962741804628
+      - -0.52268773832780147
+      - -0.52359877586182491
+      - 0.19852868779864394
+      - 0.32525028810698425
+      - -3.4886022916854704e-05
+      - -0.52266850447112745
     effort: []
     time_from_start:
       sec: 5
       nanosec: 230000000
   - positions:
-      - 0.033809161166122197
-      - 0.24428261408882621
-      - -1.0982575701629647
-      - 1.6918315374540596
-      - -2.1643711817622355
-      - -1.5707061165112763
-      - 0.24407125212068775
-    velocities:
-      - 0.10131694417181147
-      - 0.30718127225866804
-      - 0.3088825697944998
-      - -0.12228331482536453
-      - -0.18672281468153046
-      - 0.0001985544165573331
-      - 0.30700914883791025
-    accelerations:
-      - -0.17174626577606639
-      - -0.52071484052367656
-      - -0.5235987756950139
-      - 0.20728717056804641
-      - 0.31652105596836044
-      - -0.00033657726134376169
-      - -0.52042306746424127
+      - 0.038483915185157376
+      - 0.23870934577129832
+      - -1.1010913805078979
+      - 1.6977612158627307
+      - -2.1674805410474787
+      - -1.5707746928841622
+      - 0.23860788685679341
+    velocities:
+      - 0.10355669671433794
+      - 0.30518679127991949
+      - 0.30571872765673669
+      - -0.11591688261162111
+      - -0.18990706020347997
+      - 2.0369242692729544e-05
+      - 0.30517556102028298
+    accelerations:
+      - -0.17735962736717031
+      - -0.52268773817786585
+      - -0.52359877571161173
+      - 0.1985286877416895
+      - 0.32525028801369776
+      - -3.4886022906849551e-05
+      - -0.52266850432119183
     effort: []
     time_from_start:
       sec: 5
       nanosec: 240000000
   - positions:
-      - 0.034815173723881127
-      - 0.24733272796589442
-      - -1.0951905634877617
-      - 1.6906173422241868
-      - -2.1662252200766083
-      - -1.5707041449927108
-      - 0.24711965692210056
-    velocities:
-      - 0.099599481514323518
-      - 0.30197412385425848
-      - 0.30364658203838107
-      - -0.12021044312001321
-      - -0.18355760412234942
-      - 0.00019518864394442987
-      - 0.30180491816409394
-    accelerations:
-      - -0.1717462658205447
-      - -0.52071484065851315
-      - -0.52359877583062764
-      - 0.20728717062173957
-      - 0.31652105605035041
-      - -0.00033657726143093155
-      - -0.52042306759907786
+      - 0.039511477084716772
+      - 0.24173762234749208
+      - -1.098057825687311
+      - 1.696611007562673
+      - -2.1693649315863226
+      - -1.5707744907663042
+      - 0.24163605199850446
+    velocities:
+      - 0.10178310044102208
+      - 0.29995991389918952
+      - 0.30048273990067131
+      - -0.1139315957346026
+      - -0.18665455732399572
+      - 2.0020382463731053e-05
+      - 0.29994887597811992
+    accelerations:
+      - -0.17735962739517569
+      - -0.52268773826041093
+      - -0.52359877579426783
+      - 0.19852868777302554
+      - 0.32525028806504558
+      - -3.4886022912358654e-05
+      - -0.5226685044036814
     effort: []
     time_from_start:
       sec: 5
       nanosec: 250000000
   - positions:
-      - 0.03580401165506563
-      - 0.25033077035891987
-      - -1.0921759166901186
-      - 1.6894238757113671
-      - -2.1680476062853904
-      - -1.570702207131871
-      - 0.25011601941677652
-    velocities:
-      - 0.097882018856912237
-      - 0.29676697545008135
-      - 0.29841059428249611
-      - -0.11813757141475444
-      - -0.18039239356330972
-      - 0.00019182287133167692
-      - 0.29660068749051005
-    accelerations:
-      - -0.17174626578836211
-      - -0.52071484056092454
-      - -0.52359877573248392
-      - 0.20728717058288176
-      - 0.31652105599100899
-      - -0.00033657726136783098
-      - -0.52042306750148926
+      - 0.040521303021543137
+      - 0.2447136301498789
+      - -1.0950766307442845
+      - 1.6954806521313852
+      - -2.1712167970963718
+      - -1.5707742921370487
+      - 0.24461195028979435
+    velocities:
+      - 0.10000950416788405
+      - 0.29473303651898358
+      - 0.29524675214513085
+      - -0.11194630885778312
+      - -0.18340205444483756
+      - 1.9671522234767538e-05
+      - 0.29472219093648089
+    accelerations:
+      - -0.17735962724550863
+      - -0.52268773781933942
+      - -0.52359877535247557
+      - 0.19852868760550269
+      - 0.32525028779058202
+      - -3.4886022882919664e-05
+      - -0.52266850396260989
     effort: []
     time_from_start:
       sec: 5
       nanosec: 260000000
   - positions:
-      - 0.036775674959675778
-      - 0.25327674126790278
-      - -1.0892136297700348
-      - 1.6882511379156
-      - -2.1698383403885813
-      - -1.5707003029287576
-      - 0.25306033960471586
-    velocities:
-      - 0.096164556199595241
-      - 0.2915598270461901
-      - 0.29317460652689858
-      - -0.11606469970960946
-      - -0.17722718300444376
-      - 0.00018845709871910874
-      - 0.29139645681721182
-    accelerations:
-      - -0.17174626566203247
-      - -0.52071484017791592
-      - -0.52359877534731303
-      - 0.2072871704304102
-      - 0.31652105575819878
-      - -0.00033657726112028128
-      - -0.52042306711870245
+      - 0.04151339299563684
+      - 0.24763736917845991
+      - -1.0921477956788168
+      - 1.6943701495688672
+      - -2.1730361375776273
+      - -1.5707740969963955
+      - 0.24753558173066401
+    velocities:
+      - 0.09823590789446926
+      - 0.28950615913796202
+      - 0.29001076438877332
+      - -0.10996102198065384
+      - -0.18014955156517187
+      - 1.9322662005749585e-05
+      - 0.28949550589402617
+    accelerations:
+      - -0.1773596273723051
+      - -0.52268773819296488
+      - -0.52359877572676627
+      - 0.19852868774742102
+      - 0.32525028802307915
+      - -3.4886022907859215e-05
+      - -0.52266850433634637
     effort: []
     time_from_start:
       sec: 5
       nanosec: 270000000
   - positions:
-      - 0.03773016363771145
-      - 0.2561706406928429
-      - -1.0863037027275113
-      - 1.687099128836886
-      - -2.1715974223861814
-      - -1.5706984323833701
-      - 0.25595261748591835
-    velocities:
-      - 0.094447093542013028
-      - 0.28635267864149472
-      - 0.28793861877049243
-      - -0.11399182800414437
-      - -0.174061972445089
-      - 0.00018509132610602076
-      - 0.28619222614310985
-    accelerations:
-      - -0.17174626580061619
-      - -0.52071484059811701
-      - -0.52359877576989844
-      - 0.20728717059768936
-      - 0.31652105601362979
-      - -0.00033657726139190027
-      - -0.52042306753873724
+      - 0.042487747006997589
+      - 0.25050883943323421
+      - -1.0892713204909095
+      - 1.6932794998751191
+      - -2.174822953030088
+      - -1.5707739053443444
+      - 0.25040694632111266
+    velocities:
+      - 0.096462311621153402
+      - 0.28427928175723199
+      - 0.28477477663270795
+      - -0.10797573510363531
+      - -0.17689704868568762
+      - 1.8973801776751094e-05
+      - 0.28426882085186311
+    accelerations:
+      - -0.17735962740031047
+      - -0.52268773827550996
+      - -0.52359877580942238
+      - 0.19852868777877095
+      - 0.32525028807445472
+      - -3.4886022913364929e-05
+      - -0.52266850441883594
     effort: []
     time_from_start:
       sec: 5
       nanosec: 280000000
   - positions:
-      - 0.038667477689172648
-      - 0.25901246863374017
-      - -1.0834461355625475
-      - 1.6859678484752252
-      - -2.1733248522781903
-      - -1.5706965954957093
-      - 0.25879285306038385
-    velocities:
-      - 0.092729630884601746
-      - 0.28114553023731759
-      - 0.28270263101460746
-      - -0.11191895629888561
-      - -0.1708967618860493
-      - 0.00018172555349326781
-      - 0.28098799546952596
-    accelerations:
-      - -0.1717462657684336
-      - -0.52071484050052841
-      - -0.52359877567175472
-      - 0.20728717055883156
-      - 0.31652105595428837
-      - -0.0003365772613287997
-      - -0.52042306744109312
+      - 0.043444365055625482
+      - 0.25332804091420208
+      - -1.086447205180562
+      - 1.6922087030501407
+      - -2.1765772434537549
+      - -1.5707737171808955
+      - 0.25322604406114058
+    velocities:
+      - 0.094688715348005895
+      - 0.27905240437699813
+      - 0.27953878887713951
+      - -0.10599044822680523
+      - -0.17364454580651209
+      - 1.8624941547785715e-05
+      - 0.27904213581019616
+    accelerations:
+      - -0.17735962726012194
+      - -0.52268773786241607
+      - -0.52359877539555222
+      - 0.1985286876218646
+      - 0.32525028781736615
+      - -3.48860228857928e-05
+      - -0.52266850400568654
     effort: []
     time_from_start:
       sec: 5
       nanosec: 290000000
   - positions:
-      - 0.039587617114059455
-      - 0.2618022250905947
-      - -1.0806409282751435
-      - 1.6848572968306172
-      - -2.175020630064608
-      - -1.5706947922657741
-      - 0.26158104632811269
-    velocities:
-      - 0.091012168227113791
-      - 0.27593838183290803
-      - 0.27746664325848874
-      - -0.10984608459353429
-      - -0.16773155132686826
-      - 0.00017835978088036458
-      - 0.27578376479570965
-    accelerations:
-      - -0.17174626581291191
-      - -0.52071484063536499
-      - -0.52359877580736847
-      - 0.20728717061252472
-      - 0.31652105603627834
-      - -0.00033657726141599666
-      - -0.52042306757592971
+      - 0.044383247141520421
+      - 0.2560949736213633
+      - -1.0836754497477743
+      - 1.6911577590939322
+      - -2.1782990088486271
+      - -1.570773532506049
+      - 0.25599287495074746
+    velocities:
+      - 0.092915119074600594
+      - 0.27382552699600454
+      - 0.27430280112081007
+      - -0.10400516134968658
+      - -0.1703920429268638
+      - 1.8276081318769629e-05
+      - 0.27381545076776947
+    accelerations:
+      - -0.17735962737741212
+      - -0.52268773820806391
+      - -0.5235987757418098
+      - 0.19852868775315255
+      - 0.32525028803246053
+      - -3.4886022908862102e-05
+      - -0.52266850435133438
     effort: []
     time_from_start:
       sec: 5
       nanosec: 300000000
   - positions:
-      - 0.040490581912371919
-      - 0.26453991006340688
-      - -1.0778880808652993
-      - 1.6837674739030621
-      - -2.1766847557454354
-      - -1.5706930226935654
-      - 0.26431719728910502
-    velocities:
-      - 0.089294705569702898
-      - 0.27073123342873218
-      - 0.27223065550260156
-      - -0.10777321288827856
-      - -0.1645663407678277
-      - 0.00017499400826978233
-      - 0.27057953412212621
-    accelerations:
-      - -0.17174626578070157
-      - -0.52071484053772088
-      - -0.52359877570916924
-      - 0.20728717057365303
-      - 0.31652105597690916
-      - -0.00033657726135701607
-      - -0.52042306747828559
+      - 0.045304393264682628
+      - 0.25880963755471842
+      - -1.080956054192546
+      - 1.6901266680064935
+      - -2.1799882492147051
+      - -1.5707733513198048
+      - 0.25870743898993392
+    velocities:
+      - 0.091141522801284694
+      - 0.26859864961527524
+      - 0.26906681336474614
+      - -0.10201987447266339
+      - -0.16713954004737866
+      - 1.792722108561267e-05
+      - 0.26858876572560653
+    accelerations:
+      - -0.17735962740540362
+      - -0.52268773829060899
+      - -0.5235987758244659
+      - 0.19852868778447472
+      - 0.32525028808380835
+      - -3.4886022906276957e-05
+      - -0.52266850443387947
     effort: []
     time_from_start:
       sec: 5
       nanosec: 310000000
   - positions:
-      - 0.04137637208410986
-      - 0.26722552355217599
-      - -1.0751875933330148
-      - 1.6826983796925599
-      - -2.1783172293206716
-      - -1.5706912867790823
-      - 0.26700130594336019
-    velocities:
-      - 0.087577242912370679
-      - 0.26552408502479474
-      - 0.26699466774695768
-      - -0.10570034118311515
-      - -0.16140113020893371
-      - 0.00017162823565714257
-      - 0.26537530344878185
-    accelerations:
-      - -0.17174626566959586
-      - -0.52071484020084202
-      - -0.52359877537040567
-      - 0.20728717043955566
-      - 0.31652105577215983
-      - -0.00033657726113930903
-      - -0.52042306714162856
+      - 0.046207803425111993
+      - 0.26147203271426722
+      - -1.0782890185148775
+      - 1.6891154297878246
+      - -2.1816449645519889
+      - -1.5707731736221628
+      - 0.26136973617869974
+    velocities:
+      - 0.089367926528047717
+      - 0.2633717722347777
+      - 0.26383082560891358
+      - -0.10003458759573325
+      - -0.16388703716803907
+      - 1.7578360856710615e-05
+      - 0.26336208068367589
+    accelerations:
+      - -0.17735962735454153
+      - -0.52268773814067337
+      - -0.52359877567425273
+      - 0.19852868772753415
+      - 0.32525028799052186
+      - -3.4886022896271804e-05
+      - -0.52266850428394385
     effort: []
     time_from_start:
       sec: 5
       nanosec: 320000000
   - positions:
-      - 0.042244987629273416
-      - 0.26985906555690253
-      - -1.0725394656782903
-      - 1.6816500141991109
-      - -2.1799180507903166
-      - -1.5706895845223259
-      - 0.26963337229087875
-    velocities:
-      - 0.085859780254803661
-      - 0.26031693662014543
-      - 0.26175867999059799
-      - -0.10362746947766836
-      - -0.15823591964960701
-      - 0.00016826246304404267
-      - 0.26017107277472601
-    accelerations:
-      - -0.17174626579299729
-      - -0.52071484057496886
-      - -0.52359877574658376
-      - 0.20728717058848839
-      - 0.31652105599955771
-      - -0.00033657726138111246
-      - -0.52042306751553358
+      - 0.047093477622808376
+      - 0.26408215910000921
+      - -1.0756743427147692
+      - 1.688124044437926
+      - -2.1832691548604783
+      - -1.5707729994131232
+      - 0.26397976651704447
+    velocities:
+      - 0.087594330254731914
+      - 0.25814489485404785
+      - 0.25859483785284826
+      - -0.098049300718714871
+      - -0.16063453428855493
+      - 1.7229500627793056e-05
+      - 0.25813539564151294
+    accelerations:
+      - -0.17735962738243588
+      - -0.52268773822288539
+      - -0.52359877575663127
+      - 0.19852868775875918
+      - 0.32525028804167538
+      - -3.4886022901757189e-05
+      - -0.52266850436615586
     effort: []
     time_from_start:
       sec: 5
       nanosec: 330000000
   - positions:
-      - 0.043096428547862498
-      - 0.27244053607758612
-      - -1.0699436979011254
-      - 1.6806223774227145
-      - -2.18148722015437
-      - -1.5706879159232949
-      - 0.27221339633166031
-    velocities:
-      - 0.084142317597465308
-      - 0.25510978821618946
-      - 0.2565226922349354
-      - -0.10155459777249756
-      - -0.15507070909070172
-      - 0.00016489669043139089
-      - 0.25496684210136306
-    accelerations:
-      - -0.17174626568802556
-      - -0.52071484025668624
-      - -0.52359877542658295
-      - 0.20728717046178788
-      - 0.3165210558061049
-      - -0.00033657726117538586
-      - -0.52042306719747278
+      - 0.047961415857771805
+      - 0.26664001671194459
+      - -1.073112026792221
+      - 1.6871525119567972
+      - -2.1848608201401731
+      - -1.5707728286926861
+      - 0.26653753000496816
+    velocities:
+      - 0.085820733981568767
+      - 0.25291801747376791
+      - 0.25335885009723363
+      - -0.096064013841867371
+      - -0.15738203140935073
+      - 1.6880640398905523e-05
+      - 0.25290871059979986
+    accelerations:
+      - -0.17735962725779048
+      - -0.52268773785547717
+      - -0.52359877538866884
+      - 0.19852868761924169
+      - 0.32525028781309179
+      - -3.4886022877241155e-05
+      - -0.52266850399885867
     effort: []
     time_from_start:
       sec: 5
       nanosec: 340000000
   - positions:
-      - 0.043930694839877299
-      - 0.27496993511422751
-      - -1.0674002900015203
-      - 1.6796154693633714
-      - -2.183024737412834
-      - -1.5706862809819908
-      - 0.27474137806570564
-    velocities:
-      - 0.082424854939904424
-      - 0.24990263981155875
-      - 0.25128670447859436
-      - -0.099481726067058171
-      - -0.15190549853138632
-      - 0.000161530917818303
-      - 0.24976261142732578
-    accelerations:
-      - -0.17174626580527913
-      - -0.52071484061221684
-      - -0.52359877578405378
-      - 0.20728717060330987
-      - 0.3165210560221785
-      - -0.00033657726140518175
-      - -0.52042306755280932
+      - 0.048811618130002579
+      - 0.26914560555007405
+      - -1.0706020707472317
+      - 1.686200832344438
+      - -2.1864199603910741
+      - -1.5707726614608513
+      - 0.26904302664247165
+    velocities:
+      - 0.084047137708179287
+      - 0.24769114009282092
+      - 0.24812286234095085
+      - -0.094078726964766518
+      - -0.15412952852973147
+      - 1.6531780169973473e-05
+      - 0.24768202555741983
+    accelerations:
+      - -0.17735962735916283
+      - -0.52268773815424585
+      - -0.52359877568793622
+      - 0.19852868773271057
+      - 0.32525028799898731
+      - -3.4886022897179823e-05
+      - -0.52266850429757183
     effort: []
     time_from_start:
       sec: 5
       nanosec: 350000000
   - positions:
-      - 0.044747786505317508
-      - 0.27744726266682568
-      - -1.064909241979475
-      - 1.6786292900210811
-      - -2.1845306025657059
-      - -1.5706846796984122
-      - 0.27721731749301359
-    velocities:
-      - 0.080707392282493171
-      - 0.2446954914073817
-      - 0.24605071672270953
-      - -0.097408854361799371
-      - -0.14874028797234667
-      - 0.00015816514520550836
-      - 0.24455838075374195
-    accelerations:
-      - -0.17174626577305491
-      - -0.52071484051451722
-      - -0.5235987756858268
-      - 0.20728717056442431
-      - 0.31652105596280933
-      - -0.00033657726134205408
-      - -0.52042306745513744
+      - 0.049644084439500316
+      - 0.27159892561439669
+      - -1.068144474579803
+      - 1.6852690056008486
+      - -2.1879465756131804
+      - -1.5707724977176185
+      - 0.27149625642955394
+    velocities:
+      - 0.082273541434863526
+      - 0.24246426271209118
+      - 0.24288687458488567
+      - -0.092093440087748196
+      - -0.15087702565024741
+      - 1.6182919941055921e-05
+      - 0.24245534051525702
+    accelerations:
+      - -0.17735962738697392
+      - -0.52268773823623582
+      - -0.52359877577006497
+      - 0.19852868776383845
+      - 0.32525028805000206
+      - -3.4886022902651656e-05
+      - -0.52266850437953405
     effort: []
     time_from_start:
       sec: 5
       nanosec: 360000000
   - positions:
-      - 0.045547703544183332
-      - 0.27987251873538121
-      - -1.0624705538349899
-      - 1.6776638393958438
-      - -2.186004815612987
-      - -1.5706831120725602
-      - 0.27964121461358488
-    velocities:
-      - 0.078989929625145658
-      - 0.23948834300339794
-      - 0.24081472896701905
-      - -0.095335982656617524
-      - -0.14557507741342451
-      - 0.00015479937259283864
-      - 0.23935415008035127
-    accelerations:
-      - -0.17174626567722864
-      - -0.52071484022399017
-      - -0.52359877539369259
-      - 0.20728717044877051
-      - 0.31652105578620415
-      - -0.00033657726115427102
-      - -0.52042306716477671
+      - 0.050458814786265231
+      - 0.2739999769049129
+      - -1.0657392382899338
+      - 1.6843570317260292
+      - -2.1894406658064924
+      - -1.5707723374629881
+      - 0.27389721936621553
+    velocities:
+      - 0.080499945161690942
+      - 0.2372373853317834
+      - 0.23765088682924318
+      - -0.090108153210890121
+      - -0.14762452277102589
+      - 1.5834059712166534e-05
+      - 0.23722865547351613
+    accelerations:
+      - -0.17735962727176541
+      - -0.52268773789672196
+      - -0.52359877542996913
+      - 0.19852868763489584
+      - 0.32525028783873794
+      - -3.488602287998893e-05
+      - -0.52266850404004794
     effort: []
     time_from_start:
       sec: 5
       nanosec: 370000000
   - positions:
-      - 0.046330445956474717
-      - 0.28224570331989407
-      - -1.0600842255680643
-      - 1.6767191174876594
-      - -2.1874473765546769
-      - -1.5706815781044341
-      - 0.28201306942741938
-    velocities:
-      - 0.07727246696759392
-      - 0.23428119459879498
-      - 0.23557874121070593
-      - -0.093263110951189179
-      - -0.14240986685412599
-      - 0.00015143359997976869
-      - 0.23414991940634175
-    accelerations:
-      - -0.17174626578533675
-      - -0.52071484055173745
-      - -0.52359877572326907
-      - 0.20728717057924578
-      - 0.31652105598543012
-      - -0.00033657726136612336
-      - -0.52042306749235767
+      - 0.051255809170297241
+      - 0.27634875942162263
+      - -1.0633863618776245
+      - 1.6834649107199799
+      - -2.1909022309710098
+      - -1.5707721806969599
+      - 0.27624591545245625
+    velocities:
+      - 0.078726348888310899
+      - 0.23201050795086423
+      - 0.23241489907298823
+      - -0.088122866333799843
+      - -0.14437201989142395
+      - 1.5485199483236338e-05
+      - 0.23200197043116388
+    accelerations:
+      - -0.17735962736370087
+      - -0.52268773816765179
+      - -0.52359877570136992
+      - 0.19852868773778984
+      - 0.32525028800734174
+      - -3.488602289807429e-05
+      - -0.52266850431095002
     effort: []
     time_from_start:
       sec: 5
       nanosec: 380000000
   - positions:
-      - 0.04709601374219171
-      - 0.28456681642036424
-      - -1.0577502571786985
-      - 1.6757951242965281
-      - -2.1888582853907765
-      - -1.570680077794034
-      - 0.28433288193451717
-    velocities:
-      - 0.075555004310240328
-      - 0.22907404619479277
-      - 0.23034275345499688
-      - -0.091190239245999991
-      - -0.13924465629519261
-      - 0.00014806782736708705
-      - 0.22894568873293261
-    accelerations:
-      - -0.17174626569560283
-      - -0.52071484027966786
-      - -0.52359877544970335
-      - 0.20728717047093334
-      - 0.31652105582006596
-      - -0.00033657726119026653
-      - -0.52042306722045439
+      - 0.05203506759159638
+      - 0.27864527316452586
+      - -1.0610858453428749
+      - 1.6825926425827
+      - -2.1923312711067338
+      - -1.5707720274195343
+      - 0.27854234468827621
+    velocities:
+      - 0.076952752614995165
+      - 0.22678363057013454
+      - 0.22717891131692314
+      - -0.086137579456781535
+      - -0.14111951701193992
+      - 1.5136339254318791e-05
+      - 0.22677528538900113
+    accelerations:
+      - -0.17735962739149808
+      - -0.52268773824958625
+      - -0.5235987757834154
+      - 0.19852868776890384
+      - 0.32525028805830097
+      - -3.4886022903542735e-05
+      - -0.52266850439285673
     effort: []
     time_from_start:
       sec: 5
       nanosec: 390000000
   - positions:
-      - 0.047844406901334305
-      - 0.28683585803679179
-      - -1.0554686486668925
-      - 1.6748918598224496
-      - -2.1902375421212845
-      - -1.5706786111413604
-      - 0.28660065213487823
-    velocities:
-      - 0.073837541652694683
-      - 0.22386689779020827
-      - 0.22510676569870233
-      - -0.089117367540578987
-      - -0.13607944573590527
-      - 0.00014470205475402905
-      - 0.22374145805894155
-    accelerations:
-      - -0.17174626579761859
-      - -0.52071484058898543
-      - -0.52359877576071134
-      - 0.20728717059406726
-      - 0.31652105600807867
-      - -0.00033657726139016555
-      - -0.52042306752955014
+      - 0.052796590050162816
+      - 0.28088951813362312
+      - -1.0588376886856847
+      - 1.6817402273141902
+      - -2.193727786213663
+      - -1.5707718776307105
+      - 0.28078650707367586
+    velocities:
+      - 0.075179156341758285
+      - 0.2215567531896373
+      - 0.22194292356109085
+      - -0.084152292579851504
+      - -0.13786701413260052
+      - 1.4787479025416756e-05
+      - 0.22154860034707077
+    accelerations:
+      - -0.17735962734042782
+      - -0.52268773809904001
+      - -0.52359877563264712
+      - 0.19852868771174123
+      - 0.32525028796462591
+      - -3.4886022893496924e-05
+      - -0.52266850424236599
     effort: []
     time_from_start:
       sec: 5
       nanosec: 400000000
   - positions:
-      - 0.048575625433902397
-      - 0.28905282816917632
-      - -1.0532394000326464
-      - 1.6740093240654244
-      - -2.1915851467462018
-      - -1.5706771781464126
-      - 0.2888163800285023
-    velocities:
-      - 0.072120078995283554
-      - 0.21865974938603194
-      - 0.21987077794281704
-      - -0.087044495835318897
-      - -0.13291423517686443
-      - 0.00014133628213894422
-      - 0.21853722738535838
-    accelerations:
-      - -0.17174626576540825
-      - -0.52071484049134131
-      - -0.52359877566251212
-      - 0.2072871705551817
-      - 0.3165210559487095
-      - -0.00033657726132161687
-      - -0.52042306743198929
+      - 0.053540376545996173
+      - 0.28308149432891339
+      - -1.056641891906055
+      - 1.6809076649144503
+      - -2.1950917762917976
+      - -1.5707717313304892
+      - 0.28297840260865409
+    velocities:
+      - 0.07340556006844226
+      - 0.2163298758089057
+      - 0.21670693580502379
+      - -0.082167005702837873
+      - -0.1346145112531211
+      - 1.4438618798833534e-05
+      - 0.21632191530490727
+    accelerations:
+      - -0.1773596273682389
+      - -0.52268773818100223
+      - -0.52359877571472035
+      - 0.19852868774286911
+      - 0.32525028801564065
+      - -3.4886022904604914e-05
+      - -0.52266850432430045
     effort: []
     time_from_start:
       sec: 5
       nanosec: 410000000
   - positions:
-      - 0.049289669339896092
-      - 0.29121772681751834
-      - -1.0510625112759602
-      - 1.6731475170254519
-      - -2.1929010992655282
-      - -1.5706757788091912
-      - 0.29098006561538969
-    velocities:
-      - 0.070402616337920804
-      - 0.21345260098200194
-      - 0.21463479018708007
-      - -0.084971624130118675
-      - -0.12974902461791421
-      - 0.00013797050952629917
-      - 0.21333299671192149
-    accelerations:
-      - -0.17174626568483367
-      - -0.52071484024705506
-      - -0.5235987754168685
-      - 0.20728717045792985
-      - 0.31652105580022072
-      - -0.00033657726116370358
-      - -0.52042306718781384
+      - 0.054266427079096638
+      - 0.28522120175039706
+      - -1.0544984550039853
+      - 1.6800949553834805
+      - -2.196423241341138
+      - -1.5707715885188702
+      - 0.28511803129321156
+    velocities:
+      - 0.071631963795253939
+      - 0.21110299842855154
+      - 0.21147094804933483
+      - -0.080181718825962048
+      - -0.1313620083738706
+      - 1.4089758569884645e-05
+      - 0.21109523026311997
+    accelerations:
+      - -0.17735962726878168
+      - -0.52268773788789569
+      - -0.5235987754211151
+      - 0.19852868763156517
+      - 0.32525028783327009
+      - -3.4886022885044023e-05
+      - -0.52266850403122167
     effort: []
     time_from_start:
       sec: 5
       nanosec: 420000000
   - positions:
-      - 0.04998653861931536
-      - 0.29333055398181757
-      - -1.0489379823968337
-      - 1.6723064387025324
-      - -2.1941853996792635
-      - -1.5706744131296957
-      - 0.29309170889554026
-    velocities:
-      - 0.068685153680384317
-      - 0.20824545257744526
-      - 0.20939880243081349
-      - -0.082898752424708788
-      - -0.12658381405864383
-      - 0.00013460473691331368
-      - 0.20812876603795821
-    accelerations:
-      - -0.17174626577767621
-      - -0.52071484052850603
-      - -0.52359877569992663
-      - 0.2072871705699893
-      - 0.31652105597130253
-      - -0.00033657726134563194
-      - -0.52042306746912625
+      - 0.054974741649464344
+      - 0.28730864039807463
+      - -1.0524073779794747
+      - 1.6793020987212803
+      - -2.1977221813616841
+      - -1.5707714491958535
+      - 0.2872053931273485
+    velocities:
+      - 0.069858367521889661
+      - 0.20587612104767888
+      - 0.20623496029312646
+      - -0.078196431948889297
+      - -0.12810950549429745
+      - 1.3740898340901149e-05
+      - 0.20586854522081419
+    accelerations:
+      - -0.17735962734495198
+      - -0.52268773811239044
+      - -0.52359877564602531
+      - 0.1985286877168205
+      - 0.32525028797295258
+      - -3.4886022900027548e-05
+      - -0.52266850425571643
     effort: []
     time_from_start:
       sec: 5
       nanosec: 430000000
   - positions:
-      - 0.050666233272160272
-      - 0.29539130966207428
-      - -1.0468658133952669
-      - 1.6714860890966659
-      - -2.195438047987408
-      - -1.5706730811079266
-      - 0.29515130986895427
-    velocities:
-      - 0.06696769102301546
-      - 0.20303830417339674
-      - 0.20416281467505792
-      - -0.080825880719501197
-      - -0.12341860349968235
-      - 0.00013123896430065665
-      - 0.20292453536450281
-    accelerations:
-      - -0.17174626570320786
-      - -0.52071484030273274
-      - -0.52359877547287925
-      - 0.20728717048010656
-      - 0.31652105583406864
-      - -0.00033657726119969909
-      - -0.52042306724349152
+      - 0.055665320257099193
+      - 0.28934381027194578
+      - -1.0503686608325242
+      - 1.6785290949278497
+      - -2.1989885963534364
+      - -1.5707713133614392
+      - 0.28924048811106473
+    velocities:
+      - 0.068084771248573914
+      - 0.20064924366694922
+      - 0.20099897253706137
+      - -0.076211145071870864
+      - -0.12485700261481329
+      - 1.33920381119272e-05
+      - 0.20064186017865143
+    accelerations:
+      - -0.17735962737276306
+      - -0.5226877381943249
+      - -0.52359877572809854
+      - 0.19852868774794838
+      - 0.32525028802392569
+      - -3.4886022905494299e-05
+      - -0.52266850433762313
     effort: []
     time_from_start:
       sec: 5
       nanosec: 440000000
   - positions:
-      - 0.05132875329843066
-      - 0.29739999385828797
-      - -1.0448460042712597
-      - 1.6706864682078524
-      - -2.1966590441899614
-      - -1.5706717827438834
-      - 0.29715886853563117
-    velocities:
-      - 0.06525022836548508
-      - 0.19783115576885849
-      - 0.19892682691880992
-      - -0.078753009014098652
-      - -0.12025339294042318
-      - 0.00012787319168768309
-      - 0.19772030469055799
-    accelerations:
-      - -0.17174626578995805
-      - -0.52071484056578177
-      - -0.5235987757373689
-      - 0.20728717058481078
-      - 0.31652105599395108
-      - -0.00033657726136970123
-      - -0.52042306750634648
+      - 0.056338162902001138
+      - 0.29132671137201038
+      - -1.0483823035631334
+      - 1.6777759440031894
+      - -2.2002224863163939
+      - -1.5707711810156271
+      - 0.29122331624436004
+    velocities:
+      - 0.066311174975376128
+      - 0.19542236628656717
+      - 0.19576298478134452
+      - -0.074225858194984465
+      - -0.12160449973554543
+      - 1.3043177882976451e-05
+      - 0.19541517513683626
+    accelerations:
+      - -0.17735962728275662
+      - -0.52268773792911272
+      - -0.52359877546238764
+      - 0.19852868764720544
+      - 0.32525028785890236
+      - -3.4886022887793492e-05
+      - -0.5226685040724387
     effort: []
     time_from_start:
       sec: 5
       nanosec: 450000000
   - positions:
-      - 0.051974098698126588
-      - 0.29935660657045887
-      - -1.042878555024813
-      - 1.669907576036092
-      - -2.1978483882869235
-      - -1.5706705180375664
-      - 0.29911438489557124
-    velocities:
-      - 0.063532765708073799
-      - 0.19262400736468138
-      - 0.19369083916292504
-      - -0.076680137308839866
-      - -0.11708818238138353
-      - 0.00012450741907494295
-      - 0.19251607401697404
-    accelerations:
-      - -0.17174626575774771
-      - -0.5207148404681099
-      - -0.52359877563916968
-      - 0.20728717054593909
-      - 0.31652105593460966
-      - -0.00033657726130657356
-      - -0.52042306740878563
+      - 0.056993269584170128
+      - 0.29325734369826834
+      - -1.0464483061713028
+      - 1.6770426459472987
+      - -2.2014238512505573
+      - -1.5707710521584173
+      - 0.29315387752723437
+    velocities:
+      - 0.064537578702021287
+      - 0.19019548890572233
+      - 0.19052699702516401
+      - -0.072240571317922275
+      - -0.11835199685598959
+      - 1.2694317653994812e-05
+      - 0.19018849009455829
+    accelerations:
+      - -0.17735962734950389
+      - -0.52268773812576863
+      - -0.52359877565943125
+      - 0.19852868772191365
+      - 0.32525028798129313
+      - -3.4886022900920321e-05
+      - -0.52266850426912237
     effort: []
     time_from_start:
       sec: 5
       nanosec: 460000000
   - positions:
-      - 0.052602269471248159
-      - 0.30126114779858726
-      - -1.0409634656559257
-      - 1.6691494125813842
-      - -2.1990060802782949
-      - -1.5706692869889753
-      - 0.30101785894877464
-    velocities:
-      - 0.061815303050695783
-      - 0.18741685896060511
-      - 0.18845485140714155
-      - -0.074607265603621228
-      - -0.11392297182240518
-      - 0.00012114164646226798
-      - 0.18731184334349091
-    accelerations:
-      - -0.1717462656924387
-      - -0.52071484027009218
-      - -0.52359877544004441
-      - 0.20728717046711695
-      - 0.31652105581423728
-      - -0.00033657726117859781
-      - -0.52042306721085096
+      - 0.05763064030360629
+      - 0.29513570725071991
+      - -1.0445666686570318
+      - 1.676329200760178
+      - -2.2025926911559259
+      - -1.5707709267898096
+      - 0.29503217195968801
+    velocities:
+      - 0.062763982428705567
+      - 0.18496861152499272
+      - 0.18529100926909897
+      - -0.07025528444090387
+      - -0.11509949397650547
+      - 1.2345457425020866e-05
+      - 0.18496180505239559
+    accelerations:
+      - -0.17735962737728722
+      - -0.52268773820767533
+      - -0.52359877574144897
+      - 0.19852868775299989
+      - 0.32525028803223849
+      - -3.4886022906385377e-05
+      - -0.52266850435097356
     effort: []
     time_from_start:
       sec: 5
       nanosec: 470000000
   - positions:
-      - 0.053213265617795297
-      - 0.30311361754267285
-      - -1.0391007361645981
-      - 1.6684119778437296
-      - -2.2001321201640751
-      - -1.5706680895981109
-      - 0.30286929069524127
-    velocities:
-      - 0.060097840393174555
-      - 0.18220971055609464
-      - 0.18321886365092147
-      - -0.072534393898229743
-      - -0.1107577612631629
-      - 0.00011777587384931236
-      - 0.18210761266957382
-    accelerations:
-      - -0.17174626577002955
-      - -0.52071484050533012
-      - -0.52359877567661195
-      - 0.20728717056076057
-      - 0.31652105595723046
-      - -0.0003365772613306564
-      - -0.5204230674459781
+      - 0.058250275060309623
+      - 0.29696180202936517
+      - -1.0427373910203204
+      - 1.6756356084418271
+      - -2.2037290060325008
+      - -1.5707708049098044
+      - 0.29685819954172105
+    velocities:
+      - 0.060990386155498302
+      - 0.17974173414458278
+      - 0.18005502151335415
+      - -0.068269997564006868
+      - -0.11184699109722025
+      - 1.1996597196068254e-05
+      - 0.17973512001055253
+    accelerations:
+      - -0.17735962729676624
+      - -0.5226877379703575
+      - -0.5235987755037157
+      - 0.19852868766287346
+      - 0.32525028788456239
+      - -3.4886022890548043e-05
+      - -0.52266850411368349
     effort: []
     time_from_start:
       sec: 5
       nanosec: 480000000
   - positions:
-      - 0.053807087137768002
-      - 0.30491401580271571
-      - -1.0372903665508306
-      - 1.6676952718231279
-      - -2.2012265079442646
-      - -1.5706669258649721
-      - 0.30466868013497111
-    velocities:
-      - 0.058380377735790447
-      - 0.17700256215199989
-      - 0.17798287589511941
-      - -0.070461522193003751
-      - -0.10759255070417333
-      - 0.00011441010123662546
-      - 0.17690338199607222
-    accelerations:
-      - -0.17174626571081289
-      - -0.52071484032579762
-      - -0.52359877549605516
-      - 0.20728717048927978
-      - 0.31652105584809909
-      - -0.00033657726121459332
-      - -0.52042306726652865
+      - 0.058852173854280057
+      - 0.29873562803420395
+      - -1.040960473261169
+      - 1.6749618689922459
+      - -2.2048327958802809
+      - -1.5707706865184015
+      - 0.29863196027333316
+    velocities:
+      - 0.059216789882152947
+      - 0.17451485676376582
+      - 0.17481903375720162
+      - -0.066284710686955281
+      - -0.10859448821768178
+      - 1.1647736967088479e-05
+      - 0.17450843496830248
+    accelerations:
+      - -0.17735962735402111
+      - -0.52268773813911906
+      - -0.52359877567278168
+      - 0.19852868772696516
+      - 0.32525028798957817
+      - -3.4886022901809705e-05
+      - -0.52266850428241729
     effort: []
     time_from_start:
       sec: 5
       nanosec: 490000000
   - positions:
-      - 0.054383734031166274
-      - 0.30666234257871594
-      - -1.0355323568146226
-      - 1.6669992945195793
-      - -2.2022892436188632
-      - -1.5706657957895596
-      - 0.30641602726796413
-    velocities:
-      - 0.056662915078275325
-      - 0.17179541374750792
-      - 0.17274688813891795
-      - -0.068388650487619634
-      - -0.1044273401449423
-      - 0.0001110443286236818
-      - 0.17169915132217364
-    accelerations:
-      - -0.17174626578229751
-      - -0.52071484054252259
-      - -0.52359877571399871
-      - 0.20728717057555429
-      - 0.31652105597983737
-      - -0.00033657726135469858
-      - -0.52042306748314282
+      - 0.059436336685517552
+      - 0.30045718526523596
+      - -1.0392359153795776
+      - 1.6743079824114349
+      - -2.2059040606992668
+      - -1.5707705716156009
+      - 0.3003534541545243
+    velocities:
+      - 0.057443193608939409
+      - 0.16928797938333739
+      - 0.16958304600143825
+      - -0.064299423810051257
+      - -0.10534198533838506
+      - 1.1298876738134633e-05
+      - 0.16928174992644091
+    accelerations:
+      - -0.17735962727977289
+      - -0.52268773792028644
+      - -0.52359877545358913
+      - 0.19852868764386089
+      - 0.32525028785342064
+      - -3.4886022887205651e-05
+      - -0.52266850406364018
     effort: []
     time_from_start:
       sec: 5
       nanosec: 500000000
   - positions:
-      - 0.054943206297990078
-      - 0.30835859787067321
-      - -1.0338267069559748
-      - 1.6663240459330837
-      - -2.2033203271878707
-      - -1.5706646993718734
-      - 0.3081113320942202
-    velocities:
-      - 0.054945452420863738
-      - 0.16658826534332929
-      - 0.16751090038303576
-      - -0.066315778782359419
-      - -0.1012621295859015
-      - 0.00010767855601051395
-      - 0.1664949206485894
-    accelerations:
-      - -0.1717462657501635
-      - -0.52071484044510052
-      - -0.52359877561604928
-      - 0.20728717053679363
-      - 0.31652105592062085
-      - -0.00033657726129039184
-      - -0.52042306738577626
+      - 0.060002763554022259
+      - 0.30212647372246187
+      - -1.0375637173755456
+      - 1.6736739486993935
+      - -2.2069428004894585
+      - -1.5707704602014023
+      - 0.30202268118529491
+    velocities:
+      - 0.055669597335600868
+      - 0.16406110200254134
+      - 0.16434705824530527
+      - -0.062314136933006442
+      - -0.10208948245885083
+      - 1.0950016509643518e-05
+      - 0.16405506488421065
+    accelerations:
+      - -0.17735962733074112
+      - -0.52268773807050728
+      - -0.52359877560405887
+      - 0.19852868770090268
+      - 0.32525028794684846
+      - -3.4886022898782409e-05
+      - -0.52266850421380551
     effort: []
     time_from_start:
       sec: 5
       nanosec: 510000000
   - positions:
-      - 0.055485503938239554
-      - 0.31000278167858808
-      - -1.0321734169748864
-      - 1.6656695260636409
-      - -2.2043197586512875
-      - -1.5706636366119131
-      - 0.30975459461373989
-    velocities:
-      - 0.053227989763470374
-      - 0.16138111693920651
-      - 0.16227491262720539
-      - -0.064242907077122297
-      - -0.098096919026894894
-      - 0.00010431278339782227
-      - 0.16129068997505974
-    accelerations:
-      - -0.17174626570030047
-      - -0.52071484029393422
-      - -0.52359877546402522
-      - 0.20728717047659548
-      - 0.31652105582872569
-      - -0.00033657726119266533
-      - -0.520423067234693
+      - 0.060551454459794138
+      - 0.30374349340588147
+      - -1.0359438792490734
+      - 1.6730597678561219
+      - -2.2079490152508559
+      - -1.5707703522758063
+      - 0.30363964136564481
+    velocities:
+      - 0.0538960010622851
+      - 0.1588342246218116
+      - 0.15911107048924011
+      - -0.060328850055988009
+      - -0.098836979579366879
+      - 1.0601156280654037e-05
+      - 0.15882837984204781
+    accelerations:
+      - -0.17735962735855221
+      - -0.52268773815246949
+      - -0.52359877568615987
+      - 0.1985286877320375
+      - 0.32525028799786321
+      - -3.4886022904254242e-05
+      - -0.52266850429579548
     effort: []
     time_from_start:
       sec: 5
       nanosec: 520000000
   - positions:
-      - 0.056010626951914513
-      - 0.31159489400245999
-      - -1.0305724868713579
-      - 1.665035734911251
-      - -2.2052875380091126
-      - -1.5706626075096788
-      - 0.3113458148265224
-    velocities:
-      - 0.051510527105964307
-      - 0.156173968534742
-      - 0.15703892487103138
-      - -0.06217003537174913
-      - -0.094931708467680564
-      - 0.0001009470107849097
-      - 0.15608645930118856
-    accelerations:
-      - -0.17174626576284086
-      - -0.520714840483542
-      - -0.5235987756547128
-      - 0.20728717055208695
-      - 0.31652105594397717
-      - -0.00033657726131523363
-      - -0.52042306742418998
+      - 0.061082409402832993
+      - 0.30530824431549408
+      - -1.0343764010001615
+      - 1.6724654398816203
+      - -2.2089227049834586
+      - -1.5707702478388124
+      - 0.30520433469557351
+    velocities:
+      - 0.052122404789062098
+      - 0.15360734724135522
+      - 0.15387508273344883
+      - -0.05834356317907341
+      - -0.095584476700053059
+      - 1.0252296051682804e-05
+      - 0.15360169480015837
+    accelerations:
+      - -0.17735962729375476
+      - -0.52268773796150347
+      - -0.52359877549486167
+      - 0.1985286876595081
+      - 0.32525028787902516
+      - -3.4886022891508578e-05
+      - -0.52266850410482946
     effort: []
     time_from_start:
       sec: 5
       nanosec: 530000000
   - positions:
-      - 0.056518575339015061
-      - 0.31313493484228916
-      - -1.0290239166453894
-      - 1.6644226724759144
-      - -2.2062236652613469
-      - -1.5706616120651709
-      - 0.3128849927325682
-    velocities:
-      - 0.049793064448564857
-      - 0.15096682013060078
-      - 0.15180293711518245
-      - -0.060097163666504659
-      - -0.091766497908662731
-      - 9.7581238172206092e-05
-      - 0.15088222862764047
-    accelerations:
-      - -0.17174626571906323
-      - -0.5207148403508054
-      - -0.52359877552122946
-      - 0.20728717049924403
-      - 0.31652105586330914
-      - -0.00033657726122943333
-      - -0.52042306729153642
+      - 0.06159562838313902
+      - 0.30682072645130037
+      - -1.0328612826288093
+      - 1.6718909647758888
+      - -2.209863869687267
+      - -1.5707701468904209
+      - 0.30671676117508162
+    velocities:
+      - 0.050348808515732452
+      - 0.14838046986058456
+      - 0.14863909497734273
+      - -0.056358276302039448
+      - -0.092331973820543672
+      - 9.9034358226905941e-06
+      - 0.14837500975795465
+    accelerations:
+      - -0.1773596273352861
+      - -0.52268773808391322
+      - -0.52359877561743706
+      - 0.19852868770598889
+      - 0.32525028795518901
+      - -3.4886022899676876e-05
+      - -0.52266850422721145
     effort: []
     time_from_start:
       sec: 5
       nanosec: 540000000
   - positions:
-      - 0.057009349099541202
-      - 0.3146229041980757
-      - -1.0275277062969805
-      - 1.6638303387576305
-      - -2.207128140407991
-      - -1.5706606502783891
-      - 0.31437212833187733
-    velocities:
-      - 0.04807560179106489
-      - 0.14575967172615478
-      - 0.14656694935902709
-      - -0.058024291961138869
-      - -0.088601287349459656
-      - 9.4215465559305481e-05
-      - 0.14567799795378777
-    accelerations:
-      - -0.17174626577550434
-      - -0.52071484052192796
-      - -0.52359877569326529
-      - 0.20728717056735946
-      - 0.31652105596730573
-      - -0.0003365772613400483
-      - -0.52042306746254818
+      - 0.062091111400712218
+      - 0.3082809398133004
+      - -1.0313985241350168
+      - 1.6713363425389272
+      - -2.2107725093622812
+      - -1.5707700494306318
+      - 0.30817692080416903
+    velocities:
+      - 0.048575212242416697
+      - 0.14315359247985487
+      - 0.14340310722127764
+      - -0.054372989425021036
+      - -0.089079470941059766
+      - 9.554575593701117e-06
+      - 0.14314832471579186
+    accelerations:
+      - -0.17735962736307637
+      - -0.52268773816579217
+      - -0.5235987756995103
+      - 0.19852868773710289
+      - 0.32525028800614825
+      - -3.4886022905143627e-05
+      - -0.52266850430911815
     effort: []
     time_from_start:
       sec: 5
       nanosec: 550000000
   - positions:
-      - 0.05748294823349287
-      - 0.3160588020698194
-      - -1.0260838558261316
-      - 1.6632587337563995
-      - -2.2080009634490434
-      - -1.5706597221493332
-      - 0.31580722162444941
-    velocities:
-      - 0.046358139133653525
-      - 0.14055252332197743
-      - 0.14133096160314182
-      - -0.055951420255880013
-      - -0.085436076790419868
-      - 9.0849692946578519e-05
-      - 0.14047376728020358
-    accelerations:
-      - -0.17174626574348828
-      - -0.52071484042483895
-      - -0.52359877559567669
-      - 0.20728717052871676
-      - 0.31652105590829738
-      - -0.0003365772612773001
-      - -0.52042306736554245
+      - 0.062568858455552517
+      - 0.30968888440149378
+      - -1.0299881255187842
+      - 1.6708015731707351
+      - -2.2116486240085012
+      - -1.5707699554594448
+      - 0.30958481358283552
+    velocities:
+      - 0.046801615969184224
+      - 0.13792671509937057
+      - 0.13816711946545837
+      - -0.052387702548095827
+      - -0.085826968061728556
+      - 9.2057153647280198e-06
+      - 0.1379216396738745
+    accelerations:
+      - -0.17735962730775051
+      - -0.52268773800277601
+      - -0.52359877553618972
+      - 0.19852868767518306
+      - 0.32525028790471294
+      - -3.4886022894261436e-05
+      - -0.52266850414607424
     effort: []
     time_from_start:
       sec: 5
       nanosec: 560000000
   - positions:
-      - 0.057939372740870188
-      - 0.31744262845752053
-      - -1.0246923652328424
-      - 1.6627078574722218
-      - -2.2088421343845051
-      - -1.5706588276780038
-      - 0.31719027261028504
-    velocities:
-      - 0.044640676476244923
-      - 0.13534537491780843
-      - 0.13609497384726496
-      - -0.053878548550624489
-      - -0.082270866231385159
-      - 8.7483920333856965e-05
-      - 0.13526953660662774
-    accelerations:
-      - -0.17174626570886306
-      - -0.52071484031988569
-      - -0.52359877549014322
-      - 0.20728717048692749
-      - 0.31652105584450474
-      - -0.00033657726120944336
-      - -0.52042306726061671
+      - 0.063028869547659933
+      - 0.31104456021588078
+      - -1.0286300867801113
+      - 1.670286656671313
+      - -2.2124922136259269
+      - -1.5707698649768602
+      - 0.31094043951108125
+    velocities:
+      - 0.045028019695864049
+      - 0.13269983771862784
+      - 0.13293113170938023
+      - -0.050402415671072474
+      - -0.082574465182236545
+      - 8.8568551357376736e-06
+      - 0.1326949546316987
+    accelerations:
+      - -0.17735962733981026
+      - -0.5226877380972359
+      - -0.52359877563081525
+      - 0.19852868771105428
+      - 0.32525028796348793
+      - -3.4886022900566261e-05
+      - -0.52266850424053413
     effort: []
     time_from_start:
       sec: 5
       nanosec: 570000000
   - positions:
-      - 0.058378622621672947
-      - 0.31877438336117858
-      - -1.023353234517113
-      - 1.6621777099050969
-      - -2.2096516532143755
-      - -1.5706579668644003
-      - 0.31852128128938345
-    velocities:
-      - 0.042923213818754115
-      - 0.13013822651339019
-      - 0.13085898609113747
-      - -0.051805676845269738
-      - -0.079105655672198946
-      - 8.4118147720974298e-05
-      - 0.1300653059328028
-    accelerations:
-      - -0.17174626575613788
-      - -0.52071484046322492
-      - -0.5235987756342847
-      - 0.2072871705439962
-      - 0.31652105593163982
-      - -0.00033657726130210123
-      - -0.5204230674038729
+      - 0.063471144677034463
+      - 0.31234796725646125
+      - -1.0273244079189983
+      - 1.6697915930406608
+      - -2.2133032782145579
+      - -1.5707697779828778
+      - 0.31224379858890611
+    velocities:
+      - 0.043254423422625275
+      - 0.127472960338125
+      - 0.12769514395354237
+      - -0.048417128794140216
+      - -0.079321962302893789
+      - 8.5079949067633364e-06
+      - 0.12746826958976276
+    accelerations:
+      - -0.17735962729079185
+      - -0.52268773795278822
+      - -0.52359877548611866
+      - 0.1985286876561913
+      - 0.32525028787361282
+      - -3.488602289092582e-05
+      - -0.52266850409608645
     effort: []
     time_from_start:
       sec: 5
       nanosec: 580000000
   - positions:
-      - 0.058800697875901364
-      - 0.32005406678079418
-      - -1.0220664636789436
-      - 1.6616682910550249
-      - -2.2104295199386548
-      - -1.5706571397085229
-      - 0.31980024766174531
-    velocities:
-      - 0.041205751161339461
-      - 0.12493107810920286
-      - 0.12562299833524218
-      - -0.049732805140006914
-      - -0.075940445113153093
-      - 8.0752375108240885e-05
-      - 0.12486107525920861
-    accelerations:
-      - -0.17174626572751481
-      - -0.52071484037646543
-      - -0.52359877554701439
-      - 0.20728717050945114
-      - 0.3165210558788939
-      - -0.00033657726124602163
-      - -0.52042306731715482
+      - 0.063895683843676152
+      - 0.31359910552323533
+      - -1.026071088935445
+      - 1.6693163822787787
+      - -2.2140818177743951
+      - -1.5707696944774976
+      - 0.31349489081631032
+    velocities:
+      - 0.041480827149306371
+      - 0.12224608295738601
+      - 0.12245915619746799
+      - -0.046431841917118279
+      - -0.076069459423404109
+      - 8.1591346777732393e-06
+      - 0.1222415845475907
+    accelerations:
+      - -0.17735962732173932
+      - -0.52268773804396529
+      - -0.52359877557746226
+      - 0.19852868769083026
+      - 0.32525028793034522
+      - -3.4886022897012599e-05
+      - -0.52266850418729127
     effort: []
     time_from_start:
       sec: 5
       nanosec: 590000000
   - positions:
-      - 0.059205598503555341
-      - 0.32128167871636698
-      - -1.0208320527183339
-      - 1.6611796009220059
-      - -2.2111757345573437
-      - -1.5706563462103718
-      - 0.32102717172737033
-    velocities:
-      - 0.039488288503854801
-      - 0.11972392970480328
-      - 0.12038701057913348
-      - -0.047659933434659595
-      - -0.072775234553978232
-      - 7.7386602495370293e-05
-      - 0.11965684458540232
-    accelerations:
-      - -0.17174626576860014
-      - -0.52071484050100025
-      - -0.52359877567225432
-      - 0.20728717055903279
-      - 0.31652105595459368
-      - -0.00033657726132650933
-      - -0.52042306744163436
+      - 0.064302487047584941
+      - 0.31479797501620288
+      - -1.0248701298294518
+      - 1.6688610243856661
+      - -2.214827832305438
+      - -1.5707696144607199
+      - 0.31469371619329362
+    velocities:
+      - 0.039707230875995633
+      - 0.11701920557667107
+      - 0.11722316844141768
+      - -0.044446555040105473
+      - -0.07281695654392939
+      - 7.8102744487847498e-06
+      - 0.11701489950544269
+    accelerations:
+      - -0.17735962734435523
+      - -0.52268773811064184
+      - -0.52359877564424895
+      - 0.19852868771615437
+      - 0.32525028797184236
+      - -3.4886022901460728e-05
+      - -0.52266850425395395
     effort: []
     time_from_start:
       sec: 5
       nanosec: 600000000
   - positions:
-      - 0.059593324504634795
-      - 0.32245721916789682
-      - -1.0196500016352843
-      - 1.6607116395060402
-      - -2.211890297070441
-      - -1.5706555863699465
-      - 0.3222020534862583
-    velocities:
-      - 0.037770825846443493
-      - 0.11451678130062633
-      - 0.11515102282324584
-      - -0.04558706172940391
-      - -0.069610023994941858
-      - 7.4020829884810204e-05
-      - 0.11445261391181755
-    accelerations:
-      - -0.1717462657364453
-      - -0.52071484040352267
-      - -0.52359877557420775
-      - 0.20728717052023743
-      - 0.3165210558953494
-      - -0.00033657726127335632
-      - -0.52042306734421229
+      - 0.064691554288760833
+      - 0.31594457573536394
+      - -1.0237215306010181
+      - 1.6684255193613236
+      - -2.2155413218076858
+      - -1.5707695379325444
+      - 0.3158402747198561
+    velocities:
+      - 0.037933634602746812
+      - 0.11179232819613889
+      - 0.11198718068555272
+      - -0.042461268163160898
+      - -0.069564453664573214
+      - 7.4614142205376683e-06
+      - 0.11178821446347795
+    accelerations:
+      - -0.17735962730480148
+      - -0.52268773799406076
+      - -0.52359877552747447
+      - 0.19852868767186627
+      - 0.32525028789931448
+      - -3.4886022897090526e-05
+      - -0.52266850413738675
     effort: []
     time_from_start:
       sec: 5
       nanosec: 610000000
   - positions:
-      - 0.059963875879139907
-      - 0.32358068813538415
-      - -1.0185203104297942
-      - 1.6602644068071268
-      - -2.2125732074779476
-      - -1.5706548601872476
-      - 0.32332489293840971
-    velocities:
-      - 0.036053363189019721
-      - 0.10930963289641134
-      - 0.10991503506732286
-      - -0.043514190024129935
-      - -0.06644481343587906
-      - 7.0655057271960402e-05
-      - 0.10924838323819579
-    accelerations:
-      - -0.17174626571689136
-      - -0.5207148403442412
-      - -0.52359877551460976
-      - 0.20728717049664888
-      - 0.31652105585931234
-      - -0.00033657726123504408
-      - -0.52042306728497223
+      - 0.06506288556720384
+      - 0.31703890768071852
+      - -1.0226252912501446
+      - 1.6680098672057508
+      - -2.2162222862811403
+      - -1.5707694648929713
+      - 0.31693456639599771
+    velocities:
+      - 0.036160038329442368
+      - 0.1065654508154425
+      - 0.10675119292952089
+      - -0.040475981286155191
+      - -0.066311950785109805
+      - 7.1125539915163199e-06
+      - 0.10656152942134846
+    accelerations:
+      - -0.17735962732120708
+      - -0.52268773804241864
+      - -0.52359877557590084
+      - 0.19852868769023066
+      - 0.32525028792940408
+      - -3.488602290031808e-05
+      - -0.52266850418573074
     effort: []
     time_from_start:
       sec: 5
       nanosec: 620000000
   - positions:
-      - 0.060317252627070536
-      - 0.32465208561882863
-      - -1.017442979101864
-      - 1.659837902825267
-      - -2.213224465779863
-      - -1.5706541676622745
-      - 0.32439569008382418
-    velocities:
-      - 0.034335900531544269
-      - 0.10410248449203965
-      - 0.10467904731124232
-      - -0.041441318318793587
-      - -0.063279602876721006
-      - 6.7289284659009308e-05
-      - 0.10404415256441742
-    accelerations:
-      - -0.17174626574872021
-      - -0.5207148404407429
-      - -0.52359877561165002
-      - 0.20728717053505891
-      - 0.3165210559179702
-      - -0.0003365772612974256
-      - -0.52042306738140476
+      - 0.065416480882914019
+      - 0.31808097085226672
+      - -1.0215814117768305
+      - 1.6676140679189482
+      - -2.2168707257258
+      - -1.5707693953420006
+      - 0.31797659122171873
+    velocities:
+      - 0.034386442056126579
+      - 0.10133857343471268
+      - 0.10151520517345557
+      - -0.038490694409136793
+      - -0.063059447905625607
+      - 6.7636937624927404e-06
+      - 0.10133484437918554
+    accelerations:
+      - -0.17735962734911531
+      - -0.52268773812464453
+      - -0.52359877565829327
+      - 0.19852868772146262
+      - 0.32525028798057148
+      - -3.4886022905806854e-05
+      - -0.52266850426797051
     effort: []
     time_from_start:
       sec: 5
       nanosec: 630000000
   - positions:
-      - 0.060653454748426802
-      - 0.32567141161823054
-      - -1.0164180076514939
-      - 1.6594321275604598
-      - -2.2138440719761885
-      - -1.570653508795028
-      - 0.32541444492250199
-    velocities:
-      - 0.032618437874114392
-      - 0.098895336087806165
-      - 0.09944305955530075
-      - -0.039368446613512256
-      - -0.060114392317646953
-      - 6.3923512046147553e-05
-      - 0.098839921890777158
-    accelerations:
-      - -0.17174626573527943
-      - -0.5207148403999744
-      - -0.52359877557064827
-      - 0.20728717051882559
-      - 0.31652105589318802
-      - -0.0003365772612710667
-      - -0.52042306734066379
+      - 0.065752340235891285
+      - 0.31907076525000844
+      - -1.0205898921810763
+      - 1.6672381215009149
+      - -2.2174866401416651
+      - -1.5707693292796319
+      - 0.31896634919701883
+    velocities:
+      - 0.032612845782868889
+      - 0.09611169605415408
+      - 0.096279217417561763
+      - -0.036505407532183419
+      - -0.059806945026247942
+      - 6.4148335334805891e-06
+      - 0.096108159337193841
+    accelerations:
+      - -0.17735962731908173
+      - -0.52268773803613822
+      - -0.52359877556962131
+      - 0.19852868768784654
+      - 0.32525028792549493
+      - -3.4886022899899287e-05
+      - -0.52266850417945032
     effort: []
     time_from_start:
       sec: 5
       nanosec: 640000000
   - positions:
-      - 0.060972482243208614
-      - 0.32663866613358966
-      - -1.0154453960786831
-      - 1.6590470810127056
-      - -2.2144320260669219
-      - -1.5706528835855074
-      - 0.32638115745444296
-    velocities:
-      - 0.030900975216645039
-      - 0.093688187683452967
-      - 0.094207071799238803
-      - -0.037295574908183263
-      - -0.056949181758500132
-      - 6.0557739433208412e-05
-      - 0.093635691217017258
-    accelerations:
-      - -0.17174626576100552
-      - -0.520714840477977
-      - -0.5235987756490923
-      - 0.20728717054988038
-      - 0.31652105594061181
-      - -0.00033657726132148812
-      - -0.52042306741863886
+      - 0.066070463626135695
+      - 0.32000829087394361
+      - -1.0196507324628823
+      - 1.6668820279516519
+      - -2.2180700295287363
+      - -1.5707692667058655
+      - 0.31990384032189811
+    velocities:
+      - 0.030839249509573896
+      - 0.090884818673485537
+      - 0.091043229661557826
+      - -0.034520120655188294
+      - -0.056554442146801859
+      - 6.0659733044610999e-06
+      - 0.090881474295092191
+    accelerations:
+      - -0.17735962732603308
+      - -0.52268773805664337
+      - -0.52359877559016721
+      - 0.19852868769562912
+      - 0.32525028793825117
+      - -3.4886022901266757e-05
+      - -0.52266850419995547
     effort: []
     time_from_start:
       sec: 5
       nanosec: 650000000
   - positions:
-      - 0.061274335111415903
-      - 0.32755384916490582
-      - -1.0145251443834327
-      - 1.6586827631820047
-      - -2.2149883280520646
-      - -1.5706522920337131
-      - 0.32729582767964688
-    velocities:
-      - 0.029183512559233772
-      - 0.088481039279275892
-      - 0.088971084043353951
-      - -0.03522270320292438
-      - -0.053783971199460372
-      - 5.7191966820383113e-05
-      - 0.088431460543433385
-    accelerations:
-      - -0.17174626572879864
-      - -0.52071484038033289
-      - -0.52359877555090695
-      - 0.20728717051101564
-      - 0.31652105588125651
-      - -0.000336577261258374
-      - -0.52042306732103638
+      - 0.066370851053647165
+      - 0.32089354772407219
+      - -1.018763932622248
+      - 1.6665457872711589
+      - -2.2186208938870129
+      - -1.5707692076207014
+      - 0.32078906459635648
+    velocities:
+      - 0.029065653236258114
+      - 0.085657941292755738
+      - 0.085807241905492521
+      - -0.032534833778169896
+      - -0.053301939267317661
+      - 5.7171130754375213e-06
+      - 0.085654789252929284
+    accelerations:
+      - -0.17735962735393437
+      - -0.52268773813885538
+      - -0.52359877567253188
+      - 0.19852868772686108
+      - 0.32525028798941857
+      - -3.4886022906755531e-05
+      - -0.52266850428218137
     effort: []
     time_from_start:
       sec: 5
       nanosec: 660000000
   - positions:
-      - 0.061559013353048864
-      - 0.32841696071217946
-      - -1.0136572525657417
-      - 1.6583391740683564
-      - -2.2155129779316165
-      - -1.5706517341396447
-      - 0.32815845559811424
-    velocities:
-      - 0.027466049901794749
-      - 0.083273890875014661
-      - 0.083735096287384486
-      - -0.03314983149763201
-      - -0.050618760640369458
-      - 5.3826194207503428e-05
-      - 0.083227229869765412
-    accelerations:
-      - -0.17174626572449986
-      - -0.52071484036730609
-      - -0.52359877553779954
-      - 0.20728717050581516
-      - 0.31652105587333584
-      - -0.00033657726124994508
-      - -0.52042306730800936
+      - 0.066653502518425806
+      - 0.3217265358003944
+      - -1.0179294926591733
+      - 1.6662293994594353
+      - -2.2191392332164952
+      - -1.5707691520241396
+      - 0.32162202202039414
+    velocities:
+      - 0.027292056962990967
+      - 0.080431063912169254
+      - 0.080571254149570795
+      - -0.030549546901205937
+      - -0.050049436387922655
+      - 5.368252846423509e-06
+      - 0.080428104210909707
+    accelerations:
+      - -0.1773596273333585
+      - -0.52268773807822955
+      - -0.52359877561179591
+      - 0.19852868770383028
+      - 0.32525028795168232
+      - -3.4886022902708048e-05
+      - -0.52266850422154165
     effort: []
     time_from_start:
       sec: 5
       nanosec: 670000000
   - positions:
-      - 0.061826516968107328
-      - 0.32922800077541026
-      - -1.0128417206256106
-      - 1.6580163136717614
-      - -2.2160059757055768
-      - -1.5706512099033025
-      - 0.32896904120984471
-    velocities:
-      - 0.025748587244334552
-      - 0.078066742470689232
-      - 0.078499108531350462
-      - -0.03107695979231407
-      - -0.047453550081239519
-      - 5.0460421594582231e-05
-      - 0.078022999196033269
-    accelerations:
-      - -0.17174626574107354
-      - -0.52071484041753924
-      - -0.52359877558832146
-      - 0.20728717052582324
-      - 0.3165210559038773
-      - -0.00033657726128242973
-      - -0.52042306735821497
+      - 0.066918418020471576
+      - 0.32250725510291023
+      - -1.0171474125736584
+      - 1.6659328645164821
+      - -2.2196250475171833
+      - -1.5707690999161801
+      - 0.32240271259401104
+    velocities:
+      - 0.025518460689705424
+      - 0.075204186531528563
+      - 0.075335266393594766
+      - -0.028564260024221386
+      - -0.046796933508493906
+      - 5.0193926174058782e-06
+      - 0.075201419168835909
+    accelerations:
+      - -0.17735962733086255
+      - -0.5226877380708681
+      - -0.5235987756044197
+      - 0.19852868770103799
+      - 0.3252502879471052
+      - -3.4886022902217975e-05
+      - -0.52266850421419409
     effort: []
     time_from_start:
       sec: 5
       nanosec: 680000000
   - positions:
-      - 0.062076845956591423
-      - 0.32998696935459837
-      - -1.0120785485630395
-      - 1.657714181992219
-      - -2.2164673213739468
-      - -1.5706507193246864
-      - 0.32972758451483847
-    velocities:
-      - 0.024031124586889423
-      - 0.072859594066409489
-      - 0.073263120775362373
-      - -0.02900408808701432
-      - -0.04428833952213735
-      - 4.7094648981690579e-05
-      - 0.072818768522346783
-    accelerations:
-      - -0.17174626574288099
-      - -0.5207148404230254
-      - -0.52359877559383805
-      - 0.20728717052800574
-      - 0.31652105590721152
-      - -0.00033657726128596093
-      - -0.52042306736370092
+      - 0.067165597559784435
+      - 0.32323570563161946
+      - -1.0164176923657036
+      - 1.6656561824422984
+      - -2.2200783367890771
+      - -1.5707690512968231
+      - 0.32313113631720702
+    velocities:
+      - 0.02374486441643198
+      - 0.069977309150923539
+      - 0.070099278637654458
+      - -0.026578973147250381
+      - -0.043544430629087347
+      - 4.6705323883906285e-06
+      - 0.069974734126797777
+    accelerations:
+      - -0.17735962731658372
+      - -0.52268773802878299
+      - -0.52359877556225221
+      - 0.19852868768505363
+      - 0.3252502879209222
+      - -3.4886022899408008e-05
+      - -0.52266850417210897
     effort: []
     time_from_start:
       sec: 5
       nanosec: 690000000
   - positions:
-      - 0.062310000318500987
-      - 0.33069386644974363
-      - -1.0113677363780282
-      - 1.6574327790297299
-      - -2.2168970149367255
-      - -1.5706502624037966
-      - 0.33043408551309517
-    velocities:
-      - 0.022313661929435319
-      - 0.067652445662102531
-      - 0.068027133019346916
-      - -0.026931216381703739
-      - -0.041123128963018639
-      - 4.3728876368781322e-05
-      - 0.067614537848633097
-    accelerations:
-      - -0.17174626575335886
-      - -0.5207148404548011
-      - -0.52359877562579149
-      - 0.20728717054065166
-      - 0.31652105592652585
-      - -0.0003365772613065058
-      - -0.52042306739546296
+      - 0.067395041136364381
+      - 0.32391188738652216
+      - -1.0157403320353084
+      - 1.6653993532368847
+      - -2.2204991010321762
+      - -1.570769006166068
+      - 0.32380729318998214
+    velocities:
+      - 0.021971268143113551
+      - 0.064750431770185926
+      - 0.06486329088158134
+      - -0.02459368627022902
+      - -0.040291927749598291
+      - 4.3216721593665289e-06
+      - 0.064748049084627071
+    accelerations:
+      - -0.17735962734681368
+      - -0.52268773811787972
+      - -0.52359877565149993
+      - 0.19852868771889584
+      - 0.32525028797636213
+      - -3.488602290535489e-05
+      - -0.52266850426119182
     effort: []
     time_from_start:
       sec: 5
       nanosec: 700000000
   - positions:
-      - 0.062525980053836167
-      - 0.33134869206084616
-      - -1.0107092840705767
-      - 1.6571721047842938
-      - -2.2172950563939131
-      - -1.5706498391406325
-      - 0.33108854420461514
-    velocities:
-      - 0.020596199271987626
-      - 0.062445297257815488
-      - 0.06279114526335032
-      - -0.02485834467639533
-      - -0.037957918403909607
-      - 4.0363103756662055e-05
-      - 0.062410307174939117
-    accelerations:
-      - -0.17174626575775823
-      - -0.5207148404681331
-      - -0.52359877563917645
-      - 0.20728717054591458
-      - 0.31652105593460605
-      - -0.00033657726132160928
-      - -0.5204230674087813
+      - 0.067606748750211498
+      - 0.32453580036761848
+      - -1.0151153315824732
+      - 1.6651623769002408
+      - -2.220887340246481
+      - -1.5707689645239156
+      - 0.32443118321233655
+    velocities:
+      - 0.020197671869837716
+      - 0.059523554389573199
+      - 0.059627303125628646
+      - -0.022608399393255624
+      - -0.037039424870188478
+      - 3.972811928132777e-06
+      - 0.05952136404257951
+    accelerations:
+      - -0.177359627335581
+      - -0.52268773808476665
+      - -0.52359877561829749
+      - 0.19852868770632195
+      - 0.32525028795577188
+      - -3.4886022883667954e-05
+      - -0.522668504228058
     effort: []
     time_from_start:
       sec: 5
       nanosec: 710000000
   - positions:
-      - 0.062724785162596872
-      - 0.33195144618790584
-      - -1.0101031916406851
-      - 1.6569321592559105
-      - -2.2176614457455099
-      - -1.570649449535195
-      - 0.33169096058939829
-    velocities:
-      - 0.018878736614570041
-      - 0.057238148853619213
-      - 0.057555157507446261
-      - -0.022785472971129286
-      - -0.034792707844858377
-      - 3.6997331143759547e-05
-      - 0.057206076501336071
-    accelerations:
-      - -0.17174626573217081
-      - -0.52071484039056526
-      - -0.52359877556118362
-      - 0.20728717051503695
-      - 0.31652105588745649
-      - -0.0003365772612714665
-      - -0.52042306733125465
+      - 0.067800720401325745
+      - 0.32510744457490826
+      - -1.014542691007198
+      - 1.664945253432367
+      - -2.2212430544319921
+      - -1.5707689263703652
+      - 0.32500280638427026
+    velocities:
+      - 0.01842407559655488
+      - 0.054296677008940544
+      - 0.054391315369661075
+      - -0.020623112516274082
+      - -0.0337869219907646
+      - 3.6239516993104488e-06
+      - 0.054294679000513907
+    accelerations:
+      - -0.17735962733050661
+      - -0.52268773806981961
+      - -0.52359877560331658
+      - 0.19852868770064186
+      - 0.32525028794646427
+      - -3.4886022882670217e-05
+      - -0.52266850421311095
     effort: []
     time_from_start:
       sec: 5
       nanosec: 720000000
   - positions:
-      - 0.062906415644783192
-      - 0.33250212883092295
-      - -1.0095494590883534
-      - 1.6567129424445803
-      - -2.2179961829915156
-      - -1.5706490935874833
-      - 0.33224133466744465
-    velocities:
-      - 0.01716127395712504
-      - 0.052031000449339816
-      - 0.05231916975145863
-      - -0.020712601265830157
-      - -0.031627497285756624
-      - 3.3631558530803317e-05
-      - 0.052001845827649953
-    accelerations:
-      - -0.17174626573354485
-      - -0.52071484039472415
-      - -0.52359877556536072
-      - 0.20728717051669165
-      - 0.31652105588998564
-      - -0.00033657726127414914
-      - -0.52042306733541377
+      - 0.067976956089707066
+      - 0.32562682000839155
+      - -1.0140224103094826
+      - 1.664747982833263
+      - -2.2215662435887085
+      - -1.5707688917054172
+      - 0.32552216270578288
+    velocities:
+      - 0.016650479323255418
+      - 0.049069799628258894
+      - 0.049155327613644412
+      - -0.018637825639273926
+      - -0.030534419111310229
+      - 3.2750914704848497e-06
+      - 0.049067993958399302
+    accelerations:
+      - -0.17735962734158869
+      - -0.52268773810247537
+      - -0.52359877563604007
+      - 0.19852868771304635
+      - 0.32525028796678995
+      - -3.4886022884849917e-05
+      - -0.5226685042457736
     effort: []
     time_from_start:
       sec: 5
       nanosec: 730000000
   - positions:
-      - 0.063070871500395073
-      - 0.33300073998989732
-      - -1.0090480864135813
-      - 1.656514454350303
-      - -2.21829926813193
-      - -1.5706487712974979
-      - 0.33273966643875424
-    velocities:
-      - 0.015443811299664616
-      - 0.046823852045013666
-      - 0.047083181995423967
-      - -0.018639729560512412
-      - -0.028462286726626446
-      - 3.0265785917816851e-05
-      - 0.046797615153917095
-    accelerations:
-      - -0.17174626575064561
-      - -0.52071484044656913
-      - -0.52359877561749968
-      - 0.20728717053733162
-      - 0.3165210559215022
-      - -0.00033657726130767207
-      - -0.52042306738723765
+      - 0.068135455815355517
+      - 0.32609392666806836
+      - -1.0135544894893269
+      - 1.6645705651029288
+      - -2.2218569077166306
+      - -1.5707688605290717
+      - 0.3259892521768748
+    velocities:
+      - 0.014876883049969432
+      - 0.043842922247616954
+      - 0.043919339857667543
+      - -0.016652538762288855
+      - -0.027281916231880574
+      - 2.9262312416619018e-06
+      - 0.043841308916324415
+    accelerations:
+      - -0.17735962733966629
+      - -0.52268773809681257
+      - -0.52359877563035728
+      - 0.19852868771089469
+      - 0.32525028796326244
+      - -3.4886022884471788e-05
+      - -0.52266850424010391
     effort: []
     time_from_start:
       sec: 5
       nanosec: 740000000
   - positions:
-      - 0.063218152729432486
-      - 0.33344727966482879
-      - -1.0085990736163692
-      - 1.6563366949730787
-      - -2.2185707011667541
-      - -1.5706484826652387
-      - 0.33318595590332689
-    velocities:
-      - 0.013726348642225716
-      - 0.041616703640752768
-      - 0.041847194239454932
-      - -0.016566857855220645
-      - -0.025297076167535938
-      - 2.6900013304872574e-05
-      - 0.041593384480249462
-    accelerations:
-      - -0.17174626574591689
-      - -0.52071484043223581
-      - -0.52359877560308743
-      - 0.20728717053162415
-      - 0.31652105591278684
-      - -0.00033657726129840139
-      - -0.52042306737291155
+      - 0.068276219578271111
+      - 0.32650876455393874
+      - -1.0131389285467309
+      - 1.6644130002413644
+      - -2.222115046815758
+      - -1.5707688328413281
+      - 0.32640407479754596
+    velocities:
+      - 0.013103286776700578
+      - 0.038616044867025502
+      - 0.038683352101741245
+      - -0.01466725188532296
+      - -0.024029413352482331
+      - 2.5773710128423234e-06
+      - 0.038614623874300008
+    accelerations:
+      - -0.17735962732076926
+      - -0.52268773804112667
+      - -0.52359877557457579
+      - 0.19852868768974546
+      - 0.32525028792861144
+      - -3.4886022880755143e-05
+      - -0.5226685041844249
     effort: []
     time_from_start:
       sec: 5
       nanosec: 750000000
   - positions:
-      - 0.06334825933189546
-      - 0.33384174785571752
-      - -1.0082024206967168
-      - 1.6561796643129074
-      - -2.2188104820959871
-      - -1.5706482276907054
-      - 0.33358020306116276
-    velocities:
-      - 0.012008885984780671
-      - 0.036409555236473233
-      - 0.036611206483467156
-      - -0.014493986149921459
-      - -0.022131865608434102
-      - 2.3534240691916249e-05
-      - 0.036389153806563213
-    accelerations:
-      - -0.17174626574779361
-      - -0.52071484043792782
-      - -0.52359877560880541
-      - 0.20728717053388668
-      - 0.31652105591624258
-      - -0.00033657726130207905
-      - -0.52042306737858912
+      - 0.068399247378453834
+      - 0.32687133366600268
+      - -1.0127757274816949
+      - 1.6642752882485699
+      - -2.2223406608860916
+      - -1.5707688086421869
+      - 0.32676663056779637
+    velocities:
+      - 0.011329690503396581
+      - 0.033389167486330487
+      - 0.033447364345711203
+      - -0.01268196500831773
+      - -0.020776910473019647
+      - 2.2285107840158328e-06
+      - 0.033387938832172052
+    accelerations:
+      - -0.1773596273362284
+      - -0.52268773808667557
+      - -0.52359877562020551
+      - 0.19852868770704768
+      - 0.32525028795695754
+      - -3.4886022883795788e-05
+      - -0.5226685042299738
     effort: []
     time_from_start:
       sec: 5
       nanosec: 760000000
   - positions:
-      - 0.063461191307784048
-      - 0.33418414456256368
-      - -1.0078581276546243
-      - 1.6560433623697892
-      - -2.2190186109196288
-      - -1.5706480063738983
-      - 0.33392240791226196
-    velocities:
-      - 0.010291423327344824
-      - 0.031202406832221592
-      - 0.031375218727507426
-      - -0.012421114444633376
-      - -0.018966655049349218
-      - 2.0168468078977953e-05
-      - 0.031184923132904826
-    accelerations:
-      - -0.17174626574001003
-      - -0.52071484041433103
-      - -0.52359877558507417
-      - 0.20728717052449466
-      - 0.31652105590189983
-      - -0.00033657726128682829
-      - -0.52042306735500998
+      - 0.068504539215903645
+      - 0.32718163400426004
+      - -1.0124648862942187
+      - 1.6641574291245451
+      - -2.2225337499276305
+      - -1.5707687879316481
+      - 0.32707691948762585
+    velocities:
+      - 0.0095560942301182693
+      - 0.028162290105711165
+      - 0.028211376589756983
+      - -0.010696678131341252
+      - -0.017524407593604064
+      - 1.8796505551943944e-06
+      - 0.028161253790119779
+    accelerations:
+      - -0.1773596273267995
+      - -0.52268773805888746
+      - -0.52359877559237389
+      - 0.1985286876964924
+      - 0.32525028793966415
+      - -3.4886022881940921e-05
+      - -0.52266850420218558
     effort: []
     time_from_start:
       sec: 5
       nanosec: 770000000
   - positions:
-      - 0.063556948657098156
-      - 0.33447446978536693
-      - -1.0075661944900918
-      - 1.6559277891437238
-      - -2.2191950876376794
-      - -1.5706478187148174
-      - 0.33421257045662417
-    velocities:
-      - 0.008573960669899695
-      - 0.025995258427941807
-      - 0.026139230971519396
-      - -0.010348242739334089
-      - -0.015801444490247226
-      - 1.6802695466021465e-05
-      - 0.025980692459218319
-    accelerations:
-      - -0.17174626574135987
-      - -0.52071484041841942
-      - -0.52359877558918866
-      - 0.20728717052612311
-      - 0.31652105590438717
-      - -0.00033657726128946946
-      - -0.52042306735909538
+      - 0.0685920950906206
+      - 0.32743966556871096
+      - -1.0122064049843023
+      - 1.6640594228692904
+      - -2.2226943139403752
+      - -1.5707687707097115
+      - 0.32733494155703458
+    velocities:
+      - 0.0077824979568273493
+      - 0.022935412725054685
+      - 0.022975388833765546
+      - -0.0087113912543506575
+      - -0.014271904714165357
+      - 1.5307903263704758e-06
+      - 0.022934568748030352
+    accelerations:
+      - -0.17735962732998031
+      - -0.52268773806826396
+      - -0.52359877560176604
+      - 0.1985286877000543
+      - 0.32525028794549987
+      - -3.4886022882566587e-05
+      - -0.52266850421155875
     effort: []
     time_from_start:
       sec: 5
       nanosec: 780000000
   - positions:
-      - 0.063635531379837879
-      - 0.33471272352412756
-      - -1.0073266212031189
-      - 1.6558329446347113
-      - -2.2193399122501396
-      - -1.5706476647134626
-      - 0.33445069069424976
-    velocities:
-      - 0.0068564980124517288
-      - 0.020788110023653422
-      - 0.020903243215522716
-      - -0.0082753710340313803
-      - -0.012636233931140006
-      - 1.3436922853059419e-05
-      - 0.020776461785523212
-    accelerations:
-      - -0.17174626574630783
-      - -0.52071484043342098
-      - -0.5235987756042777
-      - 0.20728717053209472
-      - 0.31652105591350693
-      - -0.00033657726129916694
-      - -0.52042306737408928
+      - 0.068661915002604657
+      - 0.3276454283593554
+      - -1.0120002835519457
+      - 1.6639812694828056
+      - -2.2228223529243256
+      - -1.5707687569763773
+      - 0.32754069677602243
+    velocities:
+      - 0.0060089016835377139
+      - 0.017708535344401994
+      - 0.017739401077777901
+      - -0.0067261043773615033
+      - -0.01101940183472901
+      - 1.1819300975468102e-06
+      - 0.017707883705944713
+    accelerations:
+      - -0.17735962733093141
+      - -0.5226877380710665
+      - -0.52359877560457224
+      - 0.19852868770111753
+      - 0.32525028794724309
+      - -3.488602288275351e-05
+      - -0.52266850421436128
     effort: []
     time_from_start:
       sec: 5
       nanosec: 790000000
   - positions:
-      - 0.06369693947600312
-      - 0.33489890577884535
-      - -1.0071394077937059
-      - 1.6557588288427518
-      - -2.2194530847570078
-      - -1.570647544369834
-      - 0.33463676862513836
-    velocities:
-      - 0.0051390353550064705
-      - 0.015580961619373246
-      - 0.015667255459534294
-      - -0.0062024993287319386
-      - -0.0094710233720377776
-      - 1.0071150240102679e-05
-      - 0.015572231111836313
-    accelerations:
-      - -0.17174626574763263
-      - -0.52071484043743721
-      - -0.52359877560831569
-      - 0.2072871705336943
-      - 0.31652105591594915
-      - -0.00033657726130176328
-      - -0.52042306737810451
+      - 0.068713998951855815
+      - 0.32779892237619329
+      - -1.0118465219971491
+      - 1.6639229689650907
+      - -2.2229178668794813
+      - -1.5707687467316453
+      - 0.32769418514458948
+    velocities:
+      - 0.00423530541024818
+      - 0.012481657963749598
+      - 0.012503413321790552
+      - -0.0047408175003724609
+      - -0.0077668989552928452
+      - 8.330698687231642e-07
+      - 0.012481198663859367
+    accelerations:
+      - -0.1773596273328811
+      - -0.52268773807681512
+      - -0.52359877561033019
+      - 0.19852868770330059
+      - 0.32525028795081851
+      - -3.4886022883137101e-05
+      - -0.5226685042201098
     effort: []
     time_from_start:
       sec: 5
       nanosec: 800000000
   - positions:
-      - 0.063741172945593935
-      - 0.33503301654952039
-      - -1.0070045542618526
-      - 1.6557054417678454
-      - -2.219534605158286
-      - -1.5706474576839315
-      - 0.33477080424929018
-    velocities:
-      - 0.0034215726975671558
-      - 0.010373813215098089
-      - 0.010431267703562716
-      - -0.0041296276234349151
-      - -0.0063058128129511067
-      - 6.7053776211120161e-06
-      - 0.010368000438157349
-    accelerations:
-      - -0.17174626574685295
-      - -0.52071484043442096
-      - -0.52359877560587254
-      - 0.20728717053251455
-      - 0.31652105591474333
-      - -0.00033657726099677678
-      - -0.52042306737523736
+      - 0.068748346938374116
+      - 0.32790014761922481
+      - -1.0117451203199122
+      - 1.6638845213161457
+      - -2.2229808558058433
+      - -1.5707687399755157
+      - 0.32779540666273577
+    velocities:
+      - 0.002461709136965297
+      - 0.0072547805831070164
+      - 0.0072674255658346509
+      - -0.0027555306233793754
+      - -0.0045143960758612031
+      - 4.8420967084884537e-07
+      - 0.0072545136217852793
+    accelerations:
+      - -0.17735962732821725
+      - -0.5226877380623639
+      - -0.52359877559741219
+      - 0.19852868769725235
+      - 0.32525028794171335
+      - -3.4886025111942546e-05
+      - -0.52266850420576294
     effort: []
     time_from_start:
       sec: 5
       nanosec: 810000000
   - positions:
-      - 0.063768231788610338
-      - 0.33511505583615264
-      - -1.0069220606075593
-      - 1.655672783409992
-      - -2.2195844734539727
-      - -1.570647404655755
-      - 0.33485279756670516
-    velocities:
-      - 0.0017041100401260808
-      - 0.0051666648108371228
-      - 0.005195279947587686
-      - -0.0020567559181429089
-      - -0.0031406022538542759
-      - 3.3396050111980556e-06
-      - 0.0051637697644881814
-    accelerations:
-      - -0.17174626574378607
-      - -0.52071484042512228
-      - -0.52359877559652279
-      - 0.20728717052881285
-      - 0.31652105590909085
-      - -0.00033657726099076601
-      - -0.5204230673659429
+      - 0.068764459786400334
+      - 0.32794915748297521
+      - -1.011691179980065
+      - 1.6638677802528892
+      - -2.2230158710457477
+      - -1.5707700640915705
+      - 0.32784481870614224
+    velocities:
+      - 0.00040243065515912341
+      - 0.0020863567373542598
+      - 0.0049515106069452511
+      - 0.00031434846352612351
+      - -0.0039666939099758198
+      - -0.00078382363187959304
+      - 0.0023248748396939409
+    accelerations:
+      - -0.24213319099594371
+      - -0.51796047175868243
+      - 0.10283983992658784
+      - 0.43719907805174357
+      - -0.25744298123805348
+      - -0.1703610433366807
+      - -0.46610346828511123
     effort: []
     time_from_start:
       sec: 5
       nanosec: 820000000
   - positions:
-      - 0.063792578357253993
-      - 0.3351495091497772
-      - -1.0068837389188563
-      - 1.6556657163486592
-      - -2.2196050382862689
-      - -1.5706524906092139
-      - 0.33490021449946727
-    velocities:
-      - 0.0041714805423399759
-      - 0.001046439139941738
-      - 0.002136088647819414
-      - 0.0015427902678773872
-      - -0.00052470770617769674
-      - -0.0015048245867700222
-      - 0.0048721940685888965
-    accelerations:
-      - 0.26035970832559979
-      - -0.52002620710001846
-      - -0.40057164670676898
-      - 0.42816603161533584
-      - 0.32867387207521231
-      - -0.17026215646458159
-      - -0.087855352115130111
+      - 0.068758718083880108
+      - 0.32794673993961698
+      - -1.0116473586753394
+      - 1.6638865832498027
+      - -2.2230574854161018
+      - -1.5707827348777765
+      - 0.32784625749112112
+    velocities:
+      - -0.00098814351394046498
+      - -0.0024760855509762571
+      - 0.0025936099856840203
+      - 0.0028683250335781126
+      - -0.0030931947236739091
+      - -0.0014281521441837255
+      - -0.0020413192812618439
+    accelerations:
+      - 0.32165166473827173
+      - -0.27857066688469811
+      - -0.48876660599781196
+      - -0.010009437339722135
+      - 0.466553957628358
+      - 0.019562776482085691
+      - -0.28444485284313492
     effort: []
     time_from_start:
       sec: 5
       nanosec: 830000000
   - positions:
-      - 0.063835008118518971
-      - 0.33513640288573632
-      - -1.0068836751093331
-      - 1.6556948737525146
-      - -2.2195957101654016
-      - -1.5706708938913794
-      - 0.33493386734048375
-    velocities:
-      - 0.0041992276900326237
-      - -0.0039483096932921872
-      - -0.0026190466734535567
-      - 0.0041463768712450624
-      - 0.0027347918009823675
-      - -0.0020359693797227922
-      - 0.0012217570796894603
-    accelerations:
-      - 0.75928613241091569
-      - -0.50836924990113652
-      - -0.45584292288643247
-      - 0.43451085179126187
-      - 0.51063564594196675
-      - -0.23386226147002553
-      - 0.085233623098331185
+      - 0.068779585503050425
+      - 0.32791887964082878
+      - -1.0116409150945582
+      - 1.6639074568734569
+      - -2.2230637549231611
+      - -1.5707954170632041
+      - 0.32782226388389274
+    velocities:
+      - 0.0042855541646614308
+      - -0.0019532115160030457
+      - -0.0015548751197307111
+      - 0.0004573923715291006
+      - 0.0020784851892240259
+      - -0.00059022492171050738
+      - -0.0017725963257702025
+    accelerations:
+      - 0.22980645153025669
+      - 0.34769055062368814
+      - -0.42892317681360603
+      - -0.43522043274247707
+      - 0.51557164219117424
+      - 0.21018196724783256
+      - 0.28372256791715772
     effort: []
     time_from_start:
       sec: 5
       nanosec: 840000000
   - positions:
-      - 0.063900670986696537
-      - 0.33509303046415007
-      - -1.006923045313868
-      - 1.6557315434667008
-      - -2.2195515040960019
-      - -1.5706907320269867
-      - 0.33494084806493823
-    velocities:
-      - 0.0080985953435863296
-      - -0.0034238814677640685
-      - -0.0046897518221524015
-      - 0.0015698231535640171
-      - 0.0056034171252890494
-      - -0.0011889300791787531
-      - -0.00041002535202842475
-    accelerations:
-      - 0.12520546624433054
-      - 0.30377410391250237
-      - -0.041749814416703494
-      - -0.52276382970131852
-      - 0.11464339184988874
-      - 0.21463717307515726
-      - -0.24179776611948101
+      - 0.06884290957689071
+      - 0.32790481813287431
+      - -1.0116751933895378
+      - 1.6638991764975186
+      - -2.2230198237615495
+      - -1.5707962277184611
+      - 0.32780846189297735
+    velocities:
+      - 0.010085526795481352
+      - -0.0019944921041151922
+      - -0.0056466187737895315
+      - -0.0015678293162743519
+      - 0.0072157412080929182
+      - 1.8788256767881848e-06
+      - -0.0019930542111039496
+    accelerations:
+      - 0.73184019895607744
+      - -0.14472714493663932
+      - -0.40973790369489821
+      - -0.11376703884872591
+      - 0.52359877559516699
+      - 0.00013633399474190057
+      - -0.14462280651894763
     effort: []
     time_from_start:
       sec: 5
       nanosec: 850000000
   - positions:
-      - 0.063991220440693983
-      - 0.33506984608430607
-      - -1.0069741792044069
-      - 1.6557259423090456
-      - -2.2194876672594486
-      - -1.5706941628316091
-      - 0.33492629784016725
-    velocities:
-      - 0.012062114347110105
-      - -0.0023938700897419957
-      - -0.0067516774350729961
-      - -0.0018112312242816449
-      - 0.0085582642738544594
-      - -3.3210331358445974e-06
-      - -0.0023966879613770151
-    accelerations:
-      - 0.7379660292304191
-      - -0.14645813775124875
-      - -0.41307091311061633
-      - -0.11081200825471449
-      - 0.52359877559891221
-      - -0.00020318242438060262
-      - -0.14663053651000169
+      - 0.068976894807760494
+      - 0.3278783215015672
+      - -1.0117502081642127
+      - 1.6638783480393562
+      - -2.2229239633497668
+      - -1.5707962027584468
+      - 0.32778198436393735
+    velocities:
+      - 0.017403928785086988
+      - -0.0034417635534904549
+      - -0.0097439978107636289
+      - -0.0027054997047685839
+      - 0.012451728964076687
+      - 3.2421656242155473e-06
+      - -0.0034392822763022919
+    accelerations:
+      - 0.73184019895457897
+      - -0.1447271449363422
+      - -0.40973790369405833
+      - -0.1137670388484926
+      - 0.52359877559409262
+      - 0.00013633399474162098
+      - -0.14462280651865064
     effort: []
     time_from_start:
       sec: 5
       nanosec: 860000000
   - positions:
-      - 0.064144668926580981
-      - 0.33503939240677405
-      - -1.0070600708358235
-      - 1.6557029006862456
-      - -2.2193787930888966
-      - -1.5706942050802142
-      - 0.33489580831501153
-    velocities:
-      - 0.019441774639410363
-      - -0.0038584514672537046
-      - -0.01088238656617696
-      - -0.0029193513068282002
-      - 0.0137942520298408
-      - -5.3528573796495444e-06
-      - -0.0038629933264762509
-    accelerations:
-      - 0.73796602923578958
-      - -0.14645813775231514
-      - -0.4130709131136226
-      - -0.11081200825552111
-      - 0.52359877560272361
-      - -0.00020318242438208199
-      - -0.14663053651106911
+      - 0.06918406405852634
+      - 0.32783735215576637
+      - -1.0118661967292573
+      - 1.663846142877309
+      - -2.2227757430604242
+      - -1.5707961641650332
+      - 0.32774104455424541
+    velocities:
+      - 0.024722330774701429
+      - -0.0048890350028674597
+      - -0.013841376847742656
+      - -0.0038431700932641849
+      - 0.017687716720066755
+      - 4.6055055716445508e-06
+      - -0.004885510341502375
+    accelerations:
+      - 0.73184019896838426
+      - -0.14472714493907285
+      - -0.40973790370178603
+      - -0.11376703885063844
+      - 0.52359877560396928
+      - 0.0001363339947441932
+      - -0.14462280652137943
     effort: []
     time_from_start:
       sec: 5
       nanosec: 870000000
   - positions:
-      - 0.06437191401539101
-      - 0.3349942929154669
-      - -1.0071872695585515
-      - 1.65566877786262
-      - -2.2192175590407843
-      - -1.5706942676470619
-      - 0.33485065573620487
-    velocities:
-      - 0.026821434931689866
-      - -0.005323032844761294
-      - -0.015013095697269307
-      - -0.0040274713893716386
-      - 0.019030239785812413
-      - -7.3846816234487764e-06
-      - -0.0053292986915713624
-    accelerations:
-      - 0.73796602921976073
-      - -0.1464581377491341
-      - -0.41307091310465233
-      - -0.11081200825311419
-      - 0.52359877559135071
-      - -0.00020318242437766896
-      - -0.14663053650788416
+      - 0.069464417329188274
+      - 0.32778191009547175
+      - -1.0120231590846716
+      - 1.6638025610113767
+      - -2.2225751628935213
+      - -1.5707961119382199
+      - 0.32768564246390147
+    velocities:
+      - 0.032040732764285325
+      - -0.0063363064522384237
+      - -0.017938755884704585
+      - -0.004980840481755038
+      - 0.022923704476034975
+      - 5.9688455190678634e-06
+      - -0.0063317384066964213
+    accelerations:
+      - 0.73184019894579799
+      - -0.1447271449346054
+      - -0.40973790368914276
+      - -0.11376703884712737
+      - 0.52359877558781165
+      - 0.00013633399473998524
+      - -0.14462280651691575
     effort: []
     time_from_start:
       sec: 5
       nanosec: 880000000
   - positions:
-      - 0.064672955707124072
-      - 0.33493454761038466
-      - -1.0073557753725904
-      - 1.655623573838169
-      - -2.219003965115113
-      - -1.570694350532152
-      - 0.33479084010374721
-    velocities:
-      - 0.034201095223989543
-      - -0.0067876142222728867
-      - -0.019143804828372947
-      - -0.0051355914719181071
-      - 0.02426622754179834
-      - -9.4165058672535625e-06
-      - -0.0067956040566704828
-    accelerations:
-      - 0.73796602922064336
-      - -0.14645813774930855
-      - -0.41307091310514765
-      - -0.11081200825324744
-      - 0.52359877559197798
-      - -0.00020318242437791182
-      - -0.14663053650805957
+      - 0.06981795461974627
+      - 0.3277119953206834
+      - -1.0122210952304558
+      - 1.6637476024415596
+      - -2.2223222228490589
+      - -1.5707960460780073
+      - 0.32761577809290554
+    velocities:
+      - 0.039359134753929756
+      - -0.0077835779016213599
+      - -0.022036134921700406
+      - -0.0061185108702553016
+      - 0.028159692232046504
+      - 7.3321854665024543e-06
+      - -0.0077779664719024319
+    accelerations:
+      - 0.7318401989850466
+      - -0.14472714494236813
+      - -0.40973790371111862
+      - -0.11376703885322882
+      - 0.52359877561589663
+      - 0.00013633399474729773
+      - -0.14462280652467335
     effort: []
     time_from_start:
       sec: 5
       nanosec: 890000000
   - positions:
-      - 0.065047794001779985
-      - 0.33486015649152734
-      - -1.0075655882779404
-      - 1.6555672886128927
-      - -2.2187380113118818
-      - -1.5706944537354843
-      - 0.33471636141763855
-    velocities:
-      - 0.041580755516276713
-      - -0.0082521955997819987
-      - -0.023274513959469584
-      - -0.006243711554462697
-      - 0.029502215297775393
-      - -1.1448330111054905e-05
-      - -0.0082619094217671191
-    accelerations:
-      - 0.73796602921295129
-      - -0.14645813774778371
-      - -0.41307091310083771
-      - -0.11081200825209166
-      - 0.52359877558652068
-      - -0.00020318242437579345
-      - -0.14663053650653141
+      - 0.07024467593020034
+      - 0.32762760783140121
+      - -1.0124600051666095
+      - 1.6636812671678574
+      - -2.2220169229270366
+      - -1.5707959665843954
+      - 0.32753145144125762
+    velocities:
+      - 0.046677536743548173
+      - -0.0092308493509991509
+      - -0.026133513958681659
+      - -0.0072561812587515206
+      - 0.033395679988039419
+      - 8.6955254139321976e-06
+      - -0.0092241945371032991
+    accelerations:
+      - 0.73184019899827435
+      - -0.1447271449449839
+      - -0.40973790371852625
+      - -0.11376703885528577
+      - 0.52359877562536117
+      - 0.00013633399474976093
+      - -0.14462280652728662
     effort: []
     time_from_start:
       sec: 5
       nanosec: 900000000
   - positions:
-      - 0.065496428899358916
-      - 0.33477111955889483
-      - -1.0078167082746012
-      - 1.6554999221867908
-      - -2.2184196976310906
-      - -1.5706945772570591
-      - 0.3346272196778789
-    velocities:
-      - 0.048960415808590091
-      - -0.0097167769772963097
-      - -0.027405223090580889
-      - -0.0073518316370112212
-      - 0.034738203053771038
-      - -1.3480154354863463e-05
-      - -0.0097282147868689595
-    accelerations:
-      - 0.73796602923144661
-      - -0.14645813775145261
-      - -0.41307091311118965
-      - -0.11081200825486849
-      - 0.52359877559963885
-      - -0.000203182424380885
-      - -0.14663053651020569
+      - 0.070744581260550471
+      - 0.32752874762762535
+      - -1.0127398888931332
+      - 1.6636035551902701
+      - -2.2216592631274548
+      - -1.5707958734573837
+      - 0.32743266250895775
+    velocities:
+      - 0.053995938733106506
+      - -0.01067812080036506
+      - -0.030230892995629272
+      - -0.0083938516472384008
+      - 0.038631667743989344
+      - 1.0058865361350749e-05
+      - -0.010670422602292295
+    accelerations:
+      - 0.73184019895332664
+      - -0.14472714493609554
+      - -0.40973790369335811
+      - -0.11376703884829917
+      - 0.52359877559319967
+      - 0.00013633399474138877
+      - -0.14462280651840326
     effort: []
     time_from_start:
       sec: 5
       nanosec: 910000000
   - positions:
-      - 0.066018860399860893
-      - 0.33466743681248728
-      - -1.0081091353625733
-      - 1.6554214745598634
-      - -2.2180490240727391
-      - -1.5706947210968765
-      - 0.33452341488446824
-    velocities:
-      - 0.056340076100929642
-      - -0.011181358354815818
-      - -0.03153593222170685
-      - -0.008459951719563678
-      - 0.039974190809785259
-      - -1.5511978598679231e-05
-      - -0.011194520151976004
-    accelerations:
-      - 0.73796602927608768
-      - -0.14645813776031355
-      - -0.41307091313617922
-      - -0.11081200826157274
-      - 0.52359877563131496
-      - -0.00020318242439317636
-      - -0.14663053651907546
+      - 0.071317670610796524
+      - 0.32741541470935576
+      - -1.0130607464100263
+      - 1.663514466508798
+      - -2.2212492434503126
+      - -1.5707957666969727
+      - 0.32731941129600584
+    velocities:
+      - 0.061314340722711899
+      - -0.012125392249740276
+      - -0.034328272032603233
+      - -0.0095315220357325946
+      - 0.043867655499972943
+      - 1.1422205308778067e-05
+      - -0.01211665066749059
+    accelerations:
+      - 0.73184019895348162
+      - -0.14472714493612659
+      - -0.4097379036934487
+      - -0.11376703884832302
+      - 0.52359877559331747
+      - 0.00013633399474141845
+      - -0.14462280651843615
     effort: []
     time_from_start:
       sec: 5
       nanosec: 920000000
   - positions:
-      - 0.066615088503285555
-      - 0.33454910825230466
-      - -1.0084428695418559
-      - 1.6553319457321107
-      - -2.2176259906368285
-      - -1.5706948852549365
-      - 0.3344049470374067
-    velocities:
-      - 0.063719736393182902
-      - -0.012645939732318198
-      - -0.035666641352784502
-      - -0.0095680718021031747
-      - 0.045210178565738245
-      - -1.7543802842471236e-05
-      - -0.012660825517065899
-    accelerations:
-      - 0.7379660292337813
-      - -0.14645813775191402
-      - -0.41307091311248983
-      - -0.11081200825521845
-      - 0.52359877560129042
-      - -0.00020318242438152796
-      - -0.14663053651066724
+      - 0.071963943980938652
+      - 0.32728760907659238
+      - -1.0134225777172892
+      - 1.6634140011234413
+      - -2.2207868638956105
+      - -1.570795646303162
+      - 0.32719169780240204
+    velocities:
+      - 0.068632742712291278
+      - -0.013572663699110345
+      - -0.038425651069562632
+      - -0.010669192424222745
+      - 0.049103643255937919
+      - 1.2785545256200537e-05
+      - -0.013562878732683742
+    accelerations:
+      - 0.73184019892762953
+      - -0.14472714493101244
+      - -0.40973790367897106
+      - -0.11376703884430324
+      - 0.52359877557481127
+      - 0.00013633399473660142
+      - -0.14462280651332557
     effort: []
     time_from_start:
       sec: 5
       nanosec: 930000000
   - positions:
-      - 0.067285113209633401
-      - 0.33441613387834684
-      - -1.00881791081245
-      - 1.6552313357035324
-      - -2.2171505973233572
-      - -1.5706950697312385
-      - 0.33427181613669416
-    velocities:
-      - 0.071099396685436134
-      - -0.014110521109820575
-      - -0.039797350483862154
-      - -0.01067619188464267
-      - 0.05044616632169123
-      - -1.9575627086263238e-05
-      - -0.014127130882155794
-    accelerations:
-      - 0.73796602919144016
-      - -0.14645813774351449
-      - -0.41307091308880739
-      - -0.11081200824886242
-      - 0.52359877557126577
-      - -0.00020318242436987617
-      - -0.14663053650225905
+      - 0.07268339870576937
+      - 0.32714533125640094
+      - -1.0138253813227431
+      - 1.6633021594485147
+      - -2.2202721263701855
+      - -1.5707955122764488
+      - 0.32704952255483194
+    velocities:
+      - 0.075786306303733189
+      - -0.01498733706112121
+      - -0.042430741462365348
+      - -0.01178123812514708
+      - 0.054221696545397456
+      - 1.4118177571853532e-05
+      - -0.014976532211519721
+    accelerations:
+      - 0.73184019902406172
+      - -0.1447271449500826
+      - -0.40973790373296881
+      - -0.11376703885927303
+      - 0.52359877564387436
+      - 0.00013633399472766684
+      - -0.14462280653238688
     effort: []
     time_from_start:
       sec: 5
       nanosec: 940000000
   - positions:
-      - 0.068028929029466764
-      - 0.33426851478005809
-      - -1.0092342561016838
-      - 1.6551196452984152
-      - -2.2166228480271712
-      - -1.5706952745242717
-      - 0.33412402327305712
-    velocities:
-      - 0.078763034769390436
-      - -0.015631461258440359
-      - -0.044087014039771083
-      - -0.011826953698850664
-      - 0.055883640891596413
-      - -2.168563826211041e-05
-      - -0.015649861359384801
-    accelerations:
-      - 0.73796602924167454
-      - -0.14645813775346489
-      - -0.41307091311691774
-      - -0.11081200825641413
-      - 0.52359877560693158
-      - -0.00020318242442938781
-      - -0.14663053651223878
+      - 0.073476033676633926
+      - 0.32698858146802662
+      - -1.0142691566056814
+      - 1.6631789416563629
+      - -2.2197050316672282
+      - -1.5707953646170387
+      - 0.32689288577238262
+    velocities:
+      - 0.083104708293300342
+      - -0.016434608510488839
+      - -0.046528120499317933
+      - -0.012918908513635106
+      - 0.059457684301354313
+      - 1.5481517519004718e-05
+      - -0.016422760276710482
+    accelerations:
+      - 0.73184019898691322
+      - -0.14472714494273589
+      - -0.4097379037121629
+      - -0.11376703885349597
+      - 0.5235987756172914
+      - 0.00013633399472074407
+      - -0.14462280652504197
     effort: []
     time_from_start:
       sec: 5
       nanosec: 950000000
   - positions:
-      - 0.068846538166078247
-      - 0.33410625052016885
-      - -1.009691906642834
-      - 1.654996874185916
-      - -2.2160427411849977
-      - -1.5706954996346429
-      - 0.33396156800871141
-    velocities:
-      - 0.086142695061630858
-      - -0.017096042635940011
-      - -0.048217723170841588
-      - -0.012935073781388333
-      - 0.061119628647540628
-      - -2.3717462506355744e-05
-      - -0.017116166724472165
-    accelerations:
-      - 0.73796602918705156
-      - -0.14645813774262462
-      - -0.41307091308634497
-      - -0.11081200824821236
-      - 0.52359877556817791
-      - -0.0002031824244143479
-      - -0.14663053650138635
+      - 0.074341852667394556
+      - 0.32681735896515862
+      - -1.0147539056789894
+      - 1.6630443471603265
+      - -2.2190855770867124
+      - -1.5707952033242294
+      - 0.32672178670928143
+    velocities:
+      - 0.090423110282841584
+      - -0.017881879959851344
+      - -0.050625499536256016
+      - -0.014056578902119107
+      - 0.064693672057292637
+      - 1.6844857466151078e-05
+      - -0.017868988341896125
+    accelerations:
+      - 0.73184019892514085
+      - -0.14472714493052014
+      - -0.40973790367758256
+      - -0.11376703884389644
+      - 0.52359877557310464
+      - 0.00013633399470923711
+      - -0.14462280651284001
     effort: []
     time_from_start:
       sec: 5
       nanosec: 960000000
   - positions:
-      - 0.069737943905612429
-      - 0.33392934044650446
-      - -1.0101908642752948
-      - 1.654863021872591
-      - -2.2154102744652642
-      - -1.5706957450632562
-      - 0.33378444969071464
-    velocities:
-      - 0.093522355354036746
-      - -0.018560624013472499
-      - -0.052348432302004713
-      - -0.014043193863950849
-      - 0.066355616403602241
-      - -2.5749286750646638e-05
-      - -0.018582472089592406
-    accelerations:
-      - 0.73796602929854893
-      - -0.14645813776475097
-      - -0.41307091314875943
-      - -0.11081200826495545
-      - 0.52359877564728141
-      - -0.00020318242444504865
-      - -0.1466305365235441
+      - 0.075280855678051081
+      - 0.32663166374779684
+      - -1.0152796285426668
+      - 1.662898375960405
+      - -2.2184137626286362
+      - -1.5707950283980205
+      - 0.32653622536552823
+    velocities:
+      - 0.097741512272555703
+      - -0.019329151409248034
+      - -0.054722878573290883
+      - -0.015194249290629978
+      - 0.069929659813354639
+      - 1.820819741332964e-05
+      - -0.019315216407115927
+    accelerations:
+      - 0.73184019903560804
+      - -0.14472714495236377
+      - -0.40973790373942198
+      - -0.113767038861065
+      - 0.52359877565212476
+      - 0.00013633399472981323
+      - -0.1446228065346663
     effort: []
     time_from_start:
       sec: 5
       nanosec: 970000000
   - positions:
-      - 0.070703146248069809
-      - 0.333737784559065
-      - -1.010731128999067
-      - 1.6547180883584409
-      - -2.2147254478679708
-      - -1.5706960108101122
-      - 0.33359266831906698
-    velocities:
-      - 0.10090201564629024
-      - -0.020025205390974746
-      - -0.056479141433082532
-      - -0.015151313946490481
-      - 0.071591604159555747
-      - -2.7781110994895574e-05
-      - -0.020048777454682365
-    accelerations:
-      - 0.73796602925699883
-      - -0.14645813775650757
-      - -0.41307091312550026
-      - -0.11081200825871738
-      - 0.52359877561781887
-      - -0.00020318242443361032
-      - -0.14663053651528682
+      - 0.076293042708603848
+      - 0.32643149581594133
+      - -1.0158463251967145
+      - 1.6627410280565986
+      - -2.2176895882930001
+      - -1.5707948398384122
+      - 0.32633620174112304
+    velocities:
+      - 0.10505991426208387
+      - -0.020776422858607955
+      - -0.058820257610221645
+      - -0.016331919679111948
+      - 0.075165647569283608
+      - 1.9571537360473565e-05
+      - -0.020761444472298985
+    accelerations:
+      - 0.73184019895946295
+      - -0.14472714493730621
+      - -0.40973790369680019
+      - -0.11376703884923028
+      - 0.52359877559764734
+      - 0.00013633399471562799
+      - -0.14462280651961923
     effort: []
     time_from_start:
       sec: 5
       nanosec: 980000000
   - positions:
-      - 0.071742145193450027
-      - 0.33353158285785039
-      - -1.01131270081415
-      - 1.6545620736434652
-      - -2.2139882613931174
-      - -1.5706962968752105
-      - 0.33338622389376821
-    velocities:
-      - 0.10828167593854376
-      - -0.021489786768476998
-      - -0.060609850564160364
-      - -0.016259434029030115
-      - 0.076827591915509252
-      - -2.9812935239144512e-05
-      - -0.021515082819772331
-    accelerations:
-      - 0.73796602921547649
-      - -0.14645813774826763
-      - -0.41307091310225497
-      - -0.11081200825247932
-      - 0.52359877558834245
-      - -0.00020318242442217538
-      - -0.14663053650703647
+      - 0.077378413759052522
+      - 0.32621685516959209
+      - -1.0164539956411316
+      - 1.6625723034489073
+      - -2.2169130540798045
+      - -1.5707946376454045
+      - 0.32612171583606586
+    velocities:
+      - 0.11237831625166408
+      - -0.022223694307978166
+      - -0.062917636647181543
+      - -0.017469590067602004
+      - 0.080401635325249812
+      - 2.0934877307627186e-05
+      - -0.02220767253749233
+    accelerations:
+      - 0.73184019893665941
+      - -0.14472714493279609
+      - -0.40973790368402879
+      - -0.11376703884568494
+      - 0.52359877558133416
+      - 0.00013633399471138518
+      - -0.14462280651511597
     effort: []
     time_from_start:
       sec: 5
       nanosec: 990000000
   - positions:
-      - 0.072854940741753138
-      - 0.33331073534286071
-      - -1.011935579720544
-      - 1.6543949777276641
-      - -2.2131987150407051
-      - -1.570696603258551
-      - 0.33316511641481855
-    velocities:
-      - 0.11566133623091314
-      - -0.022954368146002241
-      - -0.064740559695303054
-      - -0.01736755411158715
-      - 0.08206357967154497
-      - -3.184475948342535e-05
-      - -0.022981388184885317
-    accelerations:
-      - 0.73796602928916433
-      - -0.14645813776288966
-      - -0.41307091314350758
-      - -0.11081200826354558
-      - 0.52359877564062685
-      - -0.00020318242444245923
-      - -0.14663053652167568
+      - 0.078536968829397258
+      - 0.32598774180874901
+      - -1.0171026398759184
+      - 1.662392202137331
+      - -2.2160841599890486
+      - -1.5707944218189971
+      - 0.32589276765035669
+    velocities:
+      - 0.11969671824137822
+      - -0.023670965757374859
+      - -0.067015015684216417
+      - -0.018607260456112881
+      - 0.085637623081311828
+      - 2.2298217254805751e-05
+      - -0.023653900602712136
+    accelerations:
+      - 0.73184019904714048
+      - -0.1447271449546432
+      - -0.40973790374588209
+      - -0.1137670388628587
+      - 0.52359877566038204
+      - 0.00013633399473196131
+      - -0.14462280653694573
     effort: []
     time_from_start:
       sec: 6
       nanosec: 0
   - positions:
-      - 0.07404153289297942
-      - 0.33307524201409588
-      - -1.0125997657182493
-      - 1.6542168006110374
-      - -2.2123568088107319
-      - -1.5706969299601345
-      - 0.3329293458822179
-    velocities:
-      - 0.12304099652315355
-      - -0.02441894952350189
-      - -0.068871268826373552
-      - -0.018475674194124814
-      - 0.087299567427489178
-      - -3.3876583727670684e-05
-      - -0.024447693549972678
-    accelerations:
-      - 0.73796602923452748
-      - -0.14645813775204417
-      - -0.41307091311292093
-      - -0.11081200825534034
-      - 0.52359877560186618
-      - -0.0002031824244274227
-      - -0.14663053651081978
+      - 0.079768707919638054
+      - 0.3257441557334122
+      - -1.0177922579010752
+      - 1.6622007241218695
+      - -2.2152029060207332
+      - -1.5707941923591902
+      - 0.32564935718399557
+    velocities:
+      - 0.12701512023086736
+      - -0.025118237206727064
+      - -0.071112394721125335
+      - -0.019744930844588782
+      - 0.090873610837212876
+      - 2.3661557201942409e-05
+      - -0.025100128667887481
+    accelerations:
+      - 0.73184019893197105
+      - -0.14472714493186958
+      - -0.40973790368140278
+      - -0.11376703884495593
+      - 0.52359877557798251
+      - 0.00013633399471051191
+      - -0.14462280651418608
     effort: []
     time_from_start:
       sec: 6
       nanosec: 10000000
   - positions:
-      - 0.075301921647128553
-      - 0.33282510287155603
-      - -1.0133052588072655
-      - 1.6540275422935853
-      - -2.2114625427031998
-      - -1.5706972769799599
-      - 0.33267891229596624
-    velocities:
-      - 0.13042065681539397
-      - -0.025883530901001543
-      - -0.073001977957444064
-      - -0.019583794276662486
-      - 0.092535555183433399
-      - -3.5908407971916025e-05
-      - -0.025913998915060042
-    accelerations:
-      - 0.73796602917991838
-      - -0.14645813774120561
-      - -0.41307091308236205
-      - -0.11081200824714203
-      - 0.52359877556310552
-      - -0.00020318242441238617
-      - -0.14663053649997082
+      - 0.081073631029775106
+      - 0.32548609694358166
+      - -1.0185228497166017
+      - 1.6619978694025233
+      - -2.2142692921748575
+      - -1.5707939492659841
+      - 0.3253914844369824
+    velocities:
+      - 0.13433352222056852
+      - -0.026565508656121194
+      - -0.075209773758152951
+      - -0.020882601233097639
+      - 0.096109598593265608
+      - 2.5024897149118558e-05
+      - -0.026546356733104726
+    accelerations:
+      - 0.73184019902947639
+      - -0.14472714495115277
+      - -0.409737903735998
+      - -0.11376703886011047
+      - 0.52359877564773227
+      - 0.0001363339947286723
+      - -0.14462280653345538
     effort: []
     time_from_start:
       sec: 6
       nanosec: 20000000
   - positions:
-      - 0.076636107004200718
-      - 0.33256031791524104
-      - -1.0140520589875928
-      - 1.6538272027753078
-      - -2.2105159167181072
-      - -1.5706976443180283
-      - 0.33241381565606365
-    velocities:
-      - 0.13780031710763438
-      - -0.027348112278501195
-      - -0.077132687088514562
-      - -0.020691914359200154
-      - 0.09777154293937762
-      - -3.7940232216161352e-05
-      - -0.027380304280147403
-    accelerations:
-      - 0.73796602912526765
-      - -0.14645813773036706
-      - -0.4130709130517754
-      - -0.11081200823893679
-      - 0.52359877552435874
-      - -0.00020318242439734286
-      - -0.14663053648911492
+      - 0.082451738159807872
+      - 0.32521356543925739
+      - -1.0192944153224976
+      - 1.6617836379792921
+      - -2.2132833184514227
+      - -1.5707936925393784
+      - 0.32511914940931735
+    velocities:
+      - 0.14165192421020076
+      - -0.028012780105501692
+      - -0.079307152795141958
+      - -0.022020271621595783
+      - 0.10134558634926903
+      - 2.6388237096281866e-05
+      - -0.027992584798308347
+    accelerations:
+      - 0.7318401990586868
+      - -0.14472714495692957
+      - -0.40973790375234914
+      - -0.11376703886465241
+      - 0.52359877566863933
+      - 0.00013633399473411616
+      - -0.14462280653922863
     effort: []
     time_from_start:
       sec: 6
       nanosec: 30000000
   - positions:
-      - 0.078044088964195749
-      - 0.33228088714515086
-      - -1.0148401662592308
-      - 1.653615782056205
-      - -2.2095169308554548
-      - -1.5706980319743387
-      - 0.33213405596251
-    velocities:
-      - 0.14517997740013203
-      - -0.02881269365605189
-      - -0.081263396219729028
-      - -0.021800034441776445
-      - 0.10300753069550433
-      - -3.9972056460477504e-05
-      - -0.028846609645285872
-    accelerations:
-      - 0.73796602932853883
-      - -0.14645813777070107
-      - -0.41307091316553768
-      - -0.11081200826945532
-      - 0.52359877566856994
-      - -0.00020318242445329876
-      - -0.14663053652949767
+      - 0.08390302815743364
+      - 0.32492656144831639
+      - -1.0201069540736196
+      - 1.6615580300313055
+      - -2.2122449856748485
+      - -1.5707934221795881
+      - 0.32483235232871299
+    velocities:
+      - 0.14913281804857936
+      - -0.029492185593676085
+      - -0.083495506705564618
+      - -0.023183201918603628
+      - 0.10669782972114319
+      - 2.7781847531771273e-05
+      - -0.029470923735851598
+    accelerations:
+      - 0.73184019897843389
+      - -0.14472714494105321
+      - -0.40973790370742363
+      - -0.11376703885218278
+      - 0.52359877561123369
+      - 0.00013633399470140123
+      - -0.14462280652336276
     effort: []
     time_from_start:
       sec: 6
       nanosec: 40000000
   - positions:
-      - 0.079525866235111042
-      - 0.33198681081769899
-      - -1.0156695798989912
-      - 1.653393280330282
-      - -2.2084655860319393
-      - -1.5706984399485358
-      - 0.33183963347202056
-    velocities:
-      - 0.15192122241242462
-      - -0.03015057392630649
-      - -0.085036757217976044
-      - -0.022812290925627358
-      - 0.10779055253477628
-      - -4.1828107347912724e-05
-      - -0.03018606476075842
-    accelerations:
-      - 0.73796602918266618
-      - -0.14645813774175379
-      - -0.41307091308387472
-      - -0.11081200824755837
-      - 0.52359877556506229
-      - -0.00020318242440129343
-      - -0.14663053650051552
+      - 0.085427500161648226
+      - 0.32462508514102889
+      - -1.0209604654879139
+      - 1.6613210456924095
+      - -2.2111542944611458
+      - -1.5707931381867732
+      - 0.32453109336531694
+    velocities:
+      - 0.15645122003823786
+      - -0.030939457043061756
+      - -0.087592885742568405
+      - -0.024320872307105883
+      - 0.11193381747716546
+      - 2.9145187478761837e-05
+      - -0.030917151801060382
+    accelerations:
+      - 0.73184019903395658
+      - -0.14472714495203418
+      - -0.40973790373851299
+      - -0.11376703886081173
+      - 0.52359877565095903
+      - 0.00013633399471174094
+      - -0.14462280653433671
     effort: []
     time_from_start:
       sec: 6
       nanosec: 50000000
   - positions:
-      - 0.081081439245731399
-      - 0.33167808884778777
-      - -1.0165403001468829
-      - 1.6531596975331528
-      - -2.2073618819433309
-      - -1.5706988682407377
-      - 0.33153054809939758
-    velocities:
-      - 0.159300882704665
-      - -0.03161515530380616
-      - -0.089167466349046473
-      - -0.023920411008165082
-      - 0.11302654029072054
-      - -4.385993159203963e-05
-      - -0.031652370125845757
-    accelerations:
-      - 0.73796602912801545
-      - -0.14645813773091176
-      - -0.41307091305328808
-      - -0.11081200823935312
-      - 0.52359877552630163
-      - -0.00020318242438625012
-      - -0.14663053648965269
+      - 0.087025156185758873
+      - 0.32430913611924767
+      - -1.021854950692578
+      - 1.6610726846496284
+      - -2.2100112433698831
+      - -1.5707928405605587
+      - 0.32421537212126889
+    velocities:
+      - 0.16376962202766168
+      - -0.032386728492401012
+      - -0.091690264779440797
+      - -0.025458542695571657
+      - 0.11716980523301981
+      - 3.0508527425708685e-05
+      - -0.032363379866222786
+    accelerations:
+      - 0.73184019885347829
+      - -0.14472714491634728
+      - -0.40973790363747958
+      - -0.11376703883276082
+      - 0.52359877552183298
+      - 0.00013633399467812476
+      - -0.14462280649867071
     effort: []
     time_from_start:
       sec: 6
       nanosec: 60000000
   - positions:
-      - 0.082710808859274634
-      - 0.33135472106410158
-      - -1.0174523274860856
-      - 1.6529150335351988
-      - -2.2062058179771631
-      - -1.5706993168511822
-      - 0.33120679967312372
-    velocities:
-      - 0.16668054299720086
-      - -0.03307973668136447
-      - -0.093298175480282297
-      - -0.025028531090747173
-      - 0.11826252804687445
-      - -4.589175583624789e-05
-      - -0.033118675490991817
-    accelerations:
-      - 0.73796602936950606
-      - -0.14645813777883693
-      - -0.41307091318846378
-      - -0.11081200827561359
-      - 0.5235987756976439
-      - -0.0002031824244527431
-      - -0.14663053653764047
+      - 0.088695996229765428
+      - 0.32397871438297271
+      - -1.0227904096876117
+      - 1.6608129469029622
+      - -2.2088158324010605
+      - -1.5707925293009448
+      - 0.3238851885965689
+    velocities:
+      - 0.17108802401736281
+      - -0.033833999941795111
+      - -0.09578764381646844
+      - -0.026596213084080538
+      - 0.12240579298907257
+      - 3.1871867372707194e-05
+      - -0.033809607931439993
+    accelerations:
+      - 0.73184019895098362
+      - -0.14472714493562353
+      - -0.40973790369206092
+      - -0.11376703884791536
+      - 0.52359877559158274
+      - 0.00013633399469628854
+      - -0.14462280651794002
     effort: []
     time_from_start:
       sec: 6
       nanosec: 70000000
   - positions:
-      - 0.084413975075740735
-      - 0.33101670746664019
-      - -1.0184056619165993
-      - 1.6526592883364191
-      - -2.2049973941334353
-      - -1.570699785779869
-      - 0.33086838819319886
-    velocities:
-      - 0.17406020328945435
-      - -0.034544318058866735
-      - -0.097428884611360053
-      - -0.026136651173286864
-      - 0.123498515802828
-      - -4.79235800803784e-05
-      - -0.034584980856081762
-    accelerations:
-      - 0.73796602932795596
-      - -0.14645813777059352
-      - -0.41307091316520461
-      - -0.11081200826937553
-      - 0.52359877566816748
-      - -0.00020318242444130477
-      - -0.14663053652938318
+      - 0.090440020293668044
+      - 0.32363381993220397
+      - -1.0237668424730151
+      - 1.6605418324524113
+      - -2.207568061554678
+      - -1.5707922044079317
+      - 0.32354054279121686
+    velocities:
+      - 0.17840642600706033
+      - -0.035281271391188501
+      - -0.099885022853494071
+      - -0.027733883472588861
+      - 0.12764178074512278
+      - 3.3235207319705026e-05
+      - -0.035255835996656486
+    accelerations:
+      - 0.73184019904553066
+      - -0.14472714495432748
+      - -0.40973790374498004
+      - -0.11376703886261237
+      - 0.52359877565925794
+      - 0.00013633399471389918
+      - -0.14462280653662307
     effort: []
     time_from_start:
       sec: 6
       nanosec: 80000000
   - positions:
-      - 0.086190937895130021
-      - 0.33066404805540373
-      - -1.019400303438424
-      - 1.6523924619368138
-      - -2.2037366104121476
-      - -1.5707002750267984
-      - 0.330515313659623
-    velocities:
-      - 0.18143986358170786
-      - -0.036008899436369007
-      - -0.10155959374243784
-      - -0.027244771255826559
-      - 0.12873450355878158
-      - -4.995540432450891e-05
-      - -0.036051286221171708
-    accelerations:
-      - 0.73796602928646138
-      - -0.14645813776235705
-      - -0.41307091314198707
-      - -0.1108120082631444
-      - 0.52359877563871882
-      - -0.00020318242442987321
-      - -0.14663053652113284
+      - 0.092257228377466416
+      - 0.32327445276694156
+      - -1.0247842490487884
+      - 1.6602593412979754
+      - -2.206267930830736
+      - -1.5707918658815188
+      - 0.32318143470521299
+    velocities:
+      - 0.18572482799644516
+      - -0.036728542840520045
+      - -0.10398240189034463
+      - -0.028871553861048574
+      - 0.13287776850094923
+      - 3.4598547266644609e-05
+      - -0.036702064061811188
+    accelerations:
+      - 0.73184019882611129
+      - -0.144727144910928
+      - -0.40973790362213075
+      - -0.11376703882850034
+      - 0.52359877550225142
+      - 0.00013633399467301885
+      - -0.14462280649326531
     effort: []
     time_from_start:
       sec: 6
       nanosec: 90000000
   - positions:
-      - 0.088041697317442144
-      - 0.33029674283039212
-      - -1.0204362520515597
-      - 1.6521145543363831
-      - -2.2024234668133
-      - -1.57070078459197
-      - 0.33014757607239614
-    velocities:
-      - 0.18881952387394729
-      - -0.03747348081386849
-      - -0.10569030287350772
-      - -0.02835289133836414
-      - 0.13397049131472516
-      - -5.1987228568635558e-05
-      - -0.037517591586258864
-    accelerations:
-      - 0.73796602923021148
-      - -0.14645813775119415
-      - -0.41307091311049232
-      - -0.11081200825469849
-      - 0.52359877559881307
-      - -0.00020318242441439194
-      - -0.14663053650996283
+      - 0.094147620481161182
+      - 0.32290061288718541
+      - -1.0258426294149312
+      - 1.6599654734396545
+      - -2.2049154402292341
+      - -1.5707915137217068
+      - 0.32280786433855702
+    velocities:
+      - 0.19304322998614626
+      - -0.038175814289914144
+      - -0.10807978092737228
+      - -0.030009224249557452
+      - 0.13811375625700198
+      - 3.5961887213643112e-05
+      - -0.038148292127028388
+    accelerations:
+      - 0.73184019892356111
+      - -0.14472714493020425
+      - -0.40973790367671209
+      - -0.11376703884365488
+      - 0.52359877557197343
+      - 0.00013633399469117923
+      - -0.14462280651252768
     effort: []
     time_from_start:
       sec: 6
       nanosec: 100000000
   - positions:
-      - 0.089966253342677299
-      - 0.32991479179160543
-      - -1.0215135077560067
-      - 1.6518255655351268
-      - -2.2010579633368925
-      - -1.5707013144753845
-      - 0.32976517543151829
-    velocities:
-      - 0.1961991841661877
-      - -0.03893806219136816
-      - -0.10982101200457817
-      - -0.029461011420901868
-      - 0.13920647907066941
-      - -5.4019052812762463e-05
-      - -0.038983896951346207
-    accelerations:
-      - 0.73796602917558851
-      - -0.1464581377403556
-      - -0.41307091307991955
-      - -0.11081200824649672
-      - 0.52359877556003853
-      - -0.00020318242439934864
-      - -0.14663053649910346
+      - 0.096111196604751856
+      - 0.32251230029293548
+      - -1.026941983571444
+      - 1.6596602288774487
+      - -2.2035105897501723
+      - -1.5707911479284951
+      - 0.3224198316912491
+    velocities:
+      - 0.20036163197588275
+      - -0.039623085739315236
+      - -0.11217715996441972
+      - -0.031146894638071833
+      - 0.14334974401308004
+      - 3.7325227160648208e-05
+      - -0.039594520192252583
+    accelerations:
+      - 0.73184019905707698
+      - -0.14472714495661038
+      - -0.40973790375146096
+      - -0.11376703886440954
+      - 0.52359877566750135
+      - 0.00013633399471605403
+      - -0.14462280653891291
     effort: []
     time_from_start:
       sec: 6
       nanosec: 110000000
   - positions:
-      - 0.091964605970835167
-      - 0.32951819493904366
-      - -1.0226320705517642
-      - 1.6515254955330454
-      - -2.1996400999829255
-      - -1.570701864677041
-      - 0.32936811173698954
-    velocities:
-      - 0.20357884445842805
-      - -0.040402643568867823
-      - -0.11395172113564858
-      - -0.030569131503439588
-      - 0.14444246682661366
-      - -5.6050877056889361e-05
-      - -0.040450202316433544
-    accelerations:
-      - 0.73796602912091003
-      - -0.14645813772950317
-      - -0.41307091304931903
-      - -0.110812008238288
-      - 0.52359877552126399
-      - -0.00020318242438429856
-      - -0.14663053648824409
+      - 0.098147956748238424
+      - 0.32210951498419182
+      - -1.0280823115183262
+      - 1.6593436076113581
+      - -2.2020533793935506
+      - -1.570790768501884
+      - 0.32201733676328925
+    velocities:
+      - 0.20768003396522858
+      - -0.041070357188639071
+      - -0.11627453900124844
+      - -0.032284565026525477
+      - 0.1485857317688786
+      - 3.8688567107580527e-05
+      - -0.041040748257399576
+    accelerations:
+      - 0.73184019879863327
+      - -0.14472714490549485
+      - -0.40973790360675416
+      - -0.11376703882422598
+      - 0.52359877548257272
+      - 0.00013633399466790277
+      - -0.1446228064878391
     effort: []
     time_from_start:
       sec: 6
       nanosec: 120000000
   - positions:
-      - 0.094036755201916067
-      - 0.32910695227270681
-      - -1.0237919404388331
-      - 1.6512143443301384
-      - -2.1981698767513986
-      - -1.5707024351969401
-      - 0.32895638498880975
-    velocities:
-      - 0.21095850475066846
-      - -0.041867224946367493
-      - -0.11808243026671901
-      - -0.031677251585977312
-      - 0.14967845458255793
-      - -5.8082701301016266e-05
-      - -0.041916507681520894
-    accelerations:
-      - 0.73796602906628705
-      - -0.14645813771865768
-      - -0.41307091301873239
-      - -0.11081200823008276
-      - 0.52359877548251721
-      - -0.00020318242436925525
-      - -0.14663053647739166
+      - 0.10025790091162108
+      - 0.32169225696095444
+      - -1.0292636132555784
+      - 1.6590156096413824
+      - -2.2005438091593694
+      - -1.5707903754418733
+      - 0.32160037955467741
+    velocities:
+      - 0.21499843595492962
+      - -0.042517628638033156
+      - -0.12037191803827606
+      - -0.033422235415034356
+      - 0.15382171952493134
+      - 4.0051907054579023e-05
+      - -0.042486976322616762
+    accelerations:
+      - 0.73184019889605534
+      - -0.14472714492476416
+      - -0.40973790366130775
+      - -0.11376703883938052
+      - 0.52359877555232248
+      - 0.00013633399468605638
+      - -0.14462280650708759
     effort: []
     time_from_start:
       sec: 6
       nanosec: 130000000
   - positions:
-      - 0.096182701035919971
-      - 0.32868106379259476
-      - -1.0249931174172129
-      - 1.6508921119264059
-      - -2.1966472936423118
-      - -1.5707030260350816
-      - 0.32852999518697901
-    velocities:
-      - 0.21833816504329606
-      - -0.043331806323944011
-      - -0.1222131393980062
-      - -0.032785371668573184
-      - 0.15491444233877694
-      - -6.0114525545249789e-05
-      - -0.043382813046685176
-    accelerations:
-      - 0.73796602939950984
-      - -0.14645813778479744
-      - -0.41307091320528366
-      - -0.11081200828012734
-      - 0.52359877571893243
-      - -0.00020318242446101014
-      - -0.14663053654360098
+      - 0.10244102880293317
+      - 0.32126052628096197
+      - -1.0304858886197357
+      - 1.658676235012909
+      - -2.1989818792565168
+      - -1.5707899687485174
+      - 0.32116896012311064
+    velocities:
+      - 0.22237098197892252
+      - -0.043975607495287776
+      - -0.1244996108830711
+      - -0.034568322677145422
+      - 0.15909644490444252
+      - 4.1425333460950358e-05
+      - -0.043943904076382351
+    accelerations:
+      - 0.73184019885400564
+      - -0.14472714491645136
+      - -0.40973790363775714
+      - -0.11376703883283715
+      - 0.52359877552220768
+      - 0.0001363339946959836
+      - -0.14462280649878173
     effort: []
     time_from_start:
       sec: 6
       nanosec: 140000000
   - positions:
-      - 0.098402443160531594
-      - 0.32824052956069039
-      - -1.0262356013120875
-      - 1.6505587983687446
-      - -2.1950723508772576
-      - -1.5707036371913796
-      - 0.32808894239355285
-    velocities:
-      - 0.22575104481111943
-      - -0.044802980501570076
-      - -0.1263624428797234
-      - -0.033898479943867528
-      - 0.16017399984732877
-      - -6.2155496028642155e-05
-      - -0.04485571897241477
-    accelerations:
-      - 0.73796602921830434
-      - -0.14645813774882799
-      - -0.41307091310385874
-      - -0.11081200825290478
-      - 0.52359877559034762
-      - -0.00020318242441237939
-      - -0.14663053650759666
+      - 0.10469734016995383
+      - 0.32081432299409302
+      - -1.0317491374695869
+      - 1.6583254837651464
+      - -2.1973675898654466
+      - -1.5707895484218635
+      - 0.32072307851843163
+    velocities:
+      - 0.22968938396862362
+      - -0.045422878944681895
+      - -0.12859698992009871
+      - -0.035705993065654251
+      - 0.16433243266049519
+      - 4.27886734081265e-05
+      - -0.045390132141599572
+    accelerations:
+      - 0.73184019895145547
+      - -0.14472714493572067
+      - -0.40973790369231072
+      - -0.11376703884798475
+      - 0.52359877559190193
+      - 0.00013633399471413721
+      - -0.14462280651803716
     effort: []
     time_from_start:
       sec: 6
       nanosec: 150000000
   - positions:
-      - 0.10069598167144747
-      - 0.32778534955800143
-      - -1.0275193921770225
-      - 1.6502144036427855
-      - -2.1934450483883383
-      - -1.5707042686658603
-      - 0.32763322658951693
-    velocities:
-      - 0.23313070510335981
-      - -0.046267561879069739
-      - -0.13049315201079384
-      - -0.035006600026405217
-      - 0.16540998760327305
-      - -6.4187320272781739e-05
-      - -0.046322024337502134
-    accelerations:
-      - 0.73796602916368137
-      - -0.14645813773798944
-      - -0.41307091307324434
-      - -0.11081200824470995
-      - 0.52359877555160084
-      - -0.00020318242439733609
-      - -0.1466305364967373
+      - 0.10702683555687043
+      - 0.32035364699273045
+      - -1.0330533601098075
+      - 1.6579633558134992
+      - -2.1957009405968169
+      - -1.5707891144618105
+      - 0.32026273463310068
+    velocities:
+      - 0.23700778595842528
+      - -0.046870150394095901
+      - -0.13269436895718262
+      - -0.036843663454178714
+      - 0.16956842041661979
+      - 4.4152013355321372e-05
+      - -0.046836360206836666
+    accelerations:
+      - 0.73184019915008591
+      - -0.14472714497499845
+      - -0.40973790380353042
+      - -0.11376703887885979
+      - 0.52359877573403146
+      - 0.00013633399475114152
+      - -0.1446228065572871
     effort: []
     time_from_start:
       sec: 6
       nanosec: 160000000
   - positions:
-      - 0.10306331678528653
-      - 0.32731552374153727
-      - -1.0288444901332687
-      - 1.6498589277160005
-      - -2.1917653860218591
-      - -1.5707049204585837
-      - 0.32716284773183002
-    velocities:
-      - 0.2405103653956002
-      - -0.047732143256569395
-      - -0.13462386114186431
-      - -0.036114720108942899
-      - 0.17064597535921733
-      - -6.6219144516921336e-05
-      - -0.047788329702589505
-    accelerations:
-      - 0.7379660291090584
-      - -0.14645813772714394
-      - -0.41307091304268545
-      - -0.11081200823650124
-      - 0.5235987755128263
-      - -0.00020318242438230634
-      - -0.1466305364858918
+      - 0.10942951496368322
+      - 0.31987849827687409
+      - -1.0343985565403981
+      - 1.657589851157967
+      - -2.1939819314506268
+      - -1.5707886668683577
+      - 0.31978792846711768
+    velocities:
+      - 0.24432618794770602
+      - -0.048317421843406892
+      - -0.13679174799397487
+      - -0.037981333842622193
+      - 0.17480440817237169
+      - 4.5515353302419202e-05
+      - -0.048282588271970815
+    accelerations:
+      - 0.73184019882649987
+      - -0.14472714491101127
+      - -0.40973790362233892
+      - -0.11376703882855585
+      - 0.52359877550252898
+      - 0.00013633399469086075
+      - -0.14462280649334164
     effort: []
     time_from_start:
       sec: 6
       nanosec: 170000000
   - positions:
-      - 0.10550444850204829
-      - 0.32683105211129809
-      - -1.0302108951808258
-      - 1.6494923705883902
-      - -2.19003336377782
-      - -1.5707055925695492
-      - 0.32667780582049205
-    velocities:
-      - 0.24789002568784055
-      - -0.049196724634069051
-      - -0.13875457027293475
-      - -0.037222840191480581
-      - 0.17588196311516158
-      - -6.8250968761060906e-05
-      - -0.049254635067676862
-    accelerations:
-      - 0.73796602905437991
-      - -0.14645813771629845
-      - -0.41307091301209881
-      - -0.11081200822829947
-      - 0.52359877547405176
-      - -0.00020318242436724948
-      - -0.1466305364750255
+      - 0.11190537839039209
+      - 0.31938887684652389
+      - -1.0357847267613585
+      - 1.6572049697985496
+      - -2.1922105624268768
+      - -1.5707882056415052
+      - 0.31929866002048268
+    velocities:
+      - 0.25164458993740718
+      - -0.049764693292801018
+      - -0.14088912703100251
+      - -0.03911900423113103
+      - 0.18004039592842438
+      - 4.6878693249595351e-05
+      - -0.04972881633718805
+    accelerations:
+      - 0.7318401989240052
+      - -0.14472714493028752
+      - -0.40973790367693413
+      - -0.11376703884371039
+      - 0.52359877557227874
+      - 0.00013633399470901436
+      - -0.14462280651260401
     effort: []
     time_from_start:
       sec: 6
       nanosec: 180000000
   - positions:
-      - 0.1080193768217334
-      - 0.32633193466728372
-      - -1.031618607319694
-      - 1.6491147322599544
-      - -2.1882489816562209
-      - -1.5707062849987574
-      - 0.32617810085550314
-    velocities:
-      - 0.25526968598053373
-      - -0.05066130601165858
-      - -0.14288527940425869
-      - -0.038330960274086258
-      - 0.18111795087142715
-      - -7.0282793005325172e-05
-      - -0.050720940432854203
-    accelerations:
-      - 0.73796602945321688
-      - -0.14645813779545558
-      - -0.41307091323534295
-      - -0.1108120082881834
-      - 0.52359877575704084
-      - -0.00020318242447705634
-      - -0.14663053655427993
+      - 0.11445442583699721
+      - 0.31888478270167997
+      - -1.0372118707726887
+      - 1.656808711735247
+      - -2.190386833525567
+      - -1.5707877307812534
+      - 0.31879492929319575
+    velocities:
+      - 0.25896299192724787
+      - -0.05121196474222274
+      - -0.14498650606810826
+      - -0.040256674619661557
+      - 0.18527638368457688
+      - 4.8242033196797494e-05
+      - -0.051175044402432854
+    accelerations:
+      - 0.73184019916168774
+      - -0.14472714497728828
+      - -0.40973790380999747
+      - -0.11376703888065696
+      - 0.52359877574227487
+      - 0.0001363339947532896
+      - -0.14462280655956999
     effort: []
     time_from_start:
       sec: 6
       nanosec: 190000000
   - positions:
-      - 0.11060810174434105
-      - 0.32581817140949432
-      - -1.0330676265498731
-      - 1.6487260127306933
-      - -2.186412239657062
-      - -1.5707069977462078
-      - 0.32566373283686323
-    velocities:
-      - 0.26264934627278719
-      - -0.052125887389160831
-      - -0.14701598853533646
-      - -0.039439080356625904
-      - 0.1863539386273807
-      - -7.2314617249468361e-05
-      - -0.052187245797944162
-    accelerations:
-      - 0.73796602941163902
-      - -0.14645813778720523
-      - -0.41307091321208378
-      - -0.11081200828193839
-      - 0.52359877572756441
-      - -0.000203182424465618
-      - -0.14663053654601571
+      - 0.11707665730349805
+      - 0.31836621584234231
+      - -1.0386799885743883
+      - 1.6564010769680599
+      - -2.1885107447466976
+      - -1.5707872422876021
+      - 0.31827673628525688
+    velocities:
+      - 0.26628139391648964
+      - -0.052659236191526029
+      - -0.14908388510487872
+      - -0.041394345008098986
+      - 0.19051237144030092
+      - 4.9605373143888072e-05
+      - -0.052621272467559314
+    accelerations:
+      - 0.73184019879910511
+      - -0.14472714490559893
+      - -0.40973790360704559
+      - -0.11376703882430231
+      - 0.52359877548290579
+      - 0.00013633399468575822
+      - -0.14462280648793624
     effort: []
     time_from_start:
       sec: 6
       nanosec: 200000000
   - positions:
-      - 0.11327062326987172
-      - 0.32528976233792983
-      - -1.0345579528713631
-      - 1.6483262120006064
-      - -2.184523137780344
-      - -1.5707077308119008
-      - 0.32513470176457238
-    velocities:
-      - 0.2700290065650407
-      - -0.053590468766663096
-      - -0.15114669766641425
-      - -0.040547200439165557
-      - 0.19158992638333427
-      - -7.4346441493611563e-05
-      - -0.053653551163034136
-    accelerations:
-      - 0.73796602937017219
-      - -0.14645813777896877
-      - -0.41307091318882461
-      - -0.11081200827570727
-      - 0.52359877569808799
-      - -0.00020318242445419322
-      - -0.1466305365377723
+      - 0.11977207278989496
+      - 0.31783317626851093
+      - -1.0401890801664577
+      - 1.6559820654969877
+      - -2.1865822960902683
+      - -1.5707867401605515
+      - 0.31774408099666596
+    velocities:
+      - 0.27359979590619077
+      - -0.054106507640920148
+      - -0.1531812641419063
+      - -0.042532015396607815
+      - 0.19574835919635358
+      - 5.0968713091064215e-05
+      - -0.054067500532776536
+    accelerations:
+      - 0.73184019889658269
+      - -0.1447271449248613
+      - -0.40973790366155755
+      - -0.11376703883944297
+      - 0.52359877555262779
+      - 0.00013633399470391183
+      - -0.14462280650718473
     effort: []
     time_from_start:
       sec: 6
       nanosec: 210000000
   - positions:
-      - 0.11600694139832507
-      - 0.32474670745259027
-      - -1.0360895862841641
-      - 1.6479153300696945
-      - -2.1825816760260652
-      - -1.5707084841958363
-      - 0.32459100763863058
-    velocities:
-      - 0.27740866685712273
-      - -0.055055050144131333
-      - -0.1552774067973961
-      - -0.041655320521679473
-      - 0.19682591413916622
-      - -7.6378265737707561e-05
-      - -0.055119856528090046
-    accelerations:
-      - 0.73796602915652043
-      - -0.1464581377365739
-      - -0.41307091306927529
-      - -0.11081200824363442
-      - 0.52359877554654932
-      - -0.00020318242439538452
-      - -0.1466305364953287
+      - 0.12254067229618765
+      - 0.31728566398018587
+      - -1.0417391455488967
+      - 1.6555516773220309
+      - -2.1846014875562791
+      - -1.5707862244001014
+      - 0.31719696342742315
+    velocities:
+      - 0.28091819789607031
+      - -0.055553779090349566
+      - -0.15727864317903384
+      - -0.043669685785144394
+      - 0.20098434695253395
+      - 5.2332053038273602e-05
+      - -0.055513728598029027
+    accelerations:
+      - 0.73184019917306753
+      - -0.1447271449795573
+      - -0.40973790381640901
+      - -0.11376703888244026
+      - 0.52359877575051827
+      - 0.0001363339947554309
+      - -0.14462280656183901
     effort: []
     time_from_start:
       sec: 6
       nanosec: 220000000
   - positions:
-      - 0.11881705612970163
-      - 0.32418900675347556
-      - -1.0376625267882762
-      - 1.6474933669379568
-      - -2.1805878543942274
-      - -1.5707092578980142
-      - 0.32403265045903779
-    velocities:
-      - 0.28478832714936314
-      - -0.056519631521630996
-      - -0.15940811592846654
-      - -0.042763440604217155
-      - 0.2020619018951105
-      - -7.8410089981847145e-05
-      - -0.05658616189317741
-    accelerations:
-      - 0.73796602910189746
-      - -0.14645813772573535
-      - -0.41307091303868865
-      - -0.11081200823543265
-      - 0.52359877550777478
-      - -0.00020318242438032767
-      - -0.14663053648446933
+      - 0.1253824558223767
+      - 0.31672367897736697
+      - -1.0433301847217056
+      - 1.6551099124431887
+      - -2.18256831914473
+      - -1.5707856950062518
+      - 0.3166353835775283
+    velocities:
+      - 0.28823659988527311
+      - -0.057001050539645146
+      - -0.16137602221578248
+      - -0.044807356173575764
+      - 0.20622033470823009
+      - 5.3695392985356916e-05
+      - -0.056959956663147779
+    accelerations:
+      - 0.73184019877157158
+      - -0.14472714490015884
+      - -0.40973790359164125
+      - -0.11376703882002795
+      - 0.52359877546325484
+      - 0.00013633399468063537
+      - -0.14462280648249615
     effort: []
     time_from_start:
       sec: 6
       nanosec: 230000000
   - positions:
-      - 0.12170096746400121
-      - 0.32361666024058572
-      - -1.0392767743836995
-      - 1.6470603226053937
-      - -2.1785416728848293
-      - -1.5707100519184345
-      - 0.32345963022579394
-    velocities:
-      - 0.29216798744160349
-      - -0.057984212899130652
-      - -0.16353882505953701
-      - -0.043871560686754837
-      - 0.20729788965105478
-      - -8.0441914225986742e-05
-      - -0.058052467258264774
-    accelerations:
-      - 0.73796602904727449
-      - -0.14645813771488986
-      - -0.413070913008102
-      - -0.11081200822722394
-      - 0.523598775469028
-      - -0.00020318242436529791
-      - -0.1466305364736169
+      - 0.1282974232563904
+      - 0.31614722128221739
+      - -1.0449621976221386
+      - 1.6546567708778837
+      - -2.1804827909358031
+      - -1.5707851519790237
+      - 0.31605934146912845
+    velocities:
+      - 0.29558208767727601
+      - -0.058453678419091902
+      - -0.16548856587463814
+      - -0.045949237141840425
+      - 0.21147570113867448
+      - 5.5063778723562445e-05
+      - -0.058411537296796691
+    accelerations:
+      - 0.7318401987751243
+      - -0.14472714490085273
+      - -0.40973790359358414
+      - -0.11376703882058306
+      - 0.52359877546575284
+      - 0.00013633399467142643
+      - -0.14462280648319004
     effort: []
     time_from_start:
       sec: 6
       nanosec: 240000000
   - positions:
-      - 0.12465867528195942
-      - 0.32302966793759019
-      - -1.0409323290036763
-      - 1.646616197089914
-      - -2.1764431315824915
-      - -1.5707108662570646
-      - 0.32287194696259641
-    velocities:
-      - 0.29956427073663566
-      - -0.059452093309291056
-      - -0.1676788387909128
-      - -0.044982176857525535
-      - 0.21254567169503014
-      - -8.2478315242071981e-05
-      - -0.059522075539368426
-    accelerations:
-      - 0.73796602902101771
-      - -0.14645813770967875
-      - -0.4130709129934193
-      - -0.11081200822328265
-      - 0.52359877545040401
-      - -0.00020318242435877915
-      - -0.14663053646839885
+      - 0.13128557449622411
+      - 0.31555629091490917
+      - -1.0466351841930859
+      - 1.6541922526419726
+      - -2.1783449030024782
+      - -1.5707845953184358
+      - 0.31546883712238138
+    velocities:
+      - 0.30290048966697714
+      - -0.059900949868486021
+      - -0.16958594491166579
+      - -0.047086907530349373
+      - 0.21671168889472717
+      - 5.6427118670639898e-05
+      - -0.059857765362013926
+    accelerations:
+      - 0.73184019887260188
+      - -0.14472714492012204
+      - -0.4097379036481516
+      - -0.11376703883573067
+      - 0.5235987755355026
+      - 0.00013633399468958004
+      - -0.14462280650245241
     effort: []
     time_from_start:
       sec: 6
       nanosec: 250000000
   - positions:
-      - 0.12769017961895746
-      - 0.32242802983746716
-      - -1.0426291906680112
-      - 1.6461609903862042
-      - -2.1742922304621097
-      - -1.5707117009139138
-      - 0.32226960066241517
-    velocities:
-      - 0.30694393102887618
-      - -0.060916674686790746
-      - -0.1718095479219833
-      - -0.046090296940063218
-      - 0.21778165945097441
-      - -8.4510139486218653e-05
-      - -0.060988380904455811
-    accelerations:
-      - 0.73796602896645025
-      - -0.14645813769884714
-      - -0.41307091296288817
-      - -0.11081200821509475
-      - 0.52359877541168498
-      - -0.0002031824243437494
-      - -0.14663053645756724
+      - 0.13434690975595326
+      - 0.31495088783310732
+      - -1.0483491445544022
+      - 1.6537163577021765
+      - -2.1761546551915938
+      - -1.5707840250244485
+      - 0.31486387049498238
+    velocities:
+      - 0.31021889165690875
+      - -0.061348221317925729
+      - -0.17368332394882249
+      - -0.04822457791889416
+      - 0.22194767665094478
+      - 5.7790458617760292e-05
+      - -0.061303993427276708
+    accelerations:
+      - 0.73184019920126719
+      - -0.14472714498511535
+      - -0.40973790383217418
+      - -0.11376703888682564
+      - 0.52359877577061331
+      - 0.00013633399475080271
+      - -0.14462280656739013
     effort: []
     time_from_start:
       sec: 6
       nanosec: 260000000
   - positions:
-      - 0.13079548055887913
-      - 0.32181174592356893
-      - -1.0443673594236575
-      - 1.645694702481669
-      - -2.1720889694641681
-      - -1.5707125558890054
-      - 0.3216525913085827
-    velocities:
-      - 0.31432359132167426
-      - -0.062381256064401099
-      - -0.17594025705336588
-      - -0.047198417022684618
-      - 0.22301764720731429
-      - -8.6541963730518833e-05
-      - -0.062454686269653975
-    accelerations:
-      - 0.73796602947014778
-      - -0.146458137798814
-      - -0.4130709132448076
-      - -0.11081200829072303
-      - 0.523598775769059
-      - -0.00020318242448242314
-      - -0.14663053655763836
+      - 0.13748142903557878
+      - 0.31433101203681174
+      - -1.0501040787060887
+      - 1.6532290860584951
+      - -2.1739120475031495
+      - -1.5707834410970618
+      - 0.31424444158693132
+    velocities:
+      - 0.31753729364605943
+      - -0.062795492767210997
+      - -0.17778070298554197
+      - -0.049362248307317551
+      - 0.2271836644066037
+      - 5.9153798564735213e-05
+      - -0.062750221492385183
+    accelerations:
+      - 0.73184019874764628
+      - -0.14472714489541957
+      - -0.40973790357820755
+      - -0.11376703881631564
+      - 0.52359877544610189
+      - 0.00013633399466630357
+      - -0.14462280647776382
     effort: []
     time_from_start:
       sec: 6
       nanosec: 270000000
   - positions:
-      - 0.13397457810172289
-      - 0.32118081619589567
-      - -1.0461468352706143
-      - 1.6452173333763083
-      - -2.1698333485886674
-      - -1.5707134311823394
-      - 0.32102091890109946
-    velocities:
-      - 0.32170325161392782
-      - -0.063845837441903378
-      - -0.18007096618444368
-      - -0.048306537105224256
-      - 0.22825363496326781
-      - -8.8573787974669096e-05
-      - -0.063920991634743934
-    accelerations:
-      - 0.73796602942868095
-      - -0.1464581377905706
-      - -0.41307091322154843
-      - -0.11081200828448497
-      - 0.52359877573958258
-      - -0.00020318242447099836
-      - -0.14663053654938107
+      - 0.14068913233510039
+      - 0.31369666352602232
+      - -1.0518999866481449
+      - 1.6527304377109293
+      - -2.1716170799371453
+      - -1.5707828435362756
+      - 0.31361055039822838
+    velocities:
+      - 0.3248556956357605
+      - -0.064242764216605117
+      - -0.18187808202256958
+      - -0.050499918695826491
+      - 0.23241965216265639
+      - 6.0517138511812659e-05
+      - -0.064196449557602411
+    accelerations:
+      - 0.73184019884506835
+      - -0.14472714491468194
+      - -0.40973790363277501
+      - -0.11376703883145631
+      - 0.5235987755158239
+      - 0.0001363339946844504
+      - -0.14462280649702619
     effort: []
     time_from_start:
       sec: 6
       nanosec: 280000000
   - positions:
-      - 0.13722747224748982
-      - 0.32053524065444738
-      - -1.0479676182088822
-      - 1.6447288830701225
-      - -2.1675253678356068
-      - -1.5707143267939161
-      - 0.32037458343996528
-    velocities:
-      - 0.3290829119059181
-      - -0.065310418819353414
-      - -0.18420167531537412
-      - -0.049414657187724365
-      - 0.23348962271903453
-      - -9.0605612218746867e-05
-      - -0.065387296999781602
-    accelerations:
-      - 0.73796602912321374
-      - -0.14645813772996114
-      - -0.41307091305059579
-      - -0.11081200823862454
-      - 0.52359877552287382
-      - -0.00020318242438690064
-      - -0.14663053648870206
+      - 0.14397001965451756
+      - 0.31304784230073929
+      - -1.0537368683805706
+      - 1.6522204126594784
+      - -2.169269752493582
+      - -1.5707822323420899
+      - 0.3129621969288735
+    velocities:
+      - 0.33217409762573119
+      - -0.06569003566605254
+      - -0.18597546105974813
+      - -0.05163758908437735
+      - 0.23765563991890196
+      - 6.1880478458940338e-05
+      - -0.065642677622872903
+    accelerations:
+      - 0.731840199212758
+      - -0.14472714498739131
+      - -0.40973790383861347
+      - -0.11376703888862282
+      - 0.52359877577888447
+      - 0.00013633399475295079
+      - -0.14462280656966608
     effort: []
     time_from_start:
       sec: 6
       nanosec: 290000000
   - positions:
-      - 0.14055416299617962
-      - 0.31987501929922391
-      - -1.0498297082384613
-      - 1.644229351563111
-      - -2.1651650272049858
-      - -1.5707152427237352
-      - 0.31971358492517998
-    velocities:
-      - 0.3364625721981585
-      - -0.06677500019685309
-      - -0.18833238444644457
-      - -0.050522777270262033
-      - 0.23872561047497876
-      - -9.2637436462893524e-05
-      - -0.066853602364868966
-    accelerations:
-      - 0.73796602906859077
-      - -0.14645813771912258
-      - -0.41307091302000915
-      - -0.11081200823042277
-      - 0.52359877548409928
-      - -0.00020318242437187089
-      - -0.14663053647784963
+      - 0.14732409099383098
+      - 0.31238454836096252
+      - -1.0556147239033662
+      - 1.6516990109041427
+      - -2.1668700651724579
+      - -1.5707816075145049
+      - 0.31229938117886658
+    velocities:
+      - 0.33949249961484285
+      - -0.0671373071153301
+      - -0.19007284009644576
+      - -0.052775259472794663
+      - 0.24289162767453293
+      - 6.3243818405907975e-05
+      - -0.067088905687973655
+    accelerations:
+      - 0.73184019872016826
+      - -0.14472714488997948
+      - -0.40973790356283096
+      - -0.11376703881203434
+      - 0.52359877542645095
+      - 0.00013633399466117394
+      - -0.14462280647232373
     effort: []
     time_from_start:
       sec: 6
       nanosec: 300000000
   - positions:
-      - 0.14395465034779278
-      - 0.31920015213022529
-      - -1.0517331053593515
-      - 1.6437187388552741
-      - -2.1627523266968054
-      - -1.5707161789717965
-      - 0.31903792335674375
-    velocities:
-      - 0.34384223249039891
-      - -0.068239581574352767
-      - -0.19246309357751504
-      - -0.051630897352799701
-      - 0.24396159823092298
-      - -9.4669260707040169e-05
-      - -0.068319907729956331
-    accelerations:
-      - 0.73796602901391228
-      - -0.14645813770828403
-      - -0.41307091298945026
-      - -0.11081200822221406
-      - 0.52359877544535249
-      - -0.00020318242435681403
-      - -0.1466305364669972
+      - 0.1507513463530408
+      - 0.31170678170669186
+      - -1.0575335532165315
+      - 1.6511662324449219
+      - -2.164418017973774
+      - -1.5707809690535204
+      - 0.3116221031482076
+    velocities:
+      - 0.34681090160454403
+      - -0.068584578564724233
+      - -0.19417021913347343
+      - -0.053912929861303631
+      - 0.24812761543058567
+      - 6.4607158352985455e-05
+      - -0.06853513375319091
+    accelerations:
+      - 0.73184019881770135
+      - -0.14472714490926961
+      - -0.40973790361742618
+      - -0.11376703882720277
+      - 0.52359877549622846
+      - 0.00013633399467936143
+      - -0.14462280649161385
     effort: []
     time_from_start:
       sec: 6
       nanosec: 310000000
   - positions:
-      - 0.14742893430232845
-      - 0.3185106391474517
-      - -1.0536778095715524
-      - 1.6431970449466116
-      - -2.160287266311065
-      - -1.5707171355381007
-      - 0.31834759873465657
-    velocities:
-      - 0.35122189278263938
-      - -0.069704162951852444
-      - -0.19659380270858551
-      - -0.052739017435337376
-      - 0.24919758598686723
-      - -9.6701084951186827e-05
-      - -0.069786213095043695
-    accelerations:
-      - 0.73796602895934482
-      - -0.1464581376974316
-      - -0.41307091295889137
-      - -0.11081200821401922
-      - 0.52359877540660571
-      - -0.00020318242434178428
-      - -0.14663053645614477
+      - 0.15425178573214635
+      - 0.31101454233792747
+      - -1.0594933563200666
+      - 1.6506220772818161
+      - -2.1619136108975305
+      - -1.5707803169591363
+      - 0.31093036283689668
+    velocities:
+      - 0.35412930359455358
+      - -0.070031850014179345
+      - -0.19826759817067374
+      - -0.055050600249860526
+      - 0.25336360318685902
+      - 6.5970498300120357e-05
+      - -0.06998136181846909
+    accelerations:
+      - 0.73184019922424881
+      - -0.14472714498966727
+      - -0.40973790384502501
+      - -0.11376703889040611
+      - 0.52359877578707237
+      - 0.00013633399475507853
+      - -0.14462280657194204
     effort: []
     time_from_start:
       sec: 6
       nanosec: 320000000
   - positions:
-      - 0.15097701485978732
-      - 0.31780648035090286
-      - -1.0556638208750646
-      - 1.6426642698371239
-      - -2.1577698460477648
-      - -1.5707181124226468
-      - 0.31764261105891833
-    velocities:
-      - 0.35860155307551617
-      - -0.071168744329478409
-      - -0.20072451184001214
-      - -0.0538471375179706
-      - 0.25443357374326292
-      - -9.8732909195508678e-05
-      - -0.0712525184602575
-    accelerations:
-      - 0.73796602954170165
-      - -0.14645813781301098
-      - -0.41307091328483114
-      - -0.11081200830147138
-      - 0.52359877581976844
-      - -0.00020318242450212851
-      - -0.14663053657184921
+      - 0.15782540913114765
+      - 0.31030783025466946
+      - -1.0614941332139711
+      - 1.6500665454148253
+      - -2.1593568439437276
+      - -1.5707796512313525
+      - 0.31022416024493393
+    velocities:
+      - 0.36144770558362632
+      - -0.071479121463449202
+      - -0.20236497720734958
+      - -0.056188270638271795
+      - 0.25859959094246221
+      - 6.7333838247080757e-05
+      - -0.071427589883562154
+    accelerations:
+      - 0.73184019869269024
+      - -0.14472714488455327
+      - -0.40973790354745437
+      - -0.11376703880777386
+      - 0.52359877540685551
+      - 0.00013633399465606464
+      - -0.14462280646691139
     effort: []
     time_from_start:
       sec: 6
       nanosec: 330000000
   - positions:
-      - 0.15459889202016891
-      - 0.31708767574057906
-      - -1.0576911392698873
-      - 1.6421204135268106
-      - -2.155200065906905
-      - -1.5707191096254356
-      - 0.31692296032952927
-    velocities:
-      - 0.36598121336776962
-      - -0.072633325706980667
-      - -0.20485522097108991
-      - -0.054955257600510225
-      - 0.25966956149921638
-      - -0.00010076473343965891
-      - -0.072718823825347445
-    accelerations:
-      - 0.73796602950006829
-      - -0.14645813780473982
-      - -0.41307091326157197
-      - -0.11081200829521944
-      - 0.5235987757902365
-      - -0.00020318242449066307
-      - -0.14663053656357805
+      - 0.16147221649588117
+      - 0.30958664546762898
+      - -1.0635358838679205
+      - 1.64949963685237
+      - -2.1567477171511165
+      - -1.5707789718701797
+      - 0.30950349538302274
+    velocities:
+      - 0.36878236547031834
+      - -0.072929608039612015
+      - -0.20647145860940166
+      - -0.057328468371955259
+      - 0.26384721049323046
+      - 6.8700206869265007e-05
+      - -0.07287703075766043
+    accelerations:
+      - 0.73184019865694105
+      - -0.14472714487748947
+      - -0.4097379035274426
+      - -0.11376703880220887
+      - 0.52359877538120936
+      - 0.00013633399465523793
+      - -0.1446228064598476
     effort: []
     time_from_start:
       sec: 6
       nanosec: 340000000
   - positions:
-      - 0.1582945657258526
-      - 0.31635422532791563
-      - -1.0597597647237686
-      - 1.6415654760243241
-      - -2.1525779259293678
-      - -1.570720127146451
-      - 0.3161886465579381
-    velocities:
-      - 0.37337085245743629
-      - -0.074099887495543221
-      - -0.20899151565867974
-      - -0.056064876086147138
-      - 0.264912629372549
-      - -0.00010279930512045404
-      - -0.074187111932677949
-    accelerations:
-      - 0.73796602909984355
-      - -0.1464581377252982
-      - -0.41307091303749516
-      - -0.1108120082351204
-      - 0.52359877550627598
-      - -0.00020318242437687177
-      - -0.146630536484053
+      - 0.16519220777567592
+      - 0.30885098798682675
+      - -1.0656186082535457
+      - 1.6489213516023264
+      - -2.1540862305559503
+      - -1.5707782788756268
+      - 0.30876836826117648
+    velocities:
+      - 0.37610076746001947
+      - -0.074376879489006134
+      - -0.21056883764642928
+      - -0.05846613876046413
+      - 0.26908319824928317
+      - 7.0063546816400777e-05
+      - -0.074323258822877658
+    accelerations:
+      - 0.73184019875441864
+      - -0.14472714489676572
+      - -0.40973790358201007
+      - -0.11376703881736341
+      - 0.52359877545093136
+      - 0.00013633399467339832
+      - -0.14462280647910997
     effort: []
     time_from_start:
       sec: 6
       nanosec: 350000000
   - positions:
-      - 0.16206403599362917
-      - 0.3156061291095803
-      - -1.0618696972461066
-      - 1.6409994573271431
-      - -2.1499034261032408
-      - -1.5707211649856976
-      - 0.31543966974080873
-    velocities:
-      - 0.38075051274967664
-      - -0.075564468873042898
-      - -0.21312222478975018
-      - -0.057172996168684861
-      - 0.2701486171284932
-      - -0.00010483112936456478
-      - -0.075653417297765299
-    accelerations:
-      - 0.73796602904516506
-      - -0.14645813771445965
-      - -0.41307091300690851
-      - -0.11081200822690475
-      - 0.52359877546747369
-      - -0.00020318242436181491
-      - -0.14663053647318669
+      - 0.16898538307536629
+      - 0.30810085779153074
+      - -1.0677423064295399
+      - 1.6483316896483977
+      - -2.1513723840832246
+      - -1.5707775722476744
+      - 0.3080187788586784
+    velocities:
+      - 0.38341916944972054
+      - -0.075824150938400239
+      - -0.21466621668345684
+      - -0.05960380914897298
+      - 0.27431918600533589
+      - 7.1426886763536533e-05
+      - -0.075769486888094872
+    accelerations:
+      - 0.73184019885184071
+      - -0.14472714491601421
+      - -0.40973790363652202
+      - -0.11376703883250408
+      - 0.52359877552070888
+      - 0.00013633399469154515
+      - -0.14462280649835846
     effort: []
     time_from_start:
       sec: 6
       nanosec: 360000000
   - positions:
-      - 0.16590730286432898
-      - 0.31484338707746984
-      - -1.0640209368597555
-      - 1.6404223574291366
-      - -2.1471765663995535
-      - -1.5707222231431865
-      - 0.31467602987002835
-    velocities:
-      - 0.38813017304191705
-      - -0.077029050250542588
-      - -0.21725293392082068
-      - -0.058281116251222599
-      - 0.2753846048844375
-      - -0.00010686295360867555
-      - -0.077119722662852649
-    accelerations:
-      - 0.73796602899054209
-      - -0.14645813770363497
-      - -0.41307091297634962
-      - -0.11081200821870991
-      - 0.52359877542878241
-      - -0.00020318242434678516
-      - -0.14663053646233426
+      - 0.17285174239495255
+      - 0.3073362548817411
+      - -1.0699069783959041
+      - 1.6477306509905847
+      - -2.1486061777329386
+      - -1.5707768519863228
+      - 0.30725472717552837
+    velocities:
+      - 0.39073757143910182
+      - -0.077271422387731103
+      - -0.21876359572030538
+      - -0.060741479537432121
+      - 0.27955517376115974
+      - 7.2790226710612712e-05
+      - -0.077215714953248887
+    accelerations:
+      - 0.73184019862951855
+      - -0.1447271448720355
+      - -0.40973790351203826
+      - -0.11376703879793451
+      - 0.52359877536155841
+      - 0.00013633399465011508
+      - -0.1446228064544075
     effort: []
     time_from_start:
       sec: 6
       nanosec: 370000000
   - positions:
-      - 0.16982436633795131
-      - 0.31406599923158435
-      - -1.0662134835647155
-      - 1.6398341763303046
-      - -2.1443973468183071
-      - -1.5707233016189179
-      - 0.31389772694559709
-    velocities:
-      - 0.3955098333341574
-      - -0.078493631628042251
-      - -0.22138364305189112
-      - -0.05938923633376033
-      - 0.28062059264038169
-      - -0.0001088947778527863
-      - -0.07858602802794
-    accelerations:
-      - 0.7379660289358636
-      - -0.14645813769276866
-      - -0.41307091294573522
-      - -0.1108120082105012
-      - 0.52359877538998012
-      - -0.0002031824243317283
-      - -0.14663053645148183
+      - 0.1767912857344352
+      - 0.30655717925745762
+      - -1.0721126241526382
+      - 1.6471182356288863
+      - -2.1457876115050931
+      - -1.5707761180915714
+      - 0.30647621321172624
+    velocities:
+      - 0.39805597342880289
+      - -0.078718693837125223
+      - -0.22286097475733299
+      - -0.061879149925940985
+      - 0.28479116151721245
+      - 7.4153566657748481e-05
+      - -0.078661943018466129
+    accelerations:
+      - 0.73184019872694062
+      - -0.14472714489131175
+      - -0.40973790356660572
+      - -0.11376703881308212
+      - 0.52359877543128042
+      - 0.00013633399466827546
+      - -0.14462280647366987
     effort: []
     time_from_start:
       sec: 6
       nanosec: 380000000
   - positions:
-      - 0.17381522641449682
-      - 0.31327396557192372
-      - -1.0684473373609864
-      - 1.6392349140306475
-      - -2.1415657673595003
-      - -1.570724400412892
-      - 0.31310476096751483
-    velocities:
-      - 0.40288949362639787
-      - -0.079958213005541942
-      - -0.22551435218296162
-      - -0.060497356416298068
-      - 0.28585658039632594
-      - -0.00011092660209689707
-      - -0.080052333393027364
-    accelerations:
-      - 0.73796602888129614
-      - -0.14645813768194399
-      - -0.41307091291520409
-      - -0.11081200820229943
-      - 0.52359877535123334
-      - -0.00020318242431669855
-      - -0.1466305364406294
+      - 0.18080401309381391
+      - 0.30576363091868031
+      - -1.074359243699742
+      - 1.6464944435633027
+      - -2.1429166853996877
+      - -1.5707753705634206
+      - 0.30568323696727218
+    velocities:
+      - 0.40537437541850402
+      - -0.080165965286519342
+      - -0.22695835379436061
+      - -0.063016820314449856
+      - 0.29002714927326523
+      - 7.5516906604884251e-05
+      - -0.080108171083683358
+    accelerations:
+      - 0.7318401988244182
+      - -0.144727144910588
+      - -0.40973790362117318
+      - -0.11376703882823666
+      - 0.52359877550105793
+      - 0.00013633399468643585
+      - -0.14462280649293224
     effort: []
     time_from_start:
       sec: 6
       nanosec: 390000000
   - positions:
-      - 0.17787988309396535
-      - 0.31246728609848795
-      - -1.0707224982485681
-      - 1.6386245705301645
-      - -2.1386818280231337
-      - -1.5707255195251082
-      - 0.31229713193578146
-    velocities:
-      - 0.41026915391936641
-      - -0.081422794383186128
-      - -0.22964506131443965
-      - -0.061605476498945141
-      - 0.29109256815278683
-      - -0.00011295842634120831
-      - -0.08151863875825939
-    accelerations:
-      - 0.73796602955546842
-      - -0.1464581378157449
-      - -0.41307091329254719
-      - -0.11081200830353917
-      - 0.52359877582959391
-      - -0.00020318242450231825
-      - -0.14663053657458314
+      - 0.18488992447308805
+      - 0.30495560986540948
+      - -1.0766468370372149
+      - 1.6458592747938345
+      - -2.1399933994167224
+      - -1.5707746094018704
+      - 0.30487579844216622
+    velocities:
+      - 0.41269277740788524
+      - -0.081613236735850192
+      - -0.23105573283120912
+      - -0.064154490702908976
+      - 0.29526313702908902
+      - 7.6880246551960416e-05
+      - -0.081554399148837359
+    accelerations:
+      - 0.73184019860198501
+      - -0.14472714486659541
+      - -0.40973790349666167
+      - -0.11376703879365321
+      - 0.52359877534185195
+      - 0.00013633399464499222
+      - -0.14462280644896741
     effort: []
     time_from_start:
       sec: 6
       nanosec: 400000000
   - positions:
-      - 0.18201833637635673
-      - 0.3116459608112771
-      - -1.0730389662274613
-      - 1.638003145828856
-      - -2.1357455288092075
-      - -1.5707266589555668
-      - 0.3114748398503972
-    velocities:
-      - 0.41764881421119937
-      - -0.082887375760604953
-      - -0.23377577044528208
-      - -0.062713596581421699
-      - 0.29632855590844198
-      - -0.00011499025058520689
-      - -0.082984944123265791
-    accelerations:
-      - 0.73796602909273812
-      - -0.14645813772391042
-      - -0.41307091303355387
-      - -0.11081200823405875
-      - 0.52359877550127998
-      - -0.00020318242437492021
-      - -0.14663053648263746
+      - 0.18904901987225844
+      - 0.30413311609764476
+      - -1.0789754041650579
+      - 1.6452127293204817
+      - -2.1370177535561976
+      - -1.5707738346069204
+      - 0.30405389763640828
+    velocities:
+      - 0.42001117939758636
+      - -0.083060508185244311
+      - -0.23515311186823673
+      - -0.065292161091417847
+      - 0.30049912478514174
+      - 7.8243586499096186e-05
+      - -0.083000627214054587
+    accelerations:
+      - 0.7318401986994626
+      - -0.14472714488587166
+      - -0.40973790355122913
+      - -0.11376703880880776
+      - 0.52359877541157396
+      - 0.00013633399466315261
+      - -0.14462280646822978
     effort: []
     time_from_start:
       sec: 6
       nanosec: 410000000
   - positions:
-      - 0.18623058626167066
-      - 0.31080998971029122
-      - -1.075396741297665
-      - 1.6373706399267225
-      - -2.1327568697177215
-      - -1.5707278187042681
-      - 0.310637884711362
-    velocities:
-      - 0.42502847450343983
-      - -0.084351957138104644
-      - -0.23790647957635255
-      - -0.063821716663959444
-      - 0.30156454366438623
-      - -0.00011702207482931766
-      - -0.084451249488353156
-    accelerations:
-      - 0.73796602903817066
-      - -0.14645813771308575
-      - -0.41307091300299498
-      - -0.11081200822587085
-      - 0.52359877546253319
-      - -0.00020318242435989046
-      - -0.14663053647179891
+      - 0.1932812992913247
+      - 0.30329614961538642
+      - -1.0813449450832706
+      - 1.6445548071432434
+      - -2.1339897478181129
+      - -1.5707730461785714
+      - 0.30321753454999834
+    velocities:
+      - 0.42732958138728749
+      - -0.084507779634638444
+      - -0.23925049090526432
+      - -0.066429831479926718
+      - 0.30573511254119451
+      - 7.9606926446231955e-05
+      - -0.084446855279271815
+    accelerations:
+      - 0.73184019879694018
+      - -0.14472714490516178
+      - -0.40973790360576884
+      - -0.1137670388239623
+      - 0.52359877548135147
+      - 0.00013633399468129944
+      - -0.14462280648749215
     effort: []
     time_from_start:
       sec: 6
       nanosec: 420000000
   - positions:
-      - 0.19051663274990777
-      - 0.30995937279553015
-      - -1.0777958234591798
-      - 1.6367270528237632
-      - -2.129715850748676
-      - -1.5707289987712116
-      - 0.30978626651867586
-    velocities:
-      - 0.43240813479568019
-      - -0.085816538515604307
-      - -0.242037188707423
-      - -0.06492983674649716
-      - 0.30680053142033042
-      - -0.0001190538990734284
-      - -0.085917554853440506
-    accelerations:
-      - 0.73796602898349217
-      - -0.14645813770221944
-      - -0.41307091297238058
-      - -0.11081200821764133
-      - 0.5235987754237309
-      - -0.0002031824243448336
-      - -0.14663053646094648
+      - 0.19758676273028689
+      - 0.30244471041863424
+      - -1.0837554597918528
+      - 1.6438855082621207
+      - -2.1309093822024687
+      - -1.5707722441168228
+      - 0.30236670918293651
+    velocities:
+      - 0.43464798337666877
+      - -0.085955051083969308
+      - -0.24334786994211285
+      - -0.067567501868385851
+      - 0.31097110029701835
+      - 8.0970266393308148e-05
+      - -0.085893083344425844
+    accelerations:
+      - 0.73184019857456251
+      - -0.14472714486118307
+      - -0.40973790348128508
+      - -0.11376703878939273
+      - 0.52359877532225652
+      - 0.00013633399463988292
+      - -0.14462280644355507
     effort: []
     time_from_start:
       sec: 6
       nanosec: 430000000
   - positions:
-      - 0.19487647584106838
-      - 0.30909411006699394
-      - -1.0802362127120062
-      - 1.6360723845199787
-      - -2.1266224719020701
-      - -1.5707301991563978
-      - 0.30891998527233849
-    velocities:
-      - 0.43978779508792054
-      - -0.087281119893103984
-      - -0.24616789783849344
-      - -0.066037956829034891
-      - 0.31203651917627467
-      - -0.00012108572331753915
-      - -0.087383860218527842
-    accelerations:
-      - 0.73796602892881369
-      - -0.14645813769138089
-      - -0.41307091294179393
-      - -0.11081200820943955
-      - 0.52359877538498412
-      - -0.00020318242432979029
-      - -0.1466305364500663
+      - 0.20196541015898459
+      - 0.3015787985133529
+      - -1.0862069482739187
+      - 1.6432048326818014
+      - -2.1277766567308429
+      - -1.5707714284216803
+      - 0.30150142154118276
+    velocities:
+      - 0.44197722707321685
+      - -0.087404466566009156
+      - -0.24745131896305872
+      - -0.068706857636964339
+      - 0.31621484480712653
+      - 8.2335626031572438e-05
+      - -0.087341453896587304
+    accelerations:
+      - 0.73184019881803442
+      - -0.14472714490932512
+      - -0.40973790361762047
+      - -0.11376703882725134
+      - 0.52359877549645051
+      - 0.00013633399468060826
+      - -0.14462280649166936
     effort: []
     time_from_start:
       sec: 6
       nanosec: 440000000
   - positions:
-      - 0.19931011550304589
-      - 0.30821420153105444
-      - -1.0827179090381722
-      - 1.6354066350201895
-      - -2.1234767332006839
-      - -1.5707314198598175
-      - 0.30803904097872958
-    velocities:
-      - 0.44717411015790159
-      - -0.088747021990414079
-      - -0.2503023319311613
-      - -0.067147076184241039
-      - 0.31727722860414004
-      - -0.00012311937981169171
-      - -0.088851487858072051
-    accelerations:
-      - 0.73796602961436575
-      - -0.14645813782743
-      - -0.41307091332554857
-      - -0.11081200831237238
-      - 0.52359877587139381
-      - -0.00020318242452842041
-      - -0.14663053658629599
+      - 0.20641724154871777
+      - 0.3006984139052179
+      - -1.0886994105134
+      - 1.6425127804067472
+      - -2.1245915714237698
+      - -1.5707705990931493
+      - 0.30062167163040887
+    velocities:
+      - 0.44929562906259801
+      - -0.088851738015340007
+      - -0.25154869799990726
+      - -0.0698445280254235
+      - 0.32145083256295037
+      - 8.3698965978602294e-05
+      - -0.088787681961741305
+    accelerations:
+      - 0.73184019859554572
+      - -0.14472714486534641
+      - -0.40973790349305345
+      - -0.11376703879266789
+      - 0.52359877533730004
+      - 0.00013633399463916463
+      - -0.14462280644771841
     effort: []
     time_from_start:
       sec: 6
       nanosec: 450000000
   - positions:
-      - 0.20381755174509056
-      - 0.30731964718587579
-      - -1.0852409124428557
-      - 1.634729804323007
-      - -2.1202786346379545
-      - -1.5707326608814736
-      - 0.30714343363601099
-    velocities:
-      - 0.45455377044966888
-      - -0.090211603367819859
-      - -0.25443304106196696
-      - -0.068255196266707674
-      - 0.32251321635974867
-      - -0.00012515120405577089
-      - -0.090317793223065393
-    accelerations:
-      - 0.73796602908602127
-      - -0.14645813772257815
-      - -0.41307091302980686
-      - -0.11081200823303179
-      - 0.52359877549650602
-      - -0.00020318242438292975
-      - -0.1466305364813052
+      - 0.21094225695834684
+      - 0.29980355658258917
+      - -1.0912328465432508
+      - 1.641809351427808
+      - -2.1213541262391367
+      - -1.5707697561312188
+      - 0.29972745943898305
+    velocities:
+      - 0.45661403105229909
+      - -0.090299009464734112
+      - -0.25564607703693493
+      - -0.070982198413932399
+      - 0.32668682031900309
+      - 8.5062305925691755e-05
+      - -0.090233910026958519
+    accelerations:
+      - 0.7318401986930233
+      - -0.14472714488462265
+      - -0.40973790354767642
+      - -0.11376703880782243
+      - 0.52359877540702204
+      - 0.00013633399465732502
+      - -0.1446228064669669
     effort: []
     time_from_start:
       sec: 6
       nanosec: 460000000
   - positions:
-      - 0.20839737918519552
-      - 0.30641072594623653
-      - -1.0878044362740897
-      - 1.6340421034587442
-      - -2.1170291733550357
-      - -1.570733921834425
-      - 0.3062334424872773
-    velocities:
-      - 0.45931968117432004
-      - -0.091157455049026559
-      - -0.25710072360676967
-      - -0.068970839152210237
-      - 0.32589470672813808
-      - -0.00012646339087367441
-      - -0.091264758284916744
-    accelerations:
-      - -0.7379660295555901
-      - 0.1464581378157675
-      - 0.41307091329259665
-      - 0.11081200830355871
-      - -0.52359877582968395
-      - 0.00020318242451222086
-      - 0.14663053657460556
+      - 0.21550689834327708
+      - 0.29890086291224571
+      - -1.0937884681049639
+      - 1.6410997624567314
+      - -2.1180883304498508
+      - -1.5707689057873933
+      - 0.2988254165493156
+    velocities:
+      - 0.45320276064962722
+      - -0.089624403961114887
+      - -0.25373619727667979
+      - -0.070451904870372187
+      - 0.32424620963840495
+      - 8.4426822767369583e-05
+      - -0.089559790867976594
+    accelerations:
+      - -0.73184019917230658
+      - 0.14472714497940795
+      - 0.40973790381601732
+      - 0.11376703888233228
+      - -0.52359877574996994
+      - -0.00013633399474660907
+      - 0.1446228065616828
     effort: []
     time_from_start:
       sec: 6
       nanosec: 470000000
   - positions:
-      - 0.21295824425140025
-      - 0.30550556801528472
-      - -1.0903573460597018
-      - 1.6333572499596043
-      - -2.1137931661816065
-      - -1.5707351775665117
-      - 0.30532721907709581
-    velocities:
-      - 0.45194002088207968
-      - -0.08969287367152691
-      - -0.25297001447569917
-      - -0.067862719069672575
-      - 0.32065871897219383
-      - -0.00012443156662946499
-      - -0.089798452919829394
-    accelerations:
-      - -0.73796602950091161
-      - 0.14645813780491507
-      - 0.41307091326206552
-      - 0.11081200829534306
-      - -0.52359877579088165
-      - 0.00020318242449717756
-      - 0.14663053656375313
+      - 0.22000598352835246
+      - 0.29801113349509767
+      - -1.0963073864902986
+      - 1.6404003644190663
+      - -2.1148694371756571
+      - -1.5707680676559859
+      - 0.29793632856649965
+    velocities:
+      - 0.44588435865992609
+      - -0.088177132511720782
+      - -0.24963881823965217
+      - -0.069314234481863302
+      - 0.31901022188235223
+      - 8.3063482820280122e-05
+      - -0.088113562802759365
+    accelerations:
+      - -0.73184019926983968
+      - 0.14472714499868419
+      - 0.40973790387052927
+      - 0.11376703889747294
+      - -0.52359877581969194
+      - -0.00013633399476476946
+      - 0.14462280658095905
     effort: []
     time_from_start:
       sec: 6
       nanosec: 480000000
   - positions:
-      - 0.21744531271468159
-      - 0.30461505589810794
-      - -1.0928689487540022
-      - 1.6326834776612897
-      - -2.1106095188857372
-      - -1.5707364129803554
-      - 0.30443565872056527
-    velocities:
-      - 0.44456036058983933
-      - -0.088228292294027261
-      - -0.24883930534462873
-      - -0.066754598987134914
-      - 0.31542273121624959
-      - -0.00012239974238525557
-      - -0.088332147554742058
-    accelerations:
-      - -0.73796602944623313
-      - 0.14645813779406264
-      - 0.41307091323142336
-      - 0.11081200828712741
-      - -0.52359877575213487
-      - 0.00020318242448213425
-      - 0.14663053655288683
+      - 0.22443188469353165
+      - 0.29713587679244347
+      - -1.0987853310852638
+      - 1.6397123430852867
+      - -2.1117029037790234
+      - -1.5707672431579782
+      - 0.29706170286433586
+    velocities:
+      - 0.43856595667100468
+      - -0.086729861062480859
+      - -0.24554143920306101
+      - -0.068176564093475597
+      - 0.31377423412685734
+      - 8.1700142873335904e-05
+      - -0.086667334737696222
+    accelerations:
+      - -0.73184019858825755
+      - 0.14472714486389288
+      - 0.40973790348900424
+      - 0.11376703879153381
+      - -0.52359877533210297
+      - -0.00013633399463780851
+      - 0.1446228064462648
     effort: []
     time_from_start:
       sec: 6
       nanosec: 490000000
   - positions:
-      - 0.22185858457503982
-      - 0.30373918959470636
-      - -1.0953392443569918
-      - 1.6320207865638006
-      - -2.1074782314674279
-      - -1.5707376280759571
-      - 0.30355876141768579
-    velocities:
-      - 0.43718070029759892
-      - -0.086763710916527598
-      - -0.24470859621355823
-      - -0.065646478904597225
-      - 0.31018674346030528
-      - -0.00012036791814104612
-      - -0.086865842189654693
-    accelerations:
-      - -0.73796602939166567
-      - 0.14645813778323796
-      - 0.41307091320086448
-      - 0.11081200827893951
-      - -0.52359877571338809
-      - 0.0002031824244671045
-      - 0.14663053654204827
+      - 0.22878460183881477
+      - 0.29627509280428299
+      - -1.101222301889859
+      - 1.6390356984553915
+      - -2.10858873025995
+      - -1.5707664322933703
+      - 0.29620153944282396
+    velocities:
+      - 0.43124755468084375
+      - -0.085282589612995813
+      - -0.24144406016577594
+      - -0.067038893704895228
+      - 0.30853824637047561
+      - 8.0336802926160792e-05
+      - -0.085221106672388136
+    accelerations:
+      - -0.73184019914493958
+      - 0.14472714497398173
+      - 0.40973790380061298
+      - 0.1137670388780718
+      - -0.5235987757303745
+      - -0.00013633399474149977
+      - 0.14462280655627047
     effort: []
     time_from_start:
       sec: 6
       nanosec: 500000000
   - positions:
-      - 0.22619805983247529
-      - 0.30287796910507991
-      - -1.0977682328686706
-      - 1.631369176667137
-      - -2.1043993039266784
-      - -1.5707388228533161
-      - 0.3026965271684573
-    velocities:
-      - 0.42980104000580194
-      - -0.085299129539115948
-      - -0.24057788708273595
-      - -0.064538358822126149
-      - 0.30495075570467567
-      - -0.00011833609389695878
-      - -0.085399536824655453
-    accelerations:
-      - -0.73796602889427509
-      - 0.14645813768451654
-      - 0.41307091292245435
-      - 0.11081200820425054
-      - -0.52359877536041366
-      - 0.00020318242433014694
-      - 0.146630536443216
+      - 0.23306413496420247
+      - 0.29542878153061614
+      - -1.103618298904085
+      - 1.6383704305293816
+      - -2.1055269166184356
+      - -1.5707656350621613
+      - 0.29535583830196394
+    velocities:
+      - 0.42392915269114273
+      - -0.083835318163601721
+      - -0.23734668112874832
+      - -0.065901223316386356
+      - 0.30330225861442295
+      - 7.8973462979071345e-05
+      - -0.083774878607170922
+    accelerations:
+      - -0.73184019924230614
+      - 0.1447271449932441
+      - 0.40973790385515269
+      - 0.11376703889319859
+      - -0.52359877580004099
+      - -0.0001363339947596466
+      - 0.14462280657551896
     effort: []
     time_from_start:
       sec: 6
       nanosec: 510000000
   - positions:
-      - 0.2304637384869892
-      - 0.30203139442922822
-      - -1.1001559142890391
-      - 1.6307286479712986
-      - -2.1013727362634871
-      - -1.5707399973124327
-      - 0.30184895597287947
-    velocities:
-      - 0.42242137971279742
-      - -0.083834548161464628
-      - -0.23644717795123774
-      - -0.063430238739473732
-      - 0.29971476794818919
-      - -0.00011630426965253896
-      - -0.083933231459416266
-    accelerations:
-      - -0.73796602960310764
-      - 0.14645813782520439
-      - 0.41307091331924201
-      - 0.11081200831069189
-      - -0.52359877586343473
-      - 0.0002031824245253126
-      - 0.14663053658407021
+      - 0.23727048406969425
+      - 0.29459694297144301
+      - -1.1059733221279413
+      - 1.6377165393072564
+      - -2.1025174628544812
+      - -1.570764851464352
+      - 0.29452459944175585
+    velocities:
+      - 0.41661075070176151
+      - -0.082388046714270857
+      - -0.23324930209189973
+      - -0.064763552927927182
+      - 0.29806627085859905
+      - 7.7610123032041461e-05
+      - -0.082328650542016921
+    accelerations:
+      - -0.73184019901992847
+      - 0.14472714494926539
+      - 0.40973790373066893
+      - 0.11376703885862902
+      - -0.52359877564094603
+      - -0.00013633399471823008
+      - 0.144622806531568
     effort: []
     time_from_start:
       sec: 6
       nanosec: 520000000
   - positions:
-      - 0.23465562053857947
-      - 0.30119946556715183
-      - -1.102502288618096
-      - 1.6300992004762858
-      - -2.098398528477857
-      - -1.5707411514533069
-      - 0.30101604783095276
-    velocities:
-      - 0.41504171942055701
-      - -0.082369966783964965
-      - -0.23231646882016721
-      - -0.06232211865693605
-      - 0.29447878019224488
-      - -0.00011427244540832952
-      - -0.082466926094328916
-    accelerations:
-      - -0.73796602954854018
-      - 0.14645813781436584
-      - 0.41307091328868312
-      - 0.11081200830249706
-      - -0.52359877582468795
-      - 0.0002031824245102964
-      - 0.14663053657320391
+      - 0.24140364915529011
+      - 0.29377957712676361
+      - -1.1082873715614279
+      - 1.6370740247890161
+      - -2.0995603689680862
+      - -1.5707640814999422
+      - 0.29370782286219976
+    velocities:
+      - 0.40929234871246811
+      - -0.080940775264957382
+      - -0.22915192305510038
+      - -0.063625882539481676
+      - 0.29283028310283804
+      - 7.6246783085027962e-05
+      - -0.080882422476880267
+    accelerations:
+      - -0.73184019871032657
+      - 0.14472714488804023
+      - 0.40973790355731071
+      - 0.11376703881050475
+      - -0.52359877541942201
+      - -0.00013633399466054965
+      - 0.14462280647038439
     effort: []
     time_from_start:
       sec: 6
       nanosec: 530000000
   - positions:
-      - 0.23877370598724637
-      - 0.30038218251885057
-      - -1.104807355855842
-      - 1.6294808341820983
-      - -2.0954766805697864
-      - -1.570742285275939
-      - 0.30019780274267716
-    velocities:
-      - 0.40766205912831666
-      - -0.080905385406465316
-      - -0.22818575968909677
-      - -0.061213998574398389
-      - 0.28924279243630069
-      - -0.0001122406211641201
-      - -0.081000620729241565
-    accelerations:
-      - -0.7379660294938617
-      - 0.14645813780351341
-      - 0.41307091325806872
-      - 0.11081200829428141
-      - -0.52359877578583014
-      - 0.00020318242449523954
-      - 0.14663053656235148
+      - 0.24546363022099002
+      - 0.29297668399657795
+      - -1.1105604472045449
+      - 1.636442886974661
+      - -2.0966556349592516
+      - -1.5707633251689317
+      - 0.29290550856329567
+    velocities:
+      - 0.40197394672236153
+      - -0.079493503815482702
+      - -0.22505454401784422
+      - -0.062488212150908433
+      - 0.28759429534649045
+      - 7.4883443138911451e-05
+      - -0.079436194411582325
+    accelerations:
+      - -0.73184019921505017
+      - 0.14472714498784564
+      - 0.40973790383988712
+      - 0.11376703888895892
+      - -0.52359877578050107
+      - -0.00013633399475648886
+      - 0.14462280657013438
     effort: []
     time_from_start:
       sec: 6
       nanosec: 540000000
   - positions:
-      - 0.2428179948329913
-      - 0.29957954528432418
-      - -1.1070711160022773
-      - 1.6288735490887365
-      - -2.0926071925392753
-      - -1.5707433987803283
-      - 0.29939422070805227
-    velocities:
-      - 0.40028239883607775
-      - -0.079440804028966125
-      - -0.22405505055802619
-      - -0.060105878491862864
-      - 0.2840068046803535
-      - -0.00011020879691552596
-      - -0.079534315364155506
-    accelerations:
-      - -0.73796602943918321
-      - 0.14645813779267486
-      - 0.41307091322748207
-      - 0.11081200828607964
-      - -0.52359877574708336
-      - 0.00020318242447209183
-      - 0.14663053655148517
+      - 0.24945042726679348
+      - 0.29218826358088612
+      - -1.1127925490572916
+      - 1.6358231258641907
+      - -2.0938032608279764
+      - -1.5707625824713207
+      - 0.29211765654504357
+    velocities:
+      - 0.39465554473298037
+      - -0.078046232366151852
+      - -0.22095716498099569
+      - -0.061350541762449293
+      - 0.28235830759066671
+      - 7.3520103191862499e-05
+      - -0.077989966346428338
+    accelerations:
+      - -0.73184019899256147
+      - 0.14472714494386693
+      - 0.40973790371534785
+      - 0.11376703885437547
+      - -0.5235987756213506
+      - -0.00013633399471503168
+      - 0.14462280652615567
     effort: []
     time_from_start:
       sec: 6
       nanosec: 550000000
   - positions:
-      - 0.24678848707581316
-      - 0.29879155386357303
-      - -1.1092935690574015
-      - 1.6282773451961998
-      - -2.0897900643863245
-      - -1.5707444919664753
-      - 0.29860530172707844
-    velocities:
-      - 0.39290273854383728
-      - -0.077976222651466462
-      - -0.21992434142695566
-      - -0.058997758409325148
-      - 0.27877081692440925
-      - -0.00010817697267139735
-      - -0.078068009999068128
-    accelerations:
-      - -0.73796602938461575
-      - 0.14645813778183631
-      - 0.41307091319692318
-      - 0.11081200827787786
-      - -0.52359877570833657
-      - 0.00020318242445706208
-      - 0.14663053654064662
+      - 0.25336404029270165
+      - 0.29141431587968786
+      - -1.1149836771196693
+      - 1.635214741457605
+      - -2.0910032465742612
+      - -1.5707618534071093
+      - 0.2913442668074433
+    velocities:
+      - 0.38733714274364806
+      - -0.076598960916830688
+      - -0.21685978594417457
+      - -0.060212871373997758
+      - 0.27712231983487795
+      - 7.2156763244822655e-05
+      - -0.07654373828128401
+    accelerations:
+      - -0.73184019872187289
+      - 0.14472714489031618
+      - 0.40973790356375001
+      - 0.11376703881228804
+      - -0.52359877542763766
+      - -0.00013633399466460186
+      - 0.14462280647266035
     effort: []
     time_from_start:
       sec: 6
       nanosec: 560000000
   - positions:
-      - 0.25068518271571161
-      - 0.29801820825659697
-      - -1.1114747150212145
-      - 1.6276922225044888
-      - -2.0870252961109332
-      - -1.5707455648343795
-      - 0.29783104579975561
-    velocities:
-      - 0.38552307825159693
-      - -0.076511641273966799
-      - -0.21579363229588522
-      - -0.057889638326787445
-      - 0.27353482916846505
-      - -0.00010614514842726877
-      - -0.076601704633980763
-    accelerations:
-      - -0.73796602932993727
-      - 0.14645813777098388
-      - 0.41307091316630878
-      - 0.11081200826966915
-      - -0.52359877566953428
-      - 0.00020318242444200522
-      - 0.14663053652978031
+      - 0.25720446929871321
+      - 0.29065484089298349
+      - -1.117133831391677
+      - 1.6346177337549048
+      - -2.0882555921981059
+      - -1.5707611379762974
+      - 0.29058533935049513
+    velocities:
+      - 0.38001874075357805
+      - -0.075151689467363628
+      - -0.21276240690694037
+      - -0.059075200985431536
+      - 0.27188633207856133
+      - 7.0793423297645387e-05
+      - -0.075097510215993896
+    accelerations:
+      - -0.73184019918751664
+      - 0.14472714498241943
+      - 0.40973790382451053
+      - 0.11376703888468456
+      - -0.52359877576085012
+      - -0.00013633399475135245
+      - 0.14462280656468041
     effort: []
     time_from_start:
       sec: 6
       nanosec: 570000000
   - positions:
-      - 0.25450808175268741
-      - 0.29725950846339605
-      - -1.1136145538937166
-      - 1.6271181810136031
-      - -2.0843128877131014
-      - -1.5707466173840414
-      - 0.29707145292608378
-    velocities:
-      - 0.37814341795935646
-      - -0.075047059896467122
-      - -0.21166292316481469
-      - -0.056781518244249728
-      - 0.26829884141252081
-      - -0.00010411332418314017
-      - -0.075135399268893385
-    accelerations:
-      - -0.73796602927536981
-      - 0.1464581377601592
-      - 0.41307091313577765
-      - 0.11081200826147432
-      - -0.52359877563084301
-      - 0.00020318242442697547
-      - 0.14663053651892788
+      - 0.26097171428482896
+      - 0.2899098386207728
+      - -1.119243011873315
+      - 1.6340321027560891
+      - -2.08556029769951
+      - -1.5707604361788849
+      - 0.2898408741741989
+    velocities:
+      - 0.37270033876419678
+      - -0.073704418018032777
+      - -0.20866502787009181
+      - -0.057937530596972382
+      - 0.26665034432273754
+      - 6.9430083350596408e-05
+      - -0.073651282150839881
+    accelerations:
+      - -0.73184019896513897
+      - 0.14472714493842684
+      - 0.40973790369999902
+      - 0.11376703885011499
+      - -0.52359877560169965
+      - -0.00013633399470993593
+      - 0.14462280652074333
     effort: []
     time_from_start:
       sec: 6
       nanosec: 580000000
   - positions:
-      - 0.25825718418674021
-      - 0.29651545448397021
-      - -1.1157130856749076
-      - 1.6265552207235432
-      - -2.08165283919283
-      - -1.5707476496154611
-      - 0.29632652310606294
-    velocities:
-      - 0.37076375766711611
-      - -0.073582478518967473
-      - -0.20753221403374425
-      - -0.055673398161712025
-      - 0.26306285365657661
-      - -0.00010208149993901158
-      - -0.073669093903806007
-    accelerations:
-      - -0.73796602922069132
-      - 0.14645813774929289
-      - 0.41307091310516325
-      - 0.11081200825326561
-      - -0.52359877559204071
-      - 0.00020318242441194571
-      - 0.14663053650807545
+      - 0.26466577525104878
+      - 0.28917930906305589
+      - -1.1213112185645833
+      - 1.6334578484611586
+      - -2.0829173630784741
+      - -1.5707597480148716
+      - 0.28911087127855467
+    velocities:
+      - 0.3653819367748255
+      - -0.072257146568703898
+      - -0.20456764883324882
+      - -0.056799860208514782
+      - 0.26141435656692086
+      - 6.8066743403549299e-05
+      - -0.07220505408568785
+    accelerations:
+      - -0.73184019873341921
+      - 0.14472714489260602
+      - 0.40973790357027257
+      - 0.11376703881409216
+      - -0.52359877543590883
+      - -0.00013633399466677026
+      - 0.14462280647495018
     effort: []
     time_from_start:
       sec: 6
       nanosec: 590000000
   - positions:
-      - 0.26193249001787028
-      - 0.2957860463183194
-      - -1.1177703103647878
-      - 1.6260033416343083
-      - -2.079045150550118
-      - -1.5707486615286381
-      - 0.295596256339693
-    velocities:
-      - 0.36338409737487576
-      - -0.07211789714146781
-      - -0.20340150490267378
-      - -0.054565278079174315
-      - 0.25782686590063242
-      - -0.000100049675694883
-      - -0.072202788538718643
-    accelerations:
-      - -0.73796602916601284
-      - 0.14645813773845434
-      - 0.41307091307457661
-      - 0.11081200824505689
-      - -0.52359877555323842
-      - 0.00020318242439688885
-      - 0.14663053649720914
+      - 0.26828665219737269
+      - 0.28846325221983266
+      - -1.1233384514654818
+      - 1.6328949708701128
+      - -2.0803267883349981
+      - -1.570759073484258
+      - 0.28839533066356238
+    velocities:
+      - 0.35806353478479469
+      - -0.070809875119244595
+      - -0.2004702697960366
+      - -0.055662189819954661
+      - 0.25617836881063233
+      - 6.6703403456379337e-05
+      - -0.07075882602040548
+    accelerations:
+      - -0.73184019915987208
+      - 0.1447271449769377
+      - 0.40973790380902292
+      - 0.11376703888038939
+      - -0.52359877574103264
+      - -0.00013633399474620249
+      - 0.14462280655922644
     effort: []
     time_from_start:
       sec: 6
       nanosec: 600000000
   - positions:
-      - 0.26553399924607701
-      - 0.29507128396644383
-      - -1.1197862279633568
-      - 1.6254625437458992
-      - -2.0764898217849663
-      - -1.5707496531235727
-      - 0.29488065262697416
-    velocities:
-      - 0.35600443708262697
-      - -0.070653315763966495
-      - -0.19927079577159865
-      - -0.053457157996635356
-      - 0.25259087814468228
-      - -9.8017851450752115e-05
-      - -0.070736483173629613
-    accelerations:
-      - -0.73796602912037201
-      - 0.14645813772938343
-      - 0.41307091304901977
-      - 0.11081200823820254
-      - -0.5235987755208964
-      - 0.00020318242438431639
-      - 0.1466305364881384
+      - 0.27183434512380034
+      - 0.28776166809110326
+      - -1.1253247105760107
+      - 1.632343469982952
+      - -2.077788573469082
+      - -1.570758412587044
+      - 0.28769425232922208
+    velocities:
+      - 0.35074513279541331
+      - -0.069362603669913717
+      - -0.19637289075918798
+      - -0.054524519431495493
+      - 0.25094238105480843
+      - 6.5340063509330357e-05
+      - -0.069312597955251451
+    accelerations:
+      - -0.73184019893760544
+      - 0.14472714493297287
+      - 0.40973790368456692
+      - 0.1137670388458337
+      - -0.52359877558199319
+      - -0.00013633399470478597
+      - 0.14462280651528936
     effort: []
     time_from_start:
       sec: 6
       nanosec: 610000000
   - positions:
-      - 0.26906171187136102
-      - 0.29437116742834324
-      - -1.121760838470615
-      - 1.6249328270583154
-      - -2.0739868528973742
-      - -1.5707506244002651
-      - 0.29417971196790621
-    velocities:
-      - 0.34862477679037351
-      - -0.069188734386464237
-      - -0.19514008664052085
-      - -0.052349037914095682
-      - 0.24735489038872882
-      - -9.5986027206619917e-05
-      - -0.069270177808539654
-    accelerations:
-      - -0.73796602907879416
-      - 0.14645813772114002
-      - 0.4130709130257606
-      - 0.11081200823196448
-      - -0.52359877549136447
-      - 0.00020318242437287806
-      - 0.14663053647988111
+      - 0.27530885403033212
+      - 0.28707455667686754
+      - -1.1272699958961698
+      - 1.6318033457996763
+      - -2.0753027184807253
+      - -1.5707577653232294
+      - 0.28700763627553372
+    velocities:
+      - 0.34342673080600306
+      - -0.067915332220577135
+      - -0.19227551172232321
+      - -0.053386849043031842
+      - 0.2457063932989639
+      - 6.3976723562275984e-05
+      - -0.067866369890091718
+    accelerations:
+      - -0.731840198744799
+      - 0.14472714489484034
+      - 0.40973790357662859
+      - 0.11376703881586157
+      - -0.52359877544404121
+      - -0.00013633399466888446
+      - 0.14462280647719838
     effort: []
     time_from_start:
       sec: 6
       nanosec: 620000000
   - positions:
-      - 0.27251562789372202
-      - 0.29368569670401778
-      - -1.123694141886562
-      - 1.6244141915715571
-      - -2.0715362438873419
-      - -1.5707515753587149
-      - 0.29349343436248926
-    velocities:
-      - 0.34124511649811995
-      - -0.067724153008961965
-      - -0.191009377509443
-      - -0.051240917831556002
-      - 0.24211890263277527
-      - -9.3954202962487707e-05
-      - -0.067803872443449667
-    accelerations:
-      - -0.73796602903732733
-      - 0.1464581377129105
-      - 0.41307091300252918
-      - 0.11081200822573335
-      - -0.52359877546194356
-      - 0.00020318242436145328
-      - 0.14663053647163771
+      - 0.27871017891696764
+      - 0.28640191797712561
+      - -1.1291743074259593
+      - 1.6312745983202852
+      - -2.0728692233699291
+      - -1.5707571316928144
+      - 0.28633548250249746
+    velocities:
+      - 0.33610832881601105
+      - -0.066468060771125492
+      - -0.18817813268513273
+      - -0.05224917865447775
+      - 0.24047040554270313
+      - 6.2613383615113245e-05
+      - -0.066420141824817022
+    accelerations:
+      - -0.73184019913250509
+      - 0.14472714497152536
+      - 0.40973790379364633
+      - 0.11376703887612891
+      - -0.52359877572140945
+      - -0.00013633399474110674
+      - 0.14462280655380022
     effort: []
     time_from_start:
       sec: 6
       nanosec: 630000000
   - positions:
-      - 0.27589574731316036
-      - 0.29301487179346747
-      - -1.1255861382111982
-      - 1.6239066372856241
-      - -2.0691379947548691
-      - -1.5707525059989222
-      - 0.29282181981072325
-    velocities:
-      - 0.33386545620586644
-      - -0.066259571631459679
-      - -0.18687866837836517
-      - -0.050132797749016314
-      - 0.23688291487682173
-      - -9.1922378718355496e-05
-      - -0.06633756707835968
-    accelerations:
-      - -0.73796602899580499
-      - 0.14645813770468097
-      - 0.41307091297929777
-      - 0.11081200821950223
-      - -0.52359877543252265
-      - 0.0002031824243500285
-      - 0.1466305364633943
+      - 0.2820383197837073
+      - 0.28574375199187735
+      - -1.1310376451653787
+      - 1.6307572275447793
+      - -2.0704880881366923
+      - -1.5707565116957984
+      - 0.28567779101011309
+    velocities:
+      - 0.32878992682662778
+      - -0.065020789321795003
+      - -0.184080753648281
+      - -0.051111508266019894
+      - 0.23523441778688434
+      - 6.1250043667310502e-05
+      - -0.064973913759662882
+    accelerations:
+      - -0.7318401989100719
+      - 0.14472714492753277
+      - 0.40973790366913482
+      - 0.1137670388415524
+      - -0.52359877556231449
+      - -0.00013633399469799615
+      - 0.14462280650986314
     effort: []
     time_from_start:
       sec: 6
       nanosec: 640000000
   - positions:
-      - 0.27920207012967529
-      - 0.29235869269669224
-      - -1.127436827444523
-      - 1.623410164200517
-      - -2.0667921054999567
-      - -1.5707534163208869
-      - 0.29216486831260835
-    velocities:
-      - 0.32648579591361265
-      - -0.064794990253957935
-      - -0.1827479592472856
-      - -0.049024677666475266
-      - 0.23164692712087059
-      - -8.9890554471286805e-05
-      - -0.064871261713268763
-    accelerations:
-      - -0.73796602895428265
-      - 0.14645813769642368
-      - 0.41307091295603859
-      - 0.11081200821325722
-      - -0.52359877540299071
-      - 0.00020318242433193587
-      - 0.14663053645512314
+      - 0.28529327663055065
+      - 0.28510005872112298
+      - -1.1328600091144287
+      - 1.6302512334731585
+      - -2.0681593127810154
+      - -1.5707559053321825
+      - 0.28503456179838071
+    velocities:
+      - 0.32147152483717856
+      - -0.063573517872450677
+      - -0.17998337461139441
+      - -0.049973837877550137
+      - 0.22999843003101172
+      - 5.9886703720265643e-05
+      - -0.063527685694495434
+    accelerations:
+      - -0.73184019875634532
+      - 0.14472714489714406
+      - 0.40973790358306789
+      - 0.11376703881765875
+      - -0.52359877545234013
+      - -0.00013633399466935202
+      - 0.14462280647948822
     effort: []
     time_from_start:
       sec: 6
       nanosec: 650000000
   - positions:
-      - 0.28243459634326751
-      - 0.29171715941369214
-      - -1.1292462095865372
-      - 1.622924772316235
-      - -2.0644985761226042
-      - -1.5707543063246094
-      - 0.29152257986814434
-    velocities:
-      - 0.31910613562079165
-      - -0.063330408876343031
-      - -0.17861725011589016
-      - -0.047916557583850404
-      - 0.22641093936451437
-      - -8.7858730227064727e-05
-      - -0.063404956348066047
-    accelerations:
-      - -0.73796602947959533
-      - 0.14645813780068234
-      - 0.41307091325007511
-      - 0.11081200829213729
-      - -0.52359877577572711
-      - 0.00020318242447657771
-      - 0.14663053655950653
+      - 0.28847504945749813
+      - 0.28447083816486229
+      - -1.1346413992731088
+      - 1.6297566161054224
+      - -2.0658828973028984
+      - -1.5707553126019658
+      - 0.28440579486730033
+    velocities:
+      - 0.31415312284722557
+      - -0.062126246423006751
+      - -0.1758859955742258
+      - -0.048836167489002075
+      - 0.22476244227477873
+      - 5.8523363773126939e-05
+      - -0.062081457629228447
+    accelerations:
+      - -0.73184019910502707
+      - 0.14472714496609915
+      - 0.40973790377832525
+      - 0.11376703887186843
+      - -0.52359877570181401
+      - -0.00013633399473431693
+      - 0.14462280654838788
     effort: []
     time_from_start:
       sec: 6
       nanosec: 660000000
   - positions:
-      - 0.28559332595393672
-      - 0.29109027194446713
-      - -1.1310142846372402
-      - 1.6224504616327786
-      - -2.0622574066228108
-      - -1.5707551760100895
-      - 0.29089495447733138
-    velocities:
-      - 0.31172647532855124
-      - -0.061865827498843347
-      - -0.17448654098481972
-      - -0.046808437501312722
-      - 0.22117495160857006
-      - -8.5826905983002501e-05
-      - -0.061938650982978682
-    accelerations:
-      - -0.73796602942497236
-      - 0.14645813778984379
-      - 0.41307091321948847
-      - 0.11081200828393552
-      - -0.52359877573700808
-      - 0.00020318242446154796
-      - 0.14663053654866104
+      - 0.29158363826454936
+      - 0.28385609032309539
+      - -1.1363818156414189
+      - 1.6292733754415711
+      - -2.0636588417023409
+      - -1.5707547335051482
+      - 0.283791490216872
+    velocities:
+      - 0.3068347208578443
+      - -0.060678974973675887
+      - -0.17178861653737731
+      - -0.047698497100542893
+      - 0.21952645451895481
+      - 5.7160023826094745e-05
+      - -0.060635229564074432
+    accelerations:
+      - -0.73184019888270491
+      - 0.14472714492212044
+      - 0.40973790365378598
+      - 0.11376703883729886
+      - -0.52359877554271905
+      - -0.00013633399469289363
+      - 0.14462280650444387
     effort: []
     time_from_start:
       sec: 6
       nanosec: 670000000
   - positions:
-      - 0.28867825896168298
-      - 0.2904780302890172
-      - -1.1327410525966322
-      - 1.6219872321501476
-      - -2.0600685970005781
-      - -1.5707560253773272
-      - 0.29028199214016936
-    velocities:
-      - 0.30434681503631084
-      - -0.06040124612134367
-      - -0.17035583185374928
-      - -0.04570031741877504
-      - 0.21593896385262581
-      - -8.3795081738940276e-05
-      - -0.060472345617891332
-    accelerations:
-      - -0.73796602937034939
-      - 0.14645813777900524
-      - 0.41307091318892958
-      - 0.11081200827574068
-      - -0.52359877569823354
-      - 0.00020318242444650466
-      - 0.14663053653780861
+      - 0.29461904305170472
+      - 0.28325581519582221
+      - -1.1380812582193596
+      - 1.628801511481605
+      - -2.0614871459793438
+      - -1.5707541680417305
+      - 0.28319164784709555
+    velocities:
+      - 0.29951631886835611
+      - -0.059231703524323866
+      - -0.16769123750046891
+      - -0.046560826712067085
+      - 0.21429046676305433
+      - 5.5796683879042628e-05
+      - -0.059189001498899288
+    accelerations:
+      - -0.73184019876789164
+      - 0.14472714489942695
+      - 0.40973790358956269
+      - 0.11376703881945592
+      - -0.52359877546061129
+      - -0.00013633399467151365
+      - 0.14462280648176418
     effort: []
     time_from_start:
       sec: 6
       nanosec: 680000000
   - positions:
-      - 0.29168939536650645
-      - 0.28988043444734235
-      - -1.1344265134647133
-      - 1.621535083868342
-      - -2.0579321472559045
-      - -1.5707568544263222
-      - 0.28968369285665829
-    velocities:
-      - 0.29696715474407043
-      - -0.058936664743843993
-      - -0.16622512272267884
-      - -0.044592197336237364
-      - 0.21070297609668154
-      - -8.1763257494878064e-05
-      - -0.059006040252803982
-    accelerations:
-      - -0.73796602931572641
-      - 0.14645813776815975
-      - 0.41307091315834293
-      - 0.11081200826753197
-      - -0.523598775659459
-      - 0.00020318242443146135
-      - 0.14663053652694924
+      - 0.29758126381896444
+      - 0.28267001278304266
+      - -1.1397397270069307
+      - 1.6283410242255236
+      - -2.0593678101339061
+      - -1.5707536162117122
+      - 0.28260626775797104
+    velocities:
+      - 0.29219791687844215
+      - -0.057784432074887648
+      - -0.16359385846332217
+      - -0.045423156323525088
+      - 0.20905447900684926
+      - 5.4433343931911202e-05
+      - -0.05774277343364001
+    accelerations:
+      - -0.73184019907760456
+      - 0.14472714496066599
+      - 0.40973790376292091
+      - 0.11376703886760101
+      - -0.52359877568216306
+      - -0.00013633399472919407
+      - 0.14462280654295473
     effort: []
     time_from_start:
       sec: 6
       nanosec: 690000000
   - positions:
-      - 0.29462673516840693
-      - 0.28929748441944264
-      - -1.1360706672414833
-      - 1.621094016787362
-      - -2.0558480573887907
-      - -1.5707576631570748
-      - 0.28910005662679816
-    velocities:
-      - 0.28958749445183002
-      - -0.057472083366344316
-      - -0.16209441359160839
-      - -0.043484077253699682
-      - 0.20546698834073726
-      - -7.9731433250815838e-05
-      - -0.057539734887716631
-    accelerations:
-      - -0.73796602926110344
-      - 0.14645813775732119
-      - 0.41307091312775629
-      - 0.1108120082593302
-      - -0.52359877562071222
-      - 0.00020318242441641805
-      - 0.14663053651609681
+      - 0.30047030056632762
+      - 0.282098683084757
+      - -1.1413572220041317
+      - 1.6278919136733272
+      - -2.0573008341660284
+      - -1.5707530780150933
+      - 0.28203534994949858
+    velocities:
+      - 0.28487951488906094
+      - -0.056337160625556791
+      - -0.15949647942647369
+      - -0.044285485935065913
+      - 0.20381849125102536
+      - 5.3070003984879015e-05
+      - -0.056296545368486009
+    accelerations:
+      - -0.73184019885517138
+      - 0.14472714491668034
+      - 0.4097379036384094
+      - 0.1137670388330245
+      - -0.52359877552304035
+      - -0.000136333994687764
+      - 0.14462280649900378
     effort: []
     time_from_start:
       sec: 6
       nanosec: 700000000
   - positions:
-      - 0.2974902783673844
-      - 0.28872918020531801
-      - -1.1376735139269423
-      - 1.6206640309072073
-      - -2.0538163273992369
-      - -1.5707584515695852
-      - 0.28853108345058914
-    velocities:
-      - 0.28220783415958967
-      - -0.056007501988844646
-      - -0.15796370446053798
-      - -0.042375957171162007
-      - 0.20023100058479304
-      - -7.769960900675364e-05
-      - -0.056073429522629288
-    accelerations:
-      - -0.73796602920642496
-      - 0.14645813774646876
-      - 0.41307091309716965
-      - 0.11081200825112149
-      - -0.52359877558190993
-      - 0.00020318242440136119
-      - 0.1466305365052305
+      - 0.30328615329379494
+      - 0.28154182610096501
+      - -1.1429337432109634
+      - 1.6274541798250162
+      - -2.0552862180757105
+      - -1.570752553451874
+      - 0.28147889442167806
+    velocities:
+      - 0.27756111289953367
+      - -0.054889889176197047
+      - -0.15539910038954344
+      - -0.043147815546584034
+      - 0.19858250349509693
+      - 5.170666403781962e-05
+      - -0.054850317303303142
+    accelerations:
+      - -0.73184019877949347
+      - 0.14472714490170985
+      - 0.40973790359600198
+      - 0.11376703882125309
+      - -0.52359877546888245
+      - -0.00013633399467366172
+      - 0.14462280648404707
     effort: []
     time_from_start:
       sec: 6
       nanosec: 710000000
   - positions:
-      - 0.30028002496343886
-      - 0.28817552180496853
-      - -1.1392350535210902
-      - 1.6202451262278781
-      - -2.0518369572872435
-      - -1.5707592196638529
-      - 0.28797677332803107
-    velocities:
-      - 0.27482817386734926
-      - -0.054542920611344969
-      - -0.15383299532946754
-      - -0.041267837088624332
-      - 0.19499501282884876
-      - -7.5667784762691414e-05
-      - -0.054607124157541938
-    accelerations:
-      - -0.73796602915180198
-      - 0.14645813773563021
-      - 0.413070913066583
-      - 0.11081200824291278
-      - -0.52359877554316314
-      - 0.00020318242438633144
-      - 0.14663053649437807
+      - 0.30602882200136627
+      - 0.28099944183166681
+      - -1.1444692906274252
+      - 1.6270278226805894
+      - -2.0533239618629522
+      - -1.570752042522054
+      - 0.28093690117450959
+    velocities:
+      - 0.27024271090965879
+      - -0.05344261772676856
+      - -0.15130172135241854
+      - -0.042010145158048108
+      - 0.19334651573891981
+      - 5.0343324090695465e-05
+      - -0.05340408923805158
+    accelerations:
+      - -0.73184019905007103
+      - 0.1447271449552259
+      - 0.40973790374751656
+      - 0.11376703886332665
+      - -0.52359877566248436
+      - -0.00013633399472407122
+      - 0.14462280653752158
     effort: []
     time_from_start:
       sec: 6
       nanosec: 720000000
   - positions:
-      - 0.30299597495657021
-      - 0.28763650921839412
-      - -1.1407552860239272
-      - 1.6198373027493744
-      - -2.0499099470528095
-      - -1.5707599674398782
-      - 0.28743712625912393
-    velocities:
-      - 0.26744851357510879
-      - -0.053078339233845279
-      - -0.14970228619839704
-      - -0.040159717006086643
-      - 0.18975902507290446
-      - -7.3635960518629175e-05
-      - -0.053140818792454567
-    accelerations:
-      - -0.73796602909723452
-      - 0.1464581377247986
-      - 0.41307091303605187
-      - 0.11081200823472488
-      - -0.52359877550444411
-      - 0.00020318242437130168
-      - 0.14663053648353952
+      - 0.30869830668904141
+      - 0.28047153027686234
+      - -1.145963864253517
+      - 1.6266128422400481
+      - -2.0514140655277542
+      - -1.5707515452256338
+      - 0.28040937020799306
+    velocities:
+      - 0.26292430892027757
+      - -0.051995346277437689
+      - -0.14720434231557003
+      - -0.040872474769588926
+      - 0.18811052798309585
+      - 4.8979984143663271e-05
+      - -0.051957861172897572
+    accelerations:
+      - -0.73184019882769336
+      - 0.14472714491125413
+      - 0.40973790362303281
+      - 0.11376703882875014
+      - -0.5235987755033894
+      - -0.00013633399468264792
+      - 0.14462280649357756
     effort: []
     time_from_start:
       sec: 6
       nanosec: 730000000
   - positions:
-      - 0.30563812834677895
-      - 0.28711214244559485
-      - -1.1422342114354531
-      - 1.6194405604716964
-      - -2.048035296695935
-      - -1.5707606948976609
-      - 0.2869121422438678
-    velocities:
-      - 0.26006885328268975
-      - -0.051613757856310151
-      - -0.14557157706722659
-      - -0.039051596923522135
-      - 0.18452303731683342
-      - -7.1604136274517767e-05
-      - -0.051674513427331724
-    accelerations:
-      - -0.73796602922190191
-      - 0.14645813774954092
-      - 0.41307091310586319
-      - 0.11081200825344729
-      - -0.52359877559292212
-      - 0.00020318242440563452
-      - 0.14663053650830282
+      - 0.31129460735682074
+      - 0.27995809143655159
+      - -1.1474174640892396
+      - 1.6262092385033913
+      - -2.0495565290701152
+      - -1.5707510615626126
+      - 0.27989630152212847
+    velocities:
+      - 0.25560590693071472
+      - -0.05054807482807061
+      - -0.1431069632786216
+      - -0.039734804381098984
+      - 0.1828745402271322
+      - 4.7616644198183444e-05
+      - -0.05051163310770803
+    accelerations:
+      - -0.73184019879076223
+      - 0.14472714490393723
+      - 0.40973790360233026
+      - 0.1137670388230017
+      - -0.52359877547690381
+      - -0.00013633399468030246
+      - 0.14462280648627446
     effort: []
     time_from_start:
       sec: 6
       nanosec: 740000000
   - positions:
-      - 0.30820648513406462
-      - 0.28660242148657067
-      - -1.1436718297556681
-      - 1.6190548993948435
-      - -2.0462130062166204
-      - -1.5707614020372014
-      - 0.2864018212822626
-    velocities:
-      - 0.25268919299043541
-      - -0.050149176478807053
-      - -0.14144086793615027
-      - -0.037943476840986118
-      - 0.17928704956087926
-      - -6.9572312036832304e-05
-      - -0.050208208062242222
-    accelerations:
-      - -0.73796602918032406
-      - 0.14645813774129057
-      - 0.41307091308257626
-      - 0.11081200824721617
-      - -0.52359877556341794
-      - 0.00020318242441281736
-      - 0.14663053650004554
+      - 0.31381772400470409
+      - 0.27945912531073464
+      - -1.148830090134592
+      - 1.6258170114706196
+      - -2.047751352490037
+      - -1.5707505915329911
+      - 0.27939769511691587
+    velocities:
+      - 0.24828750494087912
+      - -0.049100803378649895
+      - -0.13900958424151866
+      - -0.038597133992569241
+      - 0.17763855247098345
+      - 4.6253304251021193e-05
+      - -0.049065405042464219
+    accelerations:
+      - -0.73184019902159381
+      - 0.14472714494959152
+      - 0.40973790373158486
+      - 0.11376703885888576
+      - -0.52359877564208401
+      - -0.0001363339947233055
+      - 0.14462280653189413
     effort: []
     time_from_start:
       sec: 6
       nanosec: 750000000
   - positions:
-      - 0.31070104531842729
-      - 0.28610734634132157
-      - -1.145068140984572
-      - 1.6186803195188157
-      - -2.0444430756148662
-      - -1.5707620888584994
-      - 0.28590616337430846
-    velocities:
-      - 0.2453095326981819
-      - -0.048684595101304795
-      - -0.13731015880507241
-      - -0.036835356758446361
-      - 0.17405106180492569
-      - -6.7540487792580126e-05
-      - -0.048741902697152242
-    accelerations:
-      - -0.73796602913885723
-      - 0.14645813773305411
-      - 0.4130709130593726
-      - 0.11081200824098504
-      - -0.52359877553399703
-      - 0.00020318242440139258
-      - 0.14663053649180907
+      - 0.3162676566326913
+      - 0.27897463189941141
+      - -1.150201742389575
+      - 1.6254361611417332
+      - -2.0459985357875183
+      - -1.5707501351367692
+      - 0.27891355099235526
+    velocities:
+      - 0.24096910295128715
+      - -0.047653531929277369
+      - -0.13491220520455213
+      - -0.037459463604077377
+      - 0.17240256471500903
+      - 4.4889964303904329e-05
+      - -0.047619176977268557
+    accelerations:
+      - -0.73184019901008679
+      - 0.14472714494731226
+      - 0.40973790372514868
+      - 0.11376703885709248
+      - -0.52359877563386159
+      - -0.00013633399472116333
+      - 0.14462280652962173
     effort: []
     time_from_start:
       sec: 6
       nanosec: 760000000
   - positions:
-      - 0.31312180889986729
-      - 0.28562691700984766
-      - -1.1464231451221651
-      - 1.6183168208436143
-      - -2.0427255048906714
-      - -1.5707627553615553
-      - 0.28542516852000527
-    velocities:
-      - 0.23792987240592839
-      - -0.04722001372380253
-      - -0.13317944967399459
-      - -0.035727236675906597
-      - 0.16881507404897211
-      - -6.5508663548327948e-05
-      - -0.047275597332062262
-    accelerations:
-      - -0.73796602909733489
-      - 0.14645813772482458
-      - 0.41307091303614119
-      - 0.11081200823476085
-      - -0.52359877550454836
-      - 0.00020318242438998135
-      - 0.1466305364835726
+      - 0.31864440524078286
+      - 0.27850461120258191
+      - -1.1515324208541884
+      - 1.6250666875167314
+      - -2.0442980789625591
+      - -1.5707496923739468
+      - 0.27844386914844654
+    velocities:
+      - 0.23365070096189328
+      - -0.046206260479944007
+      - -0.13081482616769649
+      - -0.036321793215616301
+      - 0.16716657695917633
+      - 4.3526624356824362e-05
+      - -0.046172948912112044
+    accelerations:
+      - -0.7318401987998383
+      - 0.14472714490574135
+      - 0.40973790360743728
+      - 0.11376703882441723
+      - -0.52359877548342637
+      - -0.00013633399468200331
+      - 0.14462280648807163
     effort: []
     time_from_start:
       sec: 6
       nanosec: 770000000
   - positions:
-      - 0.31546877587838384
-      - 0.28516113349214878
-      - -1.1477368421684471
-      - 1.6179644033692377
-      - -2.0410602940440365
-      - -1.5707634015463685
-      - 0.28495883671935307
-    velocities:
-      - 0.23055021211367493
-      - -0.045755432346300286
-      - -0.12904874054291679
-      - -0.034619116593366854
-      - 0.16357908629301859
-      - -6.3476839304075797e-05
-      - -0.045809291966972303
-    accelerations:
-      - -0.73796602905578479
-      - 0.14645813771657423
-      - 0.41307091301288201
-      - 0.11081200822851585
-      - -0.52359877547507194
-      - 0.00020318242437854302
-      - 0.14663053647530838
+      - 0.32094796982897777
+      - 0.27804906322024614
+      - -1.1528221255284317
+      - 1.6247085905956145
+      - -2.0426499820151598
+      - -1.5707492632445232
+      - 0.27798864958518987
+    velocities:
+      - 0.22633229897209661
+      - -0.044758989030530993
+      - -0.12671744713061536
+      - -0.035184122827092608
+      - 0.16193058920305545
+      - 4.2163284409669368e-05
+      - -0.044726720846875928
+    accelerations:
+      - -0.73184019899172881
+      - 0.14472714494369346
+      - 0.40973790371487601
+      - 0.11376703885425057
+      - -0.52359877562073998
+      - -0.00013633399471774896
+      - 0.14462280652599607
     effort: []
     time_from_start:
       sec: 6
       nanosec: 780000000
   - positions:
-      - 0.31774194625397778
-      - 0.28470999578822503
-      - -1.1490092321234178
-      - 1.6176230670956866
-      - -2.0394474430749616
-      - -1.5707640274129393
-      - 0.28450716797235182
-    velocities:
-      - 0.22317055182102433
-      - -0.044290850968719216
-      - -0.12491803141161668
-      - -0.033510996510767471
-      - 0.1583430985367833
-      - -6.1445015059714305e-05
-      - -0.044342986601803427
-    accelerations:
-      - -0.73796602941073375
-      - 0.14645813778701966
-      - 0.41307091321156425
-      - 0.11081200828181222
-      - -0.5235987757268773
-      - 0.00020318242447625245
-      - 0.14663053654583691
+      - 0.32317835039727694
+      - 0.27760798795240421
+      - -1.1540708564123054
+      - 1.6243618703783826
+      - -2.0410542449453208
+      - -1.5707488477484999
+      - 0.27754789230258525
+    velocities:
+      - 0.21901389698246565
+      - -0.043311717581150759
+      - -0.12262006809362701
+      - -0.034046452438594679
+      - 0.15669460144705313
+      - 4.079994446254524e-05
+      - -0.043280492781672564
+    accelerations:
+      - -0.73184019901924613
+      - 0.14472714494912331
+      - 0.40973790373026958
+      - 0.11376703885852189
+      - -0.52359877564041191
+      - -0.00013633399472287095
+      - 0.14462280653142584
     effort: []
     time_from_start:
       sec: 6
       nanosec: 790000000
   - positions:
-      - 0.31994132002664866
-      - 0.28427350389807637
-      - -1.1502403149870777
-      - 1.6172928120229613
-      - -2.0378869519834462
-      - -1.5707646329612674
-      - 0.28407016227900161
-    velocities:
-      - 0.21579089152878395
-      - -0.042826269591219567
-      - -0.1207873222805462
-      - -0.032402876428229685
-      - 0.15310711078083905
-      - -5.9413190815465745e-05
-      - -0.042876681236716063
-    accelerations:
-      - -0.73796602935611078
-      - 0.14645813777617417
-      - 0.41307091318097761
-      - 0.11081200827361044
-      - -0.52359877568813051
-      - 0.00020318242446121592
-      - 0.14663053653497754
+      - 0.32533554694567979
+      - 0.27718138539905601
+      - -1.1552786135058093
+      - 1.6240265268650358
+      - -2.0395108677530414
+      - -1.5707484458858756
+      - 0.27712159730063257
+    velocities:
+      - 0.21169549499307169
+      - -0.041864446131817383
+      - -0.11852268905677132
+      - -0.032908782050133596
+      - 0.15145861369122038
+      - 3.943660451546526e-05
+      - -0.04183426471651603
+    accelerations:
+      - -0.73184019880908091
+      - 0.14472714490756627
+      - 0.4097379036126137
+      - 0.11376703882584664
+      - -0.5235987754900322
+      - -0.00013633399468372448
+      - 0.14462280648989656
     effort: []
     time_from_start:
       sec: 6
       nanosec: 800000000
   - positions:
-      - 0.32206689719639653
-      - 0.28385165782170285
-      - -1.1514300907594266
-      - 1.6169736381510611
-      - -2.0363788207694906
-      - -1.5707652181913536
-      - 0.28364781963930236
-    velocities:
-      - 0.20841123123654362
-      - -0.041361688213719924
-      - -0.11665661314947574
-      - -0.031294756345691906
-      - 0.14787112302489483
-      - -5.73813665712172e-05
-      - -0.041410375871628706
-    accelerations:
-      - -0.73796602930143229
-      - 0.14645813776532174
-      - 0.41307091315036321
-      - 0.11081200826540173
-      - -0.52359877564932822
-      - 0.00020318242444616584
-      - 0.14663053652411817
+      - 0.32741955947418677
+      - 0.27676925556020154
+      - -1.1564453968089436
+      - 1.6237025600555739
+      - -2.0380198504383218
+      - -1.570748057656651
+      - 0.27670976457933188
+    velocities:
+      - 0.20437709300331408
+      - -0.040417174682412092
+      - -0.11442531001971205
+      - -0.031771111661615975
+      - 0.14622262593512744
+      - 3.8073264568317544e-05
+      - -0.04038803665128763
+    accelerations:
+      - -0.73184019896191932
+      - 0.1447271449377954
+      - 0.40973790369818103
+      - 0.11376703884961539
+      - -0.52359877559939594
+      - -0.00013633399471219243
+      - 0.14462280652011189
     effort: []
     time_from_start:
       sec: 6
       nanosec: 810000000
   - positions:
-      - 0.3241186777632214
-      - 0.28344445755910441
-      - -1.1525785594404645
-      - 1.6166655454799865
-      - -2.0349230494330954
-      - -1.5707657831031969
-      - 0.2832401400532541
-    velocities:
-      - 0.20103157094430324
-      - -0.039897106836220268
-      - -0.11252590401840526
-      - -0.030186636263154119
-      - 0.14263513526895058
-      - -5.5349542326968647e-05
-      - -0.039944070506541342
-    accelerations:
-      - -0.73796602924680932
-      - 0.14645813775448319
-      - 0.41307091311979044
-      - 0.11081200825719996
-      - -0.52359877561058144
-      - 0.00020318242443112931
-      - 0.1466305365132588
+      - 0.32943038798279778
+      - 0.2763715984358408
+      - -1.1575712063217081
+      - 1.6233899699499967
+      - -2.0365811930011617
+      - -1.5707476830608256
+      - 0.27631239413868314
+    velocities:
+      - 0.19705869101364418
+      - -0.038969903233024156
+      - -0.1103279309827019
+      - -0.030633441273111996
+      - 0.14098663817909726
+      - 3.6709924621186165e-05
+      - -0.038941808586076571
+    accelerations:
+      - -0.73184019902834996
+      - 0.14472714495092742
+      - 0.40973790373537661
+      - 0.11376703885993743
+      - -0.52359877564693447
+      - -0.00013633399472456502
+      - 0.14462280653323689
     effort: []
     time_from_start:
       sec: 6
       nanosec: 820000000
   - positions:
-      - 0.3260966617271232
-      - 0.28305190311028111
-      - -1.1536857210301914
-      - 1.6163685340097373
-      - -2.0335196379742597
-      - -1.5707663276967978
-      - 0.28284712352085684
-    velocities:
-      - 0.19365191065206286
-      - -0.038432525458720619
-      - -0.10839519488733478
-      - -0.029078516180616337
-      - 0.13739914751300633
-      - -5.3317718082720095e-05
-      - -0.038477765141453978
-    accelerations:
-      - -0.73796602919218635
-      - 0.1464581377436377
-      - 0.41307091308921767
-      - 0.11081200824899472
-      - -0.5235987755718069
-      - 0.00020318242441608601
-      - 0.14663053650240637
+      - 0.33136803247151225
+      - 0.2759884140259739
+      - -1.1586560420441026
+      - 1.6230887565483048
+      - -2.0351948954415624
+      - -1.5707473220983998
+      - 0.2759294859786865
+    velocities:
+      - 0.18974028902425022
+      - -0.03752263178369078
+      - -0.10623055194584623
+      - -0.029495770884650906
+      - 0.13575065042326451
+      - 3.5346584674106185e-05
+      - -0.037495580520920037
+    accelerations:
+      - -0.7318401988182125
+      - 0.14472714490937039
+      - 0.40973790361770684
+      - 0.11376703882726912
+      - -0.52359877549655476
+      - -0.00013633399468541854
+      - 0.14462280649170761
     effort: []
     time_from_start:
       sec: 6
       nanosec: 830000000
   - positions:
-      - 0.32800084908810234
-      - 0.28267399447523289
-      - -1.1547515755286071
-      - 1.6160826037403135
-      - -2.0321685863929839
-      - -1.5707668519721565
-      - 0.28246877004211052
-    velocities:
-      - 0.18627225035982248
-      - -0.036967944081220963
-      - -0.10426448575626429
-      - -0.02797039609807855
-      - 0.13216315975706208
-      - -5.1285893838471542e-05
-      - -0.037011459776366613
-    accelerations:
-      - -0.73796602913756337
-      - 0.14645813773279914
-      - 0.41307091305863103
-      - 0.11081200824079294
-      - -0.52359877553306011
-      - 0.0002031824244010427
-      - 0.14663053649155394
+      - 0.33323249294033114
+      - 0.27561970233060068
+      - -1.1596999039761278
+      - 1.6227989198504975
+      - -2.0338609577595221
+      - -1.5707469747693736
+      - 0.27556104009934168
+    velocities:
+      - 0.18242188703452927
+      - -0.036075360334292997
+      - -0.10213317290880801
+      - -0.028358100496140314
+      - 0.13051466266720327
+      - 3.3983244726487261e-05
+      - -0.036049352455698042
+    accelerations:
+      - -0.73184019893224861
+      - 0.14472714493192509
+      - 0.40973790368156932
+      - 0.1137670388450045
+      - -0.52359877557819068
+      - -0.00013633399470474531
+      - 0.14462280651423465
     effort: []
     time_from_start:
       sec: 6
       nanosec: 840000000
   - positions:
-      - 0.32983123984615853
-      - 0.28231073165395976
-      - -1.1557761229357117
-      - 1.6158077546717153
-      - -2.0308698946892676
-      - -1.5707673559292725
-      - 0.28210507961701514
-    velocities:
-      - 0.17889259006758326
-      - -0.035503362703722223
-      - -0.10013377662519329
-      - -0.026862276015537839
-      - 0.12692717200111722
-      - -4.9254069589753352e-05
-      - -0.035545154411278597
-    accelerations:
-      - -0.73796602908291264
-      - 0.14645813772196059
-      - 0.41307091302804438
-      - 0.11081200823257382
-      - -0.52359877549428557
-      - 0.00020318242436756119
-      - 0.14663053648068763
+      - 0.33502376938925377
+      - 0.27526546334972118
+      - -1.1607027921177826
+      - 1.622520459856575
+      - -2.0325793799550418
+      - -1.5707466410737467
+      - 0.27520705650064897
+    velocities:
+      - 0.17510348504482001
+      - -0.034628088884897268
+      - -0.0980357938717758
+      - -0.027220430107630162
+      - 0.12527867491114472
+      - 3.2619904779367727e-05
+      - -0.034603124390479238
+    accelerations:
+      - -0.7318401990385085
+      - 0.14472714495293276
+      - 0.40973790374105262
+      - 0.1137670388615195
+      - -0.52359877565420643
+      - -0.00013633399472454469
+      - 0.14462280653522835
     effort: []
     time_from_start:
       sec: 6
       nanosec: 850000000
   - positions:
-      - 0.33158783400129166
-      - 0.28196211464646176
-      - -1.1567593632515056
-      - 1.6155439868039427
-      - -2.0296235628631116
-      - -1.5707678395681461
-      - 0.28175605224557088
-    velocities:
-      - 0.17151292977503754
-      - -0.034038781326161949
-      - -0.096003067493951946
-      - -0.025754155932954333
-      - 0.12169118424495638
-      - -4.7222245345605122e-05
-      - -0.034078849046130594
-    accelerations:
-      - -0.73796602933291777
-      - 0.14645813777157543
-      - 0.41307091316798195
-      - 0.11081200827011543
-      - -0.52359877567167823
-      - 0.00020318242443639019
-      - 0.14663053653036479
+      - 0.33674186181828053
+      - 0.27492569708333547
+      - -1.1616647064690684
+      - 1.6222533765665379
+      - -2.0313501620281214
+      - -1.5707463210115193
+      - 0.2748675351826082
+    velocities:
+      - 0.16778508305542575
+      - -0.033180817435563822
+      - -0.093938414834919937
+      - -0.026082759719168975
+      - 0.12004268715531154
+      - 3.1256564832306876e-05
+      - -0.033156896325322677
+    accelerations:
+      - -0.73184019882914819
+      - 0.14472714491153532
+      - 0.40973790362384083
+      - 0.11376703882897261
+      - -0.52359877550440959
+      - -0.00013633399468553374
+      - 0.14462280649385867
     effort: []
     time_from_start:
       sec: 6
       nanosec: 860000000
   - positions:
-      - 0.33327063155350167
-      - 0.28162814345273884
-      - -1.1577012964759885
-      - 1.6152913001369955
-      - -2.0284295909145151
-      - -1.5707683028887771
-      - 0.28142168792777755
-    velocities:
-      - 0.16413326948275336
-      - -0.03257419994865357
-      - -0.091872358362856982
-      - -0.024646035850410097
-      - 0.1164551964889811
-      - -4.5190421101528897e-05
-      - -0.032612543681034563
-    accelerations:
-      - -0.73796602932334854
-      - 0.14645813776967759
-      - 0.4130709131626511
-      - 0.11081200826868164
-      - -0.52359877566489232
-      - 0.00020318242443376279
-      - 0.14663053652846725
+      - 0.33838677022741104
+      - 0.27460040353144355
+      - -1.1625856470299838
+      - 1.6219976699803853
+      - -2.0301733039787608
+      - -1.5707460145826917
+      - 0.27454247614521937
+    velocities:
+      - 0.16046668106574583
+      - -0.031733545986173887
+      - -0.089841035797904131
+      - -0.024945089330663382
+      - 0.11480669939927396
+      - 2.9893224885192801e-05
+      - -0.031710668260109667
+    accelerations:
+      - -0.73184019890479834
+      - 0.14472714492649194
+      - 0.40973790366619273
+      - 0.11376703884073014
+      - -0.52359877555853973
+      - -0.00013633399469963262
+      - 0.14462280650880843
     effort: []
     time_from_start:
       sec: 6
       nanosec: 870000000
   - positions:
-      - 0.33487963250278874
-      - 0.28130881807279107
-      - -1.1586019226091602
-      - 1.6150496946708739
-      - -2.0272879788434794
-      - -1.5707687458911659
-      - 0.28110198666363523
-    velocities:
-      - 0.1567536091904998
-      - -0.031109618571151271
-      - -0.08774164923177917
-      - -0.023537915767870458
-      - 0.11121920873302756
-      - -4.3158596857461108e-05
-      - -0.03114623831594461
-    accelerations:
-      - -0.73796602928188171
-      - 0.14645813776144806
-      - 0.41307091313941968
-      - 0.11081200826245051
-      - -0.52359877563545754
-      - 0.00020318242442233801
-      - 0.14663053652022384
+      - 0.33995849461664562
+      - 0.27428958269404535
+      - -1.1634656138005299
+      - 1.6217533400981181
+      - -2.0290488058069602
+      - -1.5707457217872633
+      - 0.27423187938848259
+    velocities:
+      - 0.1531482790759976
+      - -0.030286274536770443
+      - -0.085743656760850093
+      - -0.023807418942147166
+      - 0.1095707116431875
+      - 2.8529884938066003e-05
+      - -0.030264440194883158
+    accelerations:
+      - -0.73184019905002706
+      - 0.14472714495521913
+      - 0.40973790374751967
+      - 0.11376703886331667
+      - -0.52359877566246371
+      - -0.00013633399472669276
+      - 0.14462280653751472
     effort: []
     time_from_start:
       sec: 6
       nanosec: 880000000
   - positions:
-      - 0.33641483684915308
-      - 0.28100413850661837
-      - -1.159461241651021
-      - 1.6148191704055774
-      - -2.0261987266500023
-      - -1.5707691685753122
-      - 0.28079694845314379
-    velocities:
-      - 0.14937394889824629
-      - -0.029645037193648981
-      - -0.083610940100701386
-      - -0.022429795685330829
-      - 0.10598322097707405
-      - -4.1126772613393333e-05
-      - -0.029679932950854672
-    accelerations:
-      - -0.73796602924033161
-      - 0.14645813775320465
-      - 0.41307091311616051
-      - 0.11081200825621244
-      - -0.52359877560598111
-      - 0.00020318242441089967
-      - 0.1466305365119735
+      - 0.34145703498598434
+      - 0.27399323457114083
+      - -1.1643046067807066
+      - 1.6215203869197357
+      - -2.0279766675127191
+      - -1.5707454426252343
+      - 0.27393574491239769
+    velocities:
+      - 0.14582987708660333
+      - -0.028839003087437004
+      - -0.081646277723994229
+      - -0.022669748553685982
+      - 0.10433472388735433
+      - 2.7166544991005152e-05
+      - -0.028818212129726604
+    accelerations:
+      - -0.73184019884066676
+      - 0.14472714491381128
+      - 0.409737903630294
+      - 0.11376703883076632
+      - -0.52359877551265299
+      - -0.0001363339946876852
+      - 0.1446228064961381
     effort: []
     time_from_start:
       sec: 6
       nanosec: 890000000
   - positions:
-      - 0.33787624459259441
-      - 0.28071410475422076
-      - -1.1602792536015707
-      - 1.6145997273411066
-      - -2.0251618343340851
-      - -1.5707695709412162
-      - 0.28050657329630341
-    velocities:
-      - 0.14199428860599275
-      - -0.028180455816146692
-      - -0.079480230969623589
-      - -0.021321675602791197
-      - 0.10074723322112053
-      - -3.9094948369325551e-05
-      - -0.02821362758576473
-    accelerations:
-      - -0.73796602919880927
-      - 0.14645813774496125
-      - 0.41307091309291522
-      - 0.11081200824997785
-      - -0.52359877557651857
-      - 0.00020318242439946812
-      - 0.14663053650372315
+      - 0.34288239133542681
+      - 0.27371135916273015
+      - -1.1651026259705131
+      - 1.6212988104452379
+      - -2.0269568890960383
+      - -1.570745177096605
+      - 0.27365407271696485
+    velocities:
+      - 0.13851147509696243
+      - -0.027391731638054782
+      - -0.077548898687000281
+      - -0.021532078165186454
+      - 0.099098736131344664
+      - 2.5803205043898347e-05
+      - -0.027371984064521303
+    accelerations:
+      - -0.73184019887729257
+      - 0.14472714492105879
+      - 0.40973790365080226
+      - 0.11376703883645925
+      - -0.52359877553887491
+      - -0.00013633399469451316
+      - 0.14462280650337875
     effort: []
     time_from_start:
       sec: 6
       nanosec: 900000000
   - positions:
-      - 0.33926385573311241
-      - 0.2804387168155984
-      - -1.1610559584608093
-      - 1.6143913654774611
-      - -2.0241773018957288
-      - -1.5707699529888774
-      - 0.28023086119311408
-    velocities:
-      - 0.13461462831373922
-      - -0.026715874438644399
-      - -0.075349521838545791
-      - -0.020213555520251565
-      - 0.095511245465167011
-      - -3.7063124125257768e-05
-      - -0.026747322220674788
-    accelerations:
-      - -0.73796602915728693
-      - 0.14645813773672131
-      - 0.41307091306966992
-      - 0.11081200824374325
-      - -0.52359877554705603
-      - 0.00020318242438803656
-      - 0.14663053649546934
+      - 0.34423456366497307
+      - 0.2734439564688132
+      - -1.1658596713699496
+      - 1.6210886106746254
+      - -2.025989470556917
+      - -1.570744925201375
+      - 0.27338686280218405
+    velocities:
+      - 0.13119307310717515
+      - -0.025944460188643617
+      - -0.073451519649924371
+      - -0.02039440777666417
+      - 0.093862748375230287
+      - 2.4439865096764279e-05
+      - -0.025925755999287078
+    accelerations:
+      - -0.73184019906160114
+      - 0.14472714495750549
+      - 0.40973790375398672
+      - 0.11376703886511037
+      - -0.523598775670721
+      - -0.00013633399472884423
+      - 0.14462280653980109
     effort: []
     time_from_start:
       sec: 6
       nanosec: 910000000
   - positions:
-      - 0.34057767027070796
-      - 0.28017797469075095
-      - -1.1617913562287372
-      - 1.614194084814641
-      - -2.0232451293349314
-      - -1.5707703147182965
-      - 0.27996981214357558
-    velocities:
-      - 0.12723496802125903
-      - -0.025251293061097125
-      - -0.071218812707341123
-      - -0.019105435437677898
-      - 0.090275257709052661
-      - -3.5031299881127584e-05
-      - -0.025281016855539813
-    accelerations:
-      - -0.73796602934176114
-      - 0.14645813777333269
-      - 0.41307091317292849
-      - 0.11081200827144551
-      - -0.52359877567795809
-      - 0.00020318242443882715
-      - 0.14663053653212219
+      - 0.34551355197462369
+      - 0.27319102648938998
+      - -1.1665757429790169
+      - 1.6208897876078976
+      - -2.0250744118953556
+      - -1.5707446869395445
+      - 0.27313411516805508
+    velocities:
+      - 0.12387467111778092
+      - -0.024497188739310179
+      - -0.069354140613068521
+      - -0.019256737388202987
+      - 0.088626760619397102
+      - 2.3076525149703424e-05
+      - -0.024479527934130524
+    accelerations:
+      - -0.73184019885221308
+      - 0.14472714491609764
+      - 0.40973790363676105
+      - 0.11376703883256002
+      - -0.52359877552092415
+      - -0.00013633399468984005
+      - 0.14462280649842446
     effort: []
     time_from_start:
       sec: 6
       nanosec: 920000000
   - positions:
-      - 0.34181768820538055
-      - 0.27993187837967864
-      - -1.1624854469053538
-      - 1.6140078853526465
-      - -2.0223653166516939
-      - -1.570770656129473
-      - 0.27972342614768808
-    velocities:
-      - 0.1198553077290186
-      - -0.023786711683597434
-      - -0.067088103576270652
-      - -0.017997315355140233
-      - 0.08503926995310844
-      - -3.2999475637063407e-05
-      - -0.023814711490452473
-    accelerations:
-      - -0.73796602928713817
-      - 0.14645813776249067
-      - 0.4130709131423696
-      - 0.11081200826324027
-      - -0.52359877563918356
-      - 0.00020318242442379062
-      - 0.14663053652126976
+      - 0.34671935626437816
+      - 0.27295256922446048
+      - -1.1672508407977142
+      - 1.620702341245055
+      - -2.0242117131113542
+      - -1.5707444623111133
+      - 0.27289582981457822
+    velocities:
+      - 0.11655626912797129
+      - -0.023049917289894598
+      - -0.065256761575980107
+      - -0.01811906699967723
+      - 0.083390772863266738
+      - 2.1713185202565195e-05
+      - -0.023033299868891886
+    accelerations:
+      - -0.731840199056915
+      - 0.14472714495657532
+      - 0.4097379037513576
+      - 0.11376703886438093
+      - -0.52359877566737612
+      - -0.00013633399472797185
+      - 0.14462280653887111
     effort: []
     time_from_start:
       sec: 6
       nanosec: 930000000
   - positions:
-      - 0.34298390953713009
-      - 0.27970042788238147
-      - -1.1631382304906597
-      - 1.6138327670914776
-      - -2.0215378638460164
-      - -1.570770977222407
-      - 0.27949170320545164
-    velocities:
-      - 0.11247564743677817
-      - -0.02232213030609774
-      - -0.062957394445200182
-      - -0.016889195272602568
-      - 0.079803282197164205
-      - -3.0967651392999229e-05
-      - -0.022348406125365133
-    accelerations:
-      - -0.73796602923252907
-      - 0.14645813775165559
-      - 0.41307091311179683
-      - 0.11081200825503849
-      - -0.52359877560043677
-      - 0.00020318242440875409
-      - 0.14663053651041733
+      - 0.34785197653423638
+      - 0.27272858467402478
+      - -1.1678849648260419
+      - 1.6205262715860971
+      - -2.0234013742049122
+      - -1.5707442513160819
+      - 0.27267200674175324
+    velocities:
+      - 0.10923786713854826
+      - -0.021602645840555098
+      - -0.061159382539104898
+      - -0.016981396611214523
+      - 0.078154785107412597
+      - 2.0349845254658832e-05
+      - -0.021587071803730533
+    accelerations:
+      - -0.73184019887907825
+      - 0.14472714492140606
+      - 0.40973790365177992
+      - 0.11376703883675501
+      - -0.52359877554013812
+      - -0.00013633399468921574
+      - 0.14462280650373974
     effort: []
     time_from_start:
       sec: 6
       nanosec: 940000000
   - positions:
-      - 0.34407633426595685
-      - 0.27948362319885939
-      - -1.1637497069846545
-      - 1.6136687300311339
-      - -2.0207627709178984
-      - -1.5707712779970988
-      - 0.27927464331686613
-    velocities:
-      - 0.10509598714453661
-      - -0.020857548928597446
-      - -0.058826685314127013
-      - -0.015781075190065622
-      - 0.074567294441222981
-      - -2.8935827150588169e-05
-      - -0.020882100760278393
-    accelerations:
-      - -0.73796602917835019
-      - 0.1464581377409003
-      - 0.41307091308145305
-      - 0.11081200824691305
-      - -0.52359877556202306
-      - 0.00020318242440544728
-      - 0.14663053649965857
+      - 0.34891141278419868
+      - 0.27251907283808285
+      - -1.1684781150639998
+      - 1.6203615786310244
+      - -2.0226433951760301
+      - -1.5707440539544497
+      - 0.27246264594958031
+    velocities:
+      - 0.10191946514877755
+      - -0.020155374391147233
+      - -0.057062003502038487
+      - -0.015843726222694619
+      - 0.0729187973513101
+      - 1.8986505307584134e-05
+      - -0.020140843738499524
+    accelerations:
+      - -0.73184019904481135
+      - 0.1447271449541816
+      - 0.40973790374456753
+      - 0.11376703886251827
+      - -0.5235987756587096
+      - -0.00013633399472009016
+      - 0.14462280653648768
     effort: []
     time_from_start:
       sec: 6
       nanosec: 950000000
   - positions:
-      - 0.34509496239186033
-      - 0.27928146432911244
-      - -1.1643198763873381
-      - 1.6135157741716157
-      - -2.0200400378673411
-      - -1.5707715584535482
-      - 0.27907224648193163
-    velocities:
-      - 0.097716326852121588
-      - -0.019392967551063133
-      - -0.054695976182958968
-      - -0.014672955107501681
-      - 0.069331306685154609
-      - -2.6904002906359827e-05
-      - -0.019415795395156307
-    accelerations:
-      - -0.73796602929812616
-      - 0.14645813776466776
-      - 0.41307091314849753
-      - 0.11081200826489565
-      - -0.52359877564700352
-      - 0.00020318242443842307
-      - 0.14663053652345712
+      - 0.34989766501426506
+      - 0.27232403371663461
+      - -1.169030291511588
+      - 1.6202082623798364
+      - -2.0219377760247084
+      - -1.5707438702262173
+      - 0.27226774743805932
+    velocities:
+      - 0.094601063159227561
+      - -0.01870810294178302
+      - -0.052964624465095658
+      - -0.014706055834209024
+      - 0.067682809595365517
+      - 1.7623165360550557e-05
+      - -0.018694615673312133
+    accelerations:
+      - -0.73184019899046815
+      - 0.14472714494343306
+      - 0.40973790371413737
+      - 0.1137670388540732
+      - -0.52359877561983081
+      - -0.00013633399470996393
+      - 0.14462280652574966
     effort: []
     time_from_start:
       sec: 6
       nanosec: 960000000
   - positions:
-      - 0.34603979391484113
-      - 0.27909395127314057
-      - -1.1648487386987108
-      - 1.613373899512923
-      - -2.0193696646943424
-      - -1.5707718185917545
-      - 0.27888451270064807
-    velocities:
-      - 0.090336666559893933
-      - -0.017928386173566003
-      - -0.050565267051895804
-      - -0.013564835024965872
-      - 0.064095318929219186
-      - -2.4872178662183069e-05
-      - -0.017949490030071447
-    accelerations:
-      - -0.73796602923119359
-      - 0.14645813775138325
-      - 0.4130709131110275
-      - 0.11081200825484466
-      - -0.52359877559951373
-      - 0.00020318242441999163
-      - 0.14663053651015873
+      - 0.35081073322443523
+      - 0.27214346730968014
+      - -1.1695414941688063
+      - 1.6200663228325332
+      - -2.0212845167509461
+      - -1.570743700131384
+      - 0.27208731120719032
+    velocities:
+      - 0.087282661169686637
+      - -0.017260831492420598
+      - -0.048867245428157902
+      - -0.013568385445724841
+      - 0.062446821839427416
+      - 1.6259825413518667e-05
+      - -0.017248387608126536
+    accelerations:
+      - -0.73184019892966279
+      - 0.14472714493141195
+      - 0.40973790368009061
+      - 0.11376703884462025
+      - -0.52359877557633139
+      - -0.00013633399469863475
+      - 0.14462280651373174
     effort: []
     time_from_start:
       sec: 6
       nanosec: 970000000
   - positions:
-      - 0.34691082883489888
-      - 0.27892108403094384
-      - -1.1653362939187724
-      - 1.6132431060550558
-      - -2.0187516513989041
-      - -1.5707720584117191
-      - 0.27871144197301545
-    velocities:
-      - 0.082957006267666375
-      - -0.016463804796068893
-      - -0.046434557920832682
-      - -0.012456714942430076
-      - 0.058859331173283819
-      - -2.2840354418006334e-05
-      - -0.016483184664986609
-    accelerations:
-      - -0.73796602916406673
-      - 0.14645813773806404
-      - 0.41307091307346033
-      - 0.11081200824476765
-      - -0.52359877555189216
-      - 0.00020318242440151615
-      - 0.14663053649682217
+      - 0.35165061741470949
+      - 0.27197737361721941
+      - -1.170011723035655
+      - 1.6199357599891151
+      - -2.0206836173547438
+      - -1.5707435436699504
+      - 0.27192133725697326
+    velocities:
+      - 0.079964259179993946
+      - -0.015813560043028165
+      - -0.044769866391135171
+      - -0.012430715057217065
+      - 0.057210834083380728
+      - 1.4896485466458502e-05
+      - -0.015802159542910942
+    accelerations:
+      - -0.73184019901737496
+      - 0.14472714494875538
+      - 0.40973790372919788
+      - 0.11376703885825432
+      - -0.52359877563908641
+      - -0.00013633399471497579
+      - 0.14462280653106493
     effort: []
     time_from_start:
       sec: 6
       nanosec: 980000000
   - positions:
-      - 0.34770806715203395
-      - 0.27876286260252214
-      - -1.1657825420475232
-      - 1.6131233937980141
-      - -2.0181859979810257
-      - -1.570772277913441
-      - 0.27855303429903389
-    velocities:
-      - 0.075577345975303925
-      - -0.01499922341854501
-      - -0.042303848789694058
-      - -0.011348594859874024
-      - 0.053623343417252743
-      - -2.0808530173792463e-05
-      - -0.015016879299874964
-    accelerations:
-      - -0.7379660292311766
-      - 0.14645813775138328
-      - 0.41307091311102839
-      - 0.11081200825484512
-      - -0.52359877559951362
-      - 0.00020318242441999074
-      - 0.14663053651015859
+      - 0.35241731758508754
+      - 0.27182575263925246
+      - -1.1704409781121339
+      - 1.6198165738495822
+      - -2.0201350778361014
+      - -1.5707434008419161
+      - 0.27176982558740825
+    velocities:
+      - 0.072645857190482971
+      - -0.014366288593671664
+      - -0.040672487354214172
+      - -0.011293044668737534
+      - 0.051974846327464047
+      - 1.3533145519432188e-05
+      - -0.01435593147773126
+    accelerations:
+      - -0.7318401989240213
+      - 0.14472714493029601
+      - 0.40973790367693796
+      - 0.11376703884374466
+      - -0.52359877557229939
+      - -0.00013633399469758709
+      - 0.14462280651261605
     effort: []
     time_from_start:
       sec: 6
       nanosec: 990000000
   - positions:
-      - 0.34843150886624569
-      - 0.27861928698787558
-      - -1.1661874830849628
-      - 1.6130147627417979
-      - -2.0176727044407072
-      - -1.5707724770969205
-      - 0.27840928967870326
-    velocities:
-      - 0.068197685683057174
-      - -0.013534642041044093
-      - -0.038173139658620209
-      - -0.01024047477733535
-      - 0.048387355661303769
-      - -1.877670592961045e-05
-      - -0.013550573934786312
-    accelerations:
-      - -0.73796602918651988
-      - 0.14645813774251698
-      - 0.41307091308602312
-      - 0.11081200824813639
-      - -0.52359877556781742
-      - 0.00020318242440769288
-      - 0.14663053650128266
+      - 0.35311083373556995
+      - 0.27168860437577919
+      - -1.1708292593982432
+      - 1.6197087644139339
+      - -2.0196388981950184
+      - -1.5707432716472813
+      - 0.27163277619849513
+    velocities:
+      - 0.065327455200825058
+      - -0.012919017144286109
+      - -0.036575108317210919
+      - -0.010155374280235167
+      - 0.046738858571442256
+      - 1.2169805572378505e-05
+      - -0.012909703412522542
+    accelerations:
+      - -0.73184019898020569
+      - 0.14472714494140396
+      - 0.40973790370838742
+      - 0.11376703885247508
+      - -0.52359877561248303
+      - -0.00013633399470805208
+      - 0.14462280652371681
     effort: []
     time_from_start:
       sec: 7
       nanosec: 0
   - positions:
-      - 0.3490811539775347
-      - 0.27849035718700416
-      - -1.1665511170310916
-      - 1.6129172128864069
-      - -2.0172117707779482
-      - -1.5707726559621573
-      - 0.2782802081120237
-    velocities:
-      - 0.060818025390668502
-      - -0.012070060663515007
-      - -0.034042430527466909
-      - -0.009132354694775361
-      - 0.04315136790525409
-      - -1.6744881685389358e-05
-      - -0.01208426856966946
-    accelerations:
-      - -0.73796602927984489
-      - 0.14645813776104039
-      - 0.41307091313826
-      - 0.11081200826215168
-      - -0.52359877563404211
-      - 0.00020318242443339096
-      - 0.14663053651982672
+      - 0.35373116586615583
+      - 0.27156592882679975
+      - -1.1711765668939826
+      - 1.6196123316821707
+      - -2.0191950784314954
+      - -1.5707431560860461
+      - 0.27151018909023411
+    velocities:
+      - 0.058009053211210374
+      - -0.011471745694909099
+      - -0.032477729280231862
+      - -0.0090177038917395157
+      - 0.041502870815451377
+      - 1.0806465625332873e-05
+      - -0.011463475347322364
+    accelerations:
+      - -0.73184019898990382
+      - 0.14472714494332395
+      - 0.40973790371382129
+      - 0.11376703885398516
+      - -0.52359877561942858
+      - -0.00013633399470985971
+      - 0.14462280652563525
     effort: []
     time_from_start:
       sec: 7
       nanosec: 10000000
   - positions:
-      - 0.34965700248590109
-      - 0.2783760731999077
-      - -1.1668734438859094
-      - 1.6128307442318415
-      - -2.0168031969927491
-      - -1.570772814509152
-      - 0.27816578959899496
-    velocities:
-      - 0.053438365098401622
-      - -0.010605479286010092
-      - -0.02991172139638178
-      - -0.0080242346122336612
-      - 0.037915380149290828
-      - -1.4713057441201799e-05
-      - -0.010617963204576806
-    accelerations:
-      - -0.73796602925203381
-      - 0.14645813775552224
-      - 0.41307091312269956
-      - 0.1108120082579762
-      - -0.5235987756143079
-      - 0.00020318242442573549
-      - 0.14663053651430163
+      - 0.35427831397684612
+      - 0.27145772599231399
+      - -1.1714829005993526
+      - 1.6195272756542922
+      - -2.0188036185455323
+      - -1.5707430541582104
+      - 0.27140206426262492
+    velocities:
+      - 0.050690651221647703
+      - -0.010024474245542377
+      - -0.028380350243281928
+      - -0.0078800335032519504
+      - 0.036266883059497719
+      - 9.4431256782969312e-06
+      - -0.010017247282132467
+    accelerations:
+      - -0.73184019894758801
+      - 0.14472714493495703
+      - 0.40973790369013613
+      - 0.11376703884740796
+      - -0.5235987755891538
+      - -0.00013633399470197729
+      - 0.14462280651727372
     effort: []
     time_from_start:
       sec: 7
       nanosec: 20000000
   - positions:
-      - 0.35015905439134404
-      - 0.2782764350265865
-      - -1.167154463649416
-      - 1.6127553567781014
-      - -2.0164469830851099
-      - -1.5707729527379042
-      - 0.27806603413961734
-    velocities:
-      - 0.046058704806134734
-      - -0.0091408979085051776
-      - -0.025781012265296652
-      - -0.0069161145296919614
-      - 0.03267939239332756
-      - -1.2681233197014239e-05
-      - -0.0091516578394841529
-    accelerations:
-      - -0.7379660292242366
-      - 0.14645813775000407
-      - 0.41307091310713906
-      - 0.11081200825380072
-      - -0.52359877559458756
-      - 0.00020318242441807999
-      - 0.14663053650877828
+      - 0.3547522780676402
+      - 0.27136399587232196
+      - -1.1717482605143525
+      - 1.619453596330299
+      - -2.0184645185371286
+      - -1.5707429658637742
+      - 0.27130840171566778
+    velocities:
+      - 0.043372249232041173
+      - -0.0085772027961669804
+      - -0.024282971206307437
+      - -0.0067423631147575675
+      - 0.031030895303512676
+      - 8.0797857312528175e-06
+      - -0.0085710192169339006
+    accelerations:
+      - -0.7318401989536969
+      - 0.14472714493616354
+      - 0.40973790369355512
+      - 0.11376703884835729
+      - -0.52359877559352608
+      - -0.00013633399470311467
+      - 0.1446228065184815
     effort: []
     time_from_start:
       sec: 7
       nanosec: 30000000
   - positions:
-      - 0.35058730969386431
-      - 0.27819144266704038
-      - -1.1673941763216116
-      - 1.612691050525187
-      - -2.0161431290550307
-      - -1.5707730706484138
-      - 0.2779809417338906
-    velocities:
-      - 0.038679044513867868
-      - -0.0076763165310002645
-      - -0.02165030313421153
-      - -0.0058079944471502633
-      - 0.027443404637364305
-      - -1.0649408952826683e-05
-      - -0.0076853524743915021
-    accelerations:
-      - -0.73796602919641163
-      - 0.14645813774448332
-      - 0.41307091309156818
-      - 0.11081200824962351
-      - -0.52359877557484646
-      - 0.00020318242441042113
-      - 0.14663053650325056
+      - 0.35515305813853787
+      - 0.27128473846682383
+      - -1.1719726466389828
+      - 1.6193912937101906
+      - -2.0181777784062858
+      - -1.5707428912027372
+      - 0.27122920144936274
+    velocities:
+      - 0.03605384724242109
+      - -0.0071299313467877417
+      - -0.020185592169333695
+      - -0.0056046927262589008
+      - 0.025794907547527533
+      - 6.7164457840234245e-06
+      - -0.0071247911517294824
+    accelerations:
+      - -0.73184019896300867
+      - 0.144727144937981
+      - 0.40973790369893393
+      - 0.11376703884975937
+      - -0.52359877560037782
+      - -0.0001363339947011395
+      - 0.14462280652025675
     effort: []
     time_from_start:
       sec: 7
       nanosec: 40000000
   - positions:
-      - 0.35094176839346142
-      - 0.27812109612126928
-      - -1.1675925819024962
-      - 1.612637825473098
-      - -2.0158916349025109
-      - -1.5707731682406809
-      - 0.27791051238181491
-    velocities:
-      - 0.031299384221543811
-      - -0.0062117351534855501
-      - -0.017519594003096647
-      - -0.0046998743645976122
-      - 0.022207416881361446
-      - -8.6175847067948893e-06
-      - -0.006219047109286161
-    accelerations:
-      - -0.73796602922433052
-      - 0.14645813775006047
-      - 0.41307091310724753
-      - 0.11081200825376042
-      - -0.5235987755946776
-      - 0.00020318242437499393
-      - 0.14663053650876598
+      - 0.35548065418953978
+      - 0.27121995377581931
+      - -1.1721560589732434
+      - 1.6193403677939671
+      - -2.0179433981530019
+      - -1.5707428301750999
+      - 0.27116446346370959
+    velocities:
+      - 0.028735445252832462
+      - -0.0056826598974161219
+      - -0.016088213132367534
+      - -0.0044670223377677428
+      - 0.020558919791553353
+      - 5.3531058370197439e-06
+      - -0.0056785630865350996
+    accelerations:
+      - -0.7318401989480886
+      - 0.14472714493503128
+      - 0.40973790369058444
+      - 0.11376703884744092
+      - -0.52359877558971213
+      - -0.00013633399469836053
+      - 0.1446228065173091
     effort: []
     time_from_start:
       sec: 7
       nanosec: 50000000
   - positions:
-      - 0.35122243049013568
-      - 0.27806539538927333
-      - -1.1677496803920699
-      - 1.6125956816218343
-      - -2.0156925006275515
-      - -1.5707732455147059
-      - 0.27785474608339022
-    velocities:
-      - 0.023919723929246944
-      - -0.0047471537759743209
-      - -0.01338888487199421
-      - -0.0035917542820519685
-      - 0.016971429125376681
-      - -6.5857604630301916e-06
-      - -0.0047527417441878645
-    accelerations:
-      - -0.7379660292262008
-      - 0.14645813775043173
-      - 0.41307091310829269
-      - 0.11081200825404103
-      - -0.52359877559600287
-      - 0.00020318242437550974
-      - 0.1466305365091371
+      - 0.35573506622064577
+      - 0.27116964179930864
+      - -1.1722984975171344
+      - 1.6193008185816284
+      - -2.017761377777278
+      - -1.570742782780862
+      - 0.27111418775870844
+    velocities:
+      - 0.021417043263211154
+      - -0.0042353884480380395
+      - -0.011990834095383079
+      - -0.0033293519492715051
+      - 0.015322932035555794
+      - 3.9897658900099739e-06
+      - -0.0042323350213342575
+    accelerations:
+      - -0.7318401989743043
+      - 0.14472714494021618
+      - 0.40973790370526203
+      - 0.11376703885151621
+      - -0.52359877560846757
+      - -0.00013633399470324505
+      - 0.1446228065224906
     effort: []
     time_from_start:
       sec: 7
       nanosec: 60000000
   - positions:
-      - 0.35142929598388717
-      - 0.27802434047105246
-      - -1.1678654717903327
-      - 1.6125646189713962
-      - -2.015545726230151
-      - -1.5707733024704882
-      - 0.27781364283861643
-    velocities:
-      - 0.016540063636946278
-      - -0.0032825723984623361
-      - -0.0092581757408896417
-      - -0.0024836341995057533
-      - 0.011735441369389218
-      - -4.553936219264447e-06
-      - -0.0032864363790888113
-    accelerations:
-      - -0.7379660292312008
-      - 0.14645813775142361
-      - 0.41307091311109256
-      - 0.11081200825479179
-      - -0.52359877559955181
-      - 0.00020318242437688608
-      - 0.14663053651013039
+      - 0.35591629423185583
+      - 0.27113380253729158
+      - -1.1723999622706556
+      - 1.6192726460731748
+      - -2.0176317172791141
+      - -1.5707427490200234
+      - 0.27107837433435922
+    velocities:
+      - 0.014098641273610133
+      - -0.0027881169986639694
+      - -0.0078934550584099823
+      - -0.0021916815607784211
+      - 0.010086944279572749
+      - 2.6264259430039846e-06
+      - -0.0027861069561374257
+    accelerations:
+      - -0.73184019897048236
+      - 0.14472714493946012
+      - 0.40973790370312013
+      - 0.11376703885092208
+      - -0.52359877560573098
+      - -0.00013633399470253248
+      - 0.14462280652173465
     effort: []
     time_from_start:
       sec: 7
       nanosec: 70000000
   - positions:
-      - 0.3515623648747157
-      - 0.27799793136660672
-      - -1.1679399560972845
-      - 1.6125446375217838
-      - -2.015451311710311
-      - -1.5707733391080281
-      - 0.27778720264749368
-    velocities:
-      - 0.0091604033446472718
-      - -0.0018179910209506814
-      - -0.0051274666097860053
-      - -0.0013755141169597875
-      - 0.006499453613402934
-      - -2.5221119754991598e-06
-      - -0.0018201310139900884
-    accelerations:
-      - -0.73796602923256749
-      - 0.14645813775169478
-      - 0.4130709131118559
-      - 0.11081200825499704
-      - -0.52359877560051993
-      - 0.00020318242437726279
-      - 0.14663053651040189
+      - 0.3560243382231697
+      - 0.27111243598976836
+      - -1.1724604532338072
+      - 1.6192558502686061
+      - -2.0175544166585095
+      - -1.5707427288925846
+      - 0.27105702319066194
+    velocities:
+      - 0.0067802392840254832
+      - -0.001340845549293137
+      - -0.0037960760214460496
+      - -0.0010540111722878822
+      - 0.0048509565236014183
+      - 1.2630859960010447e-06
+      - -0.001339878890943829
+    accelerations:
+      - -0.73184019894313801
+      - 0.14472714493405242
+      - 0.40973790368781232
+      - 0.11376703884667118
+      - -0.52359877558616785
+      - -0.00013633399469743885
+      - 0.14462280651633111
     effort: []
     time_from_start:
       sec: 7
       nanosec: 80000000
   - positions:
-      - 0.3516305426451849
-      - 0.27798208624267012
-      - -1.1679746496628283
-      - 1.6125387585207838
-      - -2.0154065201381091
-      - -1.5707755601869742
-      - 0.2777763890413053
-    velocities:
-      - 0.0062769314904377446
-      - -0.002578257387448009
-      - -0.0015165331488129
-      - 0.0015668423743439312
-      - 0.0023914623472758587
-      - -0.0012696974708440512
-      - 0.00032632111533753355
-    accelerations:
-      - 0.057010005195664092
-      - -0.29216737014213684
-      - 0.38897734787446309
-      - 0.52033472622965848
-      - -0.39417862232070844
-      - -0.26726236376437856
-      - 0.32031902614741536
+      - 0.35607026537192227
+      - 0.27109698734383175
+      - -1.1724773020879575
+      - 1.6192381594391472
+      - -2.0175130633457408
+      - -1.5707437946128184
+      - 0.27103338526090903
+    velocities:
+      - 0.0021977991327911534
+      - -0.0020699162191453804
+      - 0.0010465450705752083
+      - -0.0030519682504007669
+      - 0.0037544098588093771
+      - -0.00027553993030799697
+      - -0.0041748668282510244
+    accelerations:
+      - -0.52454853333936513
+      - -0.061761285591959057
+      - 0.52412242266840714
+      - -0.19274764413951243
+      - -0.15446869686891146
+      - -0.028024487346202744
+      - -0.27489408182949016
     effort: []
     time_from_start:
       sec: 7
       nanosec: 90000000
   - positions:
-      - 0.35168038777198202
-      - 0.27795070512495329
-      - -1.1679703468978442
-      - 1.6125717409226019
-      - -2.0154044086881044
-      - -1.5707960216116825
-      - 0.27779186014135793
-    velocities:
-      - 0.0018018628065154883
-      - -0.0027232568192836109
-      - 0.0025366083592170052
-      - 0.0041843768183216076
-      - -0.0023824692172772217
-      - -0.0022515437234443239
-      - 0.0024354736690120203
-    accelerations:
-      - -0.94781617390752915
-      - 0.52452326939436666
-      - 0.026374872305758256
-      - -0.49121068318266692
-      - -0.15187454766386421
-      - 0.32038051571444681
-      - -0.20893381743716335
+      - 0.35606575678497948
+      - 0.27107754954298452
+      - -1.1724458233963433
+      - 1.6192041680861862
+      - -2.017488578907805
+      - -1.5707472631681618
+      - 0.27098749329941657
+    velocities:
+      - -0.00089543383751765999
+      - -0.0017444836597473473
+      - 0.003929484752673104
+      - -0.0042067670182395619
+      - 0.0026029254391614705
+      - -0.00036767774353595791
+      - -0.0045457793190920243
+    accelerations:
+      - 0.60149372643433763
+      - -0.013856383853612438
+      - -0.22933117780179735
+      - -0.31090857916610182
+      - 0.51929664620542093
+      - 0.003260011025573311
+      - 0.011134148857209801
     effort: []
     time_from_start:
       sec: 7
       nanosec: 100000000
   - positions:
-      - 0.35171954589096432
-      - 0.27792322047034879
-      - -1.1679534534389258
-      - 1.6125989951522823
-      - -2.0154072947101325
-      - -1.5708174301527742
-      - 0.27781345543039382
-    velocities:
-      - 0.0056661579727119568
-      - -0.0022631313721481259
-      - 0.00032582891197999322
-      - 0.00052255356978492251
-      - 0.0022267916039738441
-      - -0.0015950335362627311
-      - 0.0013968454363854411
-    accelerations:
-      - 0.10029524258670858
-      - 0.22759159788437874
-      - -0.32703790066225108
-      - -0.5241769512691814
-      - 0.45241569256727537
-      - 0.20700245841031664
-      - -0.24640611666357709
+      - 0.35608332215114252
+      - 0.27106347035732303
+      - -1.1724247232045855
+      - 1.6191589125871666
+      - -2.0174472596891087
+      - -1.5707499788140444
+      - 0.27095273013852278
+    velocities:
+      - 0.0045077525750877277
+      - -0.00069225895663439546
+      - -0.00052254893150942327
+      - -0.0038866873127742381
+      - 0.0050171634933338484
+      - -9.6519424904111708e-05
+      - -0.0014264081390487674
+    accelerations:
+      - 0.41219688793959092
+      - 0.17025371234579245
+      - -0.52254893152465121
+      - 0.26246565535349026
+      - 0.012075324721590756
+      - 0.03918213234272299
+      - 0.4688595887258819
     effort: []
     time_from_start:
       sec: 7
       nanosec: 110000000
   - positions:
-      - 0.35177633215479248
-      - 0.27791279329188812
-      - -1.1679654249085709
-      - 1.6125798101546387
-      - -2.015366069295403
-      - -1.5708226457160217
-      - 0.27781504133305596
-    velocities:
-      - 0.0072005124228284173
-      - -0.00056742913184286198
-      - -0.0024564524010890158
-      - -0.0039368549225155579
-      - 0.0063919978296679923
-      - 1.999035649525123e-06
-      - -0.00056346170197393755
-    accelerations:
-      - 0.58982803008431084
-      - -0.046480804058644777
-      - -0.20121963488830075
-      - -0.32248640753861041
-      - 0.52359877558482237
-      - 0.00016375046524321645
-      - -0.046155813112630242
+      - 0.35615136274321124
+      - 0.27105942773719383
+      - -1.1724456334769426
+      - 1.6191171946636935
+      - -2.0173837830631878
+      - -1.5707501188282813
+      - 0.27094763837757163
+    velocities:
+      - 0.0099254167262496397
+      - -0.00049141772199046455
+      - -0.0032501052277178867
+      - -0.0058255481573097363
+      - 0.0090716390770872578
+      - -2.1883180744837498e-07
+      - -0.00049052849998840393
+    accelerations:
+      - 0.57287729383981489
+      - -0.028363751617026443
+      - -0.18759025831383833
+      - -0.33624021595656917
+      - 0.52359877559891044
+      - -1.2630580369039034e-05
+      - -0.028312427314156983
     effort: []
     time_from_start:
       sec: 7
       nanosec: 120000000
   - positions:
-      - 0.3518771531724193
-      - 0.27790484819310296
-      - -1.1679998199649622
-      - 1.6125246866167253
-      - -2.0152765690365309
-      - -1.5708226177256794
-      - 0.2778071517859167
-    velocities:
-      - 0.013098792723836353
-      - -0.0010322371724422999
-      - -0.0044686487500282561
-      - -0.0071617189979917839
-      - 0.011627985585662536
-      - 3.6365403020030494e-06
-      - -0.001025019833113138
-    accelerations:
-      - 0.58982803010780305
-      - -0.046480804060496095
-      - -0.20121963489631559
-      - -0.32248640755145563
-      - 0.52359877560567747
-      - 0.00016375046524973912
-      - -0.046155813114468744
+      - 0.35627591569918377
+      - 0.27105326099058968
+      - -1.1724864186877302
+      - 1.6190440905046273
+      - -2.0172699440684405
+      - -1.5707501215743778
+      - 0.27094148278971597
+    velocities:
+      - 0.015654189664652044
+      - -0.00077505523816093897
+      - -0.0051260078108576598
+      - -0.0091879503168779252
+      - 0.01430762683308026
+      - -3.4513761113885929e-07
+      - -0.00077365277313018368
+    accelerations:
+      - 0.57287729383906694
+      - -0.028363751616989397
+      - -0.18759025831359319
+      - -0.33624021595613102
+      - 0.52359877559822887
+      - -1.2630580369022579e-05
+      - -0.028312427314119957
     effort: []
     time_from_start:
       sec: 7
       nanosec: 130000000
   - positions:
-      - 0.35203695699305604
-      - 0.27789225501391174
-      - -1.1680543369848428
-      - 1.612437314438057
-      - -2.0151347089000988
-      - -1.5708225733602905
-      - 0.27779464665746612
-    velocities:
-      - 0.018997073024831498
-      - -0.0014970452130407298
-      - -0.0064808450989631327
-      - -0.010386583073461015
-      - 0.016863973341645723
-      - 5.2740449544774242e-06
-      - -0.0014865779642513374
-    accelerations:
-      - 0.5898280301116956
-      - -0.046480804060802856
-      - -0.20121963489764294
-      - -0.32248640755358288
-      - 0.52359877560912893
-      - 0.00016375046525081945
-      - -0.046155813114773049
+      - 0.35645775638454036
+      - 0.27104425786882386
+      - -1.1725459629243491
+      - 1.6189373623239656
+      - -2.0171037451961329
+      - -1.5707501255835319
+      - 0.27093249595912894
+    velocities:
+      - 0.021382962603048963
+      - -0.0010586927543311418
+      - -0.0070019103939956383
+      - -0.012550352476442896
+      - 0.019543614589068246
+      - -4.7144341482922269e-07
+      - -0.0010567770462716925
+    accelerations:
+      - 0.57287729384707886
+      - -0.028363751617386083
+      - -0.18759025831621737
+      - -0.3362402159608352
+      - 0.52359877560555013
+      - -1.2630580369199267e-05
+      - -0.028312427314516088
     effort: []
     time_from_start:
       sec: 7
       nanosec: 140000000
   - positions:
-      - 0.35225574361670264
-      - 0.27787501375431456
-      - -1.168128975968213
-      - 1.6123176936186341
-      - -2.0149404888861073
-      - -1.5708225126198552
-      - 0.27777752594770411
-    velocities:
-      - 0.024895353325827138
-      - -0.0019618532536391986
-      - -0.0084930414478981784
-      - -0.013611447148930516
-      - 0.02209996109762935
-      - 6.9115496069519367e-06
-      - -0.0019481360953895754
-    accelerations:
-      - 0.58982803010717511
-      - -0.04648080406044662
-      - -0.20121963489610034
-      - -0.32248640755111069
-      - 0.52359877560511681
-      - 0.0001637504652495641
-      - -0.04615581311441927
+      - 0.35669688479928074
+      - 0.27103241837189629
+      - -1.1726242661867992
+      - 1.618797010121708
+      - -2.0168851864462654
+      - -1.5707501308557439
+      - 0.27092067788581042
+    velocities:
+      - 0.027111735541452322
+      - -0.0013423302705016633
+      - -0.0088778129771357236
+      - -0.015912754636011644
+      - 0.024779602345062119
+      - -5.9774921851972802e-07
+      - -0.0013399013194135192
+    accelerations:
+      - 0.57287729386049513
+      - -0.028363751618050163
+      - -0.18759025832060905
+      - -0.33624021596870646
+      - 0.52359877561781165
+      - -1.2630580369495026e-05
+      - -0.028312427315178731
     effort: []
     time_from_start:
       sec: 7
       nanosec: 150000000
   - positions:
-      - 0.35253351304335928
-      - 0.27785312441431143
-      - -1.1682237369150721
-      - 1.6121658241584564
-      - -2.0146939089945555
-      - -1.5708224355043729
-      - 0.27775578965663067
-    velocities:
-      - 0.03079363362682918
-      - -0.0024266612942381721
-      - -0.010505237796835409
-      - -0.01683631122440352
-      - 0.027335948853618664
-      - 8.5490542594282262e-06
-      - -0.0024096942265283148
-    accelerations:
-      - 0.5898280301169172
-      - -0.046480804061214437
-      - -0.20121963489942429
-      - -0.32248640755643898
-      - 0.52359877561376678
-      - 0.00016375046525226913
-      - -0.046155813115181521
+      - 0.35699330094340487
+      - 0.27101774249980709
+      - -1.1727213284750808
+      - 1.6186230338978553
+      - -2.0166142678188388
+      - -1.5707501373910144
+      - 0.27090602856976059
+    velocities:
+      - 0.032840508479801085
+      - -0.001625967786669482
+      - -0.010753715560257933
+      - -0.019275156795548348
+      - 0.030015590101006094
+      - -7.2405502220902961e-07
+      - -0.001623025592552648
+    accelerations:
+      - 0.57287729381829844
+      - -0.028363751615960945
+      - -0.18759025830679205
+      - -0.3362402159439366
+      - 0.52359877557924195
+      - -1.2630580368564555e-05
+      - -0.028312427313093372
     effort: []
     time_from_start:
       sec: 7
       nanosec: 160000000
   - positions:
-      - 0.3528702652730259
-      - 0.27782658699390228
-      - -1.1683386198254209
-      - 1.6119817060575241
-      - -2.0143949692254437
-      - -1.5708223420138445
-      - 0.27772943778424586
-    velocities:
-      - 0.036691913927821493
-      - -0.0028914693348363789
-      - -0.012517434145769319
-      - -0.020061175299871205
-      - 0.032571936609599339
-      - 1.0186558911901815e-05
-      - -0.0028712523576662928
-    accelerations:
-      - 0.58982803011116491
-      - -0.046480804060761174
-      - -0.20121963489746206
-      - -0.3224864075532945
-      - 0.52359877560865897
-      - 0.00016375046525067143
-      - -0.046155813114731721
+      - 0.35734700481691306
+      - 0.27100023025255615
+      - -1.1728371497891938
+      - 1.6184154336524066
+      - -2.0162909893138519
+      - -1.5707501451893426
+      - 0.27088854801097928
+    velocities:
+      - 0.038569281418238205
+      - -0.0019096053028416751
+      - -0.012629618143409073
+      - -0.022637558955136913
+      - 0.035251577857030827
+      - -8.5036082590027937e-07
+      - -0.0019061498656961435
+    accelerations:
+      - 0.57287729386496011
+      - -0.028363751618271239
+      - -0.18759025832207166
+      - -0.33624021597132842
+      - 0.52359877562189905
+      - -1.2630580369593478e-05
+      - -0.028312427315399673
     effort: []
     time_from_start:
       sec: 7
       nanosec: 170000000
   - positions:
-      - 0.35326600030570243
-      - 0.27779540149308712
-      - -1.1684736246992591
-      - 1.6117653393158369
-      - -2.0140436695787729
-      - -1.5708222321482692
-      - 0.27769847033054973
-    velocities:
-      - 0.042590194228767586
-      - -0.0033562773754309432
-      - -0.014529630494687461
-      - -0.023286039375313615
-      - 0.037807924365538981
-      - 1.1824063564362572e-05
-      - -0.0033328104888006535
-    accelerations:
-      - 0.58982803006391449
-      - -0.046480804057037403
-      - -0.2012196348813414
-      - -0.32248640752745639
-      - 0.52359877556671375
-      - 0.00016375046523755353
-      - -0.046155813111033978
+      - 0.35775799641980499
+      - 0.27097988163014353
+      - -1.172971730129138
+      - 1.6181742093853626
+      - -2.015915350931305
+      - -1.5707501542507289
+      - 0.27086823620946654
+    velocities:
+      - 0.044298054356637848
+      - -0.0021932428190120125
+      - -0.014505520726547941
+      - -0.025999961114703481
+      - 0.040487565613021297
+      - -9.7666662959070264e-07
+      - -0.0021892741388377865
+    accelerations:
+      - 0.57287729387364295
+      - -0.028363751618700622
+      - -0.18759025832491322
+      - -0.33624021597642184
+      - 0.52359877562982338
+      - -1.2630580369784796e-05
+      - -0.028312427315828576
     effort: []
     time_from_start:
       sec: 7
       nanosec: 180000000
   - positions:
-      - 0.35372071814138883
-      - 0.27775956791186607
-      - -1.1686287515365863
-      - 1.6115167239333954
-      - -2.0136400100545413
-      - -1.5708221059076477
-      - 0.27766288729554217
-    velocities:
-      - 0.048488474529776525
-      - -0.0038210854160304602
-      - -0.016541826843627046
-      - -0.02651090345079039
-      - 0.043043912121534418
-      - 1.3461568216840778e-05
-      - -0.0037943686199399325
-    accelerations:
-      - 0.58982803007950269
-      - -0.046480804058266274
-      - -0.20121963488666367
-      - -0.32248640753598312
-      - 0.52359877558055723
-      - 0.0001637504652418828
-      - -0.046155813112254175
+      - 0.3582262757520811
+      - 0.27095669663256922
+      - -1.1731250694949138
+      - 1.6178993610967227
+      - -2.0154873526711983
+      - -1.5707501645751731
+      - 0.27084509316522243
+    velocities:
+      - 0.050026827294969482
+      - -0.0024768803351789834
+      - -0.016381423309664543
+      - -0.029362363274230134
+      - 0.045723553368949621
+      - -1.1029724332796269e-06
+      - -0.0024723984119760689
+    accelerations:
+      - 0.57287729381380192
+      - -0.028363751615738581
+      - -0.187590258305323
+      - -0.3362402159413041
+      - 0.52359877557513801
+      - -1.2630580368465754e-05
+      - -0.028312427312871306
     effort: []
     time_from_start:
       sec: 7
       nanosec: 190000000
   - positions:
-      - 0.35423441878008527
-      - 0.27771908625023894
-      - -1.1688040003374029
-      - 1.6112358599101988
-      - -2.0131839906527507
-      - -1.5708219632919795
-      - 0.27762268867922324
-    velocities:
-      - 0.054386754830772426
-      - -0.0042858934566289498
-      - -0.018554023192562181
-      - -0.029735767526260035
-      - 0.048279899877518281
-      - 1.5099072869315363e-05
-      - -0.0042559267510781911
-    accelerations:
-      - 0.58982803007838558
-      - -0.046480804058178768
-      - -0.20121963488628186
-      - -0.32248640753537172
-      - 0.52359877557957135
-      - 0.0001637504652415738
-      - -0.04615581311216696
+      - 0.35875184281374095
+      - 0.27093067525983322
+      - -1.1732971678865209
+      - 1.6175908887864874
+      - -2.015006994533532
+      - -1.5707501761626756
+      - 0.27081911887824689
+    velocities:
+      - 0.055755600233395132
+      - -0.0027605178513506086
+      - -0.018257325892811926
+      - -0.032724765433811961
+      - 0.050959541124963863
+      - -1.2292782369706236e-06
+      - -0.0027555226851189974
+    accelerations:
+      - 0.57287729384543884
+      - -0.028363751617304846
+      - -0.18759025831567888
+      - -0.33624021595986775
+      - 0.52359877560405166
+      - -1.2630580369163099e-05
+      - -0.028312427314434761
     effort: []
     time_from_start:
       sec: 7
       nanosec: 200000000
   - positions:
-      - 0.35480710077373145
-      - 0.27767395662231881
-      - -1.1689993706077038
-      - 1.6109227480379695
-      - -2.0126756126588634
-      - -1.5708218043016671
-      - 0.27757787459490796
-    velocities:
-      - 0.060419489018491861
-      - -0.0047612970004000466
-      - -0.020612088439908836
-      - -0.033034143792907623
-      - 0.053635244271155215
-      - 1.6773905161586445e-05
-      - -0.0047280063022786672
-    accelerations:
-      - 0.58982803009453932
-      - -0.046480804059455698
-      - -0.20121963489172898
-      - -0.32248640754421576
-      - 0.52359877559394907
-      - 0.00016375046527491928
-      - -0.046155813113449379
+      - 0.35933469422930614
+      - 0.27090181767905896
+      - -1.1734880241986492
+      - 1.6172487944358338
+      - -2.0144742796034283
+      - -1.5707501890131617
+      - 0.27079031351536104
+    velocities:
+      - 0.061599101810009965
+      - -0.0030498357019180756
+      - -0.020170796686643386
+      - -0.036154505542547975
+      - 0.056300388639127716
+      - -1.3581135329404134e-06
+      - -0.0030443170140768343
+    accelerations:
+      - 0.57287729383513453
+      - -0.028363751616791916
+      - -0.18759025831226173
+      - -0.33624021595387338
+      - 0.52359877559462209
+      - -1.2630580359295997e-05
+      - -0.028312427313951186
     effort: []
     time_from_start:
       sec: 7
       nanosec: 210000000
   - positions:
-      - 0.35543876179278011
-      - 0.2776241792116832
-      - -1.1692148615527647
-      - 1.6105773895903792
-      - -2.0121148781408529
-      - -1.5708216289373564
-      - 0.2775284452248904
-    velocities:
-      - 0.06631776931949962
-      - -0.0052261050409995249
-      - -0.022624284788847416
-      - -0.036259007868383847
-      - 0.058871232027150153
-      - 1.8411409814352992e-05
-      - -0.0051895644334180365
-    accelerations:
-      - 0.58982803010643614
-      - -0.046480804060392629
-      - -0.20121963489578637
-      - -0.32248640755071167
-      - 0.52359877560450963
-      - 0.00016375046527822347
-      - -0.046155813114379371
+      - 0.3599748321356227
+      - 0.27087012378444897
+      - -1.1736976391310154
+      - 1.6168730767905781
+      - -2.0138892059278506
+      - -1.5707502031266785
+      - 0.27075867697095868
+    velocities:
+      - 0.067327874748440208
+      - -0.003333473218089902
+      - -0.022046699269791817
+      - -0.039516907702132995
+      - 0.061536376395146072
+      - -1.4844193365351113e-06
+      - -0.0033274412872202467
+    accelerations:
+      - 0.57287729387434849
+      - -0.028363751618733977
+      - -0.18759025832510223
+      - -0.33624021597688997
+      - 0.52359877563046864
+      - -1.2630580360160601e-05
+      - -0.028312427315889298
     effort: []
     time_from_start:
       sec: 7
       nanosec: 220000000
   - positions:
-      - 0.35612940561483902
-      - 0.27756975372064163
-      - -1.1694504744613146
-      - 1.6101997825020342
-      - -2.011501783745282
-      - -1.5708214371979998
-      - 0.27747440027356146
-    velocities:
-      - 0.072216049620486597
-      - -0.0056909130815973666
-      - -0.024636481137778912
-      - -0.039483871943848711
-      - 0.064107219783126654
-      - 2.004891446711377e-05
-      - -0.0056511225645557812
-    accelerations:
-      - 0.58982803010017026
-      - -0.046480804059899267
-      - -0.20121963489364927
-      - -0.32248640754728775
-      - 0.52359877559895185
-      - 0.00016375046527648484
-      - -0.04615581311388977
+      - 0.36067225777132333
+      - 0.27083559351467729
+      - -1.1739260130892133
+      - 1.616463735123727
+      - -2.013251772374713
+      - -1.5707502185032531
+      - 0.270724209183825
+    velocities:
+      - 0.073056647686761553
+      - -0.0036171107342563369
+      - -0.023922601852904596
+      - -0.0428793098616541
+      - 0.066772364151064897
+      - -1.6107251401274086e-06
+      - -0.0036105655603582776
+    accelerations:
+      - 0.57287729380416852
+      - -0.028363751615258892
+      - -0.18759025830212409
+      - -0.33624021593570069
+      - 0.5235987755663255
+      - -1.2630580358613283e-05
+      - -0.028312427312421153
     effort: []
     time_from_start:
       sec: 7
       nanosec: 230000000
   - positions:
-      - 0.35687903223990786
-      - 0.277510680149194
-      - -1.1697062093333539
-      - 1.6097899267729341
-      - -2.0108363294721512
-      - -1.5708212290835961
-      - 0.27741573974092115
-    velocities:
-      - 0.078114329921515485
-      - -0.0061557211221985103
-      - -0.026648677486724698
-      - -0.042708736019336488
-      - 0.069343207539140334
-      - 2.1686419119886182e-05
-      - -0.0061126806956968037
-    accelerations:
-      - 0.58982803013580143
-      - -0.046480804062707951
-      - -0.2012196349058063
-      - -0.32248640756677599
-      - 0.52359877563057966
-      - 0.0001637504652863777
-      - -0.046155813116677928
+      - 0.3614269711364077
+      - 0.27079822686974392
+      - -1.1741731460732421
+      - 1.6160207694352802
+      - -2.0125619789440159
+      - -1.5707502351428859
+      - 0.27068691015395979
+    velocities:
+      - 0.078785420625251262
+      - -0.0039007482504311072
+      - -0.025798504436072497
+      - -0.046241712021274022
+      - 0.072008351907137599
+      - -1.7370309437234176e-06
+      - -0.0038936898335046283
+    accelerations:
+      - 0.57287729390081354
+      - -0.028363751620044012
+      - -0.18759025833376866
+      - -0.33624021599242532
+      - 0.52359877565465018
+      - -1.2630580360743798e-05
+      - -0.028312427317197301
     effort: []
     time_from_start:
       sec: 7
       nanosec: 240000000
   - positions:
-      - 0.35768764166798639
-      - 0.27744695849734047
-      - -1.1699820661688825
-      - 1.6093478224030795
-      - -2.0101185153214609
-      - -1.5708210045941462
-      - 0.27735246362696941
-    velocities:
-      - 0.084012610222439416
-      - -0.0066205291627913837
-      - -0.028660873835634683
-      - -0.045933600094766887
-      - 0.074579195295060866
-      - 2.332392377262946e-05
-      - -0.0065742388268296148
-    accelerations:
-      - 0.58982803006386941
-      - -0.046480804057039922
-      - -0.20121963488126851
-      - -0.32248640752744751
-      - 0.5235987755667344
-      - 0.0001637504652664122
-      - -0.046155813111049798
+      - 0.36223897223087614
+      - 0.27075802384964881
+      - -1.1744390380831025
+      - 1.6155441797252372
+      - -2.0118198256357585
+      - -1.5707502530455768
+      - 0.27064677988136326
+    velocities:
+      - 0.084514193563542034
+      - -0.0041843857665960285
+      - -0.027674407019175264
+      - -0.049604114180777183
+      - 0.077244339663028488
+      - -1.8633367473150408e-06
+      - -0.0041768141066411482
+    accelerations:
+      - 0.57287729380003305
+      - -0.02836375161505408
+      - -0.18759025830076728
+      - -0.33624021593327125
+      - 0.52359877556254331
+      - -1.2630580358521819e-05
+      - -0.028312427312216042
     effort: []
     time_from_start:
       sec: 7
       nanosec: 250000000
   - positions:
-      - 0.35855523389907512
-      - 0.27737858876508092
-      - -1.1702780449679007
-      - 1.6088734693924707
-      - -2.0093483412932107
-      - -1.5708207637296496
-      - 0.27728457193170636
-    velocities:
-      - 0.089910890523499737
-      - -0.0070853372033950045
-      - -0.030673070184591197
-      - -0.049158464170271851
-      - 0.079815183051102467
-      - 2.4961428425410596e-05
-      - -0.007035796957973098
-    accelerations:
-      - 0.58982803013094764
-      - -0.046480804062325798
-      - -0.20121963490415307
-      - -0.32248640756412345
-      - 0.52359877562628432
-      - 0.00016375046528502947
-      - -0.046155813116298662
+      - 0.36310826105472843
+      - 0.27071498445439207
+      - -1.1747236891187942
+      - 1.6150339659935995
+      - -2.0110253124499415
+      - -1.5707502722113258
+      - 0.27060381836603531
+    velocities:
+      - 0.090242966501992525
+      - -0.0044680232827688576
+      - -0.029550309602330328
+      - -0.052966516340374088
+      - 0.082480327419065358
+      - -1.9896425509101856e-06
+      - -0.0044599383797855616
+    accelerations:
+      - 0.57287729385941144
+      - -0.028363751617994475
+      - -0.18759025832021015
+      - -0.33624021596811865
+      - 0.52359877561681256
+      - -1.2630580359831115e-05
+      - -0.028312427315151188
     effort: []
     time_from_start:
       sec: 7
       nanosec: 260000000
   - positions:
-      - 0.35948180893317377
-      - 0.27730557095241537
-      - -1.1705941457304081
-      - 1.6083668677411065
-      - -2.0085258073874002
-      - -1.5708205064901066
-      - 0.27721206465513182
-    velocities:
-      - 0.095809170824520007
-      - -0.0075501452439954691
-      - -0.032685266533534048
-      - -0.052383328245754916
-      - 0.085051170807108514
-      - 2.6598933078180617e-05
-      - -0.0074973550891134473
-    accelerations:
-      - 0.58982803015587915
-      - -0.046480804064290199
-      - -0.2012196349126566
-      - -0.32248640757775449
-      - 0.52359877564840518
-      - 0.00016375046529195194
-      - -0.046155813118248901
+      - 0.36403483760796473
+      - 0.27066910868397359
+      - -1.1750270991803171
+      - 1.6144901282403656
+      - -2.0101784393865647
+      - -1.5707502926401324
+      - 0.27055802560797587
+    velocities:
+      - 0.095971739440293455
+      - -0.0047516607989342811
+      - -0.031426212185436418
+      - -0.05632891849988321
+      - 0.087716315174965517
+      - -2.1159483545020324e-06
+      - -0.0047430626529225833
+    accelerations:
+      - 0.57287729376870622
+      - -0.028363751613503276
+      - -0.18759025829051515
+      - -0.33624021591489039
+      - 0.52359877553392054
+      - -1.2630580357831694e-05
+      - -0.028312427310669529
     effort: []
     time_from_start:
       sec: 7
       nanosec: 270000000
   - positions:
-      - 0.36046736677028213
-      - 0.27722790505934392
-      - -1.1709303684564047
-      - 1.6078280174489881
-      - -2.0076509136040306
-      - -1.570820232875517
-      - 0.27713494179724601
-    velocities:
-      - 0.10170745112544211
-      - -0.0080149532845881968
-      - -0.034697462882443401
-      - -0.055608192321184302
-      - 0.090287158563027409
-      - 2.8236437730923383e-05
-      - -0.0079589132202461128
-    accelerations:
-      - 0.58982803008421081
-      - -0.04648080405864246
-      - -0.20121963488820224
-      - -0.32248640753855862
-      - 0.52359877558478263
-      - 0.00016375046527205317
-      - -0.046155813112639034
+      - 0.3650187018905845
+      - 0.27062039653839343
+      - -1.1753492682676714
+      - 1.6139126664655365
+      - -2.0092792064456284
+      - -1.5707503143319974
+      - 0.27050940160718506
+    velocities:
+      - 0.10170051237877449
+      - -0.005035298315108622
+      - -0.033302114768601482
+      - -0.059691320659498046
+      - 0.092952302931030309
+      - -2.2422541580978506e-06
+      - -0.0050261869260685059
+    accelerations:
+      - 0.57287729385862962
+      - -0.028363751617955481
+      - -0.18759025831995696
+      - -0.3362402159676679
+      - 0.5235987756161119
+      - -1.2630580359814381e-05
+      - -0.028312427315113017
     effort: []
     time_from_start:
       sec: 7
       nanosec: 280000000
   - positions:
-      - 0.36151190741040073
-      - 0.27714559108586639
-      - -1.1712867131458908
-      - 1.6072569185161147
-      - -2.0067236599431006
-      - -1.5708199428858807
-      - 0.27705320335804878
-    velocities:
-      - 0.10760573142638512
-      - -0.0084797613251825742
-      - -0.036709659231359895
-      - -0.05883305639662513
-      - 0.095523146318964872
-      - 2.9873942383671953e-05
-      - -0.0084204713513804166
-    accelerations:
-      - 0.58982803003345619
-      - -0.046480804054643575
-      - -0.20121963487088801
-      - -0.32248640751081192
-      - 0.52359877553972856
-      - 0.00016375046525796168
-      - -0.046155813108667613
+      - 0.36605985390258866
+      - 0.27056884801765158
+      - -1.1756901963808573
+      - 1.6133015806691113
+      - -2.0083276136271317
+      - -1.5707503372869205
+      - 0.27045794636366288
+    velocities:
+      - 0.10742928531708557
+      - -0.0053189358312745478
+      - -0.035178017351710889
+      - -0.063053722819013114
+      - 0.098188290686939739
+      - -2.368559961689921e-06
+      - -0.0053093111992060281
+    accelerations:
+      - 0.57287729377808294
+      - -0.028363751613966485
+      - -0.18759025829357528
+      - -0.33624021592038628
+      - 0.52359877554249024
+      - -1.2630580358038153e-05
+      - -0.028312427311131826
     effort: []
     time_from_start:
       sec: 7
       nanosec: 290000000
   - positions:
-      - 0.36261543085352893
-      - 0.27705862903198292
-      - -1.1716631797988661
-      - 1.6066535709424867
-      - -2.0057440464046112
-      - -1.5708196365211982
-      - 0.27696684933754018
-    velocities:
-      - 0.11350401172754361
-      - -0.008944569365793931
-      - -0.0387218555803499
-      - -0.062057920472183767
-      - 0.10075913407509363
-      - 3.1511447036480347e-05
-      - -0.008882029482531582
-    accelerations:
-      - 0.58982803019713437
-      - -0.046480804067541591
-      - -0.20121963492672698
-      - -0.3224864076003009
-      - 0.52359877568503577
-      - 0.00016375046530340355
-      - -0.046155813121475715
+      - 0.36715829364397662
+      - 0.27051446312174798
+      - -1.1760498835198745
+      - 1.6126568708510907
+      - -2.0073236609310756
+      - -1.5707503615049014
+      - 0.27040365987740922
+    velocities:
+      - 0.11315805825559715
+      - -0.0056025733474504014
+      - -0.037053919934885958
+      - -0.06641612497864588
+      - 0.10342427844303242
+      - -2.4948657652864122e-06
+      - -0.0055924354723534608
+    accelerations:
+      - 0.57287729389855135
+      - -0.02836375161993137
+      - -0.18759025833302298
+      - -0.33624021599108694
+      - 0.52359877565257595
+      - -1.2630580360693808e-05
+      - -0.02831242731708539
     effort: []
     time_from_start:
       sec: 7
       nanosec: 300000000
   - positions:
-      - 0.36377793634676903
-      - 0.27696701895702486
-      - -1.1720597681584801
-      - 1.6060179751397488
-      - -2.0047120736569202
-      - -1.5708193137816782
-      - 0.27687587979463674
-    velocities:
-      - 0.11956874452470143
-      - -0.0094224945277633435
-      - -0.040790837142594592
-      - -0.065373791866357042
-      - 0.10614288409183678
-      - 3.3195162910653876e-05
-      - -0.009356613020929487
-    accelerations:
-      - 0.58982803010115203
-      - -0.046480804059972645
-      - -0.20121963489399453
-      - -0.32248640754783786
-      - 0.52359877559983325
-      - 0.00016375046527675565
-      - -0.046155813113965459
+      - 0.36831401927333596
+      - 0.27045724194185294
+      - -1.1764283290817472
+      - 1.6119785380922589
+      - -2.0062673500404751
+      - -1.5707503869858999
+      - 0.27034654223942944
+    velocities:
+      - 0.11844975932861308
+      - -0.0058645709802429263
+      - -0.038786702123818295
+      - -0.069521995521430027
+      - 0.10826079096055743
+      - -2.6115351785506974e-06
+      - -0.0058539590195575662
+    accelerations:
+      - 0.57287729375154861
+      - -0.028363751612654167
+      - -0.18759025828491555
+      - -0.33624021590480152
+      - 0.52359877551819023
+      - -1.2630580375216405e-05
+      - -0.028312427309816906
     effort: []
     time_from_start:
       sec: 7
       nanosec: 310000000
   - positions:
-      - 0.3649994224026159
-      - 0.2768707609782135
-      - -1.1724764777172703
-      - 1.6053501319211883
-      - -2.0036277430205076
-      - -1.5708189746677332
-      - 0.27678029484574013
-    velocities:
-      - 0.12546702482561625
-      - -0.0098873025683554466
-      - -0.042803033491501524
-      - -0.068598655941782535
-      - 0.11137887184774928
-      - 3.4832667563394626e-05
-      - -0.0098181711520615774
-    accelerations:
-      - 0.58982803002068174
-      - -0.04648080405363119
-      - -0.20121963486654071
-      - -0.32248640750384139
-      - 0.52359877552840395
-      - 0.0001637504652544216
-      - -0.04615581310766969
+      - 0.36952703187858749
+      - 0.27039718442410243
+      - -1.1768255334227185
+      - 1.6112665817540803
+      - -2.0051586799609917
+      - -1.5707504137299397
+      - 0.27028659339595695
+    velocities:
+      - 0.12417853226707064
+      - -0.0061482084964161092
+      - -0.04066260470697592
+      - -0.07288439768103093
+      - 0.11349677871660038
+      - -2.7378409823236323e-06
+      - -0.0061370832927022884
+    accelerations:
+      - 0.57287729381613128
+      - -0.028363751615851186
+      - -0.18759025830605819
+      - -0.3362402159427012
+      - 0.52359877557722601
+      - -1.2630580376640277e-05
+      - -0.028312427313007944
     effort: []
     time_from_start:
       sec: 7
       nanosec: 320000000
   - positions:
-      - 0.36627989126147276
-      - 0.27676985491899619
-      - -1.1729133092395498
-      - 1.6046500400618733
-      - -2.0024910525065347
-      - -1.5708186191787421
-      - 0.2766800943155322
-    velocities:
-      - 0.13136530512659098
-      - -0.01035211060895227
-      - -0.044815229840428898
-      - -0.071823520017240794
-      - 0.11661485960371497
-      - 3.6470172216152005e-05
-      - -0.010279729283198355
-    accelerations:
-      - 0.5898280300016796
-      - -0.046480804052135512
-      - -0.20121963486006503
-      - -0.32248640749345581
-      - 0.52359877551154954
-      - 0.00016375046524915278
-      - -0.046155813106184128
+      - 0.37079733221322275
+      - 0.27033429053119018
+      - -1.1772414967895211
+      - 1.6105210013943063
+      - -2.003997650003948
+      - -1.5707504417370379
+      - 0.27022381330975298
+    velocities:
+      - 0.12990730520559157
+      - -0.0064318460125924312
+      - -0.0425385072901543
+      - -0.076246799840669038
+      - 0.11873276647270126
+      - -2.8641467860979648e-06
+      - -0.0064202075658501435
+    accelerations:
+      - 0.57287729394562026
+      - -0.028363751622262762
+      - -0.18759025834846185
+      - -0.33624021601870319
+      - 0.52359877569556901
+      - -1.2630580379495408e-05
+      - -0.028312427319407332
     effort: []
     time_from_start:
       sec: 7
       nanosec: 330000000
   - positions:
-      - 0.36761934292333948
-      - 0.27666430077937287
-      - -1.1733702627253189
-      - 1.6039176995618036
-      - -2.0013020021150023
-      - -1.5708182473147043
-      - 0.27657527820401284
-    velocities:
-      - 0.13726358542758665
-      - -0.010816918649550745
-      - -0.046827426189363419
-      - -0.075048384092710502
-      - 0.12185084735969924
-      - 3.8107676868915192e-05
-      - -0.010741287414336772
-    accelerations:
-      - 0.5898280300036467
-      - -0.046480804052289555
-      - -0.20121963486073641
-      - -0.32248640749453328
-      - 0.52359877551329137
-      - 0.00016375046524969125
-      - -0.046155813106336145
+      - 0.37212492027724214
+      - 0.27026856026311619
+      - -1.177676219182155
+      - 1.6097417970129362
+      - -2.0027842601693449
+      - -1.5707504710071936
+      - 0.27015820198081764
+    velocities:
+      - 0.13563607814389242
+      - -0.0067154835287578565
+      - -0.044414409873260619
+      - -0.079609202000177959
+      - 0.12396875422860099
+      - -2.9904525898674446e-06
+      - -0.0067033318389871218
+    accelerations:
+      - 0.5728772938544987
+      - -0.028363751617752481
+      - -0.18759025831863155
+      - -0.33624021596521819
+      - 0.52359877561230228
+      - -1.263058037748667e-05
+      - -0.028312427314904857
     effort: []
     time_from_start:
       sec: 7
       nanosec: 340000000
   - positions:
-      - 0.36901777738821617
-      - 0.2765540985593436
-      - -1.1738473381745771
-      - 1.6031531104209793
-      - -2.00006059184591
-      - -1.5708178590756201
-      - 0.27646584651118211
-    velocities:
-      - 0.14316186572869238
-      - -0.011281726690157893
-      - -0.04883962253833548
-      - -0.078273248168240384
-      - 0.1270868351157812
-      - 3.9745181521708939e-05
-      - -0.011202845545483802
-    accelerations:
-      - 0.58982803011461704
-      - -0.046480804061034643
-      - -0.20121963489858977
-      - -0.32248640755519808
-      - 0.52359877561180268
-      - 0.00016375046528049978
-      - -0.046155813115020809
+      - 0.37350979607064527
+      - 0.27019999361988056
+      - -1.1781297006006204
+      - 1.608928968609971
+      - -2.0015185104571822
+      - -1.5707505015404077
+      - 0.27008975940915086
+    velocities:
+      - 0.14136485108219332
+      - -0.0069991210449232826
+      - -0.046290312456366944
+      - -0.082971604159686907
+      - 0.12920474198450074
+      - -3.1167583936369253e-06
+      - -0.0069864561121241019
+    accelerations:
+      - 0.57287729376343266
+      - -0.0283637516132422
+      - -0.18759025828880818
+      - -0.33624021591177483
+      - 0.52359877552906331
+      - -1.2630580375478778e-05
+      - -0.028312427310404117
     effort: []
     time_from_start:
       sec: 7
       nanosec: 350000000
   - positions:
-      - 0.37047519465610285
-      - 0.27643924825890837
-      - -1.174344535587325
-      - 1.6023562726394003
-      - -1.998766821699258
-      - -1.5708174544614895
-      - 0.27635179923704001
-    velocities:
-      - 0.14906014602970905
-      - -0.01174653473075802
-      - -0.050851818887277155
-      - -0.081498112243721568
-      - 0.1323228228717841
-      - 4.1382686174477953e-05
-      - -0.01166440367662386
-    accelerations:
-      - 0.58982803013756735
-      - -0.046480804062841878
-      - -0.20121963490641515
-      - -0.32248640756775249
-      - 0.5235987756321685
-      - 0.00016375046528686584
-      - -0.04615581311681561
+      - 0.37495195959343258
+      - 0.2701285906014832
+      - -1.1786019410449171
+      - 1.60808251618541
+      - -2.0002004008674596
+      - -1.5707505333366798
+      - 0.27001848559475272
+    velocities:
+      - 0.14709362402075496
+      - -0.0072827585611016203
+      - -0.048166215039558653
+      - -0.086334006319348913
+      - 0.13444072974063881
+      - -3.2430641974121552e-06
+      - -0.0072695803852739693
+    accelerations:
+      - 0.57287729393363906
+      - -0.028363751621669524
+      - -0.18759025834453452
+      - -0.33624021601167436
+      - 0.52359877568459878
+      - -1.2630580379231341e-05
+      - -0.028312427318815784
     effort: []
     time_from_start:
       sec: 7
       nanosec: 360000000
   - positions:
-      - 0.37199159472699939
-      - 0.27631974987806707
-      - -1.1748618549635619
-      - 1.6015271862170666
-      - -1.9974206916750461
-      - -1.5708170334723119
-      - 0.27623313638158653
-    velocities:
-      - 0.15495842633079382
-      - -0.012211342771363516
-      - -0.052864015236242068
-      - -0.084722976319239987
-      - 0.13755881062784747
-      - 4.3020190827265879e-05
-      - -0.012125961807769248
-    accelerations:
-      - 0.58982803022758223
-      - -0.046480804069935509
-      - -0.20121963493712144
-      - -0.32248640761695424
-      - 0.52359877571205582
-      - 0.00016375046531185355
-      - -0.046155813123857491
+      - 0.37645141084560357
+      - 0.27005435120792415
+      - -1.1790929405150452
+      - 1.6072024397392533
+      - -1.9988299314001767
+      - -1.57075056639601
+      - 0.2699443805376231
+    velocities:
+      - 0.15282239695906599
+      - -0.0075663960772675495
+      - -0.050042117622668303
+      - -0.089696408478863815
+      - 0.13967671749654784
+      - -3.3693700011818595e-06
+      - -0.0075527046584114507
+    accelerations:
+      - 0.57287729385270381
+      - -0.028363751617663181
+      - -0.18759025831804182
+      - -0.3362402159641707
+      - 0.52359877561063017
+      - -1.2630580377447066e-05
+      - -0.028312427314816379
     effort: []
     time_from_start:
       sec: 7
       nanosec: 370000000
   - positions:
-      - 0.3735669776009059
-      - 0.27619560341681981
-      - -1.1753992963032882
-      - 1.600665851153978
-      - -1.9960222017732741
-      - -1.570816596108088
-      - 0.27610985794482168
-    velocities:
-      - 0.16085670663154619
-      - -0.012676150811942817
-      - -0.054876211585093586
-      - -0.087947840394576676
-      - 0.14279479838361575
-      - 4.4657695479961527e-05
-      - -0.012587519938888627
-    accelerations:
-      - 0.58982802998572015
-      - -0.046480804050874368
-      - -0.20121963485461106
-      - -0.32248640748472668
-      - 0.52359877549733869
-      - 0.00016375046524470756
-      - -0.046155813104931658
+      - 0.37800814982715836
+      - 0.26997727543920347
+      - -1.1796026990110045
+      - 1.6062887392715011
+      - -1.9974071020553348
+      - -1.5707506007183982
+      - 0.2698674442377621
+    velocities:
+      - 0.15855116989737703
+      - -0.0078500335934334788
+      - -0.051918020205777952
+      - -0.093058810638378717
+      - 0.14491270525245689
+      - -3.4956758049515637e-06
+      - -0.0078358289315489313
+    accelerations:
+      - 0.57287729377176855
+      - -0.028363751613656837
+      - -0.18759025829154219
+      - -0.33624021591666703
+      - 0.52359877553671708
+      - -1.2630580375662791e-05
+      - -0.028312427310816107
     effort: []
     time_from_start:
       sec: 7
       nanosec: 380000000
   - positions:
-      - 0.3752013432778224
-      - 0.2760668088751666
-      - -1.175956859606504
-      - 1.5997722674501349
-      - -1.9945713519939425
-      - -1.5708161423688178
-      - 0.2759819639267454
-    velocities:
-      - 0.16675498693259427
-      - -0.013140958852545423
-      - -0.056888407934045988
-      - -0.091172704470075042
-      - 0.14803078613964654
-      - 4.6295200132739275e-05
-      - -0.013049078070031146
-    accelerations:
-      - 0.58982803004006201
-      - -0.046480804055158788
-      - -0.20121963487315703
-      - -0.3224864075144479
-      - 0.52359877554559886
-      - 0.00016375046525980821
-      - -0.046155813109188031
+      - 0.37962217653809721
+      - 0.26989736329532099
+      - -1.1801312165327953
+      - 1.6053414147821532
+      - -1.9959319128329323
+      - -1.5707506363038441
+      - 0.26978767669516968
+    velocities:
+      - 0.16427994283569214
+      - -0.0081336711095996092
+      - -0.053793922788888934
+      - -0.096421212797896019
+      - 0.15014869300836964
+      - -3.6219816087213578e-06
+      - -0.0081189532046866148
+    accelerations:
+      - 0.57287729369392348
+      - -0.02836375160980047
+      - -0.18759025826604159
+      - -0.3362402158709808
+      - 0.52359877546553757
+      - -1.2630580373945865e-05
+      - -0.028312427306968504
     effort: []
     time_from_start:
       sec: 7
       nanosec: 390000000
   - positions:
-      - 0.37689469175774853
-      - 0.27593336625310744
-      - -1.1765345448732087
-      - 1.5988464351055371
-      - -1.9930681423370513
-      - -1.5708156722545008
-      - 0.2758494543273578
-    velocities:
-      - 0.1726532672336476
-      - -0.013605766893148441
-      - -0.058900604283000174
-      - -0.094397568545576266
-      - 0.153266773895682
-      - 4.7932704785518474e-05
-      - -0.013510636201174075
-    accelerations:
-      - 0.58982803009865759
-      - -0.046480804059775234
-      - -0.20121963489314273
-      - -0.32248640754648283
-      - 0.52359877559761958
-      - 0.00016375046527607488
-      - -0.046155813113771808
+      - 0.38129349097842014
+      - 0.26981461477627683
+      - -1.1806784930804175
+      - 1.6043604662712097
+      - -1.99440436373297
+      - -1.5707506731523486
+      - 0.26970507790984583
+    velocities:
+      - 0.17000871577428434
+      - -0.0084173086257794578
+      - -0.055669825372090649
+      - -0.099783614957575942
+      - 0.15538468076453563
+      - -3.7482874124972611e-06
+      - -0.0084020774778379922
+    accelerations:
+      - 0.57287729389466102
+      - -0.028363751619739606
+      - -0.18759025833178075
+      - -0.33624021598879655
+      - 0.52359877564899515
+      - -1.2630580378371819e-05
+      - -0.028312427316890248
     effort: []
     time_from_start:
       sec: 7
       nanosec: 400000000
   - positions:
-      - 0.37864702284583762
-      - 0.27579527556599703
-      - -1.1771323520369312
-      - 1.5978883542267168
-      - -1.9915125729755687
-      - -1.5708151857651917
-      - 0.27571232916190619
-    velocities:
-      - 0.17860695580430661
-      - -0.014074941326651692
-      - -0.060931703144570803
-      - -0.097652726898220688
-      - 0.15855194836486455
-      - 4.9585592104428788e-05
-      - -0.013976530195663627
-    accelerations:
-      - 0.58982803019973984
-      - -0.046480804067742472
-      - -0.20121963492762734
-      - -0.32248640760172531
-      - 0.52359877568734658
-      - 0.00016375046529143981
-      - -0.046155813121679774
+      - 0.38302209266599291
+      - 0.269729029905942
+      - -1.1812445284959947
+      - 1.6033458940216507
+      - -1.9928244551961094
+      - -1.5707507112639001
+      - 0.26961964790561838
+    velocities:
+      - 0.17578272923520527
+      - -0.008703186047349527
+      - -0.057560542089769136
+      - -0.10317257024331186
+      - 0.16066201748382913
+      - -3.8755906585742989e-06
+      - -0.008687437603263239
+    accelerations:
+      - 0.5728772938965484
+      - -0.028363751619831547
+      - -0.18759025833238444
+      - -0.3362402159898929
+      - 0.523598775650716
+      - -1.2630580366993202e-05
+      - -0.028312427316980453
     effort: []
     time_from_start:
       sec: 7
       nanosec: 410000000
   - positions:
-      - 0.38045833609440727
-      - 0.27565253684911445
-      - -1.1777502809449441
-      - 1.5968980250584424
-      - -1.9899046443069088
-      - -1.5708146829010139
-      - 0.27557058846542298
-    velocities:
-      - 0.18450523610533898
-      - -0.014539749367253066
-      - -0.062943899493517863
-      - -0.1008775909737103
-      - 0.16378793612088136
-      - 5.122309675707528e-05
-      - -0.014438088326804894
-    accelerations:
-      - 0.58982803023729669
-      - -0.046480804070700522
-      - -0.20121963494043824
-      - -0.32248640762225556
-      - 0.5235987757206878
-      - 0.00016375046530186534
-      - -0.046155813124615565
+      - 0.3848079818701618
+      - 0.26964060867098072
+      - -1.1818293228677257
+      - 1.6022976978753878
+      - -1.9911921869761726
+      - -1.570750750638505
+      - 0.2695313866691757
+    velocities:
+      - 0.18151150217350609
+      - -0.0089868235635149531
+      - -0.059436444672875427
+      - -0.10653497240282078
+      - 0.16589800523972886
+      - -4.0018964622295839e-06
+      - -0.0089705618764002164
+    accelerations:
+      - 0.57287729380542685
+      - -0.028363751615321266
+      - -0.18759025830255413
+      - -0.3362402159364079
+      - 0.52359877556742151
+      - -1.2630580364984887e-05
+      - -0.028312427312478846
     effort: []
     time_from_start:
       sec: 7
       nanosec: 420000000
   - positions:
-      - 0.38232863214598722
-      - 0.27550515005182591
-      - -1.1783883318164465
-      - 1.5958754472494132
-      - -1.9882443557606888
-      - -1.5708141636617901
-      - 0.27542423218762846
-    velocities:
-      - 0.19040351640609141
-      - -0.015004557407832381
-      - -0.064956095842369416
-      - -0.10410245504904685
-      - 0.16902392387664963
-      - 5.2860601409644049e-05
-      - -0.014899646457924255
-    accelerations:
-      - 0.58982802999540684
-      - -0.046480804051641116
-      - -0.20121963485792091
-      - -0.32248640749001412
-      - 0.52359877550597067
-      - 0.00016375046523471257
-      - -0.046155813105687997
+      - 0.38665115880371415
+      - 0.26954935106085781
+      - -1.1824328762652878
+      - 1.6012158777075298
+      - -1.9895075588786766
+      - -1.570750791276168
+      - 0.26944029419000171
+    velocities:
+      - 0.18724027511180694
+      - -0.009270461079680381
+      - -0.061312347255981732
+      - -0.10989737456232973
+      - 0.17113399299562865
+      - -4.1282022658848688e-06
+      - -0.0092536861495371939
+    accelerations:
+      - 0.57287729371433305
+      - -0.028363751610810985
+      - -0.18759025827273076
+      - -0.33624021588296454
+      - 0.52359877548418254
+      - -1.2630580362976572e-05
+      - -0.028312427307977239
     effort: []
     time_from_start:
       sec: 7
       nanosec: 430000000
   - positions:
-      - 0.38425791100057682
-      - 0.27535311517413141
-      - -1.1790465046514385
-      - 1.5948206207996294
-      - -1.9865317073369093
-      - -1.5708136280475198
-      - 0.27527326032852251
-    velocities:
-      - 0.19630179670719197
-      - -0.01546936544843913
-      - -0.066968292191339734
-      - -0.10732731912457374
-      - 0.17425991163272697
-      - 5.4498106062309481e-05
-      - -0.015361204589070861
-    accelerations:
-      - 0.58982803010220675
-      - -0.046480804060057647
-      - -0.20121963489434841
-      - -0.32248640754839297
-      - 0.52359877560077694
-      - 0.00016375046526436864
-      - -0.046155813114046991
+      - 0.38855162346665112
+      - 0.26945525707557316
+      - -1.1830551886886813
+      - 1.6001004335180755
+      - -1.98777057090362
+      - -1.5707508331768891
+      - 0.26934637046809629
+    velocities:
+      - 0.19296904805045006
+      - -0.0095540985958627554
+      - -0.0631882498392001
+      - -0.11325977672203955
+      - 0.17636998075184121
+      - -4.2545080695477009e-06
+      - -0.0095368104226910867
+    accelerations:
+      - 0.57287729396602982
+      - -0.028363751623272409
+      - -0.18759025835513715
+      - -0.33624021603067306
+      - 0.52359877571418623
+      - -1.2630580368525691e-05
+      - -0.028312427320416066
     effort: []
     time_from_start:
       sec: 7
       nanosec: 440000000
   - positions:
-      - 0.38624617265817629
-      - 0.27519643221603085
-      - -1.1797247994499191
-      - 1.5937335457090911
-      - -1.9847666990355699
-      - -1.5708130760582026
-      - 0.27511767288810518
-    velocities:
-      - 0.20220007700819295
-      - -0.015934173489038032
-      - -0.06898048854027608
-      - -0.1105521832000462
-      - 0.17949589938871591
-      - 5.6135610714947259e-05
-      - -0.015822762720209674
-    accelerations:
-      - 0.58982803010837204
-      - -0.046480804060543716
-      - -0.20121963489644565
-      - -0.32248640755177027
-      - 0.52359877560625157
-      - 0.00016375046526607989
-      - -0.046155813114528148
+      - 0.39050937585897183
+      - 0.26935832671512677
+      - -1.1836962601379062
+      - 1.5989513653070258
+      - -1.9859812230510037
+      - -1.5707508763406679
+      - 0.26924961550345933
+    velocities:
+      - 0.19869782098876107
+      - -0.0098377361120286864
+      - -0.065064152422309729
+      - -0.11662217888155445
+      - 0.18160596850775029
+      - -4.3808138732032103e-06
+      - -0.0098199346958285673
+    accelerations:
+      - 0.57287729388509456
+      - -0.028363751619266932
+      - -0.18759025832864445
+      - -0.33624021598318327
+      - 0.52359877564027313
+      - -1.263058036674184e-05
+      - -0.028312427316415794
     effort: []
     time_from_start:
       sec: 7
       nanosec: 450000000
   - positions:
-      - 0.38829341711878607
-      - 0.27503510117752439
-      - -1.1804232162118895
-      - 1.5926142219777975
-      - -1.9829493308566706
-      - -1.5708125076938391
-      - 0.27495746986637648
-    velocities:
-      - 0.20809835730931453
-      - -0.016398981529646434
-      - -0.070992684889253574
-      - -0.11377704727558458
-      - 0.1847318871448119
-      - 5.7773115367618518e-05
-      - -0.016284320851357923
-    accelerations:
-      - 0.58982803023618291
-      - -0.046480804070611705
-      - -0.20121963494004796
-      - -0.32248640762163994
-      - 0.52359877571970959
-      - 0.00016375046530155677
-      - -0.046155813124529925
+      - 0.39252441598067611
+      - 0.26925855997951875
+      - -1.1843560906129622
+      - 1.597768673074381
+      - -1.9841395153208279
+      - -1.570750920767505
+      - 0.26915002929609111
+    velocities:
+      - 0.2044265939270721
+      - -0.010121373628194617
+      - -0.066940055005419358
+      - -0.11998458104106935
+      - 0.18684195626365935
+      - -4.5071196768587197e-06
+      - -0.010103058968966048
+    accelerations:
+      - 0.57287729380418706
+      - -0.028363751615259721
+      - -0.18759025830213788
+      - -0.3362402159356796
+      - 0.52359877556630452
+      - -1.2630580364957141e-05
+      - -0.028312427312417256
     effort: []
     time_from_start:
       sec: 7
       nanosec: 460000000
   - positions:
-      - 0.39039964438240549
-      - 0.27486912205861191
-      - -1.1811417549373493
-      - 1.5914626496057498
-      - -1.9810796028002113
-      - -1.5708119229544288
-      - 0.27479265126333641
-    velocities:
-      - 0.21399663761029455
-      - -0.016863789570243683
-      - -0.073004881238182773
-      - -0.11700191135104557
-      - 0.18996787490078221
-      - 5.9410620020250475e-05
-      - -0.016745878982495094
-    accelerations:
-      - 0.58982803022136499
-      - -0.046480804069446317
-      - -0.20121963493501202
-      - -0.32248640761355418
-      - 0.52359877570656022
-      - 0.00016375046529744721
-      - -0.046155813123371768
+      - 0.39459674383176446
+      - 0.26915595686874905
+      - -1.1850346801138498
+      - 1.5965523568201401
+      - -1.9822454477130922
+      - -1.5707509664574002
+      - 0.26904761184599141
+    velocities:
+      - 0.21015536686559702
+      - -0.010405011144371139
+      - -0.068815957588599028
+      - -0.1233469832007098
+      - 0.19207794401976391
+      - -4.6334254805189454e-06
+      - -0.0103861832421141
+    accelerations:
+      - 0.57287729393665521
+      - -0.028363751621817805
+      - -0.18759025834551976
+      - -0.3362402160134435
+      - 0.52359877568738111
+      - -1.2630580367878351e-05
+      - -0.028312427318964977
     effort: []
     time_from_start:
       sec: 7
       nanosec: 470000000
   - positions:
-      - 0.39256485444903516
-      - 0.27469849485929343
-      - -1.1818804156262983
-      - 1.590278828592947
-      - -1.9791575148661922
-      - -1.5708113218399724
-      - 0.2746232170789849
-    velocities:
-      - 0.21989491791104693
-      - -0.017328597610822994
-      - -0.075017077587034312
-      - -0.12022677542638209
-      - 0.19520386265655046
-      - 6.1048124672819231e-05
-      - -0.01720743711361445
-    accelerations:
-      - 0.58982802997944739
-      - -0.046480804050381706
-      - -0.20121963485248082
-      - -0.32248640748128499
-      - 0.52359877549181533
-      - 0.00016375046523028089
-      - -0.046155813104438996
+      - 0.39672635941223677
+      - 0.2690505173828176
+      - -1.1857320286405688
+      - 1.5953024165443037
+      - -1.9802990202277966
+      - -1.5707510134103533
+      - 0.26894236315316028
+    velocities:
+      - 0.21588413980389784
+      - -0.010688648660536565
+      - -0.070691860171705326
+      - -0.12670938536021872
+      - 0.19731393177566364
+      - -4.7597312841742295e-06
+      - -0.010669307515251076
+    accelerations:
+      - 0.57287729384553365
+      - -0.028363751617307524
+      - -0.1875902583156964
+      - -0.33624021595995851
+      - 0.52359877560408663
+      - -1.2630580365868342e-05
+      - -0.028312427314461635
     effort: []
     time_from_start:
       sec: 7
       nanosec: 480000000
   - positions:
-      - 0.39478904731867409
-      - 0.27452321957956899
-      - -1.1826391982787368
-      - 1.58906275893939
-      - -1.9771830670546138
-      - -1.5708107043504693
-      - 0.27444916731332208
-    velocities:
-      - 0.22579319821219987
-      - -0.01779340565143387
-      - -0.077029273936022505
-      - -0.12345163950193762
-      - 0.20043985041267429
-      - 6.2685629325499198e-05
-      - -0.017668995244765156
-    accelerations:
-      - 0.58982803013862206
-      - -0.04648080406292688
-      - -0.20121963490678291
-      - -0.3224864075683076
-      - 0.52359877563311219
-      - 0.00016375046527446527
-      - -0.046155813116897142
+      - 0.39891326272209271
+      - 0.26894224152172447
+      - -1.186448136193119
+      - 1.5940188522468717
+      - -1.9783002328649415
+      - -1.5707510616263645
+      - 0.26883428321759778
+    velocities:
+      - 0.22161291274219871
+      - -0.010972286176701995
+      - -0.072567762754811624
+      - -0.13007178751972767
+      - 0.20254991953156343
+      - -4.8860370878295153e-06
+      - -0.010952431788388055
+    accelerations:
+      - 0.57287729375446761
+      - -0.028363751612798978
+      - -0.18759025828585915
+      - -0.33624021590650127
+      - 0.52359877552084766
+      - -1.2630580363860874e-05
+      - -0.028312427309960028
     effort: []
     time_from_start:
       sec: 7
       nanosec: 490000000
   - positions:
-      - 0.39707222299132339
-      - 0.27434329621943859
-      - -1.1834181028946644
-      - 1.5878144406450778
-      - -1.9751562593654752
-      - -1.5708100704859196
-      - 0.27427050196634789
-    velocities:
-      - 0.2316914785131485
-      - -0.018258213692028648
-      - -0.07904147028494099
-      - -0.12667650357738147
-      - 0.20567583816861676
-      - 6.4323133978122447e-05
-      - -0.018130553375899871
-    accelerations:
-      - 0.58982803009244034
-      - -0.046480804059287777
-      - -0.20121963489101943
-      - -0.3224864075430689
-      - 0.52359877559209622
-      - 0.00016375046526164821
-      - -0.046155813113282616
+      - 0.40115745376133294
+      - 0.26883112928546965
+      - -1.1871830027715007
+      - 1.5927016639278442
+      - -1.9762490856245261
+      - -1.5707511111054338
+      - 0.2687233720393038
+    velocities:
+      - 0.22734168568049953
+      - -0.011255923692867421
+      - -0.074443665337917908
+      - -0.13343418967923659
+      - 0.20778590728746316
+      - -5.0123428914848003e-06
+      - -0.011235556061525031
+    accelerations:
+      - 0.57287729366334605
+      - -0.028363751608286962
+      - -0.18759025825602191
+      - -0.33624021585301628
+      - 0.52359877543755318
+      - -1.2630580361852559e-05
+      - -0.028312427305456685
     effort: []
     time_from_start:
       sec: 7
       nanosec: 500000000
   - positions:
-      - 0.39941438139246366
-      - 0.27415872478477454
-      - -1.1842171294486594
-      - 1.5865338737507542
-      - -1.9730770918649283
-      - -1.5708094202463438
-      - 0.27408722104389355
-    velocities:
-      - 0.23761747153316692
-      - -0.018725205605548724
-      - -0.081063120818686163
-      - -0.12991651948482233
-      - 0.21093642690151218
-      - 6.5968332350067242e-05
-      - -0.018594280110453505
-    accelerations:
-      - 0.58982803022879993
-      - -0.046480804070032307
-      - -0.20121963493753608
-      - -0.32248640761762926
-      - 0.52359877571315927
-      - 0.00016375046530231572
-      - -0.046155813123953997
+      - 0.40345893234299407
+      - 0.26871718068330985
+      - -1.1879366283144921
+      - 1.5913508516969552
+      - -1.9741455786774313
+      - -1.5707511618475569
+      - 0.26860962962751844
+    velocities:
+      - 0.23309308927177619
+      - -0.01154068167623739
+      - -0.07632697839108997
+      - -0.13680987450106391
+      - 0.21304257902284388
+      - -5.1391476505986273e-06
+      - -0.011519798774376845
+    accelerations:
+      - 0.57287729395539944
+      - -0.028363751622748522
+      - -0.1875902583516677
+      - -0.33624021602445581
+      - 0.52359877570452729
+      - -1.2630580376750381e-05
+      - -0.028312427319890445
     effort: []
     time_from_start:
       sec: 7
       nanosec: 510000000
   - positions:
-      - 0.40181552234086415
-      - 0.27396950528985864
-      - -1.1850362778788948
-      - 1.585221058355506
-      - -1.9709455647138543
-      - -1.570808753631793
-      - 0.2738993245601411
-    velocities:
-      - 0.24351575183409443
-      - -0.019190013646141858
-      - -0.083075317167597418
-      - -0.13314138356025473
-      - 0.21617241465743595
-      - 6.760583700271284e-05
-      - -0.019055838241586586
-    accelerations:
-      - 0.58982803016152396
-      - -0.046480804064734808
-      - -0.20121963491459779
-      - -0.32248640758084424
-      - 0.52359877565343604
-      - 0.00016375046528365752
-      - -0.046155813118691484
+      - 0.40581769856920025
+      - 0.26860039571018879
+      - -1.1887090128555344
+      - 1.5899664154942657
+      - -1.971989711930318
+      - -1.5707512138527362
+      - 0.26849305597719453
+    velocities:
+      - 0.23882186221008719
+      - -0.011824319192403321
+      - -0.078202880974199571
+      - -0.1401722766605788
+      - 0.21827856677875296
+      - -5.2654534543387248e-06
+      - -0.011802923047514312
+    accelerations:
+      - 0.57287729387449193
+      - -0.028363751618741311
+      - -0.18759025832516113
+      - -0.33624021597696602
+      - 0.52359877563055868
+      - -1.263058037496653e-05
+      - -0.028312427315891908
     effort: []
     time_from_start:
       sec: 7
       nanosec: 520000000
   - positions:
-      - 0.40427564609227429
-      - 0.27377563771453678
-      - -1.1858755482726193
-      - 1.5838759943195035
-      - -1.9687616776852208
-      - -1.5708080706421956
-      - 0.27370681249507722
-    velocities:
-      - 0.24941403213484681
-      - -0.019654821686721186
-      - -0.085087513516448929
-      - -0.13636624763559138
-      - 0.22140840241320422
-      - 6.9243341655309798e-05
-      - -0.019517396372705959
-    accelerations:
-      - 0.58982802991966188
-      - -0.046480804045673667
-      - -0.20121963483208047
-      - -0.32248640744858892
-      - 0.52359877543871891
-      - 0.00016375046521650475
-      - -0.046155813099765651
+      - 0.40823375252478988
+      - 0.26848077436190609
+      - -1.1895001564224077
+      - 1.5885483552699806
+      - -1.9697814853056455
+      - -1.5707512671209733
+      - 0.26837365108413919
+    velocities:
+      - 0.24455063514855097
+      - -0.012107956708576817
+      - -0.080078783557359215
+      - -0.14353467882018336
+      - 0.22351455453480173
+      - -5.391759258082191e-06
+      - -0.01208604732065933
+    accelerations:
+      - 0.5728772939458423
+      - -0.028363751622274037
+      - -0.18759025834853124
+      - -0.33624021601882809
+      - 0.52359877569579105
+      - -1.263058037654011e-05
+      - -0.02831242731941774
     effort: []
     time_from_start:
       sec: 7
       nanosec: 530000000
   - positions:
-      - 0.40679475264669412
-      - 0.27357712205880896
-      - -1.1867349406298331
-      - 1.5824986816427464
-      - -1.9665254307790279
-      - -1.5708073712775514
-      - 0.27350968484870208
-    velocities:
-      - 0.25531231243605224
-      - -0.020119629727336216
-      - -0.087099709865454983
-      - -0.13959111171117572
-      - 0.22664439016937468
-      - 7.0880846308032537e-05
-      - -0.019978954503860783
-    accelerations:
-      - 0.5898280301313501
-      - -0.046480804062350951
-      - -0.20121963490428491
-      - -0.32248640756433855
-      - 0.52359877562664514
-      - 0.00016375046527527842
-      - -0.046155813116328152
+      - 0.41070709420976331
+      - 0.26835831663846166
+      - -1.1903100590151123
+      - 1.5870966710241001
+      - -1.967520898803413
+      - -1.5707513216522688
+      - 0.26825141494835247
+    velocities:
+      - 0.25027940808685178
+      - -0.012391594224742244
+      - -0.081954686140465499
+      - -0.14689708097969228
+      - 0.22875054229070155
+      - -5.5180650618220641e-06
+      - -0.012369171593796293
+    accelerations:
+      - 0.5728772938547485
+      - -0.028363751617763756
+      - -0.18759025831870788
+      - -0.33624021596537085
+      - 0.52359877561255208
+      - -1.2630580374531795e-05
+      - -0.028312427314916132
     effort: []
     time_from_start:
       sec: 7
       nanosec: 540000000
   - positions:
-      - 0.40937284200412416
-      - 0.27337395832267514
-      - -1.1876144549505363
-      - 1.5810891203252342
-      - -1.9642368239952743
-      - -1.5708066555378608
-      - 0.27330794162101546
-    velocities:
-      - 0.26121059273694824
-      - -0.020584437767926868
-      - -0.08911190621435551
-      - -0.14281597578659094
-      - 0.23188037792527053
-      - 7.251835096066938e-05
-      - -0.020440512634991401
-    accelerations:
-      - 0.58982803003262707
-      - -0.046480804054572798
-      - -0.20121963487060521
-      - -0.32248640751037283
-      - 0.52359877553899981
-      - 0.00016375046524786529
-      - -0.046155813108602332
+      - 0.41323772362412114
+      - 0.26823302253985554
+      - -1.1911387206336486
+      - 1.585611362756624
+      - -1.9652079524236203
+      - -1.5707513774466224
+      - 0.26812634756983433
+    velocities:
+      - 0.2560081810251526
+      - -0.012675231740907674
+      - -0.083830588723571783
+      - -0.15025948313920123
+      - 0.23398653004660136
+      - -5.6443708655619371e-06
+      - -0.012652295866933257
+    accelerations:
+      - 0.57287729376368246
+      - -0.028363751613256945
+      - -0.18759025828888451
+      - -0.33624021591194136
+      - 0.52359877552928535
+      - -1.263058037252348e-05
+      - -0.028312427310414525
     effort: []
     time_from_start:
       sec: 7
       nanosec: 550000000
   - positions:
-      - 0.41200991416456412
-      - 0.2731661465061353
-      - -1.188514091234729
-      - 1.5796473103669675
-      - -1.9618958573339613
-      - -1.5708059234231238
-      - 0.27310158281201746
-    velocities:
-      - 0.2671088730381746
-      - -0.021049245808543549
-      - -0.091124102563368711
-      - -0.14604083986218672
-      - 0.23711636568145955
-      - 7.4155855613397919e-05
-      - -0.020902070766147862
-    accelerations:
-      - 0.589828030265243
-      - -0.046480804072905009
-      - -0.2012196349499567
-      - -0.32248640763753
-      - 0.52359877574549452
-      - 0.00016375046531243945
-      - -0.046155813126802413
+      - 0.41582564076786266
+      - 0.26810489206608767
+      - -1.1919861412780159
+      - 1.5840924304675519
+      - -1.9628426461662678
+      - -1.5707514345040341
+      - 0.26799844894858477
+    velocities:
+      - 0.26173695396345342
+      - -0.0129588692570731
+      - -0.085706491306678054
+      - -0.15362188529871013
+      - 0.23922251780250114
+      - -5.7706766693018093e-06
+      - -0.012935420140070221
+    accelerations:
+      - 0.57287729367258866
+      - -0.028363751608744929
+      - -0.18759025825904727
+      - -0.33624021585842861
+      - 0.52359877544601863
+      - -1.2630580370514318e-05
+      - -0.028312427305912918
     effort: []
     time_from_start:
       sec: 7
       nanosec: 560000000
   - positions:
-      - 0.41470596912801366
-      - 0.27295368660918951
-      - -1.1894338494824108
-      - 1.5781732517679463
-      - -1.9595025307950884
-      - -1.57080517493334
-      - 0.27289060842170809
-    velocities:
-      - 0.27300715333904974
-      - -0.021514053849132551
-      - -0.093136298912262105
-      - -0.14926570393759048
-      - 0.2423523534373368
-      - 7.5793360266028975e-05
-      - -0.021363628897276842
-    accelerations:
-      - 0.58982803014559226
-      - -0.046480804063475399
-      - -0.20121963490914382
-      - -0.32248640757212899
-      - 0.5235987756392807
-      - 0.00016375046527922584
-      - -0.046155813117442483
+      - 0.41847084564098802
+      - 0.26797392521715818
+      - -1.1928523209482147
+      - 1.5825398741568844
+      - -1.9604249800313558
+      - -1.5707514928245034
+      - 0.26786771908460377
+    velocities:
+      - 0.26746572690222886
+      - -0.013242506773262027
+      - -0.087582393889939755
+      - -0.15698428745849763
+      - 0.24445850555883478
+      - -5.8969824730521466e-06
+      - -0.013218544413230641
+    accelerations:
+      - 0.57287729405662402
+      - -0.028363751627758404
+      - -0.18759025838480786
+      - -0.33624021608385274
+      - 0.52359877579703662
+      - -1.2630580378981466e-05
+      - -0.028312427324891653
     effort: []
     time_from_start:
       sec: 7
       nanosec: 570000000
   - positions:
-      - 0.41746100689447357
-      - 0.27273657863183776
-      - -1.1903737296935821
-      - 1.57666694452817
-      - -1.9570568443786558
-      - -1.5708044100685097
-      - 0.27267501845008735
-    velocities:
-      - 0.27890543363980208
-      - -0.021978861889711879
-      - -0.095148495261113616
-      - -0.15249056801292712
-      - 0.24758834119310508
-      - 7.7430864918625933e-05
-      - -0.021825187028396215
-    accelerations:
-      - 0.58982802990367467
-      - -0.046480804044414258
-      - -0.20121963482664038
-      - -0.32248640743987367
-      - 0.52359877542453581
-      - 0.00016375046521207307
-      - -0.046155813098513181
+      - 0.42117333824349718
+      - 0.26784012199306695
+      - -1.1937372596442448
+      - 1.5809536938246211
+      - -1.9579549540188839
+      - -1.5707515524080309
+      - 0.26773415797789141
+    velocities:
+      - 0.27319449984053984
+      - -0.013526144289427956
+      - -0.089458296473049342
+      - -0.16034668961801249
+      - 0.24969449331474383
+      - -6.0232882767922433e-06
+      - -0.013501668686368104
+    accelerations:
+      - 0.57287729397568876
+      - -0.028363751623749458
+      - -0.18759025835828741
+      - -0.33624021603633519
+      - 0.5235987757230125
+      - -1.2630580377196768e-05
+      - -0.028312427320889646
     effort: []
     time_from_start:
       sec: 7
       nanosec: 580000000
   - positions:
-      - 0.42027502746394274
-      - 0.27251482257408
-      - -1.1913337318682427
-      - 1.5751283886476397
-      - -1.9545587980846637
-      - -1.5708036288286331
-      - 0.27245481289715523
-    velocities:
-      - 0.28480371394105986
-      - -0.022443669930331041
-      - -0.097160691610137545
-      - -0.15571543208854013
-      - 0.25282432894932205
-      - 7.9068369571363214e-05
-      - -0.02228674515955514
-    accelerations:
-      - 0.58982803016776542
-      - -0.046480804065227123
-      - -0.2012196349167194
-      - -0.32248640758426705
-      - 0.52359877565895263
-      - 0.00016375046528538861
-      - -0.046155813119176568
+      - 0.42393311857539034
+      - 0.26770348239381403
+      - -1.1946409573661065
+      - 1.5793338894707625
+      - -1.955432568128852
+      - -1.5707516132546167
+      - 0.26759776562844761
+    velocities:
+      - 0.27892327277885082
+      - -0.013809781805593887
+      - -0.091334199056158957
+      - -0.16370909177752738
+      - 0.25493048107065297
+      - -6.1495940805323408e-06
+      - -0.013784792959505571
+    accelerations:
+      - 0.5728772938947535
+      - -0.028363751619742247
+      - -0.18759025833179471
+      - -0.33624021598881765
+      - 0.52359877564907165
+      - -1.2630580375412916e-05
+      - -0.028312427316891108
     effort: []
     time_from_start:
       sec: 7
       nanosec: 590000000
   - positions:
-      - 0.42314803083642277
-      - 0.27228841843591622
-      - -1.1923138560063926
-      - 1.573557584126354
-      - -1.952008391913111
-      - -1.5708028312137099
-      - 0.27222999176291168
-    velocities:
-      - 0.29070199424190352
-      - -0.022908477970917562
-      - -0.099172887959020198
-      - -0.15894029616392669
-      - 0.25806031670517138
-      - 8.0705874223985515e-05
-      - -0.022748303290681657
-    accelerations:
-      - 0.58982803001663986
-      - -0.046480804053316858
-      - -0.20121963486516511
-      - -0.32248640750162982
-      - 0.52359877552481671
-      - 0.00016375046524343362
-      - -0.046155813107353331
+      - 0.42675018663666758
+      - 0.26756400641939942
+      - -1.1955634141137994
+      - 1.5776804610953079
+      - -1.9528578223612603
+      - -1.5707516753642601
+      - 0.26745854203627234
+    velocities:
+      - 0.2846520457172434
+      - -0.014093419321763858
+      - -0.093210101639295287
+      - -0.16707149393709017
+      - 0.26016646882663663
+      - -6.2758998842742366e-06
+      - -0.014067917232647069
+    accelerations:
+      - 0.57287729389491082
+      - -0.028363751619751749
+      - -0.18759025833185014
+      - -0.33624021598893533
+      - 0.5235987756492172
+      - -1.2630580375416098e-05
+      - -0.028312427316898921
     effort: []
     time_from_start:
       sec: 7
       nanosec: 600000000
   - positions:
-      - 0.4260800169760407
-      - 0.27205736622017329
-      - -1.1933141020957942
-      - 1.5719545309839267
-      - -1.9494056258958428
-      - -1.57080201722375
-      - 0.27200055505016379
-    velocities:
-      - 0.29661690752345393
-      - -0.023374596756801171
-      - -0.10119075864369789
-      - -0.16217425426319709
-      - 0.26331106979580798
-      - 8.2347996595536106e-05
-      - -0.023211163002454509
-    accelerations:
-      - 0.58982803032669384
-      - -0.046480804077744887
-      - -0.20121963497093992
-      - -0.32248640767114201
-      - 0.52359877580006198
-      - 0.00016375046533532967
-      - -0.046155813131611066
+      - 0.42962454233650854
+      - 0.2674216940743197
+      - -1.1965046298575843
+      - 1.5759934087515632
+      - -1.9502307167991166
+      - -1.5707517387369598
+      - 0.26731648720585416
+    velocities:
+      - 0.29039440215948936
+      - -0.014377729371359886
+      - -0.095090452178429929
+      - -0.1704418686944803
+      - 0.26541487164263505
+      - -6.4025051685245737e-06
+      - -0.014351712822264235
+    accelerations:
+      - 0.5728772938305734
+      - -0.028363751616565062
+      - -0.18759025831078366
+      - -0.33624021595118775
+      - 0.52359877559043089
+      - -1.2630580367269335e-05
+      - -0.028312427313720908
     effort: []
     time_from_start:
       sec: 7
       nanosec: 610000000
   - positions:
-      - 0.42907098579285985
-      - 0.27182166593393869
-      - -1.1943344701057657
-      - 1.57031922926953
-      - -1.9467505001126968
-      - -1.5708011868587786
-      - 0.27176650276594955
-    velocities:
-      - 0.30251518782427661
-      - -0.023839404797386023
-      - -0.10320295499257336
-      - -0.16539911833857213
-      - 0.26854705755163866
-      - 8.398550124821091e-05
-      - -0.023672721133579374
-    accelerations:
-      - 0.58982803015452956
-      - -0.046480804064183166
-      - -0.20121963491221082
-      - -0.32248640757704172
-      - 0.52359877564727431
-      - 0.00016375046528756065
-      - -0.046155813118143312
+      - 0.43255618572391114
+      - 0.26727654535614898
+      - -1.1974646046135056
+      - 1.5742727324107695
+      - -1.9475512513976381
+      - -1.5707518033727166
+      - 0.26717160113477145
+    velocities:
+      - 0.29612317509779018
+      - -0.014661366887525309
+      - -0.096966354761536186
+      - -0.17380427085398922
+      - 0.27065085939853484
+      - -6.5288109721971618e-06
+      - -0.014634837095401214
+    accelerations:
+      - 0.5728772937394796
+      - -0.028363751612056516
+      - -0.18759025828096029
+      - -0.33624021589773051
+      - 0.52359877550716416
+      - -1.263058036526102e-05
+      - -0.028312427309221035
     effort: []
     time_from_start:
       sec: 7
       nanosec: 620000000
   - positions:
-      - 0.43212093741268892
-      - 0.27158131756729803
-      - -1.1953749600792263
-      - 1.5686516789143787
-      - -1.9440430144519909
-      - -1.5708003401187605
-      - 0.27152783490042387
-    velocities:
-      - 0.30841346812502907
-      - -0.024304212837965338
-      - -0.10521515134142487
-      - -0.16862398241390875
-      - 0.27378304530740694
-      - 8.5623005900866198e-05
-      - -0.02413427926469874
-    accelerations:
-      - 0.58982802991272298
-      - -0.046480804045125494
-      - -0.20121963482970737
-      - -0.32248640744481416
-      - 0.52359877543255717
-      - 0.00016375046522040787
-      - -0.046155813099217478
+      - 0.43554511684069747
+      - 0.26712856026281651
+      - -1.1984433383952584
+      - 1.5725184320483807
+      - -1.9448194261185996
+      - -1.5707518692715312
+      - 0.26702388382095743
+    velocities:
+      - 0.30185194803609106
+      - -0.014945004403690728
+      - -0.098842257344642429
+      - -0.17716667301349812
+      - 0.27588684715443462
+      - -6.6551167758697491e-06
+      - -0.014917961368538192
+    accelerations:
+      - 0.5728772936483858
+      - -0.0283637516075445
+      - -0.18759025825112305
+      - -0.33624021584424552
+      - 0.52359877542389743
+      - -1.2630580363252705e-05
+      - -0.028312427304717693
     effort: []
     time_from_start:
       sec: 7
       nanosec: 630000000
   - positions:
-      - 0.43522987183552786
-      - 0.27133632112025141
-      - -1.1964355720161763
-      - 1.5669518799184727
-      - -1.9412831689137251
-      - -1.5707994770036962
-      - 0.27128455145358676
-    velocities:
-      - 0.31431174842633924
-      - -0.024769020878588604
-      - -0.10722734769046664
-      - -0.17184884648955032
-      - 0.27901903306367037
-      - 8.7260510553676337e-05
-      - -0.024595837395861752
-    accelerations:
-      - 0.58982803022916075
-      - -0.046480804070060062
-      - -0.20121963493766098
-      - -0.32248640761779579
-      - 0.52359877571346458
-      - 0.00016375046530826528
-      - -0.046155813123978283
+      - 0.43859133568686792
+      - 0.26697773879432241
+      - -1.1994408312028426
+      - 1.5707305076643958
+      - -1.9420352409620016
+      - -1.5707519364334042
+      - 0.26687333526441193
+    velocities:
+      - 0.30758072097493777
+      - -0.015228641919883176
+      - -0.10071815992792743
+      - -0.18052907517332742
+      - 0.28112283491083329
+      - -6.7814225795543719e-06
+      - -0.015201085641702148
+    accelerations:
+      - 0.57287729410364197
+      - -0.028363751630086403
+      - -0.18759025840021221
+      - -0.33624021611146954
+      - 0.52359877584003001
+      - -1.2630580373290252e-05
+      - -0.028312427327217917
     effort: []
     time_from_start:
       sec: 7
       nanosec: 640000000
   - positions:
-      - 0.43839778906137711
-      - 0.27108667659279878
-      - -1.1975163059166158
-      - 1.5652198322818118
-      - -1.9384709634978994
-      - -1.570798597513585
-      - 0.27103665242543828
-    velocities:
-      - 0.32021002872713056
-      - -0.025233828919170982
-      - -0.10923954403933141
-      - -0.1750737105649082
-      - 0.28425502081947318
-      - 8.8898015206342412e-05
-      - -0.025057395526984161
-    accelerations:
-      - 0.58982803002563267
-      - -0.046480804054024626
-      - -0.20121963486823211
-      - -0.32248640750654256
-      - 0.52359877553281031
-      - 0.00016375046525176842
-      - -0.046155813108057629
+      - 0.44169484226242206
+      - 0.26682408095066651
+      - -1.200457083036258
+      - 1.5689089592588155
+      - -1.9391986959278433
+      - -1.5707520048583352
+      - 0.26671995546513499
+    velocities:
+      - 0.31330949391324886
+      - -0.015512279436049103
+      - -0.10259406251103703
+      - -0.18389147733284233
+      - 0.28635882266674245
+      - -6.9077283832271853e-06
+      - -0.015484209914839632
+    accelerations:
+      - 0.57287729402281773
+      - -0.028363751626082661
+      - -0.18759025837373339
+      - -0.3362402160640075
+      - 0.52359877576614466
+      - -1.2630580371507247e-05
+      - -0.028312427323222849
     effort: []
     time_from_start:
       sec: 7
       nanosec: 650000000
   - positions:
-      - 0.44162468909023572
-      - 0.27083238398494025
-      - -1.1986171617805446
-      - 1.5634555360043967
-      - -1.9356063982045146
-      - -1.5707977016484276
-      - 0.27078413781597849
-    velocities:
-      - 0.32610830902846177
-      - -0.025698636959795906
-      - -0.11125174038838036
-      - -0.17829857464056129
-      - 0.28949100857575533
-      - 9.0535519859158393e-05
-      - -0.025518953658148817
-    accelerations:
-      - 0.58982803036310916
-      - -0.04648080408061759
-      - -0.20121963498336054
-      - -0.32248640769107051
-      - 0.52359877583242498
-      - 0.00016375046534545341
-      - -0.046155813134462952
+      - 0.44485563656736005
+      - 0.26666758673184898
+      - -1.2014920938955052
+      - 1.5670537868316399
+      - -1.9363097910161258
+      - -1.5707520745463239
+      - 0.26656374442312669
+    velocities:
+      - 0.31903826685155989
+      - -0.015795916952215029
+      - -0.10446996509414662
+      - -0.18725387949235722
+      - 0.29159481042265151
+      - -7.034034186899998e-06
+      - -0.015767334187977114
+    accelerations:
+      - 0.57287729394188247
+      - -0.028363751622078919
+      - -0.18759025834724069
+      - -0.33624021601651771
+      - 0.5235987756921483
+      - -1.2630580369724243e-05
+      - -0.028312427319226046
     effort: []
     time_from_start:
       sec: 7
       nanosec: 660000000
   - positions:
-      - 0.44491057192210459
-      - 0.27057344329667565
-      - -1.1997381396079625
-      - 1.5616589910862269
-      - -1.9326894730335695
-      - -1.5707967894082233
-      - 0.27052700762520726
-    velocities:
-      - 0.33200658932923216
-      - -0.026163445000376633
-      - -0.11326393673723799
-      - -0.1815234387159077
-      - 0.29472699633153954
-      - 9.2173024511818654e-05
-      - -0.025980511789269588
-    accelerations:
-      - 0.58982803013865337
-      - -0.046480804062930696
-      - -0.20121963490679848
-      - -0.32248640756835423
-      - 0.52359877563317447
-      - 0.00016375046528314252
-      - -0.046155813116901249
+      - 0.44807371860168199
+      - 0.26650825613786977
+      - -1.2025458637805833
+      - 1.5651649903828682
+      - -1.9333685262268481
+      - -1.570752145497371
+      - 0.26640470213838691
+    velocities:
+      - 0.32476703978988125
+      - -0.016079554468381465
+      - -0.10634586767725956
+      - -0.19061628165187816
+      - 0.29683079817857
+      - -7.1603399905730367e-06
+      - -0.016050458461115105
+    accelerations:
+      - 0.57287729387076347
+      - -0.028363751618556525
+      - -0.1875902583239398
+      - -0.33624021597477999
+      - 0.52359877562712376
+      - -1.2630580368155331e-05
+      - -0.028312427315710636
     effort: []
     time_from_start:
       sec: 7
       nanosec: 670000000
   - positions:
-      - 0.44825543755698338
-      - 0.27030985452800516
-      - -1.2008792393988699
-      - 1.5598301975273021
-      - -1.9297201879850645
-      - -1.5707958607929728
-      - 0.27026526185312466
-    velocities:
-      - 0.33790486962998456
-      - -0.026628253040955941
-      - -0.11527613308608946
-      - -0.1847483027912443
-      - 0.29996298408730776
-      - 9.3810529164473929e-05
-      - -0.026442069920388948
-    accelerations:
-      - 0.58982802989684679
-      - -0.046480804043869554
-      - -0.20121963482428115
-      - -0.32248640743612667
-      - 0.52359877541845734
-      - 0.0001637504652160033
-      - -0.046155813097975416
+      - 0.45134908836538778
+      - 0.26634608916872882
+      - -1.2036183926914927
+      - 1.563242569912501
+      - -1.9303749015600107
+      - -1.5707522177114759
+      - 0.26624282861091575
+    velocities:
+      - 0.33049581272818213
+      - -0.016363191984546884
+      - -0.10822177026036582
+      - -0.19397868381138708
+      - 0.30206678593446978
+      - -7.2866457942456249e-06
+      - -0.016333582734252082
+    accelerations:
+      - 0.57287729377972518
+      - -0.028363751614046244
+      - -0.18759025829411644
+      - -0.33624021592129499
+      - 0.52359877554385703
+      - -1.2630580366147863e-05
+      - -0.028312427311207294
     effort: []
     time_from_start:
       sec: 7
       nanosec: 680000000
   - positions:
-      - 0.45165928599487215
-      - 0.27004161767892859
-      - -1.2020404611532667
-      - 1.5579691553276227
-      - -1.9266985430589996
-      - -1.5707949158026757
-      - 0.26999890049973069
-    velocities:
-      - 0.34380314993134758
-      - -0.027093061081583374
-      - -0.11728832943514927
-      - -0.18797316686691476
-      - 0.30519897184361811
-      - 9.5448033817298732e-05
-      - -0.026903628051556095
-    accelerations:
-      - 0.58982803026651975
-      - -0.046480804073002153
-      - -0.20121963495040079
-      - -0.32248640763822389
-      - 0.52359877574660474
-      - 0.00016375046531861941
-      - -0.046155813126899557
+      - 0.45468174585847798
+      - 0.26618108582442618
+      - -1.2047096806282336
+      - 1.5612865254205381
+      - -1.9273289170156132
+      - -1.5707522911886389
+      - 0.26607812384071317
+    velocities:
+      - 0.33622458566648317
+      - -0.016646829500712317
+      - -0.11009767284347215
+      - -0.19734108597089614
+      - 0.30730277369036979
+      - -7.4129515979182173e-06
+      - -0.01661670700738907
+    accelerations:
+      - 0.57287729368913098
+      - -0.028363751609563718
+      - -0.18759025826447348
+      - -0.33624021586817082
+      - 0.52359877546114542
+      - -1.2630580364151406e-05
+      - -0.028312427306731707
     effort: []
     time_from_start:
       sec: 7
       nanosec: 690000000
   - positions:
-      - 0.45512211723577078
-      - 0.26976873274944607
-      - -1.2032218048711529
-      - 1.5560758644871886
-      - -1.9236245382553752
-      - -1.5707939544373319
-      - 0.26972792356502528
-    velocities:
-      - 0.34970143023208689
-      - -0.027557869122161651
-      - -0.11930052578399628
-      - -0.19119803094224419
-      - 0.31043495959937473
-      - 9.7085538469950374e-05
-      - -0.027365186182674434
-    accelerations:
-      - 0.5898280300113663
-      - -0.046480804052893586
-      - -0.20121963486334712
-      - -0.32248640749871549
-      - 0.52359877552009826
-      - 0.00016375046524779753
-      - -0.046155813106936998
+      - 0.45807169108095164
+      - 0.26601324610496185
+      - -1.205819727590806
+      - 1.5592968569069798
+      - -1.9242305725936559
+      - -1.57075236592886
+      - 0.26591058782777915
+    velocities:
+      - 0.34195335860478437
+      - -0.016930467016877754
+      - -0.1119735754265785
+      - -0.20070348813040523
+      - 0.31253876144626985
+      - -7.5392574015908122e-06
+      - -0.016899831280526065
+    accelerations:
+      - 0.57287729359875883
+      - -0.028363751605088132
+      - -0.18759025823487216
+      - -0.33624021581510216
+      - 0.52359877537848931
+      - -1.2630580362157491e-05
+      - -0.028312427302263059
     effort: []
     time_from_start:
       sec: 7
       nanosec: 700000000
   - positions:
-      - 0.45864393125976732
-      - 0.26949119974112673
-      - -1.2044232705457354
-      - 1.5541503250168864
-      - -1.9204981735918667
-      - -1.5707929766969475
-      - 0.26945233105056671
-    velocities:
-      - 0.35561080198005451
-      - -0.028023551213072703
-      - -0.12131650597635166
-      - -0.19442895922746214
-      - 0.31568079339142019
-      - 9.8726122372284536e-05
-      - -0.027827612252818656
-    accelerations:
-      - 0.58982803001908235
-      - -0.046480804053507678
-      - -0.20121963486599778
-      - -0.32248640750296209
-      - 0.52359877552698164
-      - 0.00016375046524468045
-      - -0.046155813107544151
+      - 0.46151892398208183
+      - 0.26584257001284739
+      - -1.2069485335625989
+      - 1.5572735644015994
+      - -1.921079868340503
+      - -1.5707524419321381
+      - 0.26574022057462082
+    velocities:
+      - 0.34769118973109991
+      - -0.017214553013368685
+      - -0.11385244413846826
+      - -0.20407120683348964
+      - 0.3177830282109651
+      - -7.6657629180093071e-06
+      - -0.017183403222461407
+    accelerations:
+      - 0.57287729396186649
+      - -0.028363751623067712
+      - -0.18759025835377713
+      - -0.33624021602825832
+      - 0.52359877571041147
+      - -1.2630580372251789e-05
+      - -0.028312427320211369
     effort: []
     time_from_start:
       sec: 7
       nanosec: 710000000
   - positions:
-      - 0.46222472801597941
-      - 0.2692090186579803
-      - -1.2056448581596557
-      - 1.5521925369445366
-      - -1.917319449113644
-      - -1.570791982581536
-      - 0.26917212296033666
-    velocities:
-      - 0.36150908228144807
-      - -0.02848835925370256
-      - -0.12332870232542191
-      - -0.19765382330314935
-      - 0.32091678114775768
-      - 0.00010036362702506525
-      - -0.028289170383988208
-    accelerations:
-      - 0.5898280304185648
-      - -0.046480804084989093
-      - -0.20121963500227596
-      - -0.3224864077213796
-      - 0.52359877588160786
-      - 0.0001637504653555907
-      - -0.04615581313880323
+      - 0.46502344458902123
+      - 0.26566905754673842
+      - -1.2080960985525033
+      - 1.5552166478884599
+      - -1.9178768042313368
+      - -1.5707525191984733
+      - 0.26556702207989613
+    velocities:
+      - 0.35341996266937059
+      - -0.017498190529532623
+      - -0.11572834672156466
+      - -0.20743360899298091
+      - 0.32301901596683735
+      - -7.7920687217021021e-06
+      - -0.017466527495596896
+    accelerations:
+      - 0.57287729384045438
+      - -0.028363751617061193
+      - -0.18759025831403106
+      - -0.33624021595701642
+      - 0.5235987755994792
+      - -1.2630580369575805e-05
+      - -0.028312427314215304
     effort: []
     time_from_start:
       sec: 7
       nanosec: 720000000
   - positions:
-      - 0.4658645075752017
-      - 0.26892218949442781
-      - -1.2068865677370655
-      - 1.5502025002314319
-      - -1.9140883647578613
-      - -1.570790972091078
-      - 0.26888729928879518
-    velocities:
-      - 0.36740736258215523
-      - -0.028953167294278322
-      - -0.12534089867425799
-      - -0.20087868737846123
-      - 0.32615276890348571
-      - 0.00010200113167765538
-      - -0.028750728515104039
-    accelerations:
-      - 0.58982803013054874
-      - -0.046480804062288848
-      - -0.20121963490400904
-      - -0.32248640756388558
-      - 0.52359877562590251
-      - 0.00016375046527562087
-      - -0.046155813116262871
+      - 0.4685852529253447
+      - 0.26549270870546776
+      - -1.2092624225682393
+      - 1.5531261073537248
+      - -1.9146213802446108
+      - -1.5707525977278669
+      - 0.26539099234244001
+    velocities:
+      - 0.3591487356076718
+      - -0.017781828045698066
+      - -0.11760424930467107
+      - -0.21079601115249008
+      - 0.32825500372273747
+      - -7.9183745253955696e-06
+      - -0.017749651768733891
+    accelerations:
+      - 0.57287729375013774
+      - -0.028363751612585607
+      - -0.1875902582844575
+      - -0.33624021590397551
+      - 0.52359877551687861
+      - -1.2630580367583584e-05
+      - -0.028312427309750126
     effort: []
     time_from_start:
       sec: 7
       nanosec: 730000000
   - positions:
-      - 0.46956326993743397
-      - 0.26863071225046931
-      - -1.2081483992779645
-      - 1.5481802148775721
-      - -1.9108049205245181
-      - -1.5707899452255734
-      - 0.26859786003594227
-    velocities:
-      - 0.37330564288290713
-      - -0.029417975334857613
-      - -0.12735309502310935
-      - -0.20410355145379763
-      - 0.3313887566592536
-      - 0.00010363863633025795
-      - -0.029212286646223381
-    accelerations:
-      - 0.58982802988779848
-      - -0.046480804043161787
-      - -0.20121963482121416
-      - -0.32248640743118617
-      - 0.52359877541046373
-      - 0.0001637504652082377
-      - -0.046155813097271119
+      - 0.47220434899105224
+      - 0.26531352348903536
+      - -1.2104475056098067
+      - 1.5510019427973942
+      - -1.9113135963803249
+      - -1.5707526775203187
+      - 0.26521213136225247
+    velocities:
+      - 0.36487750854597295
+      - -0.01806546556186351
+      - -0.11948015188777744
+      - -0.2141584133119992
+      - 0.33349099147863753
+      - -8.0446803290890354e-06
+      - -0.018032776041870882
+    accelerations:
+      - 0.57287729365971007
+      - -0.02836375160811002
+      - -0.1875902582548423
+      - -0.33624021585090685
+      - 0.52359877543427802
+      - -1.2630580365589668e-05
+      - -0.028312427305281478
     effort: []
     time_from_start:
       sec: 7
       nanosec: 740000000
   - positions:
-      - 0.47332101510267566
-      - 0.26833458692610496
-      - -1.2094303527823529
-      - 1.546125680882958
-      - -1.9074691164136164
-      - -1.5707889019850223
-      - 0.2683038052017781
-    velocities:
-      - 0.37920392318433238
-      - -0.029882783375489962
-      - -0.12936529137219038
-      - -0.20732841552950215
-      - 0.33662474441561913
-      - 0.00010527614098304745
-      - -0.029673844777395406
-    accelerations:
-      - 0.58982803031892228
-      - -0.046480804077134265
-      - -0.20121963496827538
-      - -0.3224864076668954
-      - 0.52359877579312308
-      - 0.00016375046532792999
-      - -0.046155813131007382
+      - 0.47588073278614318
+      - 0.26513150189744134
+      - -1.2116513476772053
+      - 1.5488441542194682
+      - -1.9079534526384794
+      - -1.5707527585758281
+      - 0.26503043913933355
+    velocities:
+      - 0.37060628148427416
+      - -0.018349103078028957
+      - -0.12135605447088384
+      - -0.21752081547150839
+      - 0.33872697923453765
+      - -8.1709861327825046e-06
+      - -0.018315900315007877
+    accelerations:
+      - 0.57287729356939343
+      - -0.028363751603637903
+      - -0.18759025822525485
+      - -0.3362402157978937
+      - 0.52359877535167743
+      - -1.2630580363599141e-05
+      - -0.028312427300812831
     effort: []
     time_from_start:
       sec: 7
       nanosec: 750000000
   - positions:
-      - 0.47713774307092749
-      - 0.26803381352133454
-      - -1.2107324282502305
-      - 1.5440388982475892
-      - -1.9040809524251541
-      - -1.5707878423694246
-      - 0.2680051347863025
-    velocities:
-      - 0.38510220348500784
-      - -0.030347591416063229
-      - -0.13137748772101568
-      - -0.21055327960479675
-      - 0.34186073217131913
-      - 0.00010691364563562879
-      - -0.030135402908508763
-    accelerations:
-      - 0.58982802999920936
-      - -0.046480804051942957
-      - -0.2012196348592393
-      - -0.32248640749213742
-      - 0.5235987755093291
-      - 0.00016375046523917812
-      - -0.046155813105989839
+      - 0.4796144043106183
+      - 0.26494664393068557
+      - -1.2128739487704352
+      - 1.5466527416199463
+      - -1.9045409490190739
+      - -1.5707528408943956
+      - 0.26484591567368321
+    velocities:
+      - 0.37633505442324333
+      - -0.018632740594227471
+      - -0.12323195705420896
+      - -0.22088321763140958
+      - 0.34396296699104828
+      - -8.2972919364906986e-06
+      - -0.01859902458817788
+    accelerations:
+      - 0.57287729414749577
+      - -0.028363751632254807
+      - -0.18759025841456184
+      - -0.3362402161371712
+      - 0.52359877588005355
+      - -1.2630580376344652e-05
+      - -0.028312427329381117
     effort: []
     time_from_start:
       sec: 7
       nanosec: 760000000
   - positions:
-      - 0.48101345384218958
-      - 0.26772839203615811
-      - -1.2120546256815976
-      - 1.5419198669714655
-      - -1.9006404285591318
-      - -1.5707867663787805
-      - 0.26770184878951542
-    velocities:
-      - 0.39100048378575997
-      - -0.030812399456642534
-      - -0.13338968406986709
-      - -0.2137781436801332
-      - 0.34709671992708713
-      - 0.0001085511502882314
-      - -0.030596961039628116
-    accelerations:
-      - 0.58982802975673665
-      - -0.046480804032829774
-      - -0.20121963477649993
-      - -0.32248640735949352
-      - 0.52359877529405685
-      - 0.00016375046517183562
-      - -0.046155813087011964
+      - 0.4834053635644775
+      - 0.26475894958876811
+      - -1.2141153088894967
+      - 1.5444277049988289
+      - -1.9010760855221087
+      - -1.5707529244760214
+      - 0.26465856096530138
+    velocities:
+      - 0.38206382736155481
+      - -0.018916378110393428
+      - -0.12510785963731871
+      - -0.22424561979092478
+      - 0.34919895474695778
+      - -8.4235977401843931e-06
+      - -0.018882148861315385
+    accelerations:
+      - 0.57287729406744869
+      - -0.028363751628292699
+      - -0.18759025838833282
+      - -0.33624021609018101
+      - 0.52359877580688985
+      - -1.2630580374579436e-05
+      - -0.028312427325425948
     effort: []
     time_from_start:
       sec: 7
       nanosec: 770000000
   - positions:
-      - 0.48493807041769171
-      - 0.26741911657831807
-      - -1.213393507311699
-      - 1.5397740966183353
-      - -1.8971564903114373
-      - -1.5707856768107074
-      - 0.26739473576680645
-    velocities:
-      - 0.39106360420564423
-      - -0.030817373597780452
-      - -0.13341121757996713
-      - -0.21381265454840764
-      - 0.34715275282630537
-      - 0.00010856867403684361
-      - -0.030601900401874691
-    accelerations:
-      - -0.58982803007864582
-      - 0.046480804058205309
-      - 0.20121963488632874
-      - 0.32248640753554714
-      - -0.52359877557988377
-      - -0.00016375046526122809
-      - 0.046155813112207088
+      - 0.48723640248342881
+      - 0.26456927086087867
+      - -1.2153697932060237
+      - 1.542179144325718
+      - -1.8975745899857968
+      - -1.5707530089413082
+      - 0.26446922546170065
+    velocities:
+      - 0.38130495696477068
+      - -0.018878805646489985
+      - -0.12485936542173326
+      - -0.22380021420609614
+      - 0.3485053618696225
+      - -8.4068664547246092e-06
+      - -0.018844644384910285
+    accelerations:
+      - -0.57287729353226569
+      - 0.028363751601796532
+      - 0.18759025821312575
+      - 0.33624021577609892
+      - -0.5235987753177811
+      - 1.2630580362780267e-05
+      - 0.028312427298978354
     effort: []
     time_from_start:
       sec: 7
       nanosec: 780000000
   - positions:
-      - 0.48882400462514919
-      - 0.26711288944554545
-      - -1.2147191924648997
-      - 1.5376494757143147
-      - -1.8937068909549311
-      - -1.5707845979817912
-      - 0.2670906497554621
-    velocities:
-      - 0.38516532390429542
-      - -0.03035256555715413
-      - -0.13139902123091216
-      - -0.21058779047274492
-      - 0.34191676507000768
-      - 0.00010693116938407534
-      - -0.030140342270708647
-    accelerations:
-      - -0.58982803043280696
-      - 0.046480804086110071
-      - 0.20121963500712101
-      - 0.32248640772917003
-      - -0.52359877589424342
-      - -0.00016375046535953812
-      - 0.046155813139917561
+      - 0.49102185430152639
+      - 0.26438184919784313
+      - -1.2166093498999742
+      - 1.539957340196811
+      - -1.894114760178685
+      - -1.5707530924015081
+      - 0.26428214293878749
+    velocities:
+      - 0.37557618402579163
+      - -0.018595168130290978
+      - -0.1229834628384049
+      - -0.22043781204618912
+      - 0.34326937411310288
+      - -8.2805606510161966e-06
+      - -0.018561520111739789
+    accelerations:
+      - -0.57287729411923138
+      - 0.028363751630859184
+      - 0.18759025840531915
+      - 0.33624021612063554
+      - -0.52359877585427539
+      - 1.2630580375721877e-05
+      - 0.028312427327989009
     effort: []
     time_from_start:
       sec: 7
       nanosec: 790000000
   - positions:
-      - 0.49265095602959674
-      - 0.26681131039317885
-      - -1.2160247556546111
-      - 1.5355571034510487
-      - -1.890309651475985
-      - -1.5707835355279216
-      - 0.26679117932542906
-    velocities:
-      - 0.37926704360354335
-      - -0.029887757516574825
-      - -0.12938682488206074
-      - -0.20736292639740847
-      - 0.33668077731423968
-      - 0.00010529366473147273
-      - -0.029678784139589295
-    accelerations:
-      - -0.58982803019027874
-      - 0.046480804066996888
-      - 0.20121963492438164
-      - 0.32248640759655389
-      - -0.52359877567897117
-      - -0.00016375046529219561
-      - 0.046155813120939686
+      - 0.49475001839024052
+      - 0.26419726390996934
+      - -1.2178301475680937
+      - 1.5377691600894989
+      - -1.8907072902491331
+      - -1.57075317459865
+      - 0.26409789165860575
+    velocities:
+      - 0.36984741108749042
+      - -0.018311530614125531
+      - -0.12110756025529851
+      - -0.21707540988667995
+      - 0.33803338635720276
+      - -8.1542548473227291e-06
+      - -0.018278395838602794
+    accelerations:
+      - -0.57287729402891474
+      - 0.028363751626387067
+      - 0.18759025837573171
+      - 0.33624021606759463
+      - -0.5235987757716748
+      - 1.2630580373729655e-05
+      - 0.02831242732352383
     effort: []
     time_from_start:
       sec: 7
       nanosec: 800000000
   - positions:
-      - 0.49641892463103471
-      - 0.26651437942121819
-      - -1.2173101968808331
-      - 1.5334969798285372
-      - -1.8869647718745981
-      - -1.5707824894490985
-      - 0.26649632447670746
-    velocities:
-      - 0.37336876330285873
-      - -0.029422949476000118
-      - -0.12737462853323242
-      - -0.20413806232210938
-      - 0.33144478955853079
-      - 0.00010365616008210912
-      - -0.029217226008474959
-    accelerations:
-      - -0.58982802988099481
-      - 0.046480804042627145
-      - 0.20121963481889488
-      - 0.32248640742747581
-      - -0.523598775404434
-      - -0.00016375046521144602
-      - 0.046155813096739655
+      - 0.49842089474957085
+      - 0.26401551499725717
+      - -1.2190321862103815
+      - 1.5356146040037826
+      - -1.8873521801971402
+      - -1.5707532555327337
+      - 0.26391647162115539
+    velocities:
+      - 0.36411863814918916
+      - -0.018027893097960514
+      - -0.11923165767218992
+      - -0.2137130077271715
+      - 0.3327973986013032
+      - -8.0279490452209161e-06
+      - -0.017995271565465761
+    accelerations:
+      - -0.57287729393848708
+      - 0.02836375162191148
+      - 0.18759025834611651
+      - 0.33624021601452597
+      - -0.52359877568901869
+      - 1.2630580374239569e-05
+      - 0.028312427319055183
     effort: []
     time_from_start:
       sec: 7
       nanosec: 810000000
   - positions:
-      - 0.50012791042946236
-      - 0.26622209652966355
-      - -1.2185755161435656
-      - 1.5314691048467808
-      - -1.8836722521507712
-      - -1.5707814597453216
-      - 0.26620608520929717
-    velocities:
-      - 0.36747048300144286
-      - -0.028958141435368519
-      - -0.12536243218415458
-      - -0.20091319824640999
-      - 0.3262088018021736
-      - 0.00010201865542927136
-      - -0.028755667877303673
-    accelerations:
-      - -0.58982803030168962
-      - 0.046480804075778058
-      - 0.20121963496240677
-      - 0.32248640765747738
-      - -0.52359877577783653
-      - -0.00016375046532823178
-      - 0.046155813129658406
+      - 0.50203448337951717
+      - 0.2638366024597068
+      - -1.220215465826838
+      - 1.5334936719396621
+      - -1.8840494300227082
+      - -1.5707533352037595
+      - 0.26373788282643645
+    velocities:
+      - 0.35838986521088778
+      - -0.017744255581795054
+      - -0.11735575508908351
+      - -0.21035060556766222
+      - 0.32756141084540291
+      - -7.9016432415024018e-06
+      - -0.017712147292328759
+    accelerations:
+      - -0.57287729384828145
+      - 0.028363751617446302
+      - 0.1875902583165707
+      - 0.33624021596159609
+      - -0.52359877560658463
+      - 1.263058037225243e-05
+      - 0.028312427314596943
     effort: []
     time_from_start:
       sec: 7
       nanosec: 820000000
   - positions:
-      - 0.5037779134248801
-      - 0.26593446171851493
-      - -1.219820713442809
-      - 1.5294734785057789
-      - -1.8804320923045046
-      - -1.5707804464165913
-      - 0.26592046152319837
-    velocities:
-      - 0.36157220270069096
-      - -0.028493333394789239
-      - -0.12335023583530322
-      - -0.19768833417107359
-      - 0.32097281404640576
-      - 0.00010038115077661792
-      - -0.028294109746184334
-    accelerations:
-      - -0.58982803005893936
-      - 0.046480804056650997
-      - 0.20121963487959801
-      - 0.32248640752477797
-      - -0.52359877556239776
-      - -0.00016375046526084862
-      - 0.046155813110666653
+      - 0.50559078428007964
+      - 0.26366052629731807
+      - -1.2213799864174635
+      - 1.5314063638971374
+      - -1.8807990397258352
+      - -1.5707534136117272
+      - 0.26356212527444894
+    velocities:
+      - 0.35266109227262693
+      - -0.017460618065631598
+      - -0.11547985250599035
+      - -0.20698820340817672
+      - 0.32232542308953965
+      - -7.775337437784782e-06
+      - -0.01742902301919376
+    accelerations:
+      - -0.57287729371811702
+      - 0.028363751611000975
+      - 0.18759025827395209
+      - 0.33624021588517833
+      - -0.52359877548758971
+      - 1.2630580369380348e-05
+      - 0.02831242730816198
     effort: []
     time_from_start:
       sec: 7
       nanosec: 830000000
   - positions:
-      - 0.50736893361728774
-      - 0.2656514749877722
-      - -1.2210457887785628
-      - 1.5275101008055318
-      - -1.8772442923357975
-      - -1.5707794494629079
-      - 0.26563945341841089
-    velocities:
-      - 0.35567392239934215
-      - -0.028028525354162923
-      - -0.12133803948624824
-      - -0.19446347009541087
-      - 0.31573682629010807
-      - 9.8743646123798778e-05
-      - -0.027832551615018297
-    accelerations:
-      - -0.58982803041315601
-      - 0.046480804084559228
-      - 0.20121963500041803
-      - 0.32248640771840087
-      - -0.52359877587675741
-      - -0.00016375046535915865
-      - 0.046155813138377126
+      - 0.50908979745125771
+      - 0.26348728651009101
+      - -1.2225257479822571
+      - 1.529352679876208
+      - -1.8776010093065225
+      - -1.5707534907566369
+      - 0.26338919896519281
+    velocities:
+      - 0.34693231933431562
+      - -0.017176980549465645
+      - -0.11360394992288067
+      - -0.20362580124866159
+      - 0.31708943533363027
+      - -7.6490316340660492e-06
+      - -0.017145898746056265
+    accelerations:
+      - -0.5728772936378479
+      - 0.028363751607028458
+      - 0.18759025824769532
+      - 0.33624021583810487
+      - -0.52359877541431499
+      - 1.2630580367611743e-05
+      - 0.028312427304196402
     effort: []
     time_from_start:
       sec: 7
       nanosec: 840000000
   - positions:
-      - 0.51090097100668586
-      - 0.26537313633743553
-      - -1.2222507421508275
-      - 1.5255789717460391
-      - -1.8741088522446501
-      - -1.5707784688842708
-      - 0.26536306089493483
-    velocities:
-      - 0.34977564209859019
-      - -0.027563717313583643
-      - -0.11932584313739687
-      - -0.19123860602007445
-      - 0.31050083853434018
-      - 9.7106141471145333e-05
-      - -0.027370993483898959
-    accelerations:
-      - -0.58982803017046126
-      - 0.046480804065432167
-      - 0.20121963491762315
-      - 0.32248640758572922
-      - -0.52359877566131863
-      - -0.00016375046529178903
-      - 0.046155813119385374
+      - 0.5125315228930527
+      - 0.2633168830980257
+      - -1.2236527505212198
+      - 1.5273326198768742
+      - -1.8744553387647693
+      - -1.5707535666384886
+      - 0.26321910389866809
+    velocities:
+      - 0.34120354639600425
+      - -0.016893343033299691
+      - -0.111728047339771
+      - -0.20026339908914648
+      - 0.31185344757772088
+      - -7.5227258303473156e-06
+      - -0.016862774472918771
+    accelerations:
+      - -0.57287729355768979
+      - 0.028363751603055942
+      - 0.18759025822141079
+      - 0.3362402157909759
+      - -0.52359877534098476
+      - 1.2630580365843985e-05
+      - 0.028312427300234293
     effort: []
     time_from_start:
       sec: 7
       nanosec: 850000000
   - positions:
-      - 0.51437402559307377
-      - 0.26509944576750483
-      - -1.2234355735596028
-      - 1.5236800913273014
-      - -1.8710257720310628
-      - -1.5707775046806802
-      - 0.26509128395277015
-    velocities:
-      - 0.34387736179785272
-      - -0.027098909273005501
-      - -0.11731364678855045
-      - -0.18801374194474596
-      - 0.30526485077858517
-      - 9.54686368184959e-05
-      - -0.026909435352780755
-    accelerations:
-      - -0.5898280299138019
-      - 0.046480804045208414
-      - 0.2012196348300665
-      - 0.32248640744540591
-      - -0.52359877543352185
-      - -0.00016375046522053977
-      - 0.046155813099303576
+      - 0.51591596060546296
+      - 0.26314931606112207
+      - -1.2247609940343509
+      - 1.5253461838991362
+      - -1.8713620281005763
+      - -1.5707536412572822
+      - 0.26305184007487487
+    velocities:
+      - 0.33547477345709642
+      - -0.016609705517104202
+      - -0.109852144756466
+      - -0.19690099692928123
+      - 0.30661745982126631
+      - -7.3964200266154317e-06
+      - -0.016579650199751796
+    accelerations:
+      - -0.57287729407343468
+      - 0.028363751628593635
+      - 0.18759025839030338
+      - 0.33624021609371263
+      - -0.52359877581236447
+      - 1.2630580377214349e-05
+      - 0.02831242732572346
     effort: []
     time_from_start:
       sec: 7
       nanosec: 860000000
   - positions:
-      - 0.51778809737645204
-      - 0.26483040327798008
-      - -1.2246002830048888
-      - 1.521813459549318
-      - -1.867995051695035
-      - -1.5707765568521364
-      - 0.26482412259191679
-    velocities:
-      - 0.33797908149648948
-      - -0.026634101232378048
-      - -0.11530145043949054
-      - -0.18478887786907533
-      - 0.30002886302227466
-      - 9.3831132165672751e-05
-      - -0.026447877221613583
-    accelerations:
-      - -0.58982803028187214
-      - 0.046480804074213337
-      - 0.20121963495563441
-      - 0.32248640764662495
-      - -0.5235987757602395
-      - -0.0001637504653227159
-      - 0.046155813128104094
+      - 0.51924311058848949
+      - 0.26298458539938013
+      - -1.2258504785216506
+      - 1.523393371942994
+      - -1.8683210773139431
+      - -1.5707537146130175
+      - 0.26288740749381301
+    velocities:
+      - 0.32974600051879527
+      - -0.016326068000938752
+      - -0.10797624217335965
+      - -0.19353859476977209
+      - 0.3013814720653662
+      - -7.2701142228969225e-06
+      - -0.016296525926614801
+    accelerations:
+      - -0.57287729398300702
+      - 0.028363751624118048
+      - 0.18759025836070206
+      - 0.33624021604064397
+      - -0.52359877572976388
+      - 1.2630580375222127e-05
+      - 0.028312427321258282
     effort: []
     time_from_start:
       sec: 7
       nanosec: 870000000
   - positions:
-      - 0.52114318635681989
-      - 0.26456600886886134
-      - -1.2257448704866853
-      - 1.5199790764120897
-      - -1.8650166912365673
-      - -1.5707756253986387
-      - 0.26456157681237485
-    velocities:
-      - 0.33208080119573719
-      - -0.026169293191798736
-      - -0.11328925409063904
-      - -0.18156401379373874
-      - 0.29479287526650649
-      - 9.2193627513019198e-05
-      - -0.025986319090494217
-    accelerations:
-      - -0.5898280300397325
-      - 0.046480804055134849
-      - 0.2012196348730477
-      - 0.32248640751425861
-      - -0.52359877554530032
-      - -0.00016375046525550892
-      - 0.046155813109160913
+      - 0.52251297284213249
+      - 0.26282269111279988
+      - -1.2269212039831192
+      - 1.5214741840084469
+      - -1.8653324864048693
+      - -1.5707537867056951
+      - 0.26272580615548258
+    velocities:
+      - 0.32401722758049445
+      - -0.016042430484773319
+      - -0.1061003395902534
+      - -0.19017619261026311
+      - 0.29614548430946641
+      - -7.143808419178421e-06
+      - -0.016013401653477827
+    accelerations:
+      - -0.57287729389191322
+      - 0.028363751619604298
+      - 0.1875902583308787
+      - 0.33624021598721449
+      - -0.52359877564649715
+      - 1.2630580373213812e-05
+      - 0.028312427316754939
     effort: []
     time_from_start:
       sec: 7
       nanosec: 880000000
   - positions:
-      - 0.52443929253417854
-      - 0.26430626254014855
-      - -1.2268693360049927
-      - 1.5181769419156157
-      - -1.8620906906556591
-      - -1.5707747103201877
-      - 0.26430364661414424
-    velocities:
-      - 0.32618252089496802
-      - -0.0257044851512181
-      - -0.1112770577417818
-      - -0.1783391497183929
-      - 0.28955688751072334
-      - 9.0556122860360969e-05
-      - -0.025524760959373536
-    accelerations:
-      - -0.58982802981515858
-      - 0.046480804037436853
-      - 0.20121963479644062
-      - 0.32248640739147683
-      - -0.52359877534598076
-      - -0.00016375046519316366
-      - 0.046155813091584057
+      - 0.52572554736639177
+      - 0.26266363320138136
+      - -1.2279731704187564
+      - 1.5195886200954953
+      - -1.8623962553733551
+      - -1.5707538575353146
+      - 0.26256703605988352
+    velocities:
+      - 0.31828845464219363
+      - -0.015758792968607886
+      - -0.10422443700714716
+      - -0.18681379045075416
+      - 0.29090949655356663
+      - -7.0175026154599194e-06
+      - -0.015730277380340853
+    accelerations:
+      - -0.57287729380081942
+      - 0.028363751615094017
+      - 0.18759025830105533
+      - 0.33624021593372949
+      - -0.52359877556323042
+      - 1.2630580371205497e-05
+      - 0.028312427312251597
     effort: []
     time_from_start:
       sec: 7
       nanosec: 890000000
   - positions:
-      - 0.52767641590852699
-      - 0.26405116429184178
-      - -1.2279736795598106
-      - 1.5164070560598966
-      - -1.8592170499523106
-      - -1.5707738116167833
-      - 0.26405033199722505
-    velocities:
-      - 0.32028424059363564
-      - -0.025239677110593078
-      - -0.10926486139273243
-      - -0.17511428564273915
-      - 0.28432089975444025
-      - 8.8918618207546384e-05
-      - -0.025063202828208779
-    accelerations:
-      - -0.5898280301527532
-      - 0.04648080406403745
-      - 0.20121963491158631
-      - 0.32248640757604252
-      - -0.52359877564560897
-      - -0.00016375046528686947
-      - 0.046155813118001064
+      - 0.52888083416126663
+      - 0.26250741166512453
+      - -1.229006377828562
+      - 1.5177366802041399
+      - -1.8595123842194012
+      - -1.570753927101876
+      - 0.26241109720701589
+    velocities:
+      - 0.31255968170386184
+      - -0.015475155452440917
+      - -0.10234853442403079
+      - -0.18345138829122704
+      - 0.28567350879763853
+      - -6.891196811740736e-06
+      - -0.015447153107202346
+    accelerations:
+      - -0.57287729374120966
+      - 0.028363751612144158
+      - 0.18759025828152937
+      - 0.33624021589872305
+      - -0.52359877550873946
+      - 1.2630580369890261e-05
+      - 0.028312427309305162
     effort: []
     time_from_start:
       sec: 7
       nanosec: 900000000
   - positions:
-      - 0.53085455647986535
-      - 0.26380071412394102
-      - -1.2290579011511393
-      - 1.5146694188449323
-      - -1.8563957691265225
-      - -1.5707729292884254
-      - 0.26380163296161729
-    velocities:
-      - 0.31438596029284649
-      - -0.024774869070010599
-      - -0.1072526650438647
-      - -0.17188942156738013
-      - 0.27908491199863972
-      - 8.7281113549551401e-05
-      - -0.024601644697085909
-    accelerations:
-      - -0.58982802994905148
-      - 0.04648080404799091
-      - 0.20121963484211242
-      - 0.32248640746469603
-      - -0.52359877546483014
-      - -0.00016375046522033648
-      - 0.046155813102065256
+      - 0.53197883322675754
+      - 0.26235402650402939
+      - -1.2300208262125365
+      - 1.5159183643343801
+      - -1.8566808729430073
+      - -1.5707539954053795
+      - 0.26225798959687968
+    velocities:
+      - 0.30683090876555219
+      - -0.015191517936274298
+      - -0.10047263184092292
+      - -0.18008898613170887
+      - 0.28043752104172959
+      - -6.7648910069850781e-06
+      - -0.015164028834064178
+    accelerations:
+      - -0.5728772936602744
+      - 0.028363751608135212
+      - 0.18759025825502279
+      - 0.33624021585123326
+      - -0.52359877543474309
+      - 1.263058036617094e-05
+      - 0.02831242730530489
     effort: []
     time_from_start:
       sec: 7
       nanosec: 910000000
   - positions:
-      - 0.53397371424819373
-      - 0.26355491203644615
-      - -1.2301220007789784
-      - 1.5129640302707226
-      - -1.8536268481782938
-      - -1.5707720633351139
-      - 0.26355754950732085
-    velocities:
-      - 0.30848767999153504
-      - -0.024310061029387237
-      - -0.10524046869482254
-      - -0.16866455749173787
-      - 0.27384892424237517
-      - 8.5643608896842648e-05
-      - -0.024140086565922803
-    accelerations:
-      - -0.58982803026571839
-      - 0.04648080407294005
-      - 0.20121963495012493
-      - 0.32248640763779868
-      - -0.52359877574591762
-      - -0.0001637504653082418
-      - 0.046155813126841215
+      - 0.53501954456286493
+      - 0.26220347771809593
+      - -1.2310165155706794
+      - 1.5141336724862158
+      - -1.8539017215441731
+      - -1.5707540624458247
+      - 0.26210771322947496
+    velocities:
+      - 0.3011021358272411
+      - -0.014907880420108368
+      - -0.098596729257813293
+      - -0.17672658397219396
+      - 0.27520153328582042
+      - -6.6385852032857119e-06
+      - -0.01488090456092671
+    accelerations:
+      - -0.57287729357939465
+      - 0.028363751604133205
+      - 0.18759025822855785
+      - 0.33624021580377123
+      - -0.52359877536091326
+      - 1.2630580364387088e-05
+      - 0.028312427301308087
     effort: []
     time_from_start:
       sec: 7
       nanosec: 920000000
   - positions:
-      - 0.53703388921351225
-      - 0.2633137580293573
-      - -1.2311659784433284
-      - 1.5112908903372673
-      - -1.8509102871076248
-      - -1.570771213756849
-      - 0.26331808163433584
-    velocities:
-      - 0.30258939969078263
-      - -0.023845252988807922
-      - -0.10322827234597108
-      - -0.16543969341640125
-      - 0.26861293648660689
-      - 8.4006104244289099e-05
-      - -0.023678528434803441
-    accelerations:
-      - -0.58982803002385631
-      - 0.046480804053878909
-      - 0.20121963486760761
-      - 0.32248640750554336
-      - -0.52359877553120049
-      - -0.00016375046524107548
-      - 0.046155813107915382
+      - 0.53800296816958826
+      - 0.26205576530732422
+      - -1.2319934459029913
+      - 1.5123826046596469
+      - -1.8511749300228986
+      - -1.5707541282232123
+      - 0.26196026810480155
+    velocities:
+      - 0.29537336288840493
+      - -0.014624242903916444
+      - -0.096720826674531732
+      - -0.17336418181237087
+      - 0.26996554552943136
+      - -6.5122793995747676e-06
+      - -0.01459778028776329
+    accelerations:
+      - -0.57287729402314158
+      - 0.028363751626099103
+      - 0.18759025837384433
+      - 0.33624021606420845
+      - -0.52359877576645675
+      - 1.2630580374170959e-05
+      - 0.028312427323237601
     effort: []
     time_from_start:
       sec: 7
       nanosec: 930000000
   - positions:
-      - 0.54003508137582057
-      - 0.26307725210267446
-      - -1.2321898341441888
-      - 1.5096499990445671
-      - -1.8482460859145164
-      - -1.5707703805536308
-      - 0.26308322934266221
-    velocities:
-      - 0.29669111938996112
-      - -0.023380444948223163
-      - -0.10121607599709606
-      - -0.16221482934102685
-      - 0.26337694873077727
-      - 8.236859959171636e-05
-      - -0.023216970303678672
-    accelerations:
-      - -0.5898280298515739
-      - 0.046480804040306085
-      - 0.20121963480883348
-      - 0.32248640741137757
-      - -0.52359877537828825
-      - -0.00016375046519325853
-      - 0.046155813094435942
+      - 0.5409291040469274
+      - 0.26191088927171424
+      - -1.2329516172094714
+      - 1.5106651608546739
+      - -1.8485004983791837
+      - -1.5707541927375415
+      - 0.26181565422285963
+    velocities:
+      - 0.28964458995010406
+      - -0.014340605387751022
+      - -0.094844924091425462
+      - -0.17000177965286195
+      - 0.26472955777353158
+      - -6.3859735958756266e-06
+      - -0.014314656014626326
+    accelerations:
+      - -0.57287729393204778
+      - 0.028363751621590556
+      - 0.18759025834402096
+      - 0.33624021601075121
+      - -0.52359877568319002
+      - 1.2630580372162644e-05
+      - 0.028312427318737728
     effort: []
     time_from_start:
       sec: 7
       nanosec: 940000000
   - positions:
-      - 0.54297729073511924
-      - 0.26284539425639764
-      - -1.2331935678815602
-      - 1.5080413563926216
-      - -1.8456342445989673
-      - -1.5707695637254591
-      - 0.2628529926323
-    velocities:
-      - 0.29079283908868109
-      - -0.022915636907602271
-      - -0.099203879648064611
-      - -0.15898996526540177
-      - 0.25814096097454059
-      - 8.0731094939016321e-05
-      - -0.022755412172518023
-    accelerations:
-      - -0.5898280301368215
-      - 0.04648080406278151
-      - 0.20121963490613234
-      - 0.32248640756729952
-      - -0.52359877563150914
-      - -0.00016375046527244958
-      - 0.046155813116755533
+      - 0.54379795219488281
+      - 0.2617688496112659
+      - -1.2338910294901204
+      - 1.5089813410712964
+      - -1.8458784266130293
+      - -1.5707542559888128
+      - 0.26167387158364908
+    velocities:
+      - 0.28391581701180324
+      - -0.014056967871585601
+      - -0.092969021508319205
+      - -0.16663937749335306
+      - 0.25949357001763179
+      - -6.2596677921764857e-06
+      - -0.014031531741489366
+    accelerations:
+      - -0.57287729384095398
+      - 0.028363751617080275
+      - 0.18759025831418372
+      - 0.33624021595726622
+      - -0.52359877559992329
+      - 1.2630580370153482e-05
+      - 0.028312427314232651
     effort: []
     time_from_start:
       sec: 7
       nanosec: 950000000
   - positions:
-      - 0.54586051729140772
-      - 0.26261818449052676
-      - -1.2341771796554419
-      - 1.5064649623814308
-      - -1.8430747631609781
-      - -1.5707687632723339
-      - 0.26262737150324911
-    velocities:
-      - 0.28489455878783859
-      - -0.022450828867015857
-      - -0.097191683299182416
-      - -0.15576510119001588
-      - 0.25290497321869237
-      - 7.9093590286437754e-05
-      - -0.022293854041391614
-    accelerations:
-      - -0.58982802998552231
-      - 0.046480804050863612
-      - 0.20121963485454691
-      - 0.32248640748462454
-      - -0.52359877549719314
-      - -0.00016375046523044666
-      - 0.046155813104913672
+      - 0.54660951261345425
+      - 0.26162964632597924
+      - -1.234811682744938
+      - 1.5073311453095146
+      - -1.8433087147244342
+      - -1.570754317977026
+      - 0.26153492018716995
+    velocities:
+      - 0.27818704407350237
+      - -0.01377333035542018
+      - -0.091093118925212921
+      - -0.16327697533384417
+      - 0.25425758226173201
+      - -6.1333619884773448e-06
+      - -0.013748407468352403
+    accelerations:
+      - -0.57287729374986018
+      - 0.028363751612569994
+      - 0.18759025828436035
+      - 0.33624021590380898
+      - -0.52359877551665657
+      - 1.2630580368145167e-05
+      - 0.028312427309731044
     effort: []
     time_from_start:
       sec: 7
       nanosec: 960000000
   - positions:
-      - 0.54868476104468644
-      - 0.26239562280506185
-      - -1.2351406694658345
-      - 1.5049208170109942
-      - -1.8405676416005488
-      - -1.570767979194255
-      - 0.26240636595550959
-    velocities:
-      - 0.27899627848657965
-      - -0.021986020826396627
-      - -0.095179486950158154
-      - -0.15254023711440232
-      - 0.2476689854624744
-      - 7.7456085633743571e-05
-      - -0.021832295910232613
-    accelerations:
-      - -0.58982803024967567
-      - 0.046480804071677172
-      - 0.20121963494465708
-      - 0.32248640762902792
-      - -0.52359877573167901
-      - -0.00016375046530378302
-      - 0.046155813125585275
+      - 0.54936378530264141
+      - 0.26149327941585432
+      - -1.235713576973924
+      - 1.5057145735693287
+      - -1.8407913627133994
+      - -1.5707543787021809
+      - 0.26139880003342225
+    velocities:
+      - 0.27245827113509929
+      - -0.013489692839249699
+      - -0.089217216342073191
+      - -0.15991457317427527
+      - 0.2490215945057388
+      - -6.0070561847759499e-06
+      - -0.013465283195210388
+    accelerations:
+      - -0.57287729376147123
+      - 0.028363751613145093
+      - 0.18759025828816295
+      - 0.33624021591063019
+      - -0.52359877552728018
+      - 1.2630580368402024e-05
+      - 0.028312427310306098
     effort: []
     time_from_start:
       sec: 7
       nanosec: 970000000
   - positions:
-      - 0.55145002199495519
-      - 0.26217770920000294
-      - -1.2360840373127377
-      - 1.5034089202813126
-      - -1.8381128799176794
-      - -1.5707672114912228
-      - 0.26218997598908145
-    velocities:
-      - 0.27309799818582714
-      - -0.021521212785817308
-      - -0.093167290601306671
-      - -0.14931537303906567
-      - 0.24243299770670607
-      - 7.5818580981189994e-05
-      - -0.021370737779113247
-    accelerations:
-      - -0.5898280300078691
-      - 0.046480804052622969
-      - 0.20121963486216751
-      - 0.32248640749682811
-      - -0.52359877551701739
-      - -0.00016375046523665735
-      - 0.046155813106662912
+      - 0.55206077026244504
+      - 0.26135974888089109
+      - -1.2365967121770789
+      - 1.5041316258507382
+      - -1.8383263705799242
+      - -1.5707544381642782
+      - 0.26126551112240598
+    velocities:
+      - 0.26672949819678826
+      - -0.013206055323083773
+      - -0.08734131375896359
+      - -0.15655217101476041
+      - 0.24378560674982971
+      - -5.8807503810765845e-06
+      - -0.013182158922072923
+    accelerations:
+      - -0.57287729368059148
+      - 0.028363751609139617
+      - 0.18759025826165637
+      - 0.33624021586311265
+      - -0.52359877545331157
+      - 1.2630580366617326e-05
+      - 0.02831242730630756
     effort: []
     time_from_start:
       sec: 7
       nanosec: 980000000
   - positions:
-      - 0.55415630014221406
-      - 0.26196444367535004
-      - -1.2370072831961516
-      - 1.5019292721923858
-      - -1.8357104781123694
-      - -1.5707664601632374
-      - 0.26197820160396479
-    velocities:
-      - 0.26719971788495323
-      - -0.021056404745228421
-      - -0.091155094252413776
-      - -0.1460905089636626
-      - 0.23719700995082993
-      - 7.4181076328602713e-05
-      - -0.020909179647984378
-    accelerations:
-      - -0.58982802988804472
-      - 0.046480804043175318
-      - 0.20121963482126798
-      - 0.32248640743130608
-      - -0.5235987754106235
-      - -0.00016375046520336872
-      - 0.046155813097284358
+      - 0.55470046749286439
+      - 0.26122905472108959
+      - -1.2374610883544024
+      - 1.5025823021537432
+      - -1.8359137383240089
+      - -1.5707544963633173
+      - 0.26113505345412114
+    velocities:
+      - 0.2610007252580131
+      - -0.012922417806894869
+      - -0.085465411175702
+      - -0.15318976885497312
+      - 0.23854961899349642
+      - -5.7544445773669861e-06
+      - -0.012899034648912519
+    accelerations:
+      - -0.57287729406327614
+      - 0.028363751628087096
+      - 0.18759025838698659
+      - 0.33624021608774518
+      - -0.52359877580309411
+      - 1.2630580375055262e-05
+      - 0.02831242732522039
     effort: []
     time_from_start:
       sec: 7
       nanosec: 990000000
   - positions:
-      - 0.55680359548646297
-      - 0.26175582623110305
-      - -1.2379104071160763
-      - 1.5004818727442135
-      - -1.8333604361846194
-      - -1.5707657252102982
-      - 0.26177104280015939
-    velocities:
-      - 0.26130143758419033
-      - -0.020591596704648281
-      - -0.08914289790355874
-      - -0.14286564488832026
-      - 0.23196102219505235
-      - 7.254357167604625e-05
-      - -0.0204476215168642
-    accelerations:
-      - -0.58982802965661874
-      - 0.046480804024943374
-      - 0.20121963474233112
-      - 0.32248640730476841
-      - -0.52359877520520448
-      - -0.00016375046513912974
-      - 0.046155813079173845
+      - 0.55728287699390011
+      - 0.26110119693644979
+      - -1.2383067055058943
+      - 1.5010666024783441
+      - -1.8335534659456534
+      - -1.5707545532992984
+      - 0.26100742702856766
+    velocities:
+      - 0.25527195232016625
+      - -0.012638780290751923
+      - -0.083589508592744388
+      - -0.14982736669573066
+      - 0.23331363123801155
+      - -5.6281387736778537e-06
+      - -0.012615910375797993
+    accelerations:
+      - -0.57287729351872096
+      - 0.028363751601126929
+      - 0.1875902582086571
+      - 0.33624021576813307
+      - -0.52359877530537435
+      - 1.2630580363049623e-05
+      - 0.028312427298307016
     effort: []
     time_from_start:
       sec: 8
       nanosec: 0
   - positions:
-      - 0.55939190802770244
-      - 0.26155185686726212
-      - -1.2387934090725115
-      - 1.4990667219367957
-      - -1.8310627541344289
-      - -1.5707650066324057
-      - 0.26156849957766537
-    velocities:
-      - 0.25540315728282953
-      - -0.020126788664021466
-      - -0.087130701554503295
-      - -0.13964078081265419
-      - 0.22672503443874359
-      - 7.0906067026711047e-05
-      - -0.019986063385697844
-    accelerations:
-      - -0.58982803002193762
-      - 0.046480804053736315
-      - 0.20121963486698141
-      - 0.32248640750452529
-      - -0.52359877552952838
-      - -0.00016375046524839021
-      - 0.046155813107769027
+      - 0.55980799876555232
+      - 0.26097617552697161
+      - -1.2391335636315552
+      - 1.4995845268245402
+      - -1.8312455534448573
+      - -1.5707546089722213
+      - 0.26088263184574562
+    velocities:
+      - 0.2495431793818543
+      - -0.012355142774586483
+      - -0.081713606009634995
+      - -0.14646496453621782
+      - 0.22807764348210177
+      - -5.5018329711686534e-06
+      - -0.012332786102661003
+    accelerations:
+      - -0.57287729343786897
+      - 0.028363751597123187
+      - 0.18759025818219216
+      - 0.33624021572069879
+      - -0.52359877523148901
+      - 1.2630580363999147e-05
+      - 0.028312427294313682
     effort: []
     time_from_start:
       sec: 8
       nanosec: 10000000
   - positions:
-      - 0.5619212377659315
-      - 0.26135253558382709
-      - -1.2396562890654574
-      - 1.4976838197701328
-      - -1.8288174319617987
-      - -1.5707643044295594
-      - 0.26137057193648283
-    velocities:
-      - 0.24950487698206666
-      - -0.019661980623441322
-      - -0.085118505205648204
-      - -0.13641591673731177
-      - 0.22148904668296604
-      - 6.9268562374076372e-05
-      - -0.019524505254577652
-    accelerations:
-      - -0.58982802979053939
-      - 0.046480804035497432
-      - 0.20121963478803068
-      - 0.32248640737804313
-      - -0.52359877532410937
-      - -0.00016375046518413768
-      - 0.046155813089658514
+      - 0.56227583280782045
+      - 0.26085399049265517
+      - -1.2399416627313848
+      - 1.4981360751923321
+      - -1.8289900008216213
+      - -1.5707546633820864
+      - 0.26076066790565494
+    velocities:
+      - 0.24381440644267616
+      - -0.012071505258377614
+      - -0.079837703426241441
+      - -0.14310256237619395
+      - 0.22284165572540016
+      - -5.3755271674228477e-06
+      - -0.012049661829480671
+    accelerations:
+      - -0.57287729422305578
+      - 0.028363751635999999
+      - 0.18759025843931965
+      - 0.33624021618153793
+      - -0.52359877594915072
+      - 1.2630580381310393e-05
+      - 0.02831242733311946
     effort: []
     time_from_start:
       sec: 8
       nanosec: 20000000
   - positions:
-      - 0.56439158470115114
-      - 0.26115786238079808
-      - -1.240499047094914
-      - 1.4963331662442245
-      - -1.8266244696667275
-      - -1.5707636186017599
-      - 0.26117725987661156
-    velocities:
-      - 0.2436065966804373
-      - -0.019197172582792889
-      - -0.083106308856497488
-      - -0.13319105266149561
-      - 0.21625305892641927
-      - 6.7631057721201127e-05
-      - -0.019062947123389653
-    accelerations:
-      - -0.58982803042462251
-      - 0.046480804085465101
-      - 0.20121963500434714
-      - 0.3224864077246925
-      - -0.52359877588697823
-      - -0.00016375046536016519
-      - 0.046155813139276351
+      - 0.56468637912070441
+      - 0.26073464183350042
+      - -1.2407310028053828
+      - 1.4967212475817195
+      - -1.8267868080759451
+      - -1.5707547165288933
+      - 0.26064153520829575
+    velocities:
+      - 0.23808563350464565
+      - -0.011787867742225566
+      - -0.077961800843223697
+      - -0.13974016021684368
+      - 0.21760566796974745
+      - -5.2492213637023438e-06
+      - -0.011766537556357058
+    accelerations:
+      - -0.5728772938626403
+      - 0.028363751618154975
+      - 0.18759025832128923
+      - 0.33624021596999937
+      - -0.523598775619734
+      - 1.2630580373363943e-05
+      - 0.028312427315305571
     effort: []
     time_from_start:
       sec: 8
       nanosec: 29999999
   - positions:
-      - 0.56680294883336058
-      - 0.26096783725817502
-      - -1.2413216831608813
-      - 1.4950147613590707
-      - -1.8244838672492167
-      - -1.5707629491490067
-      - 0.26098856339805171
-    velocities:
-      - 0.2377083163799443
-      - -0.018732364542234009
-      - -0.081094112507734448
-      - -0.12996618858630074
-      - 0.21101707117088128
-      - 6.5993553068641357e-05
-      - -0.018601388992290576
-    accelerations:
-      - -0.58982802992440453
-      - 0.046480804046044551
-      - 0.20121963483370248
-      - 0.32248640745120682
-      - -0.52359877544293099
-      - -0.00016375046522129871
-      - 0.046155813100132774
+      - 0.56703963770420585
+      - 0.2606181295495073
+      - -1.2415015838535499
+      - 1.4953400439927018
+      - -1.8246359752078276
+      - -1.5707547684126424
+      - 0.26052523375366782
+    velocities:
+      - 0.23235686056633464
+      - -0.01150423022605963
+      - -0.076085898260114082
+      - -0.13637775805732874
+      - 0.2123696802138384
+      - -5.1229155599756557e-06
+      - -0.011483413283219581
+    accelerations:
+      - -0.5728772937817328
+      - 0.028363751614147763
+      - 0.18759025829479653
+      - 0.33624021592250958
+      - -0.52359877554576539
+      - 1.2630580371580092e-05
+      - 0.028312427311307033
     effort: []
     time_from_start:
       sec: 8
       nanosec: 40000000
   - positions:
-      - 0.56915533016255981
-      - 0.26078246021595797
-      - -1.2421241972633594
-      - 1.4937286051146719
-      - -1.8223956247092663
-      - -1.5707622960713004
-      - 0.26080448250080329
-    velocities:
-      - 0.23181003607918144
-      - -0.018267556501653862
-      - -0.079081916158879342
-      - -0.12674132451095835
-      - 0.20578108341510373
-      - 6.4356048416006683e-05
-      - -0.018139830861170384
-    accelerations:
-      - -0.58982802969300629
-      - 0.046480804027809138
-      - 0.20121963475475174
-      - 0.32248640732466916
-      - -0.52359877523751197
-      - -0.00016375046515705973
-      - 0.04615581308202573
+      - 0.5693356085583221
+      - 0.26050445364067593
+      - -1.2422534058758852
+      - 1.4939924644252804
+      - -1.822537502217271
+      - -1.5707548190333331
+      - 0.26041176354177142
+    velocities:
+      - 0.22662808762802364
+      - -0.011220592709893694
+      - -0.074209995677004481
+      - -0.13301535589781383
+      - 0.20713369245792931
+      - -4.9966097562489675e-06
+      - -0.011200289010082106
+    accelerations:
+      - -0.57287729370079754
+      - 0.028363751610142287
+      - 0.18759025826828996
+      - 0.33624021587501979
+      - -0.52359877547182454
+      - 1.2630580369796241e-05
+      - 0.028312427307306761
     effort: []
     time_from_start:
       sec: 8
       nanosec: 50000000
   - positions:
-      - 0.5714487286887493
-      - 0.26060173125414687
-      - -1.2429065894023479
-      - 1.4924746975110277
-      - -1.8203597420468749
-      - -1.5707616593686402
-      - 0.26062501718486619
-    velocities:
-      - 0.22591175577782183
-      - -0.017802748461026689
-      - -0.077069719809820664
-      - -0.12351646043528967
-      - 0.20054509565879644
-      - 6.2718543763206315e-05
-      - -0.017678272730003494
-    accelerations:
-      - -0.58982803005835294
-      - 0.046480804056598608
-      - 0.20121963487938815
-      - 0.32248640752443991
-      - -0.52359877556183587
-      - -0.0001637504652585004
-      - 0.046155813110613973
+      - 0.57157429168305485
+      - 0.26039361410700629
+      - -1.2429864688723895
+      - 1.4926785088794547
+      - -1.8204913891042742
+      - -1.570754868390966
+      - 0.26030112457260646
+    velocities:
+      - 0.22089931468971263
+      - -0.010936955193727758
+      - -0.072334093093894866
+      - -0.12965295373829891
+      - 0.20189770470202026
+      - -4.8703039525222794e-06
+      - -0.010917164736944629
+    accelerations:
+      - -0.57287729361989004
+      - 0.028363751606135076
+      - 0.18759025824179726
+      - 0.33624021582753
+      - -0.52359877539782818
+      - 1.2630580368011542e-05
+      - 0.028312427303308223
     effort: []
     time_from_start:
       sec: 8
       nanosec: 60000000
   - positions:
-      - 0.57368314441192858
-      - 0.26042565037274185
-      - -1.2436688595778469
-      - 1.4912530385481382
-      - -1.8183762192620436
-      - -1.5707610390410267
-      - 0.26045016745024052
-    velocities:
-      - 0.22001347547705896
-      - -0.017337940420446542
-      - -0.075057523460965558
-      - -0.12029159635994727
-      - 0.19530910790301889
-      - 6.108103911057164e-05
-      - -0.017216714598883298
-    accelerations:
-      - -0.5898280298269547
-      - 0.046480804038366665
-      - 0.2012196348004513
-      - 0.32248640739791612
-      - -0.52359877535641686
-      - -0.00016375046519424786
-      - 0.046155813092510399
+      - 0.57375568707840319
+      - 0.26028561094849834
+      - -1.243700772843062
+      - 1.4913981773552247
+      - -1.8184976358688374
+      - -1.5707549164855408
+      - 0.26019331684617286
+    velocities:
+      - 0.21517054175140166
+      - -0.010653317677561822
+      - -0.070458190510785265
+      - -0.12629055157878399
+      - 0.19666171694611118
+      - -4.7439981487955912e-06
+      - -0.010634040463807152
+    accelerations:
+      - -0.57287729353892702
+      - 0.028363751602129599
+      - 0.18759025821529068
+      - 0.33624021578001245
+      - -0.52359877532388732
+      - 1.2630580366227691e-05
+      - 0.028312427299309686
     effort: []
     time_from_start:
       sec: 8
       nanosec: 70000000
   - positions:
-      - 0.57585857733209789
-      - 0.26025421757174277
-      - -1.2444110077898567
-      - 1.4900636282260034
-      - -1.8164450563547723
-      - -1.5707604350884599
-      - 0.26027993329692622
-    velocities:
-      - 0.2141151951755344
-      - -0.016873132379806369
-      - -0.073045327111850605
-      - -0.1170667322841884
-      - 0.19007312014656516
-      - 5.9443534457725492e-05
-      - -0.016755156467703501
-    accelerations:
-      - -0.58982803035620501
-      - 0.04648080408007358
-      - 0.2012196349810047
-      - 0.32248640768729187
-      - -0.52359877582624903
-      - -0.0001637504653411781
-      - 0.046155813133922995
+      - 0.57587979474436746
+      - 0.26018044416515212
+      - -1.2443963177879032
+      - 1.4901514698525906
+      - -1.8165562425109605
+      - -1.5707549633170577
+      - 0.26008834036247075
+    velocities:
+      - 0.2094417688123455
+      - -0.010369680161358993
+      - -0.068582287927431665
+      - -0.12292814941883173
+      - 0.19142572918952105
+      - -4.6176923450524749e-06
+      - -0.01035091619063285
+    accelerations:
+      - -0.57287729420215583
+      - 0.028363751634964369
+      - 0.18759025843246402
+      - 0.33624021616926997
+      - -0.52359877593005488
+      - 1.2630580380849607e-05
+      - 0.028312427332085565
     effort: []
     time_from_start:
       sec: 8
       nanosec: 80000000
   - positions:
-      - 0.57797502744925733
-      - 0.26008743285114966
-      - -1.2451330340383773
-      - 1.4889064665446232
-      - -1.8145662533250608
-      - -1.5707598475109394
-      - 0.26011431472492336
-    velocities:
-      - 0.20821691487493654
-      - -0.016408324339239225
-      - -0.071033130763051802
-      - -0.11384186820893623
-      - 0.18483713239093411
-      - 5.7806029805136619e-05
-      - -0.016293598336596223
-    accelerations:
-      - -0.5898280299608476
-      - 0.046480804048917253
-      - 0.2012196348461231
-      - 0.32248640747110757
-      - -0.52359877547529399
-      - -0.00016375046523142245
-      - 0.046155813102984659
+      - 0.57794661468094766
+      - 0.2600781137569676
+      - -1.2450731037069129
+      - 1.488938386371552
+      - -1.8146672090306435
+      - -1.5707550088855162
+      - 0.25998619512150001
+    velocities:
+      - 0.20371299587405484
+      - -0.010086042645194065
+      - -0.066706385344328711
+      - -0.11956574725932875
+      - 0.1861897414336306
+      - -4.4913865413262348e-06
+      - -0.010067791917496379
+    accelerations:
+      - -0.57287729410087573
+      - 0.028363751629951018
+      - 0.18759025839930998
+      - 0.33624021610984528
+      - -0.52359877583746228
+      - 1.2630580378616828e-05
+      - 0.028312427327080888
     effort: []
     time_from_start:
       sec: 8
       nanosec: 90000000
   - positions:
-      - 0.58003249476340668
-      - 0.25992529621096255
-      - -1.2458349383234084
-      - 1.487781553503998
-      - -1.8127398101729093
-      - -1.5707592763084655
-      - 0.25995331173423181
-    velocities:
-      - 0.20231863457345386
-      - -0.015943516298602353
-      - -0.069020934413951129
-      - -0.11061700413320026
-      - 0.17960114463451757
-      - 5.6168525152302098e-05
-      - -0.015832040205419701
-    accelerations:
-      - -0.58982803044821475
-      - 0.046480804087324724
-      - 0.20121963501239626
-      - 0.32248640773758497
-      - -0.52359877590793369
-      - -0.00016375046536672462
-      - 0.046155813141122097
+      - 0.57995614688814368
+      - 0.25997861972394476
+      - -1.2457311306000913
+      - 1.487758926912109
+      - -1.8128305354278869
+      - -1.5707550531909169
+      - 0.25988688112326075
+    velocities:
+      - 0.19798422293588189
+      - -0.0098024051290349634
+      - -0.06483048276126431
+      - -0.11620334509989487
+      - 0.18095375367784769
+      - -4.3650807376025909e-06
+      - -0.0097846676443657261
+    accelerations:
+      - -0.57287729388292963
+      - 0.02836375161915938
+      - 0.18759025832793669
+      - 0.33624021598190651
+      - -0.52359877563827473
+      - 1.2630580373811177e-05
+      - 0.028312427316308241
     effort: []
     time_from_start:
       sec: 8
       nanosec: 100000000
   - positions:
-      - 0.58203097927454628
-      - 0.25976780765118146
-      - -1.2465167206449503
-      - 1.4866888891041272
-      - -1.8109657268983177
-      - -1.5707587214810381
-      - 0.25979692432485169
-    velocities:
-      - 0.19642035427281485
-      - -0.0154787082580319
-      - -0.067008738065140364
-      - -0.10739214005792197
-      - 0.17436515687884949
-      - 5.4531020498958634e-05
-      - -0.015370482074308715
-    accelerations:
-      - -0.58982803009479601
-      - 0.046480804059473045
-      - 0.20121963489182265
-      - 0.32248640754435454
-      - -0.52359877559419887
-      - -0.00016375046526638119
-      - 0.046155813113465859
+      - 0.58190839136595651
+      - 0.2598819620660836
+      - -1.2463703984674388
+      - 1.4866130914742617
+      - -1.811046221702689
+      - -1.5707550962332595
+      - 0.25979039836775281
+    velocities:
+      - 0.19225544999757196
+      - -0.009518767612869062
+      - -0.062954580178155278
+      - -0.11284094294037803
+      - 0.17571776592193852
+      - -4.2387749328735875e-06
+      - -0.0095015433712282733
+    accelerations:
+      - -0.57287729380199437
+      - 0.028363751615152168
+      - 0.18759025830144399
+      - 0.33624021593440284
+      - -0.52359877556430612
+      - 1.2630580369040687e-05
+      - 0.028312427312309704
     effort: []
     time_from_start:
       sec: 8
       nanosec: 109999999
   - positions:
-      - 0.58397048098267612
-      - 0.25961496717180627
-      - -1.2471783810030028
-      - 1.4856284733450111
-      - -1.8092440035012853
-      - -1.5707581830286572
-      - 0.25964515249678288
-    velocities:
-      - 0.19052207397205195
-      - -0.015013900217451755
-      - -0.064996541716285189
-      - -0.10416727598257966
-      - 0.16912916912307194
-      - 5.2893515846346267e-05
-      - -0.014908923943188535
-    accelerations:
-      - -0.58982802986339777
-      - 0.046480804041237632
-      - 0.20121963481288579
-      - 0.32248640741783074
-      - -0.52359877538877986
-      - -0.00016375046520212866
-      - 0.046155813095358815
+      - 0.58380334811438539
+      - 0.25978814078338414
+      - -1.2469909073089545
+      - 1.4855008800580096
+      - -1.8093142678550513
+      - -1.5707551380125442
+      - 0.25969674685497629
+    velocities:
+      - 0.1865266770592609
+      - -0.0092351300967031241
+      - -0.061078677595045656
+      - -0.10947854078086316
+      - 0.17048177816602947
+      - -4.1124691291767666e-06
+      - -0.0092184190980907962
+    accelerations:
+      - -0.57287729372108687
+      - 0.028363751611146692
+      - 0.18759025827493742
+      - 0.33624021588691305
+      - -0.52359877549033751
+      - 1.2630580367255989e-05
+      - 0.028312427308309431
     effort: []
     time_from_start:
       sec: 8
       nanosec: 120000000
   - positions:
-      - 0.58585099988779576
-      - 0.25946677477283714
-      - -1.2478199193975659
-      - 1.48460030622665
-      - -1.8075746399818133
-      - -1.570757660951323
-      - 0.25949799625002556
-    velocities:
-      - 0.18462379367063214
-      - -0.014549092176819836
-      - -0.062984345367205902
-      - -0.10094241190687817
-      - 0.16389318136671122
-      - 5.125601119355151e-05
-      - -0.014447365812016947
-    accelerations:
-      - -0.58982803028787079
-      - 0.046480804074690733
-      - 0.2012196349577039
-      - 0.32248640764993286
-      - -0.5235987757656031
-      - -0.00016375046531998195
-      - 0.046155813128576577
+      - 0.58564101713342998
+      - 0.25969715587584641
+      - -1.2475926571246387
+      - 1.4844222926633537
+      - -1.8076346738849738
+      - -1.570755178528771
+      - 0.25960592658493126
+    velocities:
+      - 0.18079790412094987
+      - -0.0089514925805371879
+      - -0.059202775011936035
+      - -0.1061161386213483
+      - 0.16524579041012039
+      - -3.9861633254799449e-06
+      - -0.0089352948249533191
+    accelerations:
+      - -0.57287729364015161
+      - 0.028363751607139481
+      - 0.18759025824843778
+      - 0.33624021583940938
+      - -0.52359877541639666
+      - 1.2630580365472138e-05
+      - 0.028312427304310894
     effort: []
     time_from_start:
       sec: 8
       nanosec: 130000000
   - positions:
-      - 0.5876725359899051
-      - 0.25932323045427397
-      - -1.2484413358286397
-      - 1.4836043877490435
-      - -1.805957636339901
-      - -1.5707571552490349
-      - 0.25935545558457956
-    velocities:
-      - 0.17872551336992956
-      - -0.014084284136244442
-      - -0.060972149018371294
-      - -0.09771754783156883
-      - 0.15865719361098718
-      - 4.961850654095588e-05
-      - -0.013985807680901486
-    accelerations:
-      - -0.58982802999723516
-      - 0.046480804051784751
-      - 0.20121963485855066
-      - 0.32248640749100832
-      - -0.52359877550757372
-      - -0.00016375046523928969
-      - 0.046155813105831341
+      - 0.58742139842309071
+      - 0.25960900734347037
+      - -1.2481756479144919
+      - 1.4833773292902932
+      - -1.8060074397924559
+      - -1.5707552177819393
+      - 0.2595179375576176
+    velocities:
+      - 0.17506913118263884
+      - -0.00866785506437125
+      - -0.057326872428826413
+      - -0.10275373646183344
+      - 0.16000980265421133
+      - -3.8598575217831239e-06
+      - -0.008652170551815842
+    accelerations:
+      - -0.57287729355924411
+      - 0.028363751603134004
+      - 0.18759025822193814
+      - 0.33624021579190572
+      - -0.52359877534242805
+      - 1.2630580363687439e-05
+      - 0.028312427300310621
     effort: []
     time_from_start:
       sec: 8
       nanosec: 140000000
   - positions:
-      - 0.58943508928900479
-      - 0.25918433421611681
-      - -1.2490426302962243
-      - 1.4826407179121919
-      - -1.8043929925755489
-      - -1.570756665921794
-      - 0.25921753050044499
-    velocities:
-      - 0.17282723306855155
-      - -0.013619476095615823
-      - -0.05895995266930628
-      - -0.094492683755890219
-      - 0.15342120585466359
-      - 4.7981001888172737e-05
-      - -0.013524249549733171
-    accelerations:
-      - -0.58982803037990827
-      - 0.046480804081940143
-      - 0.20121963498909545
-      - 0.32248640770022596
-      - -0.52359877584726
-      - -0.00016375046534552169
-      - 0.046155813135775679
+      - 0.58914449198336738
+      - 0.25952369518625606
+      - -1.2487398796785136
+      - 1.4823659899388284
+      - -1.804432565577498
+      - -1.5707552557720499
+      - 0.25943277977303536
+    velocities:
+      - 0.16934035824372518
+      - -0.0083842175481754766
+      - -0.055450969845519456
+      - -0.099391334301964882
+      - 0.15477381489775147
+      - -3.7335517180730156e-06
+      - -0.0083690462786485832
+    accelerations:
+      - -0.57287729407992027
+      - 0.028363751628913653
+      - 0.18759025839244048
+      - 0.3362402160975218
+      - -0.52359877581833869
+      - 1.2630580375168134e-05
+      - 0.028312427326043523
     effort: []
     time_from_start:
       sec: 8
       nanosec: 150000000
   - positions:
-      - 0.59113865978509428
-      - 0.2590500860583656
-      - -1.249623802800319
-      - 1.4817092967160947
-      - -1.8028807086887566
-      - -1.5707561929695992
-      - 0.25908422099762179
-    velocities:
-      - 0.16692895276780706
-      - -0.013154668055037124
-      - -0.056947756320457378
-      - -0.091267819680557957
-      - 0.14818521809890237
-      - 4.6343497235565466e-05
-      - -0.013062691418614429
-    accelerations:
-      - -0.58982803013112806
-      - 0.046480804062337074
-      - 0.20121963490422939
-      - 0.32248640756422753
-      - -0.52359877562645085
-      - -0.00016375046527646427
-      - 0.046155813116310805
+      - 0.5908102978142602
+      - 0.25944121940420345
+      - -1.2492853524167038
+      - 1.4813882746089591
+      - -1.8029100512401
+      - -1.5707552924991024
+      - 0.25935045323118455
+    velocities:
+      - 0.16361158530543443
+      - -0.0081005800320105448
+      - -0.053575067262416474
+      - -0.096028932142461929
+      - 0.14953782714186095
+      - -3.6072459143766415e-06
+      - -0.008085922005512107
+    accelerations:
+      - -0.57287729397872345
+      - 0.028363751623902037
+      - 0.18759025835930032
+      - 0.33624021603812487
+      - -0.52359877572582936
+      - 1.2630580372937049e-05
+      - 0.02831242732104405
     effort: []
     time_from_start:
       sec: 8
       nanosec: 160000000
   - positions:
-      - 0.59278324747817412
-      - 0.25892048598102035
-      - -1.250184853340925
-      - 1.4808101241607523
-      - -1.8014207846795238
-      - -1.5707557363924507
-      - 0.25895552707610997
-    velocities:
-      - 0.16103067246704417
-      - -0.012689860014456976
-      - -0.054935559971602203
-      - -0.088042955605215648
-      - 0.14294923034312479
-      - 4.4705992582953092e-05
-      - -0.012601133287494248
-    accelerations:
-      - -0.58982802989975758
-      - 0.046480804044103395
-      - 0.20121963482529254
-      - 0.32248640743770374
-      - -0.52359877542103184
-      - -0.00016375046521222529
-      - 0.046155813098203761
+      - 0.59241881591576939
+      - 0.25936157999731246
+      - -1.2498120661290628
+      - 1.4804441833006854
+      - -1.8014398967802614
+      - -1.5707553279630968
+      - 0.25927095793206512
+    velocities:
+      - 0.15788281236711901
+      - -0.0078169425158443901
+      - -0.051699164679305416
+      - -0.092666529982944487
+      - 0.14430183938594787
+      - -3.4809401106797236e-06
+      - -0.0078027977323744139
+    accelerations:
+      - -0.5728772939031912
+      - 0.028363751620163784
+      - 0.18759025833457027
+      - 0.33624021599381365
+      - -0.52359877565681545
+      - 1.2630580371271772e-05
+      - 0.028312427317310044
     effort: []
     time_from_start:
       sec: 8
       nanosec: 170000000
   - positions:
-      - 0.59436885236824366
-      - 0.25879553398408117
-      - -1.2507257819180413
-      - 1.4799432002461645
-      - -1.800013220547851
-      - -1.5707552961903493
-      - 0.25883144873590952
-    velocities:
-      - 0.15513239216572908
-      - -0.012225051973833315
-      - -0.052923363622558652
-      - -0.084818091529571427
-      - 0.13771324258685705
-      - 4.3068487930187419e-05
-      - -0.012139575156330858
-    accelerations:
-      - -0.5898280302195088
-      - 0.046480804069299213
-      - 0.20121963493437534
-      - 0.32248640761253222
-      - -0.5235987757048739
-      - -0.00016375046530099486
-      - 0.04615581312322322
+      - 0.59397004628789452
+      - 0.25928477696558322
+      - -1.2503200208155905
+      - 1.4795337160140074
+      - -1.800022102197983
+      - -1.5707553621640331
+      - 0.25919429387567716
+    velocities:
+      - 0.15215403942880798
+      - -0.0075333049996784531
+      - -0.049823262096195794
+      - -0.089304127823429627
+      - 0.13906585163003882
+      - -3.3546343069829023e-06
+      - -0.0075196734592369368
+    accelerations:
+      - -0.5728772938222837
+      - 0.028363751616156573
+      - 0.18759025830807063
+      - 0.33624021594630998
+      - -0.52359877558284684
+      - 1.2630580369487497e-05
+      - 0.028312427313311506
     effort: []
     time_from_start:
       sec: 8
       nanosec: 180000000
   - positions:
-      - 0.59589547445530333
-      - 0.25867523006754795
-      - -1.2512465885316681
-      - 1.4791085249723317
-      - -1.7986580162937384
-      - -1.570754872363294
-      - 0.2587119859770205
-    velocities:
-      - 0.14923411186492166
-      - -0.011760243933249658
-      - -0.050911167273688288
-      - -0.081593227454204761
-      - 0.13247725483103998
-      - 4.1430983277562685e-05
-      - -0.011678017025207193
-    accelerations:
-      - -0.58982803003367823
-      - 0.046480804054657453
-      - 0.20121963487097821
-      - 0.32248640751093682
-      - -0.52359877553990897
-      - -0.00016375046524939987
-      - 0.046155813108683226
+      - 0.59546398893063568
+      - 0.25921081030901572
+      - -1.2508092164762865
+      - 1.4786568727489249
+      - -1.7986566674932642
+      - -1.5707553951019115
+      - 0.25912046106202058
+    velocities:
+      - 0.14642526649049695
+      - -0.0072496674835125161
+      - -0.047947359513086166
+      - -0.085941725663914767
+      - 0.13382986387412973
+      - -3.2283285032860805e-06
+      - -0.0072365491860994597
+    accelerations:
+      - -0.57287729374134844
+      - 0.028363751612150229
+      - 0.18759025828157794
+      - 0.33624021589880632
+      - -0.52359877550887823
+      - 1.2630580367703646e-05
+      - 0.028312427309312101
     effort: []
     time_from_start:
       sec: 8
       nanosec: 189999999
   - positions:
-      - 0.59736311373935336
-      - 0.25855957423142067
-      - -1.2517472731818058
-      - 1.4783060983392533
-      - -1.797355171917185
-      - -1.5707544649112855
-      - 0.25859713879944279
-    velocities:
-      - 0.14333583156364851
-      - -0.0112954358926293
-      - -0.048898970924659037
-      - -0.078368363378583467
-      - 0.12724126707480943
-      - 3.9793478624808647e-05
-      - -0.011216458894047081
-    accelerations:
-      - -0.58982803031149078
-      - 0.046480804076550357
-      - 0.20121963496575995
-      - 0.32248640766282533
-      - -0.52359877578655856
-      - -0.0001637504653265346
-      - 0.046155813130424057
+      - 0.59690064384399255
+      - 0.2591396800276099
+      - -1.2512796531111514
+      - 1.4778136535054385
+      - -1.7973435926661057
+      - -1.5707554267767316
+      - 0.25904945949109542
+    velocities:
+      - 0.14069649355218591
+      - -0.006966029967346579
+      - -0.046071456929976544
+      - -0.082579323504399907
+      - 0.12859387611822068
+      - -3.1020226995892592e-06
+      - -0.0069534249129619826
+    accelerations:
+      - -0.57287729366041318
+      - 0.028363751608143885
+      - 0.1875902582550783
+      - 0.33624021585131653
+      - -0.52359877543490962
+      - 1.2630580365919371e-05
+      - 0.028312427305312696
     effort: []
     time_from_start:
       sec: 8
       nanosec: 199999999
   - positions:
-      - 0.5987717702203933
-      - 0.25844856647569936
-      - -1.2522278358684542
-      - 1.4775359203469296
-      - -1.7961046874181916
-      - -1.5707540738343233
-      - 0.25848690720317646
-    velocities:
-      - 0.13743755126280027
-      - -0.010830627852042004
-      - -0.046886774575770777
-      - -0.075143499303195346
-      - 0.12200527931895447
-      - 3.8155973973872924e-05
-      - -0.010754900762920586
-    accelerations:
-      - -0.58982803016754337
-      - 0.046480804065204571
-      - 0.20121963491663614
-      - 0.32248640758412828
-      - -0.52359877565877222
-      - -0.00016375046529387249
-      - 0.046155813119160956
+      - 0.59828001102796557
+      - 0.25907138612136577
+      - -1.2517313307201849
+      - 1.4770040582835475
+      - -1.796082877716507
+      - -1.5707554571884941
+      - 0.25898128916290164
+    velocities:
+      - 0.13496772061339263
+      - -0.0066823924511567418
+      - -0.044195554346709347
+      - -0.079216921344606533
+      - 0.12335788836187213
+      - -2.9757168944478499e-06
+      - -0.0066703006398013132
+    accelerations:
+      - -0.57287729405899257
+      - 0.028363751627877156
+      - 0.18759025838559179
+      - 0.33624021608526772
+      - -0.5235987757992151
+      - 1.2630580368620146e-05
+      - 0.028312427325013097
     effort: []
     time_from_start:
       sec: 8
       nanosec: 210000000
   - positions:
-      - 0.60012144389842303
-      - 0.25834220680038411
-      - -1.2526882765916132
-      - 1.4767979909953606
-      - -1.7949065627967582
-      - -1.5707536991324078
-      - 0.25838129118822162
-    velocities:
-      - 0.1315392709620373
-      - -0.010365819811461868
-      - -0.044874578226915748
-      - -0.071918635227852953
-      - 0.11676929156317691
-      - 3.6518469321187556e-05
-      - -0.010293342631800383
-    accelerations:
-      - -0.58982802993620065
-      - 0.046480804046972628
-      - 0.20121963483770622
-      - 0.32248640745764612
-      - -0.52359877545339484
-      - -0.00016375046522964029
-      - 0.046155813101055647
+      - 0.59960209048255497
+      - 0.25900592859028326
+      - -1.2521642493033869
+      - 1.476228087083252
+      - -1.7948745226444678
+      - -1.5707554863371984
+      - 0.25891595007743934
+    velocities:
+      - 0.12923894767510202
+      - -0.006398754934991817
+      - -0.0423196517636064
+      - -0.075854519185103469
+      - 0.11812190060598167
+      - -2.8494110908123435e-06
+      - -0.0063871763666648179
+    accelerations:
+      - -0.57287729395771247
+      - 0.028363751622862938
+      - 0.18759025835242388
+      - 0.33624021602581528
+      - -0.52359877570665025
+      - 1.2630580366387367e-05
+      - 0.02831242732000842
     effort: []
     time_from_start:
       sec: 8
       nanosec: 220000000
   - positions:
-      - 0.60141213477344291
-      - 0.25824049520547487
-      - -1.253128595351283
-      - 1.4760923102845465
-      - -1.7937607980528849
-      - -1.5707533408055387
-      - 0.25828029075457815
-    velocities:
-      - 0.12564099066082696
-      - -0.0099010117708464782
-      - -0.042862381877908105
-      - -0.068693771152265964
-      - 0.11153330380700222
-      - 3.4880964668377986e-05
-      - -0.0098317845006451726
-    accelerations:
-      - -0.58982803015114682
-      - 0.046480804063912896
-      - 0.2012196349110329
-      - 0.32248640757517322
-      - -0.52359877564420021
-      - -0.00016375046528931936
-      - 0.046155813117878537
+      - 0.6008668822077603
+      - 0.25894330743436256
+      - -1.2525784088607579
+      - 1.4754857399045522
+      - -1.7937185274499887
+      - -1.5707555142228447
+      - 0.25885344223470841
+    velocities:
+      - 0.12351017473681139
+      - -0.0061151174188268913
+      - -0.04044374918050344
+      - -0.072492117025600392
+      - 0.1128859128500912
+      - -2.7231052871768372e-06
+      - -0.0061040520935283218
+    accelerations:
+      - -0.57287729385647401
+      - 0.028363751617849587
+      - 0.18759025831926984
+      - 0.33624021596639059
+      - -0.52359877561411317
+      - 1.2630580364155011e-05
+      - 0.02831242731500461
     effort: []
     time_from_start:
       sec: 8
       nanosec: 230000000
   - positions:
-      - 0.60264384284545314
-      - 0.25814343169097154
-      - -1.2535487921474633
-      - 1.4754188782144868
-      - -1.7926673931865711
-      - -1.5707529988537163
-      - 0.25818390590224594
-    velocities:
-      - 0.11974271035991474
-      - -0.0094362037302545814
-      - -0.040850185529002152
-      - -0.06546890707684197
-      - 0.10629731605109216
-      - 3.3243460015651182e-05
-      - -0.0093702263695132904
-    accelerations:
-      - -0.58982803007009355
-      - 0.046480804057524951
-      - 0.20121963488338496
-      - 0.32248640753085145
-      - -0.52359877557224421
-      - -0.00016375046526681487
-      - 0.046155813111535111
+      - 0.60207438620358134
+      - 0.25888352265360354
+      - -1.2529738093922971
+      - 1.4747770167474479
+      - -1.7926148921330691
+      - -1.5707555408454326
+      - 0.25879376563470891
+    velocities:
+      - 0.11778140179835357
+      - -0.0058314799026536876
+      - -0.038567846597345738
+      - -0.069129714865999184
+      - 0.10764992509404793
+      - -2.5967994835376446e-06
+      - -0.0058209278203835641
+    accelerations:
+      - -0.57287729392342501
+      - 0.02836375162116472
+      - 0.18759025834119691
+      - 0.33624021600569304
+      - -0.52359877567528679
+      - 1.2630580365630956e-05
+      - 0.028312427318312714
     effort: []
     time_from_start:
       sec: 8
       nanosec: 240000000
   - positions:
-      - 0.60381656811445306
-      - 0.25805101625687416
-      - -1.253948866980154
-      - 1.4747776947851818
-      - -1.791626348197817
-      - -1.5707526732769401
-      - 0.25809213663122521
-    velocities:
-      - 0.1138444300587463
-      - -0.0089713956896424942
-      - -0.038837989180008796
-      - -0.062244043001277893
-      - 0.10106132829495466
-      - 3.1605955362853247e-05
-      - -0.00890866823836136
-    accelerations:
-      - -0.58982803024315655
-      - 0.046480804071160571
-      - 0.20121963494242445
-      - 0.32248640762546632
-      - -0.52359877572587099
-      - -0.0001637504653148591
-      - 0.046155813125075905
+      - 0.60322460247001919
+      - 0.2588265742480062
+      - -1.2533504508980049
+      - 1.4741019176119394
+      - -1.7915636166937094
+      - -1.5707555662049628
+      - 0.25873692027744083
+    velocities:
+      - 0.11205262886004261
+      - -0.0055478423864877557
+      - -0.036691944014236123
+      - -0.065767312706484171
+      - 0.10241393733813887
+      - -2.4704936799016898e-06
+      - -0.0055378035472460636
+    accelerations:
+      - -0.57287729384250363
+      - 0.028363751617157509
+      - 0.18759025831469728
+      - 0.33624021595818937
+      - -0.52359877560133206
+      - 1.2630580363846681e-05
+      - 0.028312427314313309
     effort: []
     time_from_start:
       sec: 8
       nanosec: 250000000
   - positions:
-      - 0.60493031058044311
-      - 0.25796324890318284
-      - -1.2543288198493556
-      - 1.474168759996632
-      - -1.7906376630866232
-      - -1.5707523640752106
-      - 0.2580049829415158
-    velocities:
-      - 0.1079461497577922
-      - -0.0085065876490472963
-      - -0.036825792831088555
-      - -0.059019178925830994
-      - 0.095825340539007431
-      - 2.9968450710114814e-05
-      - -0.0084471101072261991
-    accelerations:
-      - -0.58982803020397256
-      - 0.046480804068073804
-      - 0.2012196349290637
-      - 0.3224864076040429
-      - -0.52359877569109359
-      - -0.00016375046530398607
-      - 0.046155813122011106
+      - 0.60431753100707275
+      - 0.25877246221757055
+      - -1.2537083333778818
+      - 1.4734604424980264
+      - -1.7905647011319097
+      - -1.570755590301435
+      - 0.25868290616290412
+    velocities:
+      - 0.10632385592173162
+      - -0.0052642048703218213
+      - -0.034816041431126502
+      - -0.062404910546969145
+      - 0.097177949582229792
+      - -2.3441878762657341e-06
+      - -0.0052546792741085604
+    accelerations:
+      - -0.57287729376159613
+      - 0.0283637516131529
+      - 0.18759025828820458
+      - 0.33624021591071346
+      - -0.5235987755273912
+      - 1.2630580362063253e-05
+      - 0.028312427310315639
     effort: []
     time_from_start:
       sec: 8
       nanosec: 260000000
   - positions:
-      - 0.60598507024342319
-      - 0.25788012962989748
-      - -1.2546886507550679
-      - 1.4735920738488364
-      - -1.7897013378529887
-      - -1.5707520712485277
-      - 0.25792244483311783
-    velocities:
-      - 0.10204786945702922
-      - -0.008041779608467161
-      - -0.034813596482233526
-      - -0.055794314850488601
-      - 0.090589352783229868
-      - 2.833094605742945e-05
-      - -0.0079855519761059968
-    accelerations:
-      - -0.58982802997261596
-      - 0.04648080404984186
-      - 0.20121963485013378
-      - 0.3224864074775538
-      - -0.52359877548571621
-      - -0.00016375046523975047
-      - 0.046155813103907532
+      - 0.60535317181474235
+      - 0.25872118656229665
+      - -1.2540474568319269
+      - 1.4728525914057089
+      - -1.7896181454476701
+      - -1.5707556131348488
+      - 0.2586317232910989
+    velocities:
+      - 0.10059508298342065
+      - -0.0049805673541558886
+      - -0.032940138848016887
+      - -0.059042508387454132
+      - 0.091941961826320737
+      - -2.2178820726297793e-06
+      - -0.0049715550009710599
+    accelerations:
+      - -0.57287729368067475
+      - 0.028363751609146556
+      - 0.18759025826170495
+      - 0.33624021586322367
+      - -0.52359877545342259
+      - 1.2630580360279402e-05
+      - 0.028312427306316234
     effort: []
     time_from_start:
       sec: 8
       nanosec: 270000000
   - positions:
-      - 0.60698084710339362
-      - 0.25780165843701813
-      - -1.2550283596972907
-      - 1.4730476363417955
-      - -1.7888173724969141
-      - -1.5707517947968914
-      - 0.25784452230603122
-    velocities:
-      - 0.09614958915592367
-      - -0.0075769715678600282
-      - -0.032801400133261625
-      - -0.052569450774958899
-      - 0.085353365027148187
-      - 2.669344140464897e-05
-      - -0.0075239938449589861
-    accelerations:
-      - -0.58982803008278484
-      - 0.046480804058524845
-      - 0.20121963488771821
-      - 0.3224864075377934
-      - -0.52359877558352652
-      - -0.00016375046527033904
-      - 0.046155813112527783
+      - 0.60633152489302822
+      - 0.25867274728218437
+      - -1.254367821260141
+      - 1.4722783643349873
+      - -1.7887239496409899
+      - -1.570755634705205
+      - 0.25858337166202505
+    velocities:
+      - 0.09486631004477164
+      - -0.0046969298379732193
+      - -0.031064236264796576
+      - -0.055680106227740708
+      - 0.086705974070102707
+      - -2.0915762689863715e-06
+      - -0.0046884307278168523
+    accelerations:
+      - -0.57287729393678477
+      - 0.028363751621826441
+      - 0.18759025834557519
+      - 0.33624021601354037
+      - -0.52359877568751279
+      - 1.2630580365925734e-05
+      - 0.028312427318973658
     effort: []
     time_from_start:
       sec: 8
       nanosec: 279999999
   - positions:
-      - 0.60791764116035407
-      - 0.25772783532454469
-      - -1.2553479466760245
-      - 1.4725354474755092
-      - -1.7879857670183994
-      - -1.5707515347203014
-      - 0.25777121536025599
-    velocities:
-      - 0.090251308854906662
-      - -0.0071121635272598733
-      - -0.03078920378431993
-      - -0.049344586699477617
-      - 0.080117377271145124
-      - 2.5055936751893075e-05
-      - -0.0070624357138189047
-    accelerations:
-      - -0.58982803010650886
-      - 0.046480804060395051
-      - 0.20121963489580905
-      - 0.32248640755075914
-      - -0.52359877560457946
-      - -0.00016375046527692506
-      - 0.046155813114384395
+      - 0.60725259024193012
+      - 0.25862714437723383
+      - -1.2546694266625236
+      - 1.4717377612858611
+      - -1.7878821137118694
+      - -1.5707556550125028
+      - 0.25853785127568257
+    velocities:
+      - 0.089137537106481021
+      - -0.0044132923218082945
+      - -0.029188333681693625
+      - -0.052317704068237644
+      - 0.081469986314212262
+      - -1.9652704653508651e-06
+      - -0.0044053064546803571
+    accelerations:
+      - -0.57287729383551855
+      - 0.028363751616812222
+      - 0.18759025831241075
+      - 0.33624021595409487
+      - -0.52359877559493406
+      - 1.2630580363692955e-05
+      - 0.02831242731396898
     effort: []
     time_from_start:
       sec: 8
       nanosec: 290000000
   - positions:
-      - 0.60879545241430466
-      - 0.25765866029247725
-      - -1.2556474116912686
-      - 1.4720555072499779
-      - -1.7872065214174444
-      - -1.570751291018758
-      - 0.25770252399579213
-    velocities:
-      - 0.08435302855384301
-      - -0.0066473554866560425
-      - -0.028777007435362319
-      - -0.046119722623970821
-      - 0.074881389515100635
-      - 2.3418432099124227e-05
-      - -0.0066008775826751727
-    accelerations:
-      - -0.58982803017478069
-      - 0.046480804065775122
-      - 0.20121963491910283
-      - 0.32248640758809344
-      - -0.52359877566518342
-      - -0.00016375046529588217
-      - 0.046155813119726885
+      - 0.6081163678614484
+      - 0.25858437784744498
+      - -1.254952273039075
+      - 1.4712307822583304
+      - -1.7870926376603087
+      - -1.5707556740567428
+      - 0.25849516213207158
+    velocities:
+      - 0.083408764168198424
+      - -0.0041296548056437661
+      - -0.027312431098593298
+      - -0.048955301908739285
+      - 0.07623399855832913
+      - -1.8389646617155357e-06
+      - -0.0041221821815442582
+    accelerations:
+      - -0.57287729372826623
+      - 0.028363751611502386
+      - 0.18759025827728987
+      - 0.33624021589114633
+      - -0.5235987754969158
+      - 1.2630580361328442e-05
+      - 0.028312427308668505
     effort: []
     time_from_start:
       sec: 8
       nanosec: 300000000
   - positions:
-      - 0.60961428086524505
-      - 0.25759413334081588
-      - -1.2559267547430237
-      - 1.471607815665201
-      - -1.7864796356940496
-      - -1.5707510636922613
-      - 0.25763844821263965
-    velocities:
-      - 0.078454748253061937
-      - -0.0061825474460750754
-      - -0.026764811086502797
-      - -0.042894858548620476
-      - 0.069645401759310027
-      - 2.1780927446230534e-05
-      - -0.0061393194515539208
-    accelerations:
-      - -0.58982802996157624
-      - 0.046480804048978135
-      - 0.20121963484637992
-      - 0.32248640747152774
-      - -0.52359877547594647
-      - -0.00016375046523515907
-      - 0.046155813103045826
+      - 0.60892285775158217
+      - 0.25854444769281787
+      - -1.2552163603897948
+      - 1.470757427252396
+      - -1.7863555214863083
+      - -1.5707556918379249
+      - 0.25845530423119201
+    velocities:
+      - 0.077679991229590156
+      - -0.0038460172894632305
+      - -0.025436528515384759
+      - -0.0455928997490469
+      - 0.070998010802150346
+      - -1.7126588587150173e-06
+      - -0.0038390579083909522
+    accelerations:
+      - -0.57287729394390863
+      - 0.028363751622179533
+      - 0.18759025834788948
+      - 0.33624021601769732
+      - -0.5235987756940218
+      - 1.2630580370817339e-05
+      - 0.028312427319317119
     effort: []
     time_from_start:
       sec: 8
       nanosec: 310000000
   - positions:
-      - 0.61037412651317569
-      - 0.25753425446956035
-      - -1.2561859758312892
-      - 1.4711923727211789
-      - -1.7858051098482142
-      - -1.5707508527408107
-      - 0.25757898801079859
-    velocities:
-      - 0.072556467952019282
-      - -0.0057177394054728553
-      - -0.024752614737552227
-      - -0.039669994473125018
-      - 0.064409414003283968
-      - 2.0143422793482804e-05
-      - -0.0056777613204118046
-    accelerations:
-      - -0.58982803000910067
-      - 0.046480804052722369
-      - 0.20121963486258909
-      - 0.322486407497517
-      - -0.52359877551812084
-      - -0.00016375046524834955
-      - 0.046155813106764622
+      - 0.6096720599123322
+      - 0.25850735391335239
+      - -1.2554616887146832
+      - 1.4703176962680566
+      - -1.7856707651898671
+      - -1.5707557083560486
+      - 0.25841827757304381
+    velocities:
+      - 0.071951218291279012
+      - -0.0035623797732972804
+      - -0.0235606259322752
+      - -0.042230497589531991
+      - 0.065762023046240972
+      - -1.5863530550317127e-06
+      - -0.0035559336352535241
+    accelerations:
+      - -0.57287729386334807
+      - 0.028363751618190537
+      - 0.1875902583215078
+      - 0.33624021597040876
+      - -0.52359877562038626
+      - 1.2630580369040899e-05
+      - 0.028312427315335495
     effort: []
     time_from_start:
       sec: 8
       nanosec: 320000000
   - positions:
-      - 0.61107498935809668
-      - 0.25747902367871089
-      - -1.2564250749560657
-      - 1.4708091784179114
-      - -1.7851829438799385
-      - -1.5707506581644071
-      - 0.25752414339026886
-    velocities:
-      - 0.066658187651018538
-      - -0.0052529313648739381
-      - -0.02274041838861595
-      - -0.03644513039765248
-      - 0.059173426247295102
-      - 1.8505918140746706e-05
-      - -0.0052162031892729679
-    accelerations:
-      - -0.58982803001470041
-      - 0.046480804053163682
-      - 0.20121963486450414
-      - 0.32248640750058011
-      - -0.52359877552309575
-      - -0.000163750465249912
-      - 0.046155813107203049
+      - 0.6103639743436986
+      - 0.25847309650904859
+      - -1.2556882580137403
+      - 1.4699115893053127
+      - -1.7850383687709863
+      - -1.5707557236111143
+      - 0.25838408215762704
+    velocities:
+      - 0.066222445352967854
+      - -0.0032787422571313295
+      - -0.021684723349165633
+      - -0.038868095430017076
+      - 0.060526035290331584
+      - -1.4600472513484075e-06
+      - -0.0032728093621160956
+    accelerations:
+      - -0.57287729378278751
+      - 0.028363751614202407
+      - 0.18759025829513307
+      - 0.33624021592312714
+      - -0.52359877554677148
+      - 1.2630580367265094e-05
+      - 0.028312427311354738
     effort: []
     time_from_start:
       sec: 8
       nanosec: 330000000
   - positions:
-      - 0.61171686940000725
-      - 0.25742844096826739
-      - -1.2566440521173523
-      - 1.4704582327553983
-      - -1.7846131377892229
-      - -1.5707504799630496
-      - 0.25747391435105049
-    velocities:
-      - 0.060759907349896829
-      - -0.0047881233242654869
-      - -0.020728222039638408
-      - -0.033220266322113799
-      - 0.05393743849119885
-      - 1.6868413487977028e-05
-      - -0.0047546450581246649
-    accelerations:
-      - -0.58982803014337526
-      - 0.046480804063304182
-      - 0.20121963490839967
-      - 0.3224864075709305
-      - -0.52359877563733104
-      - -0.00016375046528563256
-      - 0.046155813117272709
+      - 0.6109986010456806
+      - 0.2584416754799066
+      - -1.2558960682869662
+      - 1.4695391063641652
+      - -1.7844583322296654
+      - -1.5707557376031223
+      - 0.25835271798494175
+    velocities:
+      - 0.060493672414440737
+      - -0.0029951047409546867
+      - -0.01980882076598536
+      - -0.035505693270375414
+      - 0.055290047534224826
+      - -1.3337414476603415e-06
+      - -0.0029896850889679946
+    accelerations:
+      - -0.57287729391716846
+      - 0.028363751620855863
+      - 0.18759025833913243
+      - 0.33624021600200099
+      - -0.52359877566958968
+      - 1.2630580370227602e-05
+      - 0.028312427317995707
     effort: []
     time_from_start:
       sec: 8
       nanosec: 340000000
   - positions:
-      - 0.61229976663890806
-      - 0.2573825063382299
-      - -1.2568429073151501
-      - 1.4701395357336404
-      - -1.7840956915760673
-      - -1.570750318136739
-      - 0.25742830089314361
-    velocities:
-      - 0.05486162704893801
-      - -0.0043233152836698735
-      - -0.018716025690716436
-      - -0.029995402246664183
-      - 0.048701450735247204
-      - 1.5230908835252571e-05
-      - -0.0042930869269891094
-    accelerations:
-      - -0.58982803010705709
-      - 0.046480804060441715
-      - 0.20121963489601019
-      - 0.322486407551071
-      - -0.5235987756050926
-      - -0.00016375046527554999
-      - 0.046155813114429907
+      - 0.61157594001827909
+      - 0.25841309082592623
+      - -1.2560851195343605
+      - 1.4692002474446126
+      - -1.7839306555659038
+      - -1.5707557503320722
+      - 0.25832418505498778
+    velocities:
+      - 0.054764899476149931
+      - -0.0027114672247897436
+      - -0.017932918182882462
+      - -0.032143291110872448
+      - 0.050054059778334048
+      - -1.2074356439774852e-06
+      - -0.0027065608158315718
+    accelerations:
+      - -0.57287729381626307
+      - 0.028363751615859426
+      - 0.18759025830608941
+      - 0.33624021594277059
+      - -0.5235987755773579
+      - 1.263058036800287e-05
+      - 0.028312427313008811
     effort: []
     time_from_start:
       sec: 8
       nanosec: 350000000
   - positions:
-      - 0.6128236810747989
-      - 0.25734121978859836
-      - -1.2570216405494583
-      - 1.469853087352637
-      - -1.7836306052404711
-      - -1.5707501726854751
-      - 0.25738730301654805
-    velocities:
-      - 0.048963346747949374
-      - -0.00385850724307191
-      - -0.016703829341784295
-      - -0.02677053817119826
-      - 0.043465462979269093
-      - 1.3593404182519837e-05
-      - -0.0038315287958512198
-    accelerations:
-      - -0.58982803010369866
-      - 0.046480804060177509
-      - 0.20121963489486544
-      - 0.32248640754923991
-      - -0.52359877560210943
-      - -0.00016375046527461725
-      - 0.046155813114167575
+      - 0.61209599126149361
+      - 0.2583873425471076
+      - -1.2562554117559235
+      - 1.468895012546656
+      - -1.7834553387797025
+      - -1.5707557617979637
+      - 0.25829848336776529
+    velocities:
+      - 0.04903612653768389
+      - -0.0024278297086161244
+      - -0.016057015599722183
+      - -0.028780888951266629
+      - 0.044818072022283106
+      - -1.0811298402907654e-06
+      - -0.0024234365426864892
+    accelerations:
+      - -0.57287729388956798
+      - 0.028363751619489255
+      - 0.18759025833009782
+      - 0.33624021598579817
+      - -0.52359877564435953
+      - 1.2630580369619231e-05
+      - 0.028312427316631361
     effort: []
     time_from_start:
       sec: 8
       nanosec: 359999999
   - positions:
-      - 0.61328861270767987
-      - 0.25730458131937284
-      - -1.2571802518202775
-      - 1.4695988876123882
-      - -1.7832178787824351
-      - -1.5707500436092572
-      - 0.25735092072126386
-    velocities:
-      - 0.043065066447011496
-      - -0.0033936992024779463
-      - -0.014691632992869467
-      - -0.023545674095760093
-      - 0.038229475223336036
-      - 1.1955899529801195e-05
-      - -0.0033699706647173028
-    accelerations:
-      - -0.58982803004644579
-      - 0.046480804055665327
-      - 0.20121963487533062
-      - 0.32248640751793123
-      - -0.52359877555128176
-      - -0.00016375046525872062
-      - 0.046155813109686764
+      - 0.61255875477532418
+      - 0.25836443064345066
+      - -1.2564069449516553
+      - 1.4686234016702948
+      - -1.7830323818710605
+      - -1.5707557720007976
+      - 0.25827561292327417
+    velocities:
+      - 0.04330735359929138
+      - -0.0021441921924461459
+      - -0.014181113016585981
+      - -0.025418486791703963
+      - 0.039582084266299368
+      - -9.5482403660566678e-07
+      - -0.0021403122695450401
+    accelerations:
+      - -0.57287729389341879
+      - 0.028363751619679873
+      - 0.18759025833135598
+      - 0.33624021598805837
+      - -0.52359877564788537
+      - 1.2630580369704116e-05
+      - 0.028312427316822139
     effort: []
     time_from_start:
       sec: 8
       nanosec: 370000000
   - positions:
-      - 0.61369456153755075
-      - 0.25727259093055327
-      - -1.257318741127607
-      - 1.4693769365128944
-      - -1.782857512201959
-      - -1.5707499309080861
-      - 0.25731915400729105
-    velocities:
-      - 0.037166786145982462
-      - -0.0029288911618767996
-      - -0.012679436643923542
-      - -0.020320810020272084
-      - 0.032993487467322065
-      - 1.0318394877057246e-05
-      - -0.0029084125335762522
-    accelerations:
-      - -0.58982803007925988
-      - 0.04648080405825146
-      - 0.20121963488652636
-      - 0.32248640753587443
-      - -0.52359877558041068
-      - -0.00016375046526783063
-      - 0.046155813112254973
+      - 0.61296423055977045
+      - 0.25834435511495546
+      - -1.2565397191215555
+      - 1.4683854148155295
+      - -1.7826617848399791
+      - -1.570755780940573
+      - 0.25825557372151448
+    velocities:
+      - 0.03757858066095987
+      - -0.0018605546762791875
+      - -0.012305210433469754
+      - -0.022056084632177106
+      - 0.034346096510371384
+      - -8.2851823292191315e-07
+      - -0.0018571879964066058
+    accelerations:
+      - -0.57287729383321695
+      - 0.028363751616699184
+      - 0.18759025831164605
+      - 0.33624021595272552
+      - -0.52359877559285994
+      - 1.2630580368376815e-05
+      - 0.02831242731384687
     effort: []
     time_from_start:
       sec: 8
       nanosec: 380000000
   - positions:
-      - 0.61404152756441177
-      - 0.25724524862213971
-      - -1.2574371084714471
-      - 1.469187234054155
-      - -1.7825495054990423
-      - -1.5707498345819615
-      - 0.25729200287462967
-    velocities:
-      - 0.031268505845001252
-      - -0.0024640831212794211
-      - -0.010667240294993932
-      - -0.017095945944810224
-      - 0.027757499711350542
-      - 8.6808902243265738e-06
-      - -0.0024468544024389442
-    accelerations:
-      - -0.58982803006947604
-      - 0.046480804057480882
-      - 0.20121963488318903
-      - 0.32248640753052571
-      - -0.52359877557172407
-      - -0.00016375046526511522
-      - 0.046155813111489162
+      - 0.61331241861483332
+      - 0.25832711596162189
+      - -1.2566537342656245
+      - 1.4681810519823595
+      - -1.7823435476864569
+      - -1.5707557886172907
+      - 0.25823836576248621
+    velocities:
+      - 0.031849807722514174
+      - -0.0015769171601065757
+      - -0.010429307850316137
+      - -0.018693682472583229
+      - 0.029110108754339042
+      - -7.0221242923564203e-07
+      - -0.0015740637232625285
+    accelerations:
+      - -0.57287729388617703
+      - 0.028363751619321358
+      - 0.18759025832898793
+      - 0.33624021598381126
+      - -0.52359877564126533
+      - 1.263058036954446e-05
+      - 0.028312427316464148
     effort: []
     time_from_start:
       sec: 8
       nanosec: 390000000
   - positions:
-      - 0.61432951078826292
-      - 0.25722255439413211
-      - -1.2575353538517982
-      - 1.4690297802361705
-      - -1.7822938586736856
-      - -1.5707497546308833
-      - 0.25726946732327965
-    velocities:
-      - 0.025370225543943917
-      - -0.001999275080676044
-      - -0.0086550439460383512
-      - -0.013871081869306743
-      - 0.022521511955311442
-      - 7.0433855715747665e-06
-      - -0.0019852962712956792
-    accelerations:
-      - -0.58982803012953566
-      - 0.046480804062213138
-      - 0.20121963490367759
-      - 0.32248640756336111
-      - -0.5235987756250382
-      - -0.00016375046528178803
-      - 0.046155813116188889
+      - 0.61360331894051223
+      - 0.25831271318345
+      - -1.2567489903838622
+      - 1.4680103131707851
+      - -1.7820776704104946
+      - -1.5707557950309503
+      - 0.25822398904618932
+    velocities:
+      - 0.026121034784203013
+      - -0.0012932796439406248
+      - -0.0085534052672065746
+      - -0.015331280313068314
+      - 0.023874120998429657
+      - -5.7590662555233702e-07
+      - -0.0012909394501251
+    accelerations:
+      - -0.57287729380562691
+      - 0.028363751615333228
+      - 0.18759025830260972
+      - 0.33624021593652964
+      - -0.52359877556764367
+      - 1.2630580367768444e-05
+      - 0.028312427312483176
     effort: []
     time_from_start:
       sec: 8
       nanosec: 400000000
   - positions:
-      - 0.61455851120910387
-      - 0.25720450824653052
-      - -1.2576134772686596
-      - 1.4689045750589407
-      - -1.782090571725889
-      - -1.5707496910548517
-      - 0.25725154735324102
-    velocities:
-      - 0.019471945242976348
-      - -0.001534467040080645
-      - -0.0066428475971098966
-      - -0.010646217793850695
-      - 0.017285524199356698
-      - 5.4058809105047433e-06
-      - -0.0015237381401594751
-    accelerations:
-      - -0.58982803010735541
-      - 0.04648080406049291
-      - 0.20121963489600533
-      - 0.32248640755118529
-      - -0.52359877560549273
-      - -0.00016375046502290771
-      - 0.046155813114454498
+      - 0.61383693153680685
+      - 0.25830114678043986
+      - -1.2568254874762683
+      - 1.4678731983808067
+      - -1.7818641530120924
+      - -1.5707558001815518
+      - 0.25821244357262385
+    velocities:
+      - 0.020392261845743481
+      - -0.0010096421277672059
+      - -0.0066775026840484595
+      - -0.01196887815346701
+      - 0.018638133242387247
+      - -4.496008204288664e-07
+      - -0.001007815176980697
+    accelerations:
+      - -0.57287729387038888
+      - 0.028363751618536024
+      - 0.18759025832381812
+      - 0.33624021597456233
+      - -0.52359877562690826
+      - 1.2630580328829884e-05
+      - 0.028312427315693958
     effort: []
     time_from_start:
       sec: 8
       nanosec: 410000000
   - positions:
-      - 0.61472852882693496
-      - 0.25719111017933488
-      - -1.2576714787220316
-      - 1.4688116185224653
-      - -1.7819396446556521
-      - -1.5707496438538668
-      - 0.25723824296451375
-    velocities:
-      - 0.013573664942001818
-      - -0.001069658999483519
-      - -0.0046306512481836242
-      - -0.0074213537183929843
-      - 0.012049536443389691
-      - 3.7683762603031587e-06
-      - -0.0010621800090226785
-    accelerations:
-      - -0.58982803008620399
-      - 0.046480804058826208
-      - 0.20121963488878949
-      - 0.32248640753962043
-      - -0.5235987755867153
-      - -0.00016375046501703545
-      - 0.046155813112799288
+      - 0.61401325640371773
+      - 0.2582924167525914
+      - -1.2568832255428433
+      - 1.4677697076124239
+      - -1.7817029954912498
+      - -1.5707558040690954
+      - 0.25820372934178987
+    velocities:
+      - 0.014663488907366655
+      - -0.00072600461159803831
+      - -0.004801600100917386
+      - -0.0086064759939133602
+      - 0.013402145486417124
+      - -3.2329501714777863e-07
+      - -0.00072469090383992278
+    accelerations:
+      - -0.57287729385428499
+      - 0.028363751617738658
+      - 0.18759025831854337
+      - 0.33624021596510878
+      - -0.52359877561218504
+      - 1.2630580328474784e-05
+      - 0.028312427314897859
     effort: []
     time_from_start:
       sec: 8
       nanosec: 420000000
   - positions:
-      - 0.61483956364175651
-      - 0.25718236019254526
-      - -1.2577093582119145
-      - 1.4687509106267447
-      - -1.7818410774629747
-      - -1.5707496130279284
-      - 0.25722955415709786
-    velocities:
-      - 0.0076753846409831159
-      - -0.00060485095888291229
-      - -0.0026184548992422836
-      - -0.0041964896429111239
-      - 0.0068135486873834739
-      - 2.1308716100893119e-06
-      - -0.00060062187788242536
-    accelerations:
-      - -0.58982803010293905
-      - 0.046480804060144938
-      - 0.20121963489449857
-      - 0.32248640754877017
-      - -0.52359877560157053
-      - -0.00016375046502168126
-      - 0.046155813114109011
+      - 0.61413229354124488
+      - 0.25828652309990469
+      - -1.2569222045835868
+      - 1.4676998408656363
+      - -1.781594197847967
+      - -1.5707558066935807
+      - 0.2581978463536872
+    velocities:
+      - 0.0089347159690057205
+      - -0.00044236709542965744
+      - -0.0029256975177915159
+      - -0.0052440738343690358
+      - 0.0081661577304615231
+      - -1.9698921386704116e-07
+      - -0.00044156663069993369
+    accelerations:
+      - -0.57287729382025399
+      - 0.028363751616053826
+      - 0.18759025830740017
+      - 0.33624021594513559
+      - -0.52359877558108381
+      - 1.2630580327724512e-05
+      - 0.0283124273132161
     effort: []
     time_from_start:
       sec: 8
       nanosec: 430000000
   - positions:
-      - 0.61489299272538211
-      - 0.2571789224528197
-      - -1.2577275096050096
-      - 1.4687216615217245
-      - -1.7817936712001461
-      - -1.5707500349219889
-      - 0.25722481168016631
-    velocities:
-      - 0.0034039166294015624
-      - 0.0010462830952830192
-      - -0.0010320851738302764
-      - -0.001923924860038849
-      - 0.002981728595292465
-      - -0.00074203399568002629
-      - -0.0012215987815451714
-    accelerations:
-      - -0.087021668608995836
-      - 0.52427676386628053
-      - 0.080526883820407749
-      - 0.022841802781119403
-      - -0.092985940993848729
-      - -0.29247309836187152
-      - -0.36918559063103457
+      - 0.61419423485137237
+      - 0.25828346434489152
+      - -1.2569424895616617
+      - 1.467663488760643
+      - -1.7815375840022787
+      - -1.5707558117429765
+      - 0.25819479245177801
+    velocities:
+      - 0.0037879370436752439
+      - 9.1191316553487625e-15
+      - -0.0012900236536541906
+      - -0.0021472125057261193
+      - 0.0034781182638258345
+      - -8.6185766541247905e-05
+      - -1.5934339891496699e-05
+    accelerations:
+      - 0.0091167192321763568
+      - 0.18709333088180105
+      - -0.052638460687396943
+      - 0.070699385029388134
+      - 0.024349513758605446
+      - -0.086102452548699651
+      - 0.17082044497732651
     effort: []
     time_from_start:
       sec: 8
       nanosec: 439999999
   - positions:
-      - 0.61491380051910649
-      - 0.25720847356908622
-      - -1.2577315434920586
-      - 1.4687087937480707
-      - -1.78177614838903
-      - -1.570767658436196
-      - 0.25720051780849085
-    velocities:
-      - -0.00044192377171194618
-      - 0.004287724036386476
-      - 0.00056863445589454937
-      - 3.8295911814576966e-05
-      - -0.00052163965683316518
-      - -0.0024038910943228915
-      - -0.0030558913656478946
-    accelerations:
-      - -0.58906106251625845
-      - 0.0043880752871140096
-      - 0.19682806457895957
-      - 0.32407656796759482
-      - -0.52163965684986779
-      - 0.023593409230210936
-      - 0.07663958998431071
+      - 0.61422256433110689
+      - 0.2583067785085289
+      - -1.2569583099901376
+      - 1.4676568840481403
+      - -1.7815095805007868
+      - -1.5707671599065618
+      - 0.25821596441889316
+    velocities:
+      - 0.00020250057090747469
+      - 0.0039325871552710282
+      - -0.001110131008649742
+      - 0.0014798944855535464
+      - 0.00052179528697084111
+      - -0.0018100681684175351
+      - 0.0035904953291849627
+    accelerations:
+      - -0.57258567106631864
+      - 0.016446545919085169
+      - 0.19064606790823738
+      - 0.33124242373334828
+      - -0.52434877815133041
+      - 0.0054772147328840688
+      - 0.017428079298068645
     effort: []
     time_from_start:
       sec: 8
       nanosec: 449999999
   - positions:
-      - 0.61491462983307821
-      - 0.25724884675404636
-      - -1.2577246807358238
-      - 1.4687030077206413
-      - -1.7817763931072634
-      - -1.5707908752438393
-      - 0.25716998782181788
-    velocities:
-      - 0.0025400493227582836
-      - 0.0026004602245936442
-      - 0.00012230462643245425
-      - -0.002287375237858975
-      - 0.0022256576514735333
-      - -0.0016634157089866093
-      - -0.002476743571227897
-    accelerations:
-      - 0.34652904365895743
-      - -0.51284868886206836
-      - -0.14062983827315073
-      - -0.19335590785353512
-      - 0.32436947373817271
-      - 0.27164964542339465
-      - 0.3171060372408997
+      - 0.61421491012398111
+      - 0.25834351072883216
+      - -1.2569642571892752
+      - 1.4676752865826819
+      - -1.7815136434633925
+      - -1.5707841851694648
+      - 0.25824947977651747
+    velocities:
+      - 0.00086919583872993448
+      - 0.0037656173604163875
+      - -0.00079024748997564621
+      - 0.00067736215779086765
+      - 0.0010459204730430302
+      - -0.0018926339912039754
+      - 0.003408714344122292
+    accelerations:
+      - 0.58646470769974068
+      - -0.017632927009180208
+      - -0.10961805948730394
+      - -0.40024837279924219
+      - 0.52445201055805679
+      - -0.029730686066485039
+      - -0.023072832475861501
     effort: []
     time_from_start:
       sec: 8
       nanosec: 460000000
   - positions:
-      - 0.61495087937856252
-      - 0.25725467155083154
-      - -1.257728608191248
-      - 1.4686746445961967
-      - -1.7817438827109859
-      - -1.5707966349708462
-      - 0.25715826137254916
-    velocities:
-      - 0.0057737985094272054
-      - -0.0006664329311430894
-      - -0.00091462013631484439
-      - -0.0042995478101962017
-      - 0.0052163230910847154
-      - -1.2864490241692235e-06
-      - -0.00066425639078512995
-    accelerations:
-      - 0.57955647633917262
-      - -0.066894527174622923
-      - -0.091806810114000881
-      - -0.43157563857840936
-      - 0.52359877560320933
-      - -0.00012912987216650318
-      - -0.066676052619542833
+      - 0.61424175036612305
+      - 0.25836471599350591
+      - -1.2569729184583474
+      - 1.467664344777593
+      - -1.7814880818076693
+      - -1.570796277336248
+      - 0.25826841095306663
+    velocities:
+      - 0.0034577322324540688
+      - -0.00046487691624209741
+      - -0.00058654108113410128
+      - -0.0024807590328767672
+      - 0.0030665424382963816
+      - 6.6593968950837936e-07
+      - -0.00046374586987401846
+    accelerations:
+      - -0.026818937760400972
+      - -0.25572230118878125
+      - 0.047485115450241304
+      - -0.067656217227923504
+      - -0.042157331380374322
+      - 0.12642350127908086
+      - -0.23187293493933264
     effort: []
     time_from_start:
       sec: 8
       nanosec: 470000000
   - positions:
-      - 0.61503599233466089
-      - 0.2572448475022926
-      - -1.2577420908272252
-      - 1.4686112639251505
-      - -1.7816669876344564
-      - -1.5707966539347014
-      - 0.25714846940891639
-    velocities:
-      - 0.011569363272750269
-      - -0.001335378202881393
-      - -0.0018326882374439769
-      - -0.0086153041959291694
-      - 0.010452310847054773
-      - -2.5777477458189578e-06
-      - -0.001331016916972659
-    accelerations:
-      - 0.57955647632074758
-      - -0.066894527172496041
-      - -0.091806810111082035
-      - -0.43157563856468772
-      - 0.52359877558656087
-      - -0.00012912987216239763
-      - -0.066676052617422932
+      - 0.61429890163013035
+      - 0.2583570454993413
+      - -1.2569826153182875
+      - 1.4676233458911085
+      - -1.7814373954014753
+      - -1.5707962727851978
+      - 0.25826075793515341
+    velocities:
+      - 0.0087712668067071523
+      - -0.0011792583087744505
+      - -0.0014878851136689369
+      - -0.0062929683091936684
+      - 0.0077789314186708551
+      - 1.6892964235429146e-06
+      - -0.0011763891712015459
+    accelerations:
+      - 0.59039273046043117
+      - -0.079375710279741371
+      - -0.10014933694625684
+      - -0.42357880847095136
+      - 0.52359877558640333
+      - 0.0001137063037792783
+      - -0.079182589034764675
     effort: []
     time_from_start:
       sec: 8
       nanosec: 480000000
   - positions:
-      - 0.61517906093839281
-      - 0.25722833400103623
-      - -1.2577647541442138
-      - 1.468504725690247
-      - -1.7815377326803674
-      - -1.5707966858115439
-      - 0.25713200984002177
-    velocities:
-      - 0.017364928036065909
-      - -0.00200432347461884
-      - -0.0027507563385719331
-      - -0.012931060581656608
-      - 0.015688298603018125
-      - -3.8690464674670385e-06
-      - -0.0019977774431593339
-    accelerations:
-      - 0.57955647630724916
-      - -0.066894527170938481
-      - -0.091806810108943912
-      - -0.43157563855463754
-      - 0.52359877557436807
-      - -0.00012912987215939106
-      - -0.066676052615870063
+      - 0.6144146246124419
+      - 0.25834148705249271
+      - -1.2570022456073309
+      - 1.4675403201348092
+      - -1.7813347647139355
+      - -1.5707962504976054
+      - 0.25824523734203381
+    velocities:
+      - 0.014675194111477084
+      - -0.0019730154115941297
+      - -0.0024893784831595996
+      - -0.010528756394021996
+      - 0.013014919174681764
+      - 2.8263594613675932e-06
+      - -0.0019682150615714044
+    accelerations:
+      - 0.59039273049085905
+      - -0.079375710283832016
+      - -0.10014933695141864
+      - -0.4235788084927824
+      - 0.52359877561338752
+      - 0.00011370630378513854
+      - -0.079182589038845688
     effort: []
     time_from_start:
       sec: 8
       nanosec: 490000000
   - positions:
-      - 0.61538008518975795
-      - 0.25720513104706244
-      - -1.2577965981422139
-      - 1.4683550298914863
-      - -1.7813561178487189
-      - -1.5707967306013737
-      - 0.25710888266586523
-    velocities:
-      - 0.023160492799469117
-      - -0.0026732687463663944
-      - -0.0036688244397137617
-      - -0.017246816967449258
-      - 0.020924286359060591
-      - -5.1603451891346298e-06
-      - -0.0026645379693560835
-    accelerations:
-      - 0.57955647637102636
-      - -0.066894527178299551
-      - -0.0918068101190469
-      - -0.43157563860212933
-      - 0.52359877563198809
-      - -0.00012912987217360077
-      - -0.066676052623207416
+      - 0.6145893868678004
+      - 0.258317991034616
+      - -1.2570318908300688
+      - 1.4674149364976619
+      - -1.7811797741488364
+      - -1.5707962168393823
+      - 0.25822179849001059
+    velocities:
+      - 0.020579121416205055
+      - -0.0027667725144081678
+      - -0.0034908718526431444
+      - -0.014764544478820219
+      - 0.018250906930655463
+      - 3.9634224991841911e-06
+      - -0.002760040951935635
+    accelerations:
+      - 0.59039273047932217
+      - -0.079375710282281339
+      - -0.10014933694946178
+      - -0.42357880848450646
+      - 0.52359877560315926
+      - 0.00011370630378291722
+      - -0.079182589037298606
     effort: []
     time_from_start:
       sec: 8
       nanosec: 500000000
   - positions:
-      - 0.61563906508875665
-      - 0.25717523864037123
-      - -1.2578376228212251
-      - 1.4681621765288677
-      - -1.7811221431395099
-      - -1.5707967883041907
-      - 0.25707908788644684
-    velocities:
-      - 0.028956057562789968
-      - -0.0033422140181044425
-      - -0.004586892540842543
-      - -0.021562573353180577
-      - 0.026160274115028651
-      - -6.451643910783871e-06
-      - -0.003331298495543358
-    accelerations:
-      - 0.57955647635244589
-      - -0.066894527176155003
-      - -0.091806810116103046
-      - -0.4315756385882934
-      - 0.52359877561520229
-      - -0.0001291298721694608
-      - -0.066676052621069709
+      - 0.61482318839620642
+      - 0.25828655744571111
+      - -1.2570715509865018
+      - 1.4672471949796664
+      - -1.7809724237061777
+      - -1.5707961718105294
+      - 0.2581904413790837
+    velocities:
+      - 0.02648304872096497
+      - -0.0035605296172265002
+      - -0.0044923652221321077
+      - -0.019000332563641358
+      - 0.023486894686657486
+      - 5.1004855370069398e-06
+      - -0.0035518668423041499
+    accelerations:
+      - 0.59039273050709395
+      - -0.079375710286014783
+      - -0.10014933695417211
+      - -0.42357880850442886
+      - 0.52359877562778367
+      - 0.00011370630378826433
+      - -0.079182589041022614
     effort: []
     time_from_start:
       sec: 8
       nanosec: 510000000
   - positions:
-      - 0.61595600063538858
-      - 0.25713865678096259
-      - -1.2578878281812476
-      - 1.4679261656023916
-      - -1.7808358085527414
-      - -1.5707968589199948
-      - 0.25704262550176654
-    velocities:
-      - 0.034751622326069966
-      - -0.0040111592898377747
-      - -0.0055049606419648534
-      - -0.025878329738881472
-      - 0.031396261870959799
-      - -7.7429426324240091e-06
-      - -0.0039980590217259318
-    accelerations:
-      - 0.57955647629816021
-      - -0.066894527169888751
-      - -0.091806810107504078
-      - -0.43157563854786707
-      - 0.52359877556615564
-      - -0.00012912987215736468
-      - -0.066676052614823983
+      - 0.61511602919765973
+      - 0.25824718628577809
+      - -1.2571212260766294
+      - 1.4670370955808227
+      - -1.7807127133859586
+      - -1.5707961154110455
+      - 0.25815116600925314
+    velocities:
+      - 0.032386976025641882
+      - -0.0043542867200336731
+      - -0.0054938585916069907
+      - -0.023236120648402945
+      - 0.028722882442585897
+      - 6.2375485748137033e-06
+      - -0.0043436927326615327
+    accelerations:
+      - 0.59039273044347274
+      - -0.079375710277460321
+      - -0.10014933694337934
+      - -0.42357880845877877
+      - 0.52359877557135948
+      - 0.00011370630377601122
+      - -0.079182589032489661
     effort: []
     time_from_start:
       sec: 8
       nanosec: 520000000
   - positions:
-      - 0.61633089182965384
-      - 0.25709538546883665
-      - -1.2579472142222816
-      - 1.4676469971120585
-      - -1.7804971140884129
-      - -1.5707969424487862
-      - 0.25699949551182438
-    velocities:
-      - 0.04054718708947206
-      - -0.0046801045615852011
-      - -0.006423028743106505
-      - -0.030194086124673291
-      - 0.036632249627001255
-      - -9.0342413540913522e-06
-      - -0.0046648195479225534
-    accelerations:
-      - 0.5795564763618497
-      - -0.066894527177240509
-      - -0.091806810117593202
-      - -0.43157563859529796
-      - 0.52359877562369606
-      - -0.00012912987217155518
-      - -0.066676052622151843
+      - 0.61546790927216044
+      - 0.25819987755481688
+      - -1.2571809161004519
+      - 1.4667846383011311
+      - -1.78040064318818
+      - -1.5707960476409317
+      - 0.25810397238051896
+    velocities:
+      - 0.038290903330369871
+      - -0.0051480438228477142
+      - -0.0064953519610905387
+      - -0.027471908733201184
+      - 0.033958870198559615
+      - 7.374611612630305e-06
+      - -0.0051355186230257659
+    accelerations:
+      - 0.59039273043197404
+      - -0.079375710275915931
+      - -0.10014933694142941
+      - -0.4235788084505358
+      - 0.52359877556116941
+      - 0.00011370630377379839
+      - -0.079182589030948214
     effort: []
     time_from_start:
       sec: 8
       nanosec: 529999999
   - positions:
-      - 0.61676373867155254
-      - 0.25704542470399327
-      - -1.2580157809443266
-      - 1.467324671057868
-      - -1.7801060597465246
-      - -1.5707970388905645
-      - 0.25694969791662026
-    velocities:
-      - 0.046342751852832952
-      - -0.0053490498333278709
-      - -0.0073410968442416307
-      - -0.03450984251043443
-      - 0.041868237383005498
-      - -1.0325540075749517e-05
-      - -0.0053315800741144349
-    accelerations:
-      - 0.57955647638430141
-      - -0.066894527179832186
-      - -0.091806810121150245
-      - -0.43157563861201387
-      - 0.52359877564398516
-      - -0.00012912987217655877
-      - -0.066676052624735235
+      - 0.615878828619709
+      - 0.25814463125282755
+      - -1.2572506210579695
+      - 1.4664898231405914
+      - -1.7800362131128413
+      - -1.5707959685001871
+      - 0.25804886049288106
+    velocities:
+      - 0.044194830635211887
+      - -0.0059418009256770841
+      - -0.0074968453305934287
+      - -0.031707696818081228
+      - 0.039194857954634447
+      - 8.5116746504688661e-06
+      - -0.0059273445134052916
+    accelerations:
+      - 0.59039273053555785
+      - -0.079375710289841417
+      - -0.10014933695900043
+      - -0.42357880852484786
+      - 0.52359877565302648
+      - 0.00011370630379374686
+      - -0.079182589044839879
     effort: []
     time_from_start:
       sec: 8
       nanosec: 540000000
   - positions:
-      - 0.61725454116108469
-      - 0.25698877448643248
-      - -1.2580935283473831
-      - 1.4669591874398198
-      - -1.7796626455270768
-      - -1.5707971482453305
-      - 0.25689323271615427
-    velocities:
-      - 0.052138316616134578
-      - -0.0060179951050637007
-      - -0.0082591649453673671
-      - -0.038825598896151434
-      - 0.047104225138956186
-      - -1.1616838797394475e-05
-      - -0.0059983406002994981
-    accelerations:
-      - 0.57955647635056962
-      - -0.066894527175938592
-      - -0.091806810115806464
-      - -0.43157563858690179
-      - 0.52359877561351009
-      - -0.00012912987216904357
-      - -0.066676052620854742
+      - 0.61634878724030451
+      - 0.25808144737981004
+      - -1.2573303409491816
+      - 1.4661526500992037
+      - -1.7796194231599431
+      - -1.5707958779888125
+      - 0.2579858303463396
+    velocities:
+      - 0.050098757939876969
+      - -0.0067355580284826676
+      - -0.0084983387000663064
+      - -0.035943484902834333
+      - 0.044430845710552377
+      - 9.6487376882733527e-06
+      - -0.0067191704037610888
+    accelerations:
+      - 0.59039273046115115
+      - -0.079375710279838516
+      - -0.10014933694637936
+      - -0.42357880847147089
+      - 0.52359877558705126
+      - 0.00011370630377941807
+      - -0.079182589034862472
     effort: []
     time_from_start:
       sec: 8
       nanosec: 550000000
   - positions:
-      - 0.61780329895594632
-      - 0.25692543485566421
-      - -1.258180456377227
-      - 1.4665505465128159
-      - -1.7791668717393221
-      - -1.5707972705130071
-      - 0.25683009994980738
-    velocities:
-      - 0.058228168344228885
-      - -0.006720908054095363
-      - -0.0092238506732423859
-      - -0.043360500593746493
-      - 0.052606085679928645
-      - -1.2973707036653606e-05
-      - -0.0066989578668564071
-    accelerations:
-      - 0.57955647642519492
-      - -0.066894527184543695
-      - -0.091806810127599087
-      - -0.43157563864251369
-      - 0.52359877568092805
-      - -0.00012912987219322399
-      - -0.066676052629447216
+      - 0.6168777851339472
+      - 0.25801032593576445
+      - -1.2574200757740888
+      - 1.4657731191769681
+      - -1.7791502733294851
+      - -1.5707957761068072
+      - 0.25791488194089446
+    velocities:
+      - 0.056002685244714322
+      - -0.0075293151313114114
+      - -0.0094998320695684063
+      - -0.040179272987711033
+      - 0.049666833466623081
+      - 1.0785800726111016e-05
+      - -0.0075109962941399891
+    accelerations:
+      - 0.59039273056321828
+      - -0.079375710293560775
+      - -0.10014933696369305
+      - -0.4235788085446992
+      - 0.52359877567756297
+      - 0.00011370630379907548
+      - -0.07918258904854987
     effort: []
     time_from_start:
       sec: 8
       nanosec: 560000000
   - positions:
-      - 0.61841000544083613
-      - 0.25685540657525086
-      - -1.2582765639859368
-      - 1.4660987532030423
-      - -1.778618744359838
-      - -1.570797405692121
-      - 0.25676030037864794
-    velocities:
-      - 0.064023733107526806
-      - -0.0073898533258306863
-      - -0.010141918774367256
-      - -0.047676256979461186
-      - 0.057842073435876037
-      - -1.4265005758373265e-05
-      - -0.007365718393041126
-    accelerations:
-      - 0.57955647638480101
-      - -0.066894527179882493
-      - -0.091806810121201413
-      - -0.43157563861243714
-      - 0.52359877564444313
-      - -0.00012912987218422273
-      - -0.066676052624801155
+      - 0.617465818637155
+      - 0.2579312674132298
+      - -1.257519824911248
+      - 1.4653512330022596
+      - -1.7786287668704823
+      - -1.5707956628548774
+      - 0.2578360157678864
+    velocities:
+      - 0.062099935207016746
+      - -0.0083490636165836091
+      - -0.010534119094829984
+      - -0.04455376091876119
+      - 0.055074272362790458
+      - 1.1960096605839904e-05
+      - -0.0083287503298851446
+    accelerations:
+      - 0.590392730573578
+      - -0.079375710294948554
+      - -0.10014933696551104
+      - -0.42357880855208219
+      - 0.52359877568675006
+      - 0.00011370630371040468
+      - -0.079182589049961075
     effort: []
     time_from_start:
       sec: 8
       nanosec: 570000000
   - positions:
-      - 0.61907466757335938
-      - 0.25677868884212007
-      - -1.2583818522756578
-      - 1.4656038023294111
-      - -1.778018257102794
-      - -1.5707975537842218
-      - 0.25668383320222665
-    velocities:
-      - 0.069819297870706939
-      - -0.0080587985975524128
-      - -0.011059986875473464
-      - -0.051992013365088158
-      - 0.063078061191717008
-      - -1.555630448006668e-05
-      - -0.0080324789192122922
-    accelerations:
-      - 0.57955647622869233
-      - -0.066894527161863046
-      - -0.091806810096469474
-      - -0.43157563849617936
-      - 0.52359877550339651
-      - -0.00012912987214943746
-      - -0.066676052606839439
+      - 0.61811288851159718
+      - 0.25784427170980301
+      - -1.2576295884898625
+      - 1.4648869910286162
+      - -1.7780549031074366
+      - -1.570795538232876
+      - 0.25774923172516151
+    velocities:
+      - 0.068003862511660296
+      - -0.0091428207193862618
+      - -0.01153561246429982
+      - -0.048789549003498404
+      - 0.060310260118689347
+      - 1.309715964273361e-05
+      - -0.0091205762202382773
+    accelerations:
+      - 0.59039273047768148
+      - -0.079375710282057338
+      - -0.10014933694924358
+      - -0.42357880848328
+      - 0.52359877560169976
+      - 0.00011370630369193558
+      - -0.079182589037099682
     effort: []
     time_from_start:
       sec: 8
       nanosec: 580000000
   - positions:
-      - 0.61979728535351597
-      - 0.25669528165627187
-      - -1.2584963212463902
-      - 1.4650656938919226
-      - -1.7773654099681904
-      - -1.57079771478931
-      - 0.25660069842054339
-    velocities:
-      - 0.075614862634231297
-      - -0.0087277438693138705
-      - -0.011978054976634202
-      - -0.056307769750971466
-      - 0.068314048947868966
-      - -1.6847603201836794e-05
-      - -0.0086992394454230605
-    accelerations:
-      - 0.57955647641576491
-      - -0.066894527183455149
-      - -0.09180681012610549
-      - -0.43157563863548459
-      - 0.52359877567240021
-      - -0.00012912987219112164
-      - -0.066676052628362154
+      - 0.61881899765908677
+      - 0.25774933843534809
+      - -1.2577493670021718
+      - 1.4643803911741249
+      - -1.7774286794668315
+      - -1.5707954022402446
+      - 0.25765452942353295
+    velocities:
+      - 0.073907789816523434
+      - -0.0099365778222184342
+      - -0.012537105833806905
+      - -0.053025337088393167
+      - 0.065546247874782984
+      - 1.4234222679669608e-05
+      - -0.0099124021106208604
+    accelerations:
+      - 0.59039273060241504
+      - -0.079375710298825175
+      - -0.100149336970402
+      - -0.42357880857277092
+      - 0.5235987757123266
+      - 0.00011370630371596083
+      - -0.079182589053829355
     effort: []
     time_from_start:
       sec: 8
       nanosec: 590000000
   - positions:
-      - 0.62057785878130567
-      - 0.25660518501770629
-      - -1.2586199708981338
-      - 1.4644844278905766
-      - -1.7766602029560268
-      - -1.5707978887073855
-      - 0.25651089603359833
-    velocities:
-      - 0.081410427397467414
-      - -0.0093966891410420597
-      - -0.01289612307774928
-      - -0.060623526136640127
-      - 0.073550036703760521
-      - -1.8138901923542682e-05
-      - -0.0093659999716006678
-    accelerations:
-      - 0.57955647631355245
-      - -0.066894527171658169
-      - -0.091806810109915302
-      - -0.43157563855937542
-      - 0.52359877558007095
-      - -0.00012912987216834765
-      - -0.066676052616603712
+      - 0.61958414607962353
+      - 0.25764646758986498
+      - -1.257879160448176
+      - 1.4638314334387852
+      - -1.7767500959486662
+      - -1.5707952548769821
+      - 0.25755190886300072
+    velocities:
+      - 0.079811717121104062
+      - -0.010730334925012627
+      - -0.013538599203266069
+      - -0.057261125173085244
+      - 0.070782235630626078
+      - 1.5371285716551196e-05
+      - -0.010704228000965555
+    accelerations:
+      - 0.59039273044360363
+      - -0.079375710277473713
+      - -0.10014933694346251
+      - -0.42357880845883122
+      - 0.5235987755714806
+      - 0.00011370630368537238
+      - -0.079182589032530282
     effort: []
     time_from_start:
       sec: 8
       nanosec: 600000000
   - positions:
-      - 0.62141638785672892
-      - 0.2565083989264233
-      - -1.2587528012308888
-      - 1.4638600043253736
-      - -1.7759026360663035
-      - -1.5707980755384481
-      - 0.25641442604139136
-    velocities:
-      - 0.087205992160709234
-      - -0.010065634412770906
-      - -0.013814191178865261
-      - -0.064939282522313041
-      - 0.078786024459657225
-      - -1.943020064524984e-05
-      - -0.010032760497778933
-    accelerations:
-      - 0.57955647621903339
-      - -0.066894527160747619
-      - -0.091806810094941182
-      - -0.43157563848899066
-      - 0.52359877549466738
-      - -0.00012912987214728599
-      - -0.066676052605729216
+      - 0.62040833377320759
+      - 0.25753565917335375
+      - -1.2580189688278749
+      - 1.463240117822598
+      - -1.7760191525529412
+      - -1.5707950961430899
+      - 0.25744137004356493
+    velocities:
+      - 0.085715644425946272
+      - -0.011524092027841989
+      - -0.014540092572769605
+      - -0.061496913257964997
+      - 0.076018223386701153
+      - 1.6508348753483163e-05
+      - -0.011496053891345332
+    accelerations:
+      - 0.59039273054746499
+      - -0.079375710291439971
+      - -0.10014933696108209
+      - -0.42357880853335494
+      - 0.52359877566360136
+      - 0.00011370630370537591
+      - -0.079182589046460111
     effort: []
     time_from_start:
       sec: 8
       nanosec: 610000000
   - positions:
-      - 0.62231287257978551
-      - 0.25640492338242293
-      - -1.2588948122446553
-      - 1.4631924231963127
-      - -1.7750927092990203
-      - -1.570798275282498
-      - 0.25631128844392248
-    velocities:
-      - 0.093001556924233508
-      - -0.010734579684532355
-      - -0.014732259280025988
-      - -0.069255038908196301
-      - 0.084022012215809114
-      - -2.0721499367019937e-05
-      - -0.010699521023989692
-    accelerations:
-      - 0.57955647640593944
-      - -0.066894527182322375
-      - -0.091806810124551178
-      - -0.43157563862818488
-      - 0.5235987756635323
-      - -0.00012912987218893291
-      - -0.066676052627232849
+      - 0.62129156073983927
+      - 0.25741691318581439
+      - -1.258168792141269
+      - 1.4626064443255626
+      - -1.7752358492796565
+      - -1.570794926038567
+      - 0.25732291296522536
+    velocities:
+      - 0.091619571730535573
+      - -0.012317849130637347
+      - -0.01554158594223024
+      - -0.065732701342663291
+      - 0.081254211142551935
+      - 1.7645411790366422e-05
+      - -0.012287879781691189
+    accelerations:
+      - 0.5903927303995079
+      - -0.079375710271546648
+      - -0.10014933693598509
+      - -0.42357880842719292
+      - 0.52359877553237333
+      - 0.00011370630367688042
+      - -0.079182589026616748
     effort: []
     time_from_start:
       sec: 8
       nanosec: 620000000
   - positions:
-      - 0.62326731295047555
-      - 0.25629475838570515
-      - -1.2590460039394327
-      - 1.4624816845033946
-      - -1.7742304226541772
-      - -1.5707984879395349
-      - 0.25620148324119174
-    velocities:
-      - 0.098797121687407813
-      - -0.01140352495625341
-      - -0.015650327381131274
-      - -0.073570795293818936
-      - 0.089257999971644825
-      - -2.2012798088712053e-05
-      - -0.011366281550160189
-    accelerations:
-      - 0.57955647624184592
-      - -0.066894527163381803
-      - -0.091806810098556332
-      - -0.43157563850598757
-      - 0.52359877551528944
-      - -0.00012912987215236922
-      - -0.066676052608353367
+      - 0.62223382697951812
+      - 0.25729022962724679
+      - -1.2583286303883576
+      - 1.4619304129476791
+      - -1.7744001861288121
+      - -1.5707947445634138
+      - 0.25719653762798222
+    velocities:
+      - 0.097523499035398781
+      - -0.01311160623346953
+      - -0.016543079311737336
+      - -0.069968489427558109
+      - 0.086490198898645634
+      - 1.8782474827302434e-05
+      - -0.013079705672073783
+    accelerations:
+      - 0.59039273052440799
+      - -0.079375710288338772
+      - -0.10014933695717126
+      - -0.42357880851681567
+      - 0.52359877564314583
+      - 0.00011370630370093616
+      - -0.079182589043368973
     effort: []
     time_from_start:
       sec: 8
       nanosec: 630000000
   - positions:
-      - 0.6242797089687987
-      - 0.25617790393626999
-      - -1.2592063763152215
-      - 1.4617277882466191
-      - -1.7733157761317746
-      - -1.5707987135095591
-      - 0.25608501043319909
-    velocities:
-      - 0.10459268645071139
-      - -0.012072470227989384
-      - -0.01656839548225704
-      - -0.077886551679537827
-      - 0.094493987727597331
-      - -2.3304096810432974e-05
-      - -0.012033042076345557
-    accelerations:
-      - 0.57955647620908302
-      - -0.066894527159599232
-      - -0.091806810093366054
-      - -0.43157563848157993
-      - 0.52359877548568845
-      - -0.00012912987214507016
-      - -0.066676052604584299
+      - 0.62323513249224427
+      - 0.25715560849765118
+      - -1.2584984835691413
+      - 1.4612120236889476
+      - -1.7735121631004078
+      - -1.57079455171763
+      - 0.25706224403183542
+    velocities:
+      - 0.10342742634026199
+      - -0.013905363336301714
+      - -0.017544572681244434
+      - -0.074204277512452926
+      - 0.091726186654739333
+      - 1.9919537864238445e-05
+      - -0.013871531562456374
+    accelerations:
+      - 0.59039273064930808
+      - -0.07937571030513263
+      - -0.10014933697835571
+      - -0.42357880860642455
+      - 0.52359877575391833
+      - 0.00011370630372499189
+      - -0.079182589060119463
     effort: []
     time_from_start:
       sec: 8
       nanosec: 640000000
   - positions:
-      - 0.62535006063475529
-      - 0.25605436003411747
-      - -1.2593759293720217
-      - 1.4609307344259861
-      - -1.7723487697318119
-      - -1.5707989519925707
-      - 0.25596187001994458
-    velocities:
-      - 0.11038825121423565
-      - -0.012741415499750832
-      - -0.017486463583417759
-      - -0.082202308065421073
-      - 0.099729975483749206
-      - -2.4595395532203064e-05
-      - -0.012699802602556315
-    accelerations:
-      - 0.57955647639597518
-      - -0.066894527181170518
-      - -0.091806810122970844
-      - -0.43157563862076026
-      - 0.52359877565453949
-      - -0.00012912987218671368
-      - -0.066676052626086196
+      - 0.62429547727801826
+      - 0.25701304979702727
+      - -1.25867835168362
+      - 1.4604512765493678
+      - -1.7725717801944434
+      - -1.5707943475012163
+      - 0.25692003217678488
+    velocities:
+      - 0.10933135364473785
+      - -0.014699120439081821
+      - -0.018546066050685827
+      - -0.078440065597069827
+      - 0.096962174410489516
+      - 2.1056600901099854e-05
+      - -0.014663357452787016
+    accelerations:
+      - 0.59039273038581652
+      - -0.079375710269705621
+      - -0.10014933693366132
+      - -0.42357880841736439
+      - 0.52359877552024381
+      - 0.00011370630367424237
+      - -0.079182589024779537
     effort: []
     time_from_start:
       sec: 8
       nanosec: 650000000
   - positions:
-      - 0.62647836792386424
-      - 0.25592412668207321
-      - -1.2595546631059551
-      - 1.4600905230597256
-      - -1.7713294034764069
-      - -1.570799203388564
-      - 0.25583206200424463
-    velocities:
-      - 0.11575780024433305
-      - -0.01336118847818088
-      - -0.018337047069808897
-      - -0.086200825287037153
-      - 0.1045810804450147
-      - -2.5791774501632351e-05
-      - -0.01331755142996232
-    accelerations:
-      - 0.5784912797656413
-      - -0.066771578291257211
-      - -0.091638073677420939
-      - -0.4307824235682679
-      - 0.52263642657151022
-      - -0.00012889253775838128
-      - -0.06655350528289973
+      - 0.62541486133683899
+      - 0.25686255352537535
+      - -1.258868234731793
+      - 1.4596481715289404
+      - -1.7715790374109197
+      - -1.5707941319141721
+      - 0.25676990206283085
+    velocities:
+      - 0.11523528094941102
+      - -0.015492877541888455
+      - -0.019547559420160687
+      - -0.082675853681828296
+      - 0.10219816216641467
+      - 2.2193663937999267e-05
+      - -0.015455183343144122
+    accelerations:
+      - 0.5903927303217229
+      - -0.079375710261089735
+      - -0.10014933692278905
+      - -0.42357880837139034
+      - 0.52359877546338685
+      - 0.00011370630366190149
+      - -0.079182589016184121
     effort: []
     time_from_start:
       sec: 8
       nanosec: 660000000
   - positions:
-      - 0.62766462805926992
-      - 0.25578720420065204
-      - -1.2597425770771438
-      - 1.4592071562156665
-      - -1.7702576798743022
-      - -1.5707994676969201
-      - 0.25569558670556725
-    velocities:
-      - 0.12155336500725004
-      - -0.014030133749872222
-      - -0.019255115170873534
-      - -0.090516581672468066
-      - 0.10981706820061812
-      - -2.7083073223267129e-05
-      - -0.013984311956103217
-    accelerations:
-      - 0.57955647627404239
-      - -0.066894527167095846
-      - -0.091806810103663358
-      - -0.43157563852994063
-      - 0.52359877554439116
-      - -0.0001291298721595419
-      - -0.066676052612057002
+      - 0.62659328280436921
+      - 0.2567041199333473
+      - -1.2590681323974104
+      - 1.4588027099652392
+      - -1.7705339364032526
+      - -1.5707939049568564
+      - 0.25661185394001529
+    velocities:
+      - 0.12138043637102537
+      - -0.016319066705818914
+      - -0.020589972731083202
+      - -0.087084711509954713
+      - 0.10764808674803765
+      - 2.3377186153782296e-05
+      - -0.016279362387362689
+    accelerations:
+      - 0.59039273045669827
+      - -0.079375710279233208
+      - -0.10014933694565964
+      - -0.4235788084682573
+      - 0.5235987755831244
+      - 0.00011370630372046196
+      - -0.079182589034285961
     effort: []
     time_from_start:
       sec: 8
       nanosec: 670000000
   - positions:
-      - 0.62890884384092272
-      - 0.25564359226667355
-      - -1.2599396717291242
-      - 1.4582806318087822
-      - -1.7691335963958901
-      - -1.5707997449182636
-      - 0.25555244380178749
-    velocities:
-      - 0.12734892977063458
-      - -0.014699079021617531
-      - -0.020173183272012236
-      - -0.094832338058247145
-      - 0.11505305595664393
-      - -2.8374371945006082e-05
-      - -0.014651072482297904
-    accelerations:
-      - 0.57955647632245066
-      - -0.066894527172684251
-      - -0.091806810111334319
-      - -0.43157563856599851
-      - 0.52359877558810652
-      - -0.00012912987217032868
-      - -0.066676052617627685
+      - 0.62783074183172249
+      - 0.25653774900062654
+      - -1.2592780447061052
+      - 1.457914891749847
+      - -1.7694364770374245
+      - -1.5707936666292404
+      - 0.25644588778807115
+    velocities:
+      - 0.12728436367588844
+      - -0.017112823808651055
+      - -0.021591466100590036
+      - -0.091320499594849711
+      - 0.11288407450413142
+      - 2.4514249191043942e-05
+      - -0.017071188277745251
+    accelerations:
+      - 0.59039273058161224
+      - -0.079375710296025331
+      - -0.10014933696684755
+      - -0.42357880855786617
+      - 0.52359877569388302
+      - 0.00011370630374451431
+      - -0.079182589051036451
     effort: []
     time_from_start:
       sec: 8
       nanosec: 680000000
   - positions:
-      - 0.63021101527020917
-      - 0.25549329087997752
-      - -1.2601459470621159
-      - 1.4573109498380401
-      - -1.7679571530399181
-      - -1.5708000350525941
-      - 0.25540263329274582
-    velocities:
-      - 0.13314449453415897
-      - -0.015368024293378984
-      - -0.021091251373173095
-      - -0.099148094444130364
-      - 0.12028904371279613
-      - -2.9665670666776195e-05
-      - -0.015317833008508681
-    accelerations:
-      - 0.57955647650968978
-      - -0.066894527194297171
-      - -0.091806810140994621
-      - -0.43157563870541477
-      - 0.52359877575729064
-      - -0.00012912987221204674
-      - -0.066676052639169481
+      - 0.62912724013212262
+      - 0.25636344049687776
+      - -1.2594979719484949
+      - 1.4569847156536071
+      - -1.7682866577940373
+      - -1.5707934169309938
+      - 0.25627200337722345
+    velocities:
+      - 0.13318829098075155
+      - -0.0179065809114832
+      - -0.022592959470096877
+      - -0.095556287679744736
+      - 0.11812006226022521
+      - 2.5651312228305597e-05
+      - -0.017863014168127821
+    accelerations:
+      - 0.59039273070654008
+      - -0.079375710312820924
+      - -0.10014933698803893
+      - -0.4235788086475028
+      - 0.52359877580468328
+      - 0.00011370630376858021
+      - -0.07918258906779041
     effort: []
     time_from_start:
       sec: 8
       nanosec: 690000000
   - positions:
-      - 0.63157114234712852
-      - 0.25533630004056418
-      - -1.2603614030761188
-      - 1.4562981103034409
-      - -1.7667283498063862
-      - -1.5708003380999118
-      - 0.25524615517844229
-    velocities:
-      - 0.13894005929719083
-      - -0.016036969565083582
-      - -0.022009319474255929
-      - -0.10346385082964681
-      - 0.1255250314685033
-      - -3.0956969388436567e-05
-      - -0.015984593534662792
-    accelerations:
-      - 0.57955647620337669
-      - -0.066894527158937442
-      - -0.091806810092467453
-      - -0.43157563847730218
-      - 0.52359877548052558
-      - -0.00012912987214379725
-      - -0.066676052603924618
+      - 0.63048277770557093
+      - 0.25618119442210063
+      - -1.2597279141245796
+      - 1.4560121816765186
+      - -1.7670844786730893
+      - -1.5707931558621171
+      - 0.25609020070747196
+    velocities:
+      - 0.1390922182851215
+      - -0.018700338014249043
+      - -0.023594452839520066
+      - -0.099792075764285948
+      - 0.12335605001588167
+      - 2.6788375265472273e-05
+      - -0.018654840058444252
+    accelerations:
+      - 0.5903927303372859
+      - -0.079375710263177857
+      - -0.10014933692540404
+      - -0.42357880838257278
+      - 0.52359877547720879
+      - 0.00011370630369746123
+      - -0.07918258901826912
     effort: []
     time_from_start:
       sec: 8
       nanosec: 700000000
   - positions:
-      - 0.63298922507168132
-      - 0.25517261974843347
-      - -1.260586039771133
-      - 1.4552421132049842
-      - -1.7654471866952948
-      - -1.5708006540602164
-      - 0.25508300945887685
-    velocities:
-      - 0.14473562406063714
-      - -0.016705914836836023
-      - -0.022927387575404422
-      - -0.1077796072154719
-      - 0.13076101922458497
-      - -3.2248268110189283e-05
-      - -0.016651354060864588
-    accelerations:
-      - 0.57955647631354112
-      - -0.066894527171657295
-      - -0.091806810109929193
-      - -0.4315756385593788
-      - 0.52359877558009904
-      - -0.00012912987216834662
-      - -0.066676052616605933
+      - 0.6318973545520663
+      - 0.25599101077629549
+      - -1.2599678712343592
+      - 1.4549972898185826
+      - -1.7658299396745818
+      - -1.5707928834226099
+      - 0.25590047977881691
+    velocities:
+      - 0.14499614558990026
+      - -0.01949409511706985
+      - -0.024595946209012599
+      - -0.10402786384912045
+      - 0.12859203777190065
+      - 2.7925438302717682e-05
+      - -0.019446665948815507
+    accelerations:
+      - 0.59039273037891327
+      - -0.079375710268776295
+      - -0.10014933693246533
+      - -0.42357880841244083
+      - 0.52359877551412404
+      - 0.00011370630370548303
+      - -0.079182589023849864
     effort: []
     time_from_start:
       sec: 8
       nanosec: 710000000
   - positions:
-      - 0.63446526344386811
-      - 0.25500225000358534
-      - -1.2608198571471587
-      - 1.4541429585426697
-      - -1.7641136637066428
-      - -1.5708009829335086
-      - 0.25491319613404945
-    velocities:
-      - 0.15053118882416155
-      - -0.017374860108597477
-      - -0.023845455676565281
-      - -0.11209536360135514
-      - 0.13599700698073713
-      - -3.35395668319594e-05
-      - -0.017318114587075367
-    accelerations:
-      - 0.57955647650080799
-      - -0.066894527193271949
-      - -0.091806810139589495
-      - -0.43157563869880894
-      - 0.52359877574926927
-      - -0.00012912987221006808
-      - -0.066676052638147729
+      - 0.63337097067160886
+      - 0.25579288955946222
+      - -1.2602178432778333
+      - 1.4539400400797982
+      - -1.7645230407985149
+      - -1.5707925996124723
+      - 0.2557028405912582
+    velocities:
+      - 0.15090007289476334
+      - -0.020287852219901994
+      - -0.025597439578519437
+      - -0.10826365193401548
+      - 0.13382802552799444
+      - 2.9062501339979334e-05
+      - -0.020238491839198076
+    accelerations:
+      - 0.59039273050384111
+      - -0.079375710285571888
+      - -0.10014933695365671
+      - -0.42357880850207746
+      - 0.5235987756249243
+      - 0.00011370630372954215
+      - -0.079182589040607293
     effort: []
     time_from_start:
       sec: 8
       nanosec: 720000000
   - positions:
-      - 0.63599925746368768
-      - 0.25482519080601979
-      - -1.2610628552041956
-      - 1.4530006463164979
-      - -1.7627277808404316
-      - -1.5708013247197878
-      - 0.25473671520396024
-    velocities:
-      - 0.15632675358713161
-      - -0.018043805380294944
-      - -0.024763523777638324
-      - -0.11641111998682556
-      - 0.14123299473638851
-      - -3.4830865553606006e-05
-      - -0.01798487511322237
-    accelerations:
-      - 0.57955647613268324
-      - -0.066894527150780772
-      - -0.091806810081275017
-      - -0.43157563842467761
-      - 0.52359877541668776
-      - -0.00012912987212804921
-      - -0.066676052595795704
+      - 0.63490362606419881
+      - 0.25558683077160071
+      - -1.2604778302550026
+      - 1.4528404324601656
+      - -1.763163782044888
+      - -1.5707923044317043
+      - 0.25549728314479581
+    velocities:
+      - 0.15680400019962643
+      - -0.021081609322734136
+      - -0.026598932948026274
+      - -0.11249944001891048
+      - 0.13906401328408824
+      - 3.019956437724098e-05
+      - -0.021030317729580642
+    accelerations:
+      - 0.5903927306287412
+      - -0.079375710302364011
+      - -0.1001493369748481
+      - -0.42357880859168634
+      - 0.52359877573572455
+      - 0.0001137063037535945
+      - -0.079182589057361252
     effort: []
     time_from_start:
       sec: 8
       nanosec: 730000000
   - positions:
-      - 0.6375912071311407
-      - 0.25464144215573686
-      - -1.2613150339422439
-      - 1.4518151765264689
-      - -1.7612895380966604
-      - -1.5708016794190542
-      - 0.25455356666860912
-    velocities:
-      - 0.1621223183506397
-      - -0.018712750652054515
-      - -0.025681591878796598
-      - -0.12072687637269663
-      - 0.14646898249252593
-      - -3.6122164275372484e-05
-      - -0.018651635639431268
-    accelerations:
-      - 0.57955647630465934
-      - -0.066894527170630338
-      - -0.091806810108517128
-      - -0.43157563855274522
-      - 0.52359877557204992
-      - -0.00012912987216636795
-      - -0.066676052615578976
+      - 0.63649532072983594
+      - 0.25537283441271114
+      - -1.2607478321658665
+      - 1.4516984669596855
+      - -1.7617521634137012
+      - -1.570791997880306
+      - 0.2552838074394298
+    velocities:
+      - 0.16270792750448948
+      - -0.021875366425566273
+      - -0.027600426317533105
+      - -0.11673522810380546
+      - 0.14430000104018198
+      - 3.1336627414502621e-05
+      - -0.021822143619963204
+    accelerations:
+      - 0.59039273075364129
+      - -0.079375710319152665
+      - -0.10014933699602907
+      - -0.42357880868129522
+      - 0.5235987758464693
+      - 0.00011370630377764346
+      - -0.079182589074108273
     effort: []
     time_from_start:
       sec: 8
       nanosec: 740000000
   - positions:
-      - 0.63924111244622739
-      - 0.25445100405273646
-      - -1.2615763933613033
-      - 1.4505865491725822
-      - -1.7597989354753292
-      - -1.5708020470313082
-      - 0.25436375052799609
-    velocities:
-      - 0.16791788311416428
-      - -0.019381695923815986
-      - -0.026599659979957484
-      - -0.12504263275857999
-      - 0.15170497024867829
-      - -3.7413462997142635e-05
-      - -0.019318396165642068
-    accelerations:
-      - 0.57955647649228703
-      - -0.066894527192283157
-      - -0.091806810138236411
-      - -0.43157563869243903
-      - 0.52359877574155322
-      - -0.00012912987220816395
-      - -0.066676052637165875
+      - 0.63814605466852126
+      - 0.25515090048279326
+      - -1.2610278490104254
+      - 1.4505141435783568
+      - -1.7602881849049541
+      - -1.5707916799582773
+      - 0.25506241347515995
+    velocities:
+      - 0.16861185480875462
+      - -0.022669123528318028
+      - -0.028601919686938516
+      - -0.1209710161882715
+      - 0.14953598879574548
+      - 3.2473690451649121e-05
+      - -0.022613969510265577
+    accelerations:
+      - 0.59039273027958206
+      - -0.079375710255420173
+      - -0.1001493369156202
+      - -0.42357880834120309
+      - 0.52359877542604139
+      - 0.00011370630368635494
+      - -0.079182589010532253
     effort: []
     time_from_start:
       sec: 8
       nanosec: 750000000
   - positions:
-      - 0.64094897340894696
-      - 0.25425387649701875
-      - -1.2618469334613742
-      - 1.4493147642548385
-      - -1.7582559729764384
-      - -1.5708024275565491
-      - 0.2541672667821212
-    velocities:
-      - 0.17371344787707271
-      - -0.020050641195506345
-      - -0.027517728081020772
-      - -0.12935838914400455
-      - 0.15694095800427399
-      - -3.8704761718775512e-05
-      - -0.019985156691781983
-    accelerations:
-      - 0.57955647606271143
-      - -0.0668945271427039
-      - -0.091806810070190134
-      - -0.43157563837256652
-      - 0.52359877535346055
-      - -0.00012912987211245703
-      - -0.066676052587746587
+      - 0.63985582788025319
+      - 0.25492102898184743
+      - -1.2613178807886791
+      - 1.4492874623161802
+      - -1.7587718465186479
+      - -1.5707913506656181
+      - 0.25483310125198666
+    velocities:
+      - 0.17451578211363827
+      - -0.023462880631152934
+      - -0.029603413056448841
+      - -0.12520680427318126
+      - 0.15477197655185751
+      - 3.3610753488914727e-05
+      - -0.023405795400650901
+    accelerations:
+      - 0.5903927304261255
+      - -0.079375710275121913
+      - -0.10014933694047282
+      - -0.42357880844633039
+      - 0.5235987755560072
+      - 0.00011370630371457
+      - -0.079182589030181605
     effort: []
     time_from_start:
       sec: 8
       nanosec: 760000000
   - positions:
-      - 0.64271478924921321
-      - 0.2540500595774699
-      - -1.2621266541204679
-      - 1.4479998223466941
-      - -1.756660651295721
-      - -1.5708028209946057
-      - 0.25396411551958031
-    velocities:
-      - 0.17956013757496544
-      - -0.020725487494089791
-      - -0.028443894818525661
-      - -0.13371221649811427
-      - 0.16222313444803654
-      - -4.0007451491545429e-05
-      - -0.020657798972321933
-    accelerations:
-      - 0.57955647660583509
-      - -0.066894527205394197
-      - -0.091806810156232432
-      - -0.43157563877701027
-      - 0.52359877584413783
-      - -0.0001291298722398091
-      - -0.066676052650228343
+      - 0.64162463979434503
+      - 0.25468321998659976
+      - -1.2616179274038211
+      - 1.4480184235825972
+      - -1.7572031487609048
+      - -1.5707910100024387
+      - 0.25459587084644941
+    velocities:
+      - 0.17990944729622807
+      - -0.024188035232134631
+      - -0.03051834978225482
+      - -0.12907650346400565
+      - 0.15955543058138982
+      - 3.4649542921313633e-05
+      - -0.024129185699191841
+    accelerations:
+      - 0.59039273063989894
+      - -0.079375710303866281
+      - -0.10014933697674241
+      - -0.42357880859967995
+      - 0.52359877574560554
+      - 0.00011370630374432457
+      - -0.079182589058856584
     effort: []
     time_from_start:
       sec: 8
       nanosec: 770000000
   - positions:
-      - 0.64453856072971094
-      - 0.253839553206058
-      - -1.2624155554594003
-      - 1.4466417228802047
-      - -1.7550129697441308
-      - -1.570803227345648
-      - 0.25375429665262916
-    velocities:
-      - 0.18535570233783258
-      - -0.021394432765775396
-      - -0.029361962919582461
-      - -0.13802797288350796
-      - 0.16745912220359491
-      - -4.129875021323255e-05
-      - -0.021324559498457067
-    accelerations:
-      - 0.57955647613493144
-      - -0.066894527151040981
-      - -0.091806810081639309
-      - -0.43157563842632907
-      - 0.52359877541871391
-      - -0.00012912987213489324
-      - -0.066676052596052443
+      - 0.64345249039661534
+      - 0.25443747349895701
+      - -1.2619279888534454
+      - 1.4467070273877818
+      - -1.7555820916443015
+      - -1.5707906579687414
+      - 0.25435072226045025
+    velocities:
+      - 0.18581337460109115
+      - -0.024981792334966797
+      - -0.031519843151761678
+      - -0.13331229154890059
+      - 0.16479141833748362
+      - 3.5786605958461088e-05
+      - -0.0249210115895744
+    accelerations:
+      - 0.59039273076479903
+      - -0.079375710320658405
+      - -0.10014933699792339
+      - -0.4235788086893027
+      - 0.52359877585637804
+      - 0.00011370630376838031
+      - -0.079182589075603604
     effort: []
     time_from_start:
       sec: 8
       nanosec: 780000000
   - positions:
-      - 0.64642028785784256
-      - 0.25362235738192856
-      - -1.2627136374793442
-      - 1.4452404658498568
-      - -1.7533129283149802
-      - -1.5708036466096771
-      - 0.25353781018041605
-    velocities:
-      - 0.19115126710144401
-      - -0.022063378037546915
-      - -0.030280031020757166
-      - -0.14234372926945596
-      - 0.17269510995982573
-      - -4.2590048935085514e-05
-      - -0.021991320024677838
-    accelerations:
-      - 0.57955647641040808
-      - -0.066894527182839322
-      - -0.091806810125278027
-      - -0.43157563863148779
-      - 0.52359877566758461
-      - -0.00012912987219627838
-      - -0.066676052627746327
+      - 0.64533938027193394
+      - 0.25418378944028602
+      - -1.2622480652367649
+      - 1.4453532733121175
+      - -1.7539086746501376
+      - -1.5707902945644139
+      - 0.25409765541554735
+    velocities:
+      - 0.19171730190527417
+      - -0.025775549437707532
+      - -0.032521336521153181
+      - -0.13754807963330762
+      - 0.17002740609297431
+      - 3.6923668995477564e-05
+      - -0.025712837479865757
+    accelerations:
+      - 0.59039273020858329
+      - -0.079375710245882664
+      - -0.10014933690357775
+      - -0.42357880829025774
+      - 0.5235987753631195
+      - 0.00011370630366126243
+      - -0.079182589001012091
     effort: []
     time_from_start:
       sec: 8
       nanosec: 790000000
   - positions:
-      - 0.6483599706336074
-      - 0.25339847210508182
-      - -1.2630209001802992
-      - 1.443796051255652
-      - -1.7515605270082701
-      - -1.5708040787866939
-      - 0.25331465610294107
-    velocities:
-      - 0.19694683186496861
-      - -0.022732323309308407
-      - -0.031198099121918111
-      - -0.14665948565533926
-      - 0.17793109771597809
-      - -4.3881347656919124e-05
-      - -0.022658080550888613
-    accelerations:
-      - 0.57955647659803577
-      - -0.066894527204492141
-      - -0.09180681015499384
-      - -0.4315756387711816
-      - 0.52359877583708792
-      - -0.00012912987223807437
-      - -0.066676052649326287
+      - 0.64728530942029872
+      - 0.25392216781058707
+      - -1.2625781565537788
+      - 1.4439571613556061
+      - -1.7521828977784151
+      - -1.5707899197894559
+      - 0.2538366703117409
+    velocities:
+      - 0.19762122921023992
+      - -0.026569306540553499
+      - -0.033522829890677459
+      - -0.14178386771827622
+      - 0.17526339384915915
+      - 3.8060732032644793e-05
+      - -0.02650466337026209
+    accelerations:
+      - 0.59039273043722773
+      - -0.079375710276620715
+      - -0.10014933694235673
+      - -0.42357880845429624
+      - 0.52359877556583267
+      - 0.00011370630370529329
+      - -0.079182589031673467
     effort: []
     time_from_start:
       sec: 8
       nanosec: 800000000
   - positions:
-      - 0.6503576090570049
-      - 0.2531678973755177
-      - -1.2633373435622657
-      - 1.4423084790975897
-      - -1.7497557658240002
-      - -1.5708045238766974
-      - 0.25308483442020424
-    velocities:
-      - 0.20274239662777394
-      - -0.023401268580986883
-      - -0.032116167222965127
-      - -0.15097524204068696
-      - 0.18316708547148067
-      - -4.5172646378592476e-05
-      - -0.023324841077016645
-    accelerations:
-      - 0.57955647606534821
-      - -0.06689452714301268
-      - -0.091806810070613407
-      - -0.43157563837450941
-      - 0.52359877535584753
-      - -0.00012912987211938915
-      - -0.066676052588048429
+      - 0.64929027784171178
+      - 0.25365260860985978
+      - -1.2629182628044879
+      - 1.442518691518246
+      - -1.750404761029132
+      - -1.5707895336438675
+      - 0.25356776694903072
+    velocities:
+      - 0.203525156515103
+      - -0.027363063643385661
+      - -0.034524323260184321
+      - -0.14601965580317117
+      - 0.18049938160525295
+      - 3.9197795069792248e-05
+      - -0.027296489260644652
+    accelerations:
+      - 0.59039273056212782
+      - -0.079375710293409368
+      - -0.10014933696354811
+      - -0.42357880854389124
+      - 0.52359877567660518
+      - 0.00011370630372934903
+      - -0.079182589048427426
     effort: []
     time_from_start:
       sec: 8
       nanosec: 810000000
   - positions:
-      - 0.65241320312803597
-      - 0.25293063319323617
-      - -1.2636629676252435
-      - 1.4407777493756704
-      - -1.7478986447621709
-      - -1.5708049818796888
-      - 0.2528483451322055
-    velocities:
-      - 0.20853796139144712
-      - -0.024070213852765525
-      - -0.033034235324149612
-      - -0.15529099842668093
-      - 0.18840307322776728
-      - -4.6463945100459196e-05
-      - -0.023991601603244515
-    accelerations:
-      - 0.57955647640255326
-      - -0.066894527181933797
-      - -0.091806810124032495
-      - -0.43157563862563136
-      - 0.52359877566050694
-      - -0.0001291298721945301
-      - -0.066676052626840801
+      - 0.65135428553617203
+      - 0.25337511183810441
+      - -1.2632683839888919
+      - 1.4410378638000383
+      - -1.748574264402289
+      - -1.5707891361276489
+      - 0.25329094532741681
+    velocities:
+      - 0.20942908381996608
+      - -0.028156820746217823
+      - -0.035525816629691183
+      - -0.15025544388806611
+      - 0.18573536936134674
+      - 4.0334858106939703e-05
+      - -0.028088315151027214
+    accelerations:
+      - 0.59039273068702791
+      - -0.079375710310201492
+      - -0.10014933698473949
+      - -0.42357880863351399
+      - 0.52359877578737768
+      - 0.00011370630375340477
+      - -0.079182589065177916
     effort: []
     time_from_start:
       sec: 8
       nanosec: 820000000
   - positions:
-      - 0.65452675284670103
-      - 0.2526866795582372
-      - -1.2639977723692324
-      - 1.439203862089893
-      - -1.7459891638227814
-      - -1.570805452795667
-      - 0.25260518823894484
-    velocities:
-      - 0.21433352615497167
-      - -0.024739159124527014
-      - -0.033952303425310554
-      - -0.1596067548125642
-      - 0.19363906098391961
-      - -4.77552438222928e-05
-      - -0.02465836212945529
-    accelerations:
-      - 0.57955647659012544
-      - -0.066894527203583146
-      - -0.091806810153751778
-      - -0.43157563876532518
-      - 0.52359877582998249
-      - -0.00012912987223631932
-      - -0.066676052648424231
+      - 0.65347733250367979
+      - 0.2530896774953208
+      - -1.2636285201069906
+      - 1.439514678200982
+      - -1.7466914078978864
+      - -1.5707887272407999
+      - 0.25300620544689933
+    velocities:
+      - 0.21533301112482917
+      - -0.028950577849049988
+      - -0.036527309999198045
+      - -0.15449123197296102
+      - 0.19097135711744054
+      - 4.1471921144087151e-05
+      - -0.028880141041409776
+    accelerations:
+      - 0.590392730811928
+      - -0.079375710326993615
+      - -0.10014933700592393
+      - -0.42357880872310899
+      - 0.52359877589815018
+      - 0.00011370630377745372
+      - -0.079182589081928406
     effort: []
     time_from_start:
       sec: 8
       nanosec: 830000000
   - positions:
-      - 0.65669825821299921
-      - 0.25243603647052087
-      - -1.2643417577942329
-      - 1.4375868172402584
-      - -1.7440273230058316
-      - -1.5708059366246325
-      - 0.25235536374042228
-    velocities:
-      - 0.22012909091771526
-      - -0.02540810439619836
-      - -0.034870371526347775
-      - -0.16392251119786591
-      - 0.19887504873936634
-      - -4.9046542543952389e-05
-      - -0.025325122655576213
-    accelerations:
-      - 0.57955647599570947
-      - -0.066894527134970502
-      - -0.091806810059580565
-      - -0.43157563832266199
-      - 0.52359877529289789
-      - -0.0001291298721038715
-      - -0.066676052580034006
+      - 0.6556594187442345
+      - 0.25279630558150912
+      - -1.2639986711587841
+      - 1.437949134721078
+      - -1.744756191515924
+      - -1.5707883069833204
+      - 0.25271354730747819
+    velocities:
+      - 0.22123693842890732
+      - -0.029744334951776624
+      - -0.037528803368571756
+      - -0.15872702005729283
+      - 0.19620734487283822
+      - 4.2608984181083434e-05
+      - -0.029671966931687065
+    accelerations:
+      - 0.5903927301508517
+      - -0.079375710238118041
+      - -0.10014933689378697
+      - -0.42357880824881866
+      - 0.5235987753118827
+      - 0.00011370630365013581
+      - -0.079182588993268285
     effort: []
     time_from_start:
       sec: 8
       nanosec: 840000000
   - positions:
-      - 0.6589277192269305
-      - 0.25217870393008718
-      - -1.2646949239002445
-      - 1.4359266148267666
-      - -1.7420131223113229
-      - -1.5708064333665852
-      - 0.25209887163663786
-    velocities:
-      - 0.22592465568145029
-      - -0.026077049667984142
-      - -0.035788439627542058
-      - -0.16823826758390592
-      - 0.20411103649570883
-      - -5.0337841265832884e-05
-      - -0.025991883181811198
-    accelerations:
-      - 0.57955647639478169
-      - -0.06689452718103174
-      - -0.091806810122797372
-      - -0.43157563861983045
-      - 0.52359877565345703
-      - -0.00012912987219278183
-      - -0.066676052625942214
+      - 0.65790054425783695
+      - 0.25249499609666926
+      - -1.2643788371442726
+      - 1.436341233360326
+      - -1.7427686152564017
+      - -1.5707878753552105
+      - 0.25241297090915338
+    velocities:
+      - 0.22714086573397799
+      - -0.030538092054636694
+      - -0.038530296738113826
+      - -0.16296280814233668
+      - 0.20144333262911612
+      - 4.3746047218270869e-05
+      - -0.030463792822097466
+    accelerations:
+      - 0.59039273048438445
+      - -0.079375710282959394
+      - -0.10014933695035727
+      - -0.42357880848810253
+      - 0.52359877560768808
+      - 0.00011370630371438026
+      - -0.079182589037998269
     effort: []
     time_from_start:
       sec: 8
       nanosec: 850000000
   - positions:
-      - 0.66121513588849556
-      - 0.25191468193693595
-      - -1.2650572706872674
-      - 1.4342232548494169
-      - -1.7399465617392535
-      - -1.5708069430215252
-      - 0.25183571192759147
-    velocities:
-      - 0.23172022044497487
-      - -0.026745994939745634
-      - -0.036706507728703007
-      - -0.17255402396978925
-      - 0.20934702425186119
-      - -5.1629139987666495e-05
-      - -0.026658643708021977
-    accelerations:
-      - 0.57955647658235387
-      - -0.066894527202684559
-      - -0.091806810152516655
-      - -0.43157563875955202
-      - 0.52359877582293257
-      - -0.0001291298722345846
-      - -0.066676052647529113
+      - 0.66020070904448691
+      - 0.25218574904080121
+      - -1.2647690180634559
+      - 1.4346909741187257
+      - -1.7407286791193193
+      - -1.5707874323564703
+      - 0.25210447625192484
+    velocities:
+      - 0.23304479303884107
+      - -0.031331849157468859
+      - -0.039531790107620687
+      - -0.16719859622723163
+      - 0.20667932038520992
+      - 4.4883110255418324e-05
+      - -0.031255618712480032
+    accelerations:
+      - 0.5903927306093123
+      - -0.079375710299751517
+      - -0.10014933697154865
+      - -0.42357880857772529
+      - 0.52359877571843283
+      - 0.000113706303738436
+      - -0.079182589054752228
     effort: []
     time_from_start:
       sec: 8
       nanosec: 860000000
   - positions:
-      - 0.66356050789696708
-      - 0.25164397052577842
-      - -1.2654287981076642
-      - 1.4324767375321508
-      - -1.7378276415613154
-      - -1.5708074655893853
-      - 0.25156588464788088
-    velocities:
-      - 0.2375413570572476
-      - -0.027417891807772165
-      - -0.037628626634154075
-      - -0.1768888228259152
-      - 0.21460611482756611
-      - -5.2926136321705702e-05
-      - -0.027328346190716044
-    accelerations:
-      - 0.57955647591593995
-      - -0.06689452712576606
-      - -0.091806810046944839
-      - -0.43157563826329282
-      - 0.52359877522087217
-      - -0.00012912987207976156
-      - -0.066676052570857319
+      - 0.66255991287828087
+      - 0.25186856444427674
+      - -1.2651692138780137
+      - 1.4329983571583522
+      - -1.7386363833050231
+      - -1.5707869779871431
+      - 0.25178806336609055
+    velocities:
+      - 0.2389887813406765
+      - -0.032130992285441286
+      - -0.040540079093126041
+      - -0.17146312617917087
+      - 0.21195083684597638
+      - 4.6027888815633633e-05
+      - -0.032052817523793999
+    accelerations:
+      - 0.59039273049326624
+      - -0.079375710284152884
+      - -0.10014933695186301
+      - -0.42357880849448631
+      - 0.52359877561554291
+      - 0.00011370630371961154
+      - -0.079182589039191759
     effort: []
     time_from_start:
       sec: 8
       nanosec: 870000000
   - positions:
-      - 0.66596383554813676
-      - 0.25136656966247312
-      - -1.2658095062082901
-      - 1.4306870626547026
-      - -1.7356563615102762
-      - -1.5708080010702314
-      - 0.25128938976347615
-    velocities:
-      - 0.24333692182104441
-      - -0.028086837079565077
-      - -0.038546694735358072
-      - -0.18120457921200125
-      - 0.21984210258396433
-      - -5.4217435043536527e-05
-      - -0.027995106716958151
-    accelerations:
-      - 0.57955647637679608
-      - -0.066894527178957011
-      - -0.091806810119938548
-      - -0.43157563860645226
-      - 0.52359877563719226
-      - -0.00012912987218244125
-      - -0.066676052623877893
+      - 0.6649781557439649
+      - 0.25154344230914666
+      - -1.2655794245853584
+      - 1.4312633824901497
+      - -1.7364917278270411
+      - -1.5707865122472322
+      - 0.25146373225369617
+    velocities:
+      - 0.24489270864553964
+      - -0.032924749388273444
+      - -0.041541572462632924
+      - -0.17569891426406581
+      - 0.21718682460207012
+      - 4.7164951852816338e-05
+      - -0.032844643414176547
+    accelerations:
+      - 0.59039273061819408
+      - -0.079375710300945007
+      - -0.10014933697305439
+      - -0.42357880858410907
+      - 0.52359877572631541
+      - 0.00011370630374366727
+      - -0.079182589055942249
     effort: []
     time_from_start:
       sec: 8
       nanosec: 880000000
   - positions:
-      - 0.66842511884693945
-      - 0.25108247934645045
-      - -1.2661993949899275
-      - 1.4288542302133966
-      - -1.7334327215816774
-      - -1.5708085494640649
-      - 0.25100622727380961
-    velocities:
-      - 0.24913248658456899
-      - -0.028755782351326566
-      - -0.039464762836518952
-      - -0.18552033559788464
-      - 0.22507809034011667
-      - -5.5508733765306698e-05
-      - -0.02866186724316894
-    accelerations:
-      - 0.57955647656436826
-      - -0.06689452720060983
-      - -0.09180681014965783
-      - -0.43157563874614607
-      - 0.52359877580669556
-      - -0.00012912987222423724
-      - -0.066676052645461323
+      - 0.66745543788269601
+      - 0.2512103826029885
+      - -1.2659996502263979
+      - 1.4294860499410995
+      - -1.7342947124714994
+      - -1.5707860351366909
+      - 0.25113148288239828
+    velocities:
+      - 0.25079663595040275
+      - -0.033718506491105603
+      - -0.042543065832139806
+      - -0.17993470234896072
+      - 0.22242281235816388
+      - 4.8302014889999043e-05
+      - -0.033636469304559102
+    accelerations:
+      - 0.59039273074306642
+      - -0.07937571031773713
+      - -0.10014933699423884
+      - -0.42357880867370407
+      - 0.52359877583708792
+      - 0.00011370630376772301
+      - -0.079182589072692738
     effort: []
     time_from_start:
       sec: 8
       nanosec: 890000000
   - positions:
-      - 0.67094435779337569
-      - 0.25079169957771036
-      - -1.2665984644525761
-      - 1.4269782402082334
-      - -1.7311567217755188
-      - -1.5708091107708855
-      - 0.25071639717888111
-    velocities:
-      - 0.25492805134809365
-      - -0.029424727623088062
-      - -0.040382830937679845
-      - -0.18983609198376802
-      - 0.23031407809626903
-      - -5.6800032487076883e-05
-      - -0.029328627769379733
-    accelerations:
-      - 0.57955647675205146
-      - -0.066894527222266117
-      - -0.091806810179384052
-      - -0.43157563888586764
-      - 0.52359877597622662
-      - -0.00012912987226604001
-      - -0.066676052667048222
+      - 0.66999175929447508
+      - 0.25086938532580205
+      - -1.2664298908011324
+      - 1.4276663595112007
+      - -1.7320453372383973
+      - -1.5707855466555192
+      - 0.25079131525219656
+    velocities:
+      - 0.25670056325526586
+      - -0.034512263593937761
+      - -0.043544559201646689
+      - -0.18417049043385567
+      - 0.22765880011425763
+      - 4.9439077927181749e-05
+      - -0.034428295194941658
+    accelerations:
+      - 0.59039273086796651
+      - -0.079375710334529254
+      - -0.10014933701543022
+      - -0.42357880876332682
+      - 0.52359877594786042
+      - 0.00011370630379177875
+      - -0.079182589089443228
     effort: []
     time_from_start:
       sec: 8
       nanosec: 900000000
   - positions:
-      - 0.67352155238744538
-      - 0.25049423035625284
-      - -1.267006714596236
-      - 1.4250590926392128
-      - -1.7288283620918006
-      - -1.5708096849906936
-      - 0.25041989947869076
-    velocities:
-      - 0.26072361611104755
-      - -0.030093672894783687
-      - -0.041300899038750324
-      - -0.19415184836922647
-      - 0.23555006585190577
-      - -5.8091331208719911e-05
-      - -0.02999538829552487
-    accelerations:
-      - 0.57955647636896901
-      - -0.066894527178054955
-      - -0.091806810118703425
-      - -0.43157563860065135
-      - 0.52359877563014234
-      - -0.00012912987218069297
-      - -0.066676052622979307
+      - 0.67258711997930121
+      - 0.25052045047758748
+      - -1.2668701463095617
+      - 1.4258043112004539
+      - -1.7297436021277357
+      - -1.5707850468037168
+      - 0.25044322936309127
+    velocities:
+      - 0.26260449055919716
+      - -0.035306020696644631
+      - -0.044546052570995497
+      - -0.18840627851808203
+      - 0.23289478786952494
+      - 5.0576140964184984e-05
+      - -0.03522012108519923
+    accelerations:
+      - 0.5903927300600077
+      - -0.079375710225898649
+      - -0.10014933687836181
+      - -0.42357880818362081
+      - 0.52359877523125276
+      - 0.00011370630363615638
+      - -0.079182588981076649
     effort: []
     time_from_start:
       sec: 8
       nanosec: 910000000
   - positions:
-      - 0.67615670262914862
-      - 0.25019007168207796
-      - -1.2674241454209074
-      - 1.4230967875063345
-      - -1.7264476425305215
-      - -1.5708102721234887
-      - 0.25011673417323843
-    velocities:
-      - 0.26651918087457216
-      - -0.030762618166545179
-      - -0.042218967139911211
-      - -0.19846760475510983
-      - 0.2407860536080581
-      - -5.9382629930490089e-05
-      - -0.030662148821735659
-    accelerations:
-      - 0.5795564765565967
-      - -0.066894527199711243
-      - -0.091806810148422707
-      - -0.43157563874034516
-      - 0.52359877579964564
-      - -0.00012912987222249574
-      - -0.066676052644562736
+      - 0.67524151993717463
+      - 0.25016357805834488
+      - -1.2673204167516858
+      - 1.4238999050088594
+      - -1.7273895071395144
+      - -1.5707845355812846
+      - 0.25008722521508231
+    velocities:
+      - 0.26850841786441476
+      - -0.036099777799524453
+      - -0.045547545940562519
+      - -0.19264206660323133
+      - 0.2381307756259331
+      - 5.1713204001435974e-05
+      - -0.03601194697562933
+    accelerations:
+      - 0.59039273054039521
+      - -0.079375710290495033
+      - -0.10014933695987049
+      - -0.42357880852832036
+      - 0.52359877565737056
+      - 0.00011370630372869851
+      - -0.079182589045513091
     effort: []
     time_from_start:
       sec: 8
       nanosec: 920000000
   - positions:
-      - 0.67884980851848509
-      - 0.24987922355518566
-      - -1.26785075692659
-      - 1.4210913248095989
-      - -1.7240145630916834
-      - -1.5708108721692708
-      - 0.24980690126252422
-    velocities:
-      - 0.27231474563809677
-      - -0.031431563438306671
-      - -0.04313703524107209
-      - -0.20278336114099321
-      - 0.24602204136421041
-      - -6.0673928652260261e-05
-      - -0.031328909347946451
-    accelerations:
-      - 0.57955647674422439
-      - -0.066894527221364061
-      - -0.09180681017814199
-      - -0.43157563888003897
-      - 0.52359877596912119
-      - -0.00012912987226429174
-      - -0.066676052666146166
+      - 0.67795495916809578
+      - 0.24979876806807394
+      - -1.2677807021275049
+      - 1.4219531409364163
+      - -1.7249830522737333
+      - -1.5707840129882218
+      - 0.24972330280816971
+    velocities:
+      - 0.27441234516927793
+      - -0.036893534902356612
+      - -0.046549039310069401
+      - -0.19687785468812627
+      - 0.24336676338202687
+      - 5.2850267038618679e-05
+      - -0.036803772866011886
+    accelerations:
+      - 0.59039273066535081
+      - -0.079375710307287156
+      - -0.10014933698105494
+      - -0.42357880861794311
+      - 0.52359877576814307
+      - 0.00011370630375275424
+      - -0.07918258906227052
     effort: []
     time_from_start:
       sec: 8
       nanosec: 930000000
   - positions:
-      - 0.68160087005545511
-      - 0.2495616859755759
-      - -1.268286549113284
-      - 1.4190427045490055
-      - -1.721529123775285
-      - -1.5708114851280404
-      - 0.24949040074654813
-    velocities:
-      - 0.27811031040105066
-      - -0.032100508710002286
-      - -0.044055103342142569
-      - -0.2070991175264516
-      - 0.25125802911984713
-      - -6.1965227373903282e-05
-      - -0.031995669874091581
-    accelerations:
-      - 0.57955647636108643
-      - -0.06689452717714249
-      - -0.091806810117454424
-      - -0.43157563859476716
-      - 0.52359877562303692
-      - -0.0001291298721789447
-      - -0.066676052622070311
+      - 0.68072743767206423
+      - 0.24942602050677493
+      - -1.268251002437019
+      - 1.4199640189831255
+      - -1.722524237530392
+      - -1.5707834790245285
+      - 0.24935146214235338
+    velocities:
+      - 0.28031627247414104
+      - -0.037687292005188763
+      - -0.047550532679576284
+      - -0.20111364277302118
+      - 0.24860275113812061
+      - 5.3987330075801384e-05
+      - -0.037595598756394441
+    accelerations:
+      - 0.5903927307902509
+      - -0.079375710324079279
+      - -0.10014933700224632
+      - -0.42357880870753811
+      - 0.52359877587891557
+      - 0.0001137063037768032
+      - -0.07918258907902101
     effort: []
     time_from_start:
       sec: 8
       nanosec: 940000000
   - positions:
-      - 0.68440988724005869
-      - 0.24923745894324875
-      - -1.2687315219809894
-      - 1.416950926724555
-      - -1.7189913245813266
-      - -1.5708121109997972
-      - 0.24916723262531013
-    velocities:
-      - 0.28390587516457533
-      - -0.032769453981763785
-      - -0.044973171443303463
-      - -0.21141487391233502
-      - 0.25649401687599954
-      - -6.3256526095673474e-05
-      - -0.032662430400302381
-    accelerations:
-      - 0.57955647654876963
-      - -0.066894527198805717
-      - -0.091806810147187584
-      - -0.43157563873451649
-      - 0.52359877579262348
-      - -0.00012912987222075424
-      - -0.066676052643664149
+      - 0.68355895544908107
+      - 0.24904533537444762
+      - -1.268731317680228
+      - 1.4179325391489859
+      - -1.7200130629094901
+      - -1.5707829336902048
+      - 0.24897170321763332
+    velocities:
+      - 0.28622019977900415
+      - -0.038481049108020922
+      - -0.048552026049083166
+      - -0.20534943085791613
+      - 0.25383873889421438
+      - 5.512439311298409e-05
+      - -0.038387424646776989
+    accelerations:
+      - 0.59039273091515099
+      - -0.079375710340871403
+      - -0.10014933702343076
+      - -0.42357880879716087
+      - 0.52359877598968807
+      - 0.00011370630380085894
+      - -0.079182589095764561
     effort: []
     time_from_start:
       sec: 8
       nanosec: 950000000
   - positions:
-      - 0.68727686007229594
-      - 0.24890654245820418
-      - -1.269185675529706
-      - 1.4148159913362466
-      - -1.7164011655098084
-      - -1.5708127497845412
-      - 0.24883739689881018
-    velocities:
-      - 0.28970143992809988
-      - -0.033438399253525278
-      - -0.045891239544464342
-      - -0.2157306302982184
-      - 0.26173000463215185
-      - -6.4547824817443652e-05
-      - -0.033329190926513166
-    accelerations:
-      - 0.57955647673634181
-      - -0.066894527220462005
-      - -0.091806810176899928
-      - -0.43157563887423805
-      - 0.52359877596209903
-      - -0.00012912987226256379
-      - -0.066676052665244109
+      - 0.6864495124991441
+      - 0.24865671267109232
+      - -1.2692216478571314
+      - 1.4158587014339989
+      - -1.7174495284110294
+      - -1.5707823769852509
+      - 0.24858402603400973
+    velocities:
+      - 0.29212412708283053
+      - -0.039274806210713692
+      - -0.049553519418414176
+      - -0.20958521894206722
+      - 0.25907472664938863
+      - 5.6261456149967119e-05
+      - -0.039179250537020496
+    accelerations:
+      - 0.59039273000222059
+      - -0.079375710218134027
+      - -0.10014933686857103
+      - -0.42357880814218174
+      - 0.52359877518007147
+      - 0.00011370630362503653
+      - -0.079182588973332843
     effort: []
     time_from_start:
       sec: 8
       nanosec: 960000000
   - positions:
-      - 0.69020178840565316
-      - 0.24856893653735329
-      - -1.2696490097362247
-      - 1.412637898493184
-      - -1.7137586466930972
-      - -1.5708134014822395
-      - 0.24850089358390423
-    velocities:
-      - 0.29551235305840301
-      - -0.0341091160898888
-      - -0.046811738961039462
-      - -0.22005781608134808
-      - 0.26697985882993869
-      - -6.5842543279517345e-05
-      - -0.033997717231474878
-    accelerations:
-      - 0.57955647655049047
-      - -0.066894527199006945
-      - -0.09180681014746514
-      - -0.431575638735821
-      - 0.5235987757941778
-      - -0.00012912987222113371
-      - -0.066676052643865377
+      - 0.68939910871192511
+      - 0.24826015241154215
+      - -1.2697219929490144
+      - 1.4137425059173201
+      - -1.7148336341328563
+      - -1.5707818089096877
+      - 0.24818843060627968
+    velocities:
+      - 0.29805209504301849
+      - -0.04007179547409552
+      - -0.050559090845740159
+      - -0.21383825505799517
+      - 0.26433203522642906
+      - 5.7403149280611329e-05
+      - -0.039974300724100534
+    accelerations:
+      - 0.59039273076182919
+      - -0.079375710320269827
+      - -0.10014933699743073
+      - -0.42357880868722103
+      - 0.52359877585379677
+      - 0.0001137063037695526
+      - -0.079182589075218496
     effort: []
     time_from_start:
       sec: 8
       nanosec: 970000000
   - positions:
-      - 0.69318467238370252
-      - 0.24822464116412457
-      - -1.2701215246232891
-      - 1.4104166480884546
-      - -1.7110637680014835
-      - -1.5708140660929248
-      - 0.24815772266407482
-    velocities:
-      - 0.30130791782192728
-      - -0.034778061361650243
-      - -0.047729807062200279
-      - -0.22437357246723122
-      - 0.27221584658609066
-      - -6.7133842001287442e-05
-      - -0.034664477757685622
-    accelerations:
-      - 0.57955647673745203
-      - -0.066894527220579966
-      - -0.091806810177066461
-      - -0.43157563887498746
-      - 0.52359877596298721
-      - -0.00012912987226278063
-      - -0.066676052665369009
+      - 0.6924077440773817
+      - 0.24785565459714731
+      - -1.2702323529541737
+      - 1.4115839526061542
+      - -1.7121653800838768
+      - -1.5707812294635175
+      - 0.24778491693579008
+    velocities:
+      - 0.3039560223478816
+      - -0.040865552576927679
+      - -0.051560584215247049
+      - -0.21807404314289006
+      - 0.26956802298252286
+      - 5.8540212317776084e-05
+      - -0.040766126614483096
+    accelerations:
+      - 0.59039273088678479
+      - -0.079375710337055011
+      - -0.10014933701862211
+      - -0.42357880877681603
+      - 0.52359877596454152
+      - 0.00011370630379360156
+      - -0.079182589091968986
     effort: []
     time_from_start:
       sec: 8
       nanosec: 980000000
   - positions:
-      - 0.69622551200938498
-      - 0.24787365633817843
-      - -1.2706032201913651
-      - 1.4081522401198678
-      - -1.7083165294323106
-      - -1.5708147436165971
-      - 0.24780788413898353
-    velocities:
-      - 0.30710348258436154
-      - -0.035447006633285878
-      - -0.048647875163188442
-      - -0.2286893288523027
-      - 0.27745183434125792
-      - -6.8425140722814691e-05
-      - -0.035331238283770966
-    accelerations:
-      - 0.5795564758333116
-      - -0.06689452711622508
-      - -0.091806810033851147
-      - -0.4315756382017587
-      - 0.52359877514620967
-      - -0.00012912987206135045
-      - -0.066676052561354504
+      - 0.69547541871588514
+      - 0.24744321921172435
+      - -1.2707527278930275
+      - 1.4093830414141408
+      - -1.709444766157338
+      - -1.5707806386467169
+      - 0.24737348500639689
+    velocities:
+      - 0.30985994965274472
+      - -0.041659309679759837
+      - -0.052562077584753938
+      - -0.22230983122778494
+      - 0.27480401073861666
+      - 5.9677275354940846e-05
+      - -0.041557952504865658
+    accelerations:
+      - 0.59039273101168488
+      - -0.079375710353847134
+      - -0.10014933703980655
+      - -0.42357880886641103
+      - 0.52359877607534178
+      - 0.0001137063038176573
+      - -0.079182589108719476
     effort: []
     time_from_start:
       sec: 8
       nanosec: 990000000
   - positions:
-      - 0.69932430728270067
-      - 0.24751598205951489
-      - -1.2710940964404518
-      - 1.4058446745874233
-      - -1.7055169309855773
-      - -1.5708154340532565
-      - 0.24745137800863026
-    velocities:
-      - 0.31289904734840507
-      - -0.03611595190510726
-      - -0.049565943264431533
-      - -0.23300508523857255
-      - 0.28268782209787913
-      - -6.9716439444700499e-05
-      - -0.035997998810041461
-    accelerations:
-      - 0.57955647654055398
-      - -0.066894527197855089
-      - -0.091806810145890011
-      - -0.43157563872841026
-      - 0.52359877578518499
-      - -0.00012912987221892465
-      - -0.06667605264272046
+      - 0.69860213262743709
+      - 0.2470228462552731
+      - -1.2712831177655763
+      - 1.4071397723412784
+      - -1.7066717923532382
+      - -1.5707800364592859
+      - 0.24695413481809986
+    velocities:
+      - 0.31576387695703051
+      - -0.042453066782514384
+      - -0.053563570954162885
+      - -0.22654561931226563
+      - 0.28003999849419842
+      - 6.0814338391994409e-05
+      - -0.04234977839517079
+    accelerations:
+      - 0.590392730559269
+      - -0.079375710293027729
+      - -0.10014933696305545
+      - -0.42357880854180957
+      - 0.52359877567405166
+      - 0.00011370630373052132
+      - -0.079182589048038848
     effort: []
     time_from_start:
       sec: 9
       nanosec: 0
   - positions:
-      - 0.70248105820365003
-      - 0.24715161832813393
-      - -1.2715941533705499
-      - 1.4034939514911215
-      - -1.7026649726612844
-      - -1.5708161374029035
-      - 0.24708820427301514
-    velocities:
-      - 0.31869461211192929
-      - -0.036784897176868704
-      - -0.05048401136559235
-      - -0.23732084162445569
-      - 0.2879238098540311
-      - -7.1007738166470595e-05
-      - -0.036664759336252205
-    accelerations:
-      - 0.57955647672746002
-      - -0.06689452721942811
-      - -0.091806810175491332
-      - -0.43157563886757672
-      - 0.5235987759539944
-      - -0.00012912987226057157
-      - -0.066676052664224092
+      - 0.70178788581203533
+      - 0.24659453572779391
+      - -1.27182352257182
+      - 1.4048541453875689
+      - -1.7038464586715798
+      - -1.5707794229012244
+      - 0.24652686637089938
+    velocities:
+      - 0.32166780426189362
+      - -0.043246823885346543
+      - -0.054565064323669775
+      - -0.23078140739716052
+      - 0.28527598625029221
+      - 6.1951401429159177e-05
+      - -0.043141604285553345
+    accelerations:
+      - 0.59039273068416909
+      - -0.079375710309812914
+      - -0.10014933698424683
+      - -0.42357880863143232
+      - 0.52359877578479641
+      - 0.00011370630375457706
+      - -0.079182589064782399
     effort: []
     time_from_start:
       sec: 9
       nanosec: 10000000
   - positions:
-      - 0.70569576477223273
-      - 0.24678056514403557
-      - -1.2721033909816595
-      - 1.401100070830962
-      - -1.6997606544594315
-      - -1.5708168536655374
-      - 0.24671836293213817
-    velocities:
-      - 0.32449017687430187
-      - -0.03745384244849722
-      - -0.051402079466570737
-      - -0.24163659800948123
-      - 0.29315979760914262
-      - -7.2299036887984089e-05
-      - -0.037331519862330451
-    accelerations:
-      - 0.57955647576186875
-      - -0.066894527107974736
-      - -0.091806810022526872
-      - -0.43157563814852351
-      - 0.52359877508159469
-      - -0.00012912987204541268
-      - -0.066676052553124976
+      - 0.70503267826968186
+      - 0.24615828762928638
+      - -1.2723739423117584
+      - 1.4025261605530106
+      - -1.7009687651123606
+      - -1.5707787979725327
+      - 0.24609167966479509
+    velocities:
+      - 0.32757173156675673
+      - -0.044040580988178701
+      - -0.055566557693176664
+      - -0.23501719548205541
+      - 0.29051197400638601
+      - 6.3088464466323925e-05
+      - -0.043933430175935907
+    accelerations:
+      - 0.59039273080906918
+      - -0.079375710326605037
+      - -0.10014933700543821
+      - -0.42357880872102732
+      - 0.52359877589559667
+      - 0.00011370630377863279
+      - -0.079182589081539828
     effort: []
     time_from_start:
       sec: 9
       nanosec: 20000000
   - positions:
-      - 0.70896842698844909
-      - 0.24640282250721982
-      - -1.2726218092737804
-      - 1.3986630326069451
-      - -1.6968039763800185
-      - -1.5708175828411586
-      - 0.24634185398599923
-    velocities:
-      - 0.33028574163840763
-      - -0.03812278772032579
-      - -0.052320147567823688
-      - -0.24595235439579743
-      - 0.29839578536582007
-      - -7.3590335609883761e-05
-      - -0.037998280388608106
-    accelerations:
-      - 0.57955647653167219
-      - -0.066894527196835071
-      - -0.091806810144481416
-      - -0.43157563872180443
-      - 0.52359877577713587
-      - -0.00012912987221694598
-      - -0.066676052641700442
+      - 0.70833651000037623
+      - 0.24571410195975063
+      - -1.272934376985392
+      - 1.4001558178376039
+      - -1.6980387116755811
+      - -1.5707781616732106
+      - 0.24564857469978704
+    velocities:
+      - 0.33347565887161984
+      - -0.044834338091010867
+      - -0.056568051062683554
+      - -0.23925298356695035
+      - 0.29574796176247986
+      - 6.4225527503488701e-05
+      - -0.044725256066318476
+    accelerations:
+      - 0.59039273093396927
+      - -0.079375710343404099
+      - -0.10014933702662265
+      - -0.42357880881067783
+      - 0.52359877600639693
+      - 0.00011370630380270208
+      - -0.079182589098297257
     effort: []
     time_from_start:
       sec: 9
       nanosec: 30000000
   - positions:
-      - 0.71229904485229945
-      - 0.24601839041768656
-      - -1.2731494082469128
-      - 1.3961828368190705
-      - -1.6937949384230453
-      - -1.5708183249297671
-      - 0.24595867743459832
-    velocities:
-      - 0.33608130640193212
-      - -0.038791732992087262
-      - -0.053238215668984554
-      - -0.25026811078168076
-      - 0.30363177312197231
-      - -7.4881634331653925e-05
-      - -0.038665040914818878
-    accelerations:
-      - 0.57955647671918886
-      - -0.066894527218477481
-      - -0.09180681017418682
-      - -0.43157563886144273
-      - 0.52359877594655591
-      - -0.00012912987225872842
-      - -0.066676052663273463
+      - 0.71169938100411723
+      - 0.24526197871918687
+      - -1.2735048265927202
+      - 1.3977431172413497
+      - -1.6950562983612425
+      - -1.570777514003258
+      - 0.24519755147587546
+    velocities:
+      - 0.33937958617648289
+      - -0.045628095193843025
+      - -0.057569544432190436
+      - -0.24348877165184521
+      - 0.3009839495185736
+      - 6.5362590540653449e-05
+      - -0.045517081956701032
+    accelerations:
+      - 0.59039273105881385
+      - -0.079375710360189283
+      - -0.1001493370478071
+      - -0.42357880890027283
+      - 0.52359877611714167
+      - 0.00011370630382674427
+      - -0.079182589115040808
     effort: []
     time_from_start:
       sec: 9
       nanosec: 40000000
   - positions:
-      - 0.71568761836378214
-      - 0.24562726887543604
-      - -1.2736861879010564
-      - 1.3936594834673388
-      - -1.6907335405885129
-      - -1.5708190799313626
-      - 0.24556883327793563
-    velocities:
-      - 0.34187687116545679
-      - -0.039460678263848754
-      - -0.05415628377014544
-      - -0.25458386716756426
-      - 0.30886776087812468
-      - -7.6172933053424117e-05
-      - -0.039331801441029671
-    accelerations:
-      - 0.57955647690687206
-      - -0.066894527240147647
-      - -0.091806810203913042
-      - -0.43157563900121981
-      - 0.52359877611614247
-      - -0.00012912987230055152
-      - -0.066676052684860362
+      - 0.71512129128090618
+      - 0.24480191790759484
+      - -1.2740852911337435
+      - 1.3952880587642471
+      - -1.6920215251693436
+      - -1.5707768549626753
+      - 0.24473860999306019
+    velocities:
+      - 0.34528351348076858
+      - -0.046421852296597552
+      - -0.05857103780159937
+      - -0.24772455973632582
+      - 0.30621993727415531
+      - 6.6499653577706998e-05
+      - -0.046308907847006149
+    accelerations:
+      - 0.59039273060628694
+      - -0.079375710299349062
+      - -0.10014933697104211
+      - -0.42357880857558811
+      - 0.52359877571579605
+      - 0.00011370630373958796
+      - -0.079182589054346303
     effort: []
     time_from_start:
       sec: 9
       nanosec: 50000000
   - positions:
-      - 0.7191341475228985
-      - 0.2452294578804681
-      - -1.2742321482362111
-      - 1.3910929725517498
-      - -1.6876197828764208
-      - -1.5708198478459454
-      - 0.24517232151601104
-    velocities:
-      - 0.34767243592841079
-      - -0.040129623535544376
-      - -0.055074351871215933
-      - -0.25889962355302276
-      - 0.3141037486337615
-      - -7.7464231775067159e-05
-      - -0.039998561967174814
-    accelerations:
-      - 0.57955647652390063
-      - -0.066894527195939954
-      - -0.091806810143246292
-      - -0.43157563871605903
-      - 0.52359877577014147
-      - -0.00012912987221521126
-      - -0.066676052640805325
+      - 0.71860224083074165
+      - 0.2443339195249748
+      - -1.2746757706084613
+      - 1.3927906424062968
+      - -1.6889343920998856
+      - -1.5707761845514621
+      - 0.24427175025134132
+    velocities:
+      - 0.35118744078563169
+      - -0.047215609399429717
+      - -0.059572531171106266
+      - -0.25196034782122073
+      - 0.31145592503024916
+      - 6.763671661487176e-05
+      - -0.047100733737388718
+    accelerations:
+      - 0.59039273073118703
+      - -0.079375710316148124
+      - -0.10014933699224043
+      - -0.42357880866523862
+      - 0.52359877582659631
+      - 0.0001137063037636437
+      - -0.079182589071103732
     effort: []
     time_from_start:
       sec: 9
       nanosec: 60000000
   - positions:
-      - 0.72263863224768421
-      - 0.24482495744224331
-      - -1.2747872892393937
-      - 1.3884833041333391
-      - -1.6844536653608186
-      - -1.5708206286734971
-      - 0.24476914215825427
-    velocities:
-      - 0.35347823561692188
-      - -0.040799750159763455
-      - -0.055994041273929915
-      - -0.26322300153311645
-      - 0.31934898310599574
-      - -7.8757810922714413e-05
-      - -0.040666499987598317
-    accelerations:
-      - 0.57955647679945799
-      - -0.066894527227740905
-      - -0.091806810186898874
-      - -0.43157563892122824
-      - 0.52359877601910898
-      - -0.00012912987227953155
-      - -0.066676052672502192
+      - 0.72214222959190177
+      - 0.24385798357962493
+      - -1.275276265006404
+      - 1.390250868211782
+      - -1.6857948992076077
+      - -1.5707755027696304
+      - 0.24379697225899696
+    velocities:
+      - 0.35710739806134845
+      - -0.048011521661457661
+      - -0.060576743732210149
+      - -0.25620763665062851
+      - 0.31670612920988089
+      - 6.8776866934996413e-05
+      - -0.047894709543460784
+    accelerations:
+      - 0.59039273079269339
+      - -0.079375710324398469
+      - -0.10014933700265571
+      - -0.42357880870931447
+      - 0.52359877588110826
+      - 0.00011370630377739951
+      - -0.079182589079347138
     effort: []
     time_from_start:
       sec: 9
       nanosec: 70000000
   - positions:
-      - 0.72620107261826972
-      - 0.24441376755151278
-      - -1.2753516109232967
-      - 1.3858304781524362
-      - -1.6812351879693135
-      - -1.570821422414036
-      - 0.24435929519544652
-    velocities:
-      - 0.35927380037917117
-      - -0.041468695431377739
-      - -0.056912109374888782
-      - -0.2675387579180501
-      - 0.3245849708609958
-      - -8.0049109644229601e-05
-      - -0.04133326051366238
-    accelerations:
-      - 0.57955647571068747
-      - -0.066894527102076676
-      - -0.091806810014429183
-      - -0.43157563811044286
-      - 0.52359877503540941
-      - -0.00012912987203694235
-      - -0.066676052547247733
+      - 0.72574125755784369
+      - 0.24337411007242496
+      - -1.2758867743264612
+      - 1.3876687361853963
+      - -1.6826030464983124
+      - -1.5707748096171812
+      - 0.24331427601690467
+    velocities:
+      - 0.36301132536621156
+      - -0.048805278764289826
+      - -0.061578237101717025
+      - -0.26044342473552345
+      - 0.32194211696597463
+      - 6.991392997218027e-05
+      - -0.048686535433843346
+    accelerations:
+      - 0.59039273091759348
+      - -0.079375710341197531
+      - -0.1001493370238471
+      - -0.42357880879890947
+      - 0.523598775991853
+      - 0.0001137063038014417
+      - -0.079182589096097628
     effort: []
     time_from_start:
       sec: 9
       nanosec: 80000000
   - positions:
-      - 0.72982146863648856
-      - 0.24399588820806486
-      - -1.2759251132882115
-      - 1.383134494607676
-      - -1.6779643507002486
-      - -1.5708222290675617
-      - 0.2439427806273769
-    velocities:
-      - 0.36506936514340044
-      - -0.042137640703220562
-      - -0.057830177476161308
-      - -0.27185451430445823
-      - 0.32982095861778477
-      - -8.134040836618595e-05
-      - -0.042000021039954233
-    accelerations:
-      - 0.57955647660400322
-      - -0.066894527205182561
-      - -0.091806810155937529
-      - -0.43157563877567801
-      - 0.5235987758424725
-      - -0.00012912987223598728
-      - -0.066676052650013237
+      - 0.72939932479683423
+      - 0.24288229899419661
+      - -1.2765072985802139
+      - 1.3850442462781616
+      - -1.6793588339114556
+      - -1.5707741050941018
+      - 0.24282366151590851
+    velocities:
+      - 0.36891525267107467
+      - -0.049599035867121985
+      - -0.062579730471223893
+      - -0.2646792128204184
+      - 0.32717810472206837
+      - 7.1050993009364128e-05
+      - -0.049478361324225902
+    accelerations:
+      - 0.59039273104249357
+      - -0.079375710357989654
+      - -0.10014933704503154
+      - -0.42357880888850447
+      - 0.52359877610259775
+      - 0.00011370630382549743
+      - -0.079182589112848117
     effort: []
     time_from_start:
       sec: 9
       nanosec: 90000000
   - positions:
-      - 0.73349982030234073
-      - 0.24357131941189947
-      - -1.2765077963341371
-      - 1.3803953534990581
-      - -1.6746411535536234
-      - -1.5708230486340748
-      - 0.24351959845404533
-    velocities:
-      - 0.3708649299069251
-      - -0.042806585974982055
-      - -0.058748245577322215
-      - -0.27617027069034161
-      - 0.33505694637393718
-      - -8.2631707087985306e-05
-      - -0.042666781566165032
-    accelerations:
-      - 0.57955647679168643
-      - -0.066894527226845787
-      - -0.09180681018567069
-      - -0.43157563891539957
-      - 0.52359877601205906
-      - -0.00012912987227779683
-      - -0.066676052671614014
+      - 0.73311643130887183
+      - 0.24238255034494019
+      - -1.2771378377676612
+      - 1.3823773984900791
+      - -1.67606226144704
+      - -1.5707733892003923
+      - 0.24232512875600878
+    velocities:
+      - 0.37481917997460723
+      - -0.050392792969775259
+      - -0.063581223840505061
+      - -0.26891500090435871
+      - 0.33241409247698217
+      - 7.2188056046291733e-05
+      - -0.050270187214430009
+    accelerations:
+      - 0.59039272983579816
+      - -0.079375710195756094
+      - -0.10014933684034361
+      - -0.42357880802277725
+      - 0.52359877503246732
+      - 0.0001137063035931
+      - -0.079182588951010421
     effort: []
     time_from_start:
       sec: 9
       nanosec: 100000000
   - positions:
-      - 0.73723612761582635
-      - 0.24314006116301679
-      - -1.2770996600610744
-      - 1.3776130548265832
-      - -1.671265596529439
-      - -1.5708238811135753
-      - 0.24308974867545197
-    velocities:
-      - 0.37666049467044965
-      - -0.043475531246743533
-      - -0.059666313678483095
-      - -0.28048602707622494
-      - 0.34029293413008943
-      - -8.3923005809784622e-05
-      - -0.043333542092375804
-    accelerations:
-      - 0.57955647697920309
-      - -0.066894527248488198
-      - -0.091806810215376095
-      - -0.43157563905506563
-      - 0.5235987761814791
-      - -0.00012912987231957927
-      - -0.066676052693180096
+      - 0.73689257709395628
+      - 0.24187486412465567
+      - -1.2777783918888033
+      - 1.3796681928211489
+      - -1.6727133291050644
+      - -1.5707726619360523
+      - 0.24181867773720539
+    velocities:
+      - 0.38072310728022363
+      - -0.051186550072708691
+      - -0.064582717210139709
+      - -0.27315078898979406
+      - 0.33765008023374393
+      - 7.332511908362067e-05
+      - -0.051062013104913595
+    accelerations:
+      - 0.59039273071503329
+      - -0.079375710313962372
+      - -0.10014933698948569
+      - -0.42357880865352576
+      - 0.52359877581216341
+      - 0.00011370630376243752
+      - -0.079182589068931858
     effort: []
     time_from_start:
       sec: 9
       nanosec: 110000000
   - positions:
-      - 0.74103039057694531
-      - 0.24270211346141665
-      - -1.2777007044690227
-      - 1.3747875985902505
-      - -1.6678376796276941
-      - -1.5708247265060624
-      - 0.2426532312915966
-    velocities:
-      - 0.38245605943340366
-      - -0.044144476518439162
-      - -0.060584381779553602
-      - -0.28480178346168339
-      - 0.3455289218857262
-      - -8.5214304531456829e-05
-      - -0.044000302618520948
-    accelerations:
-      - 0.57955647659623166
-      - -0.066894527204287443
-      - -0.091806810154702406
-      - -0.43157563876984933
-      - 0.52359877583547809
-      - -0.00012912987223423901
-      - -0.066676052649125059
+      - 0.7407277621520898
+      - 0.24135924033334274
+      - -1.2784289609436406
+      - 1.3769166292713693
+      - -1.6693120368855279
+      - -1.5707719233010815
+      - 0.24130430845949816
+    velocities:
+      - 0.38662703458508674
+      - -0.051980307175540856
+      - -0.065584210579646585
+      - -0.27738657707468906
+      - 0.34288606798983773
+      - 7.4462182120804528e-05
+      - -0.051853838995296157
+    accelerations:
+      - 0.59039273083993338
+      - -0.079375710330761434
+      - -0.10014933701067708
+      - -0.42357880874323178
+      - 0.52359877592296367
+      - 0.00011370630378649326
+      - -0.079182589085682348
     effort: []
     time_from_start:
       sec: 9
       nanosec: 120000000
   - positions:
-      - 0.74488260918569849
-      - 0.24225747630709904
-      - -1.2783109295579826
-      - 1.3719189847900599
-      - -1.6643574028483892
-      - -1.5708255848115373
-      - 0.24221004630247933
-    velocities:
-      - 0.38825162419692838
-      - -0.044813421790200654
-      - -0.061502449880714509
-      - -0.28911753984756677
-      - 0.35076490964187856
-      - -8.6505603253256186e-05
-      - -0.04466706314473174
-    accelerations:
-      - 0.57955647678391486
-      - -0.066894527225943731
-      - -0.091806810184435567
-      - -0.43157563890962641
-      - 0.52359877600500915
-      - -0.00012912987227606211
-      - -0.066676052670718897
+      - 0.74462198648326883
+      - 0.24083567897100197
+      - -1.2790895449321722
+      - 1.3741227078407432
+      - -1.6658583847884332
+      - -1.5707711732954808
+      - 0.2407820209228875
+    velocities:
+      - 0.39253096188994985
+      - -0.052774064278373008
+      - -0.066585703949153446
+      - -0.28162236515958394
+      - 0.34812205574593147
+      - 7.5599245157988385e-05
+      - -0.052645664885678713
+    accelerations:
+      - 0.59039273096483347
+      - -0.079375710347546619
+      - -0.10014933703185458
+      - -0.42357880883277127
+      - 0.52359877603370841
+      - 0.00011370630381053544
+      - -0.079182589102432838
     effort: []
     time_from_start:
       sec: 9
       nanosec: 130000000
   - positions:
-      - 0.74879278344208444
-      - 0.24180614970006409
-      - -1.2789303353279537
-      - 1.3690072134260123
-      - -1.6608247661915247
-      - -1.5708264560299994
-      - 0.24176019370810023
-    velocities:
-      - 0.39404718896045282
-      - -0.045482367061962126
-      - -0.062420517981875381
-      - -0.29343329623345005
-      - 0.35600089739803076
-      - -8.7796901975055502e-05
-      - -0.045333823670942512
-    accelerations:
-      - 0.57955647697137602
-      - -0.066894527247586141
-      - -0.091806810214134033
-      - -0.43157563904923696
-      - 0.52359877617437367
-      - -0.000129129872317831
-      - -0.066676052692284979
+      - 0.7485752500874967
+      - 0.24030418003763282
+      - -1.2797601438543993
+      - 1.3712864285292676
+      - -1.662352372813777
+      - -1.5707704119192498
+      - 0.24025181512737301
+    velocities:
+      - 0.39843488919481296
+      - -0.053567821381205173
+      - -0.067587197318660322
+      - -0.28585815324447894
+      - 0.35335804350202527
+      - 7.6736308195172255e-05
+      - -0.053437490776061275
+    accelerations:
+      - 0.59039273108973356
+      - -0.079375710364345681
+      - -0.10014933705304596
+      - -0.42357880892242178
+      - 0.52359877614456418
+      - 0.00011370630383460473
+      - -0.079182589119190266
     effort: []
     time_from_start:
       sec: 9
       nanosec: 140000000
   - positions:
-      - 0.7527226349180367
-      - 0.24135255187641308
-      - -1.279552858141447
-      - 1.3660807891179521
-      - -1.6572743522023505
-      - -1.5708273316327048
-      - 0.24130807731479764
-    velocities:
-      - 0.3901637668928179
-      - -0.045034128290350375
-      - -0.061805349992367538
-      - -0.29054144629796885
-      - 0.35249242993579466
-      - -8.6931644117235499e-05
-      - -0.044887048827253223
-    accelerations:
-      - -0.57955647589445969
-      - 0.066894527123282796
-      - 0.091806810043541326
-      - 0.43157563824726736
-      - -0.52359877520142972
-      - 0.00012912987207789705
-      - 0.066676052568384089
+      - 0.7525749767015254
+      - 0.23976643435660838
+      - -1.2804386243770998
+      - 1.3684168142099002
+      - -1.658805154411964
+      - -1.5707696415945054
+      - 0.23971537778255148
+    velocities:
+      - 0.39830181133395676
+      - -0.053549929647139047
+      - -0.06756462309164267
+      - -0.28576267618518081
+      - 0.35324002137640109
+      - 7.6710678151163672e-05
+      - -0.053419642572616104
+    accelerations:
+      - -0.59039273016863703
+      - 0.079375710240507241
+      - 0.10014933689679595
+      - 0.42357880826156152
+      - -0.52359877532766208
+      - -0.00011370630365720215
+      - 0.079182588995650199
     effort: []
     time_from_start:
       sec: 9
       nanosec: 150000000
   - positions:
-      - 0.75659656400882402
-      - 0.24090540881889241
-      - -1.280166522360471
-      - 1.363196008273599
-      - -1.6537744611451017
-      - -1.5708281947754505
-      - 0.24086239460664588
-    velocities:
-      - 0.38436820212929318
-      - -0.044365183018588883
-      - -0.060887281891206631
-      - -0.28622568991208541
-      - 0.34725644217964224
-      - -8.5640345395436143e-05
-      - -0.044220288301042424
-    accelerations:
-      - -0.57955647608214289
-      - 0.066894527144946023
-      - 0.091806810073267547
-      - 0.43157563838704444
-      - -0.52359877537101629
-      - 0.0001291298721197066
-      - 0.066676052589984866
+      - 0.75653278215573283
+      - 0.23923432479145215
+      - -1.2811099937411707
+      - 1.3655772763362795
+      - -1.6552951144285515
+      - -1.5707688793435395
+      - 0.2391845628409181
+    velocities:
+      - 0.39239788402909365
+      - -0.052756172544306895
+      - -0.066563129722135808
+      - -0.28152688810028592
+      - 0.34800403362030741
+      - 7.5573615113979815e-05
+      - -0.052627816682233548
+    accelerations:
+      - -0.59039273029353712
+      - 0.079375710257292426
+      - 0.10014933691797345
+      - 0.42357880835115652
+      - -0.52359877543835132
+      - -0.00011370630368124433
+      - 0.07918258901239375
     effort: []
     time_from_start:
       sec: 9
       nanosec: 160000000
   - positions:
-      - 0.76041253745197745
-      - 0.2404649552140892
-      - -1.2807710058984836
-      - 1.3603543849931035
-      - -1.6503269299654133
-      - -1.5708290450052091
-      - 0.24042337950375606
-    velocities:
-      - 0.37857263736633612
-      - -0.043696237746893497
-      - -0.059969213790134819
-      - -0.28190993352662835
-      - 0.34202045442400836
-      - -8.4349046672461064e-05
-      - -0.043553527774897509
-    accelerations:
-      - -0.57955647569900492
-      - 0.066894527100731391
-      - 0.091806810012579981
-      - 0.43157563810177263
-      - -0.52359877502484875
-      - 0.00012912987203234701
-      - 0.066676052545902073
+      - 0.76043154833689286
+      - 0.23871015279732402
+      - -1.2817713481715469
+      - 1.3627800963435064
+      - -1.6518374343226985
+      - -1.570768128463204
+      - 0.23866166615818835
+    velocities:
+      - 0.38649395672480791
+      - -0.051962415441552418
+      - -0.065561636352728575
+      - -0.27729110001580431
+      - 0.34276804586472609
+      - 7.4436552073590866e-05
+      - -0.051835990791928743
+    accelerations:
+      - -0.59039272984106572
+      - 0.079375710196459143
+      - 0.10014933684122929
+      - 0.42357880802652731
+      - -0.5235987750370612
+      - -0.00011370630358904649
+      - 0.079182588951706184
     effort: []
     time_from_start:
       sec: 9
       nanosec: 170000000
   - positions:
-      - 0.76417055524749766
-      - 0.24003119106200338
-      - -1.281366308755485
-      - 1.3575559192764652
-      - -1.646931758663285
-      - -1.5708298823219806
-      - 0.23999103200612812
-    velocities:
-      - 0.37277707260281157
-      - -0.043027292475132012
-      - -0.059051145688973947
-      - -0.27759417714074497
-      - 0.336784466667856
-      - -8.305774795068167e-05
-      - -0.042886767248686716
-    accelerations:
-      - -0.57955647588663262
-      - 0.06689452712238074
-      - 0.091806810042292325
-      - 0.43157563824143869
-      - -0.52359877519437981
-      - 0.00012912987207415656
-      - 0.066676052567488972
+      - 0.76427127524500549
+      - 0.23819391837422405
+      - -1.2824226876682279
+      - 1.3600252742315817
+      - -1.6484321140944058
+      - -1.570767388953499
+      - 0.23814668773436229
+    velocities:
+      - 0.38059002941994485
+      - -0.051168658338720259
+      - -0.064560142983221686
+      - -0.27305531193090943
+      - 0.33753205810863235
+      - 7.3299489036457682e-05
+      - -0.051044164901546181
+    accelerations:
+      - -0.5903927299659103
+      - 0.079375710213251266
+      - 0.10014933686240679
+      - 0.4235788081160668
+      - -0.52359877514780595
+      - -0.00011370630361308868
+      - 0.079182588968456674
     effort: []
     time_from_start:
       sec: 9
       nanosec: 180000000
   - positions:
-      - 0.76787061739538409
-      - 0.23960411636263496
-      - -1.2819524309314747
-      - 1.3548006111236848
-      - -1.6435889472387162
-      - -1.5708307067257645
-      - 0.23956535211376209
-    velocities:
-      - 0.36698150783928707
-      - -0.042358347203370526
-      - -0.058133077587813081
-      - -0.27327842075486164
-      - 0.33154847891170369
-      - -8.176644922890229e-05
-      - -0.042220006722475938
-    accelerations:
-      - -0.57955647607414928
-      - 0.066894527144030089
-      - 0.091806810072004669
-      - 0.43157563838110474
-      - -0.52359877536379984
-      - 0.000129129872115939
-      - 0.066676052589061993
+      - 0.76805196288007083
+      - 0.23768562152215222
+      - -1.2830640122312142
+      - 1.3573128100005047
+      - -1.6450791537436724
+      - -1.5707666608144244
+      - 0.23763962756943985
+    velocities:
+      - 0.37468610211508169
+      - -0.050374901235888093
+      - -0.063558649613714782
+      - -0.26881952384601449
+      - 0.33229607035253855
+      - 7.2162425999324471e-05
+      - -0.050252339011163612
+    accelerations:
+      - -0.5903927300908659
+      - 0.079375710230050328
+      - 0.10014933688361205
+      - 0.42357880820571731
+      - -0.52359877525860621
+      - -0.00011370630363714441
+      - 0.079182588985214103
     effort: []
     time_from_start:
       sec: 9
       nanosec: 190000000
   - positions:
-      - 0.77151272389563808
-      - 0.23918373111598387
-      - -1.2825293724264535
-      - 1.3520884605347612
-      - -1.6402984956917068
-      - -1.5708315182165613
-      - 0.23914633982665789
-    velocities:
-      - 0.36118594307504892
-      - -0.041689401931526669
-      - -0.057215009486539167
-      - -0.2689626643684469
-      - 0.32631249115490663
-      - -8.0475150506963898e-05
-      - -0.041553246196183051
-    accelerations:
-      - -0.5795564769742878
-      - 0.066894527247932226
-      - 0.091806810214602394
-      - 0.43157563905141239
-      - -0.52359877617710726
-      - 0.00012912987231650388
-      - 0.066676052692624499
+      - 0.77177361124208965
+      - 0.23718526224110842
+      - -1.2836953218605061
+      - 1.3546427036502751
+      - -1.6417785532704983
+      - -1.57076594404598
+      - 0.23714048566342094
+    velocities:
+      - 0.36878217481021863
+      - -0.049581144133055942
+      - -0.062557156244207893
+      - -0.26458373576111954
+      - 0.32706008259644481
+      - 7.1025362962191273e-05
+      - -0.049460513120781056
+    accelerations:
+      - -0.59039273021565497
+      - 0.079375710246828574
+      - 0.10014933690478955
+      - 0.42357880829536781
+      - -0.52359877536935095
+      - -0.00011370630366120015
+      - 0.079182589001957654
     effort: []
     time_from_start:
       sec: 9
       nanosec: 200000000
   - positions:
-      - 0.77509687474825761
-      - 0.23877003532205029
-      - -1.2830971332404206
-      - 1.3494194675096955
-      - -1.6370604040222583
-      - -1.5708323167943712
-      - 0.23873399514481566
-    velocities:
-      - 0.35539037831280845
-      - -0.041020456659913399
-      - -0.056296941385581709
-      - -0.26464690798351975
-      - 0.32107650339991445
-      - -7.9183851785470625e-05
-      - -0.040886485670120001
-    accelerations:
-      - -0.57955647587886105
-      - 0.066894527121485622
-      - 0.091806810041064141
-      - 0.43157563823566553
-      - -0.52359877518732989
-      - 0.00012912987207240828
-      - 0.066676052566586916
+      - 0.77543622033105919
+      - 0.23669284053109307
+      - -1.2843166165561026
+      - 1.3520149551808953
+      - -1.6385303126748858
+      - -1.5707652386481663
+      - 0.23664926201630598
+    velocities:
+      - 0.36287824750535547
+      - -0.048787387030223776
+      - -0.061555662874700996
+      - -0.2603479476762246
+      - 0.32182409484035102
+      - 6.9888299925058075e-05
+      - -0.048668687230398487
+    accelerations:
+      - -0.59039273034061057
+      - 0.079375710263627636
+      - 0.100149336925974
+      - 0.42357880838496281
+      - -0.52359877548015121
+      - -0.00011370630368525588
+      - 0.079182589018715083
     effort: []
     time_from_start:
       sec: 9
       nanosec: 210000000
   - positions:
-      - 0.77862306995324415
-      - 0.23836302898083406
-      - -1.2836557133733768
-      - 1.3467936320484872
-      - -1.6338746722303692
-      - -1.5708331024591935
-      - 0.23832831806823529
-    velocities:
-      - 0.34959481354928396
-      - -0.040351511388151913
-      - -0.05537887328442085
-      - -0.26033115159763642
-      - 0.31584051564376214
-      - -7.7892553063691245e-05
-      - -0.040219725143909216
-    accelerations:
-      - -0.57955647606637772
-      - 0.066894527143134971
-      - 0.091806810070769546
-      - 0.43157563837527607
-      - -0.52359877535674992
-      - 0.00012912987211420428
-      - 0.066676052588166876
+      - 0.7790397901469821
+      - 0.23620835639210572
+      - -1.2849278963180044
+      - 1.3494295645923626
+      - -1.6353344319568321
+      - -1.5707645446209826
+      - 0.23616595662809453
+    velocities:
+      - 0.35697432020106984
+      - -0.04799362992746925
+      - -0.060554169505292056
+      - -0.25611215959174399
+      - 0.31658810708476937
+      - 6.8751236888036076e-05
+      - -0.04787686134009337
+    accelerations:
+      - -0.59039272988802816
+      - 0.079375710202787414
+      - 0.10014933684920901
+      - 0.42357880806027809
+      - -0.52359877507880559
+      - -0.00011370630359811313
+      - 0.079182588958020578
     effort: []
     time_from_start:
       sec: 9
       nanosec: 220000000
   - positions:
-      - 0.78209130951059724
-      - 0.23796271209233527
-      - -1.2842051128253213
-      - 1.3442109541511367
-      - -1.63074130031604
-      - -1.5708338752110289
-      - 0.23792930859691686
-    velocities:
-      - 0.34379924878510765
-      - -0.039682566116315196
-      - -0.054460805183156727
-      - -0.2560153952112677
-      - 0.31060452788702092
-      - -7.6601254341766636e-05
-      - -0.039552964617623448
-    accelerations:
-      - -0.57955647690473233
-      - 0.066894527239896986
-      - 0.091806810203569553
-      - 0.43157563899956497
-      - -0.52359877611421313
-      - 0.00012912987230098623
-      - 0.066676052684610077
+      - 0.7825843206898575
+      - 0.23573180982414654
+      - -1.2855291611462112
+      - 1.3468865318846781
+      - -1.6321909111163384
+      - -1.5707638619644295
+      - 0.23569056949878678
+    velocities:
+      - 0.35107039289620651
+      - -0.047199872824637064
+      - -0.059552676135785125
+      - -0.25187637150684894
+      - 0.31135211932867546
+      - 6.7614173850902838e-05
+      - -0.04708503544971078
+    accelerations:
+      - -0.59039273001315029
+      - 0.079375710219607293
+      - 0.10014933687042815
+      - 0.42357880815003962
+      - -0.52359877518971687
+      - -0.00011370630362219597
+      - 0.079182588974798823
     effort: []
     time_from_start:
       sec: 9
       nanosec: 230000000
   - positions:
-      - 0.78550159342031722
-      - 0.23756908465655383
-      - -1.2847453315962547
-      - 1.341671433817643
-      - -1.6276602882792706
-      - -1.570834635049877
-      - 0.23753696673086025
-    velocities:
-      - 0.33800368402280551
-      - -0.039013620844694806
-      - -0.053542737082189498
-      - -0.25169963882629459
-      - 0.30536854013197301
-      - -7.5309955620259607e-05
-      - -0.038886204091553293
-    accelerations:
-      - -0.57955647587092296
-      - 0.066894527120569688
-      - 0.091806810039808201
-      - 0.43157563822978134
-      - -0.52359877518016895
-      - 0.00012912987207064645
-      - 0.066676052565677921
+      - 0.78606981195968539
+      - 0.23526320082721555
+      - -1.2861204110407232
+      - 1.344385857057842
+      - -1.629099750153405
+      - -1.5707631906785064
+      - 0.2352231006283827
+    velocities:
+      - 0.34516646559134345
+      - -0.046406115721804912
+      - -0.058551182766278236
+      - -0.24764058342195402
+      - 0.30611613157258172
+      - 6.6477110813769653e-05
+      - -0.046293209559328224
+    accelerations:
+      - -0.59039273013799487
+      - 0.079375710236385538
+      - 0.10014933689161259
+      - 0.42357880823963462
+      - -0.52359877530046162
+      - -0.00011370630364623816
+      - 0.079182588991542374
     effort: []
     time_from_start:
       sec: 9
       nanosec: 240000000
   - positions:
-      - 0.78885392168240287
-      - 0.23718214667348989
-      - -1.2852763696861766
-      - 1.3391750710480077
-      - -1.6246316361200615
-      - -1.5708353819757377
-      - 0.23715129247006567
-    velocities:
-      - 0.3322081192592809
-      - -0.038344675572933307
-      - -0.052624668981028612
-      - -0.24738388244041118
-      - 0.30013255237582059
-      - -7.40186568984802e-05
-      - -0.038219443565342501
-    accelerations:
-      - -0.57955647605860616
-      - 0.066894527142232915
-      - 0.091806810069534422
-      - 0.43157563836950291
-      - -0.52359877534975552
-      - 0.000129129872112456
-      - 0.066676052587271759
+      - 0.78949626395646622
+      - 0.23480252940131269
+      - -1.2867016460015404
+      - 1.3419275401118536
+      - -1.6260609490680311
+      - -1.570762530763214
+      - 0.23476355001688226
+    velocities:
+      - 0.33926253828648029
+      - -0.045612358618972747
+      - -0.057549689396771332
+      - -0.24340479533705908
+      - 0.30088014381648792
+      - 6.5340047776636442e-05
+      - -0.045501383668945655
+    accelerations:
+      - -0.59039273026295047
+      - 0.0793757102531846
+      - 0.10014933691280398
+      - 0.42357880832925737
+      - -0.52359877541126187
+      - -0.00011370630367030745
+      - 0.079182589008299803
     effort: []
     time_from_start:
       sec: 9
       nanosec: 250000000
   - positions:
-      - 0.79214829429685574
-      - 0.23680189814314329
-      - -1.2857982270950874
-      - 1.3367218658422295
-      - -1.6216553438384118
-      - -1.5708361159886111
-      - 0.23677228581453288
-    velocities:
-      - 0.32641255449575646
-      - -0.037675730301171835
-      - -0.05170660087986776
-      - -0.24306812605452791
-      - 0.29489656461966834
-      - -7.2727358176700833e-05
-      - -0.037552683039131729
-    accelerations:
-      - -0.57955647624606732
-      - 0.066894527163868386
-      - 0.091806810099232888
-      - 0.43157563850911346
-      - -0.52359877551912004
-      - 0.00012912987215423844
-      - 0.066676052608837841
+      - 0.79286367668019808
+      - 0.23434979554643817
+      - -1.2872728660286625
+      - 1.3395115810467144
+      - -1.6230745078602182
+      - -1.5707618822185521
+      - 0.23431191766428569
+    velocities:
+      - 0.33335861098161723
+      - -0.044818601516140588
+      - -0.056548196027264443
+      - -0.2391690072521642
+      - 0.29564415606039418
+      - 6.4202984739503244e-05
+      - -0.0447095577785631
+    accelerations:
+      - -0.59039273038779505
+      - 0.079375710269976724
+      - 0.10014933693398842
+      - 0.42357880841882461
+      - -0.52359877552200662
+      - -0.00011370630369434963
+      - 0.079182589025043354
     effort: []
     time_from_start:
       sec: 9
       nanosec: 260000000
   - positions:
-      - 0.79538471126367516
-      - 0.23642833906551408
-      - -1.2863109038229867
-      - 1.3343118182003084
-      - -1.6187314114343221
-      - -1.5708368370884978
-      - 0.23639994676426201
-    velocities:
-      - 0.3206169897328065
-      - -0.037006785029475922
-      - -0.050788532778799626
-      - -0.23875236966906682
-      - 0.28966057686402846
-      - -7.1436059457540764e-05
-      - -0.03688592251298637
-    accelerations:
-      - -0.5795564758631514
-      - 0.066894527119667632
-      - 0.091806810038580017
-      - 0.43157563822392492
-      - -0.52359877517311904
-      - 0.00012912987207341117
-      - 0.066676052564782803
+      - 0.79617205013088377
+      - 0.23390499926259167
+      - -1.2878340711220899
+      - 1.3371379798624223
+      - -1.6201404265299642
+      - -1.5707612450445203
+      - 0.2338682035705926
+    velocities:
+      - 0.32745468367733066
+      - -0.044024844413386187
+      - -0.055546702657855017
+      - -0.23493321916768431
+      - 0.29040816830481297
+      - 6.3065921700601848e-05
+      - -0.043917731888257636
+    accelerations:
+      - -0.59039272993532366
+      - 0.079375710209143441
+      - 0.10014933685722344
+      - 0.42357880809422316
+      - -0.52359877512071651
+      - -0.00011370630360381875
+      - 0.079182588964362727
     effort: []
     time_from_start:
       sec: 9
       nanosec: 270000000
   - positions:
-      - 0.79856317258286114
-      - 0.2360614694406023
-      - -1.2868143998698749
-      - 1.3319449281222453
-      - -1.6158598389077923
-      - -1.5708375452753969
-      - 0.23603427531925308
-    velocities:
-      - 0.31482142496928234
-      - -0.036337839757714485
-      - -0.049870464677638775
-      - -0.2344366132831838
-      - 0.28442458910787655
-      - -7.0144760735716416e-05
-      - -0.03621916198677564
-    accelerations:
-      - -0.57955647604994642
-      - 0.066894527141233714
-      - 0.091806810068174399
-      - 0.43157563836306362
-      - -0.52359877534192845
-      - 0.00012912987211503098
-      - 0.066676052586272558
+      - 0.7994213843085215
+      - 0.23346814054977338
+      - -1.2883852612818223
+      - 1.3348067365589791
+      - -1.6172587050772707
+      - -1.570760619241119
+      - 0.23343240773580326
+    velocities:
+      - 0.32155075637246755
+      - -0.043231087310554028
+      - -0.054545209288348134
+      - -0.23069743108278939
+      - 0.28517218054871923
+      - 6.1928858663502532e-05
+      - -0.04312590599787508
+    accelerations:
+      - -0.59039273006022375
+      - 0.079375710225928625
+      - 0.10014933687840788
+      - 0.4235788081837904
+      - -0.52359877523146126
+      - -0.00011370630362787448
+      - 0.079182588981113217
     effort: []
     time_from_start:
       sec: 9
       nanosec: 280000000
   - positions:
-      - 0.80168367825441389
-      - 0.23570128926840794
-      - -1.2873087152357516
-      - 1.3296211956080393
-      - -1.6130406262588224
-      - -1.5708382405493087
-      - 0.23567527147950601
-    velocities:
-      - 0.30902586020575806
-      - -0.035668894485953041
-      - -0.048952396576477916
-      - -0.23012085689730072
-      - 0.27918860135172457
-      - -6.8853462013892042e-05
-      - -0.035552401460564896
-    accelerations:
-      - -0.57955647623679696
-      - 0.066894527162806736
-      - 0.091806810097775721
-      - 0.43157563850223007
-      - -0.52359877551073786
-      - 0.00012912987215669145
-      - 0.06667605260777619
+      - 0.80261167921311227
+      - 0.23303921940798317
+      - -1.2889264365078599
+      - 1.3325178511363829
+      - -1.6144293435021362
+      - -1.5707600048083481
+      - 0.23300453015991748
+    velocities:
+      - 0.3156468290676045
+      - -0.042437330207721863
+      - -0.053543715918841245
+      - -0.22646164299789445
+      - 0.27993619279262544
+      - 6.0791795626403215e-05
+      - -0.042334080107492525
+    accelerations:
+      - -0.59039273018512384
+      - 0.079375710242727687
+      - 0.10014933689959926
+      - 0.42357880827341315
+      - -0.52359877534226151
+      - -0.00011370630365192344
+      - 0.079182588997856768
     effort: []
     time_from_start:
       sec: 9
       nanosec: 290000000
   - positions:
-      - 0.80474622827833264
-      - 0.23534779854893098
-      - -1.2877938499206172
-      - 1.327340620657691
-      - -1.6102737734874126
-      - -1.5708389229102333
-      - 0.23532293524502085
-    velocities:
-      - 0.30323029544280444
-      - -0.034999949214257468
-      - -0.048034328475407458
-      - -0.2258051005118426
-      - 0.27395261359608813
-      - -6.7562163292194831e-05
-      - -0.034885640934419801
-    accelerations:
-      - -0.57955647585304837
-      - 0.066894527118501898
-      - 0.091806810036977132
-      - 0.43157563821645867
-      - -0.52359877516407072
-      - 0.000129129872071175
-      - 0.066676052563624008
+      - 0.80574293484465609
+      - 0.23261823583722108
+      - -1.2894575968002029
+      - 1.3302713235946351
+      - -1.6116523418045616
+      - -1.5707594017462074
+      - 0.23258457084293532
+    velocities:
+      - 0.30974290176274133
+      - -0.04164357310488969
+      - -0.052542222549334348
+      - -0.22222585491299948
+      - 0.27470020503653159
+      - 5.9654732589303885e-05
+      - -0.041542254217109956
+    accelerations:
+      - -0.59039273031007944
+      - 0.079375710259526749
+      - 0.10014933692079064
+      - 0.42357880836306366
+      - -0.52359877545311728
+      - -0.00011370630367599273
+      - 0.079182589014621135
     effort: []
     time_from_start:
       sec: 9
       nanosec: 300000000
   - positions:
-      - 0.80775082265461817
-      - 0.23500099728217144
-      - -1.2882698039244711
-      - 1.3251032032712002
-      - -1.6075592805935628
-      - -1.5708395923581708
-      - 0.23497726661579763
-    velocities:
-      - 0.29743473067928011
-      - -0.034331003942496018
-      - -0.047116260374246585
-      - -0.22148934412595953
-      - 0.26871662583993611
-      - -6.6270864570370456e-05
-      - -0.034218880408209057
-    accelerations:
-      - -0.57955647604000993
-      - 0.066894527140081858
-      - 0.09180681006659927
-      - 0.43157563835565288
-      - -0.52359877533293564
-      - 0.00012912987211282192
-      - 0.06667605258512764
+      - 0.80881515120315095
+      - 0.23220518983748734
+      - -1.2899787421588504
+      - 1.3280671539337359
+      - -1.6089276999845477
+      - -1.5707588100546972
+      - 0.23217252978485703
+    velocities:
+      - 0.30383897445737512
+      - -0.040849816001989891
+      - -0.051540729179742124
+      - -0.21799006682774361
+      - 0.2694642172799917
+      - 5.8517669552107682e-05
+      - -0.040750428326659927
+    accelerations:
+      - -0.59039273093702838
+      - 0.079375710343811273
+      - 0.10014933702713863
+      - 0.42357880881286747
+      - -0.52359877600907501
+      - -0.0001137063037967335
+      - 0.079182589098704778
     effort: []
     time_from_start:
       sec: 9
       nanosec: 310000000
   - positions:
-      - 0.81069746138327026
-      - 0.2346608854681293
-      - -1.2887365772473138
-      - 1.3229089434485668
-      - -1.6048971475772724
-      - -1.5708402488931212
-      - 0.23463826559183631
-    velocities:
-      - 0.29163916591575584
-      - -0.033662058670734574
-      - -0.046198192273085727
-      - -0.21717358774007645
-      - 0.26348063808378414
-      - -6.4979565848546095e-05
-      - -0.033552119881998313
-    accelerations:
-      - -0.57955647622686046
-      - 0.066894527161654879
-      - 0.091806810096200592
-      - 0.43157563849481934
-      - -0.52359877550180056
-      - 0.00012912987215445528
-      - 0.066676052606631273
+      - 0.81182832828859897
+      - 0.23180008140878167
+      - -1.2904898725838037
+      - 1.3259053421536846
+      - -1.6062554180420936
+      - -1.5707582297338174
+      - 0.23176840698568235
+    velocities:
+      - 0.29793504715359254
+      - -0.040056058899302999
+      - -0.050539235810418519
+      - -0.21375427874362388
+      - 0.26422822952485614
+      - 5.7380606515216458e-05
+      - -0.039958602436422283
+    accelerations:
+      - -0.59039272998245262
+      - 0.079375710215478651
+      - 0.10014933686522398
+      - 0.42357880812800169
+      - -0.52359877516257192
+      - -0.00011370630361289894
+      - 0.079182588970684059
     effort: []
     time_from_start:
       sec: 9
       nanosec: 320000000
   - positions:
-      - 0.8135861444642889
-      - 0.23432746310680455
-      - -1.2891941698891451
-      - 1.3207578411897911
-      - -1.6022873744385424
-      - -1.5708408925150845
-      - 0.23430593217313686
-    velocities:
-      - 0.28584360115280222
-      - -0.032993113399039001
-      - -0.045280124172015261
-      - -0.21285783135461833
-      - 0.25824465032814775
-      - -6.368826712684887e-05
-      - -0.032885359355853218
-    accelerations:
-      - -0.57955647584311187
-      - 0.066894527117356981
-      - 0.091806810035408942
-      - 0.43157563820904793
-      - -0.52359877515507791
-      - 0.00012912987206896594
-      - 0.066676052562479091
+      - 0.81478246610099969
+      - 0.23140291055110418
+      - -1.2909909880750616
+      - 1.3237858882544815
+      - -1.603635495977199
+      - -1.5707576607835678
+      - 0.23137220244541129
+    velocities:
+      - 0.29203111984872943
+      - -0.039262301796470833
+      - -0.049537742440911629
+      - -0.20951849065872893
+      - 0.25899224176876234
+      - 5.6243543478117148e-05
+      - -0.039166776546039728
+    accelerations:
+      - -0.59039273010740823
+      - 0.079375710232270774
+      - 0.10014933688641536
+      - 0.42357880821762445
+      - -0.52359877527331666
+      - -0.0001137063036369479
+      - 0.079182588987434549
     effort: []
     time_from_start:
       sec: 9
       nanosec: 330000000
   - positions:
-      - 0.81641687189767376
-      - 0.23400073019819725
-      - -1.2896425818499653
-      - 1.318649896494873
-      - -1.5997299611773723
-      - -1.5708415232240602
-      - 0.23398026635969932
-    velocities:
-      - 0.28004803638927794
-      - -0.032324168127277557
-      - -0.044362056070854403
-      - -0.20854207496873525
-      - 0.25300866257199578
-      - -6.2396968405024509e-05
-      - -0.032218598829642474
-    accelerations:
-      - -0.57955647603001792
-      - 0.066894527138923063
-      - 0.091806810065010264
-      - 0.43157563834821439
-      - -0.52359877532388732
-      - 0.0001291298721105993
-      - 0.066676052583982723
+      - 0.81767756464035268
+      - 0.23101367726445485
+      - -1.291482088632625
+      - 1.3217087922361266
+      - -1.6010679337898646
+      - -1.5707571032039487
+      - 0.23098391616404393
+    velocities:
+      - 0.28612719254386632
+      - -0.038468544693638675
+      - -0.048536249071404747
+      - -0.20528270257383399
+      - 0.2537562540126686
+      - 5.5106480441017831e-05
+      - -0.038374950655657172
+    accelerations:
+      - -0.59039273023230832
+      - 0.079375710249062897
+      - 0.10014933690759287
+      - 0.4235788083072472
+      - -0.52359877538406141
+      - -0.00011370630366100364
+      - 0.079182589004185039
     effort: []
     time_from_start:
       sec: 9
       nanosec: 340000000
   - positions:
-      - 0.81918964368342562
-      - 0.23368068674230733
-      - -1.290081813129774
-      - 1.3165851093638121
-      - -1.5972249077937617
-      - -1.5708421410200488
-      - 0.23366126815152366
-    velocities:
-      - 0.27425247162575361
-      - -0.031655222855516106
-      - -0.043443987969693537
-      - -0.20422631858285217
-      - 0.24777267481584375
-      - -6.1105669683200135e-05
-      - -0.03155183830343173
-    accelerations:
-      - -0.57955647621692397
-      - 0.066894527160503023
-      - 0.091806810094625463
-      - 0.4315756384874086
-      - -0.52359877549278
-      - 0.00012912987215224622
-      - 0.066676052605486355
+      - 0.82051362390665927
+      - 0.23063238154883359
+      - -1.2919631742564937
+      - 1.3196740540986192
+      - -1.5985527314800894
+      - -1.57075655699496
+      - 0.23060354814158016
+    velocities:
+      - 0.28022326523900315
+      - -0.037674787590806502
+      - -0.047534755701897843
+      - -0.20104691448893899
+      - 0.24852026625657475
+      - 5.3969417403918501e-05
+      - -0.037583124765274603
+    accelerations:
+      - -0.59039273035726392
+      - 0.07937571026586196
+      - 0.10014933692879813
+      - 0.42357880839692547
+      - -0.52359877549491718
+      - -0.00011370630368507292
+      - 0.079182589020949407
     effort: []
     time_from_start:
       sec: 9
       nanosec: 350000000
   - positions:
-      - 0.82190445982154392
-      - 0.23336733273913482
-      - -1.2905118637285717
-      - 1.3145634797966088
-      - -1.5947722142877112
-      - -1.5708427459030503
-      - 0.23334893754860991
-    velocities:
-      - 0.26845690686184531
-      - -0.030986277583710333
-      - -0.042525919868471838
-      - -0.1999105621966831
-      - 0.24253668705934481
-      - -5.9814370961290203e-05
-      - -0.030885077777176802
-    accelerations:
-      - -0.57955647678682665
-      - 0.066894527226286346
-      - 0.091806810184903928
-      - 0.43157563891180184
-      - -0.52359877600768723
-      - 0.00012912987227922765
-      - 0.066676052671051478
+      - 0.82329064389991713
+      - 0.23025902340424065
+      - -1.292434244946667
+      - 1.3176816738419603
+      - -1.596089889047875
+      - -1.5707560221566015
+      - 0.23023109837802014
+    velocities:
+      - 0.27431933793374191
+      - -0.036881030487920803
+      - -0.046533262332323418
+      - -0.19681112640375839
+      - 0.24328427850012785
+      - 5.2832354366742498e-05
+      - -0.036791298874838646
+    accelerations:
+      - -0.59039273087924127
+      - 0.079375710336046651
+      - 0.10014933701734785
+      - 0.42357880877142839
+      - -0.52359877595789373
+      - -0.00011370630378561365
+      - 0.079182589090954034
     effort: []
     time_from_start:
       sec: 9
       nanosec: 360000000
   - positions:
-      - 0.824561320312029
-      - 0.23306066818867968
-      - -1.2909327336463576
-      - 1.3125850077932626
-      - -1.5923718806592204
-      - -1.5708433378730646
-      - 0.23304327455095808
-    velocities:
-      - 0.262661342099273
-      - -0.030317332312059179
-      - -0.041607851767459958
-      - -0.19559480581151156
-      - 0.23730069930405753
-      - -5.8523072237838062e-05
-      - -0.030218317251075461
-    accelerations:
-      - -0.57955647602069205
-      - 0.066894527137854473
-      - 0.091806810063532279
-      - 0.43157563834127549
-      - -0.52359877531550514
-      - 0.00012912987210446678
-      - 0.066676052582907194
+      - 0.82600862462012825
+      - 0.22989360283067573
+      - -1.2928953007031456
+      - 1.3157316514661492
+      - -1.5936794064932198
+      - -1.5707554986888734
+      - 0.22986656687336371
+    velocities:
+      - 0.26841541062985652
+      - -0.036087273385219908
+      - -0.04553176896298175
+      - -0.19257533831956083
+      - 0.23804829074489905
+      - 5.1695291334923144e-05
+      - -0.035999472984587083
+    accelerations:
+      - -0.5903927300296371
+      - 0.0793757102218208
+      - 0.10014933687321759
+      - 0.42357880816180798
+      - -0.52359877520434406
+      - -0.00011370630363317352
+      - 0.079182588977005391
     effort: []
     time_from_start:
       sec: 9
       nanosec: 370000000
   - positions:
-      - 0.82716022515488019
-      - 0.23276069309094199
-      - -1.2913444228831326
-      - 1.3106496933537746
-      - -1.5900239069082895
-      - -1.5708439169300914
-      - 0.23274427915856813
-    velocities:
-      - 0.25686577733574845
-      - -0.029648387040297694
-      - -0.040689783666299092
-      - -0.19127904942562823
-      - 0.2320647115479052
-      - -5.7231773516054236e-05
-      - -0.029551556724864689
-    accelerations:
-      - -0.57955647620826423
-      - 0.066894527159507292
-      - 0.091806810093244623
-      - 0.4315756384809693
-      - -0.52359877548498068
-      - 0.000129129872146256
-      - 0.066676052604487154
+      - 0.82866756606729175
+      - 0.22953611982813904
+      - -1.2933463415259294
+      - 1.3138239869711867
+      - -1.591321283816125
+      - -1.5707549865917758
+      - 0.22950995362761104
+    velocities:
+      - 0.26251148332499336
+      - -0.035293516282387749
+      - -0.044530275593474875
+      - -0.18833955023466595
+      - 0.23281230298880529
+      - 5.0558228297711823e-05
+      - -0.035207647094204521
+    accelerations:
+      - -0.59039273015453719
+      - 0.079375710238605984
+      - 0.10014933689440203
+      - 0.42357880825143074
+      - -0.52359877531511656
+      - -0.00011370630365723603
+      - 0.079182588993755881
     effort: []
     time_from_start:
       sec: 9
       nanosec: 380000000
   - positions:
-      - 0.82970117435009816
-      - 0.2324674074459217
-      - -1.2917469314388961
-      - 1.3087575364781436
-      - -1.587728293034919
-      - -1.570844483074131
-      - 0.23245195137144015
-    velocities:
-      - 0.25107021257190154
-      - -0.028979441768498999
-      - -0.039771715565087164
-      - -0.18696329303950485
-      - 0.22682872379146163
-      - -5.5940474794198576e-05
-      - -0.028884796198616825
-    accelerations:
-      - -0.57955647671716015
-      - 0.066894527218247637
-      - 0.091806810173857209
-      - 0.43157563885992667
-      - -0.52359877594476534
-      - 0.00012912987225965103
-      - 0.066676052663040525
+      - 0.83126746824140774
+      - 0.22918657439663051
+      - -1.2937873674150184
+      - 1.311958680357072
+      - -1.5890155210165897
+      - -1.5707544858653084
+      - 0.22916125864076195
+    velocities:
+      - 0.25660755602013025
+      - -0.034499759179555584
+      - -0.043528782223967992
+      - -0.18410376214977106
+      - 0.22757631523271152
+      - 4.9421165260500509e-05
+      - -0.034415821203821959
+    accelerations:
+      - -0.59039273027938177
+      - 0.079375710255398108
+      - 0.10014933691559341
+      - 0.42357880834105349
+      - -0.52359877542588906
+      - -0.00011370630368128499
+      - 0.07918258901051331
     effort: []
     time_from_start:
       sec: 9
       nanosec: 390000000
   - positions:
-      - 0.83218416789768246
-      - 0.23218081125361884
-      - -1.2921402593136482
-      - 1.3069085371663705
-      - -1.5854850390391082
-      - -1.5708450363051838
-      - 0.23216629118957399
-    velocities:
-      - 0.24527464780926997
-      - -0.028310496496840587
-      - -0.038853647464067755
-      - -0.18264753665428649
-      - 0.22159273603611607
-      - -5.4649176072613715e-05
-      - -0.028218035672508787
-    accelerations:
-      - -0.57955647601280946
-      - 0.066894527136945478
-      - 0.091806810062283278
-      - 0.43157563833541907
-      - -0.52359877530837196
-      - 0.00012912987210270496
-      - 0.066676052582005138
+      - 0.8338083311424771
+      - 0.22884496653615005
+      - -1.2942183783704126
+      - 1.3101357316238051
+      - -1.5867621180946139
+      - -1.5707539965094717
+      - 0.22882048191281651
+    velocities:
+      - 0.25070362871526702
+      - -0.033706002076723404
+      - -0.042527288854461096
+      - -0.17986797406487615
+      - 0.22234032747661767
+      - 4.8284102223289174e-05
+      - -0.033623995313439389
+    accelerations:
+      - -0.59039273040439288
+      - 0.079375710272204109
+      - 0.10014933693679173
+      - 0.423578808430704
+      - -0.52359877553671708
+      - -0.00011370630370535428
+      - 0.079182589027270739
     effort: []
     time_from_start:
       sec: 9
       nanosec: 400000000
   - positions:
-      - 0.83460920579763376
-      - 0.23190090451403333
-      - -1.2925244065073891
-      - 1.3051026954184544
-      - -1.5832941449208568
-      - -1.5708455766232492
-      - 0.23188729861296975
-    velocities:
-      - 0.23947908304574539
-      - -0.027641551225079098
-      - -0.037935579362906882
-      - -0.17833178026840313
-      - 0.21635674827996371
-      - -5.3357877350829876e-05
-      - -0.027551275146298012
-    accelerations:
-      - -0.5795564762004094
-      - 0.066894527158598296
-      - 0.091806810092002561
-      - 0.43157563847511288
-      - -0.52359877547787526
-      - 0.00012912987214450773
-      - 0.066676052603585098
+      - 0.83629015477049773
+      - 0.22851129624669791
+      - -1.2946393743921116
+      - 1.3083551407713871
+      - -1.5845610750501988
+      - -1.5707535185242651
+      - 0.22848762344377488
+    velocities:
+      - 0.24479970141011051
+      - -0.032912244973851798
+      - -0.041525795484904454
+      - -0.17563218597977079
+      - 0.21710433972026374
+      - 4.7147039186021359e-05
+      - -0.032832169423017483
+    accelerations:
+      - -0.59039273082159294
+      - 0.079375710328295906
+      - 0.10014933700756401
+      - 0.42357880873004483
+      - -0.52359877590671244
+      - -0.00011370630378570851
+      - 0.079182589083224106
     effort: []
     time_from_start:
       sec: 9
       nanosec: 410000000
   - positions:
-      - 0.83697628804995094
-      - 0.23162768722716529
-      - -1.2928993730201186
-      - 1.3033400112343962
-      - -1.5811556106801659
-      - -1.5708461040283273
-      - 0.23161497364162748
-    velocities:
-      - 0.23368351828196024
-      - -0.026972605953287532
-      - -0.037017511261704737
-      - -0.17401602388232573
-      - 0.21112076052357595
-      - -5.2066578628987985e-05
-      - -0.026884514620057257
-    accelerations:
-      - -0.57955647664754917
-      - 0.066894527210212398
-      - 0.091806810162838245
-      - 0.43157563880810701
-      - -0.52359877588184345
-      - 0.00012912987224413338
-      - 0.066676052655029572
+      - 0.83871293912547151
+      - 0.22818556352827385
+      - -1.2950503554801163
+      - 1.3066169077998167
+      - -1.5824123918833433
+      - -1.5707530519096888
+      - 0.22816268323363678
+    velocities:
+      - 0.23889577410611815
+      - -0.032118487871136706
+      - -0.04052430211554528
+      - -0.17139639789550062
+      - 0.21186835196494222
+      - 4.6009976148977743e-05
+      - -0.03204034353275171
+    accelerations:
+      - -0.59039273007676607
+      - 0.07937571022815601
+      - 0.10014933688121813
+      - 0.42357880819566979
+      - -0.52359877524617171
+      - -0.00011370630364226049
+      - 0.079182588983333663
     effort: []
     time_from_start:
       sec: 9
       nanosec: 420000000
   - positions:
-      - 0.83928541465463513
-      - 0.23136115939301463
-      - -1.2932651588518367
-      - 1.3016204846141952
-      - -1.5790694363170348
-      - -1.5708466185204182
-      - 0.23134931627554703
-    velocities:
-      - 0.22788795351926686
-      - -0.026303660681621984
-      - -0.036099443160675537
-      - -0.16970026749706135
-      - 0.20588477276817455
-      - -5.0775279907389348e-05
-      - -0.02621775409394211
-    accelerations:
-      - -0.57955647600498239
-      - 0.066894527136046891
-      - 0.091806810061048155
-      - 0.43157563832959039
-      - -0.52359877530132204
-      - 0.00012912987210096346
-      - 0.066676052581103082
+      - 0.84107668420739801
+      - 0.22786776838087794
+      - -1.2954513216344257
+      - 1.3049210327090943
+      - -1.5803160685940476
+      - -1.5707525966657432
+      - 0.22784566128240236
+    velocities:
+      - 0.23299184680125498
+      - -0.03132473076830454
+      - -0.039522808746038397
+      - -0.16716060981060576
+      - 0.20663236420884845
+      - 4.4872913111766429e-05
+      - -0.031248517642369151
+    accelerations:
+      - -0.59039273020169392
+      - 0.079375710244948133
+      - 0.10014933690240951
+      - 0.42357880828526479
+      - -0.52359877535694421
+      - -0.00011370630366630945
+      - 0.079182589000080683
     effort: []
     time_from_start:
       sec: 9
       nanosec: 430000000
   - positions:
-      - 0.84153658561168609
-      - 0.23110132101158132
-      - -1.2936217640025436
-      - 1.2999441155578517
-      - -1.577035621831463
-      - -1.5708471200995218
-      - 0.23109032651472844
-    velocities:
-      - 0.22209238875574228
-      - -0.025634715409860499
-      - -0.035181375059514672
-      - -0.165384511111178
-      - 0.20064878501202218
-      - -4.9483981185605516e-05
-      - -0.025550993567731335
-    accelerations:
-      - -0.57955647619258233
-      - 0.06689452715769624
-      - 0.091806810090760499
-      - 0.43157563846931196
-      - -0.52359877547082534
-      - 0.00012912987214276623
-      - 0.066676052602686511
+      - 0.84338139001627688
+      - 0.22755791080451021
+      - -1.2958422728550403
+      - 1.3032675154992202
+      - -1.5782721051823121
+      - -1.5707521527924277
+      - 0.22753655759007169
+    velocities:
+      - 0.22708791949639184
+      - -0.030530973665472375
+      - -0.038521315376531515
+      - -0.16292482172571088
+      - 0.20139637645275468
+      - 4.3735850074555107e-05
+      - -0.030456691751986589
+    accelerations:
+      - -0.59039273032659401
+      - 0.079375710261743726
+      - 0.10014933692359396
+      - 0.42357880837488754
+      - -0.52359877546771671
+      - -0.00011370630369037196
+      - 0.079182589016834642
     effort: []
     time_from_start:
       sec: 9
       nanosec: 440000000
   - positions:
-      - 0.84372980092110395
-      - 0.2308481720828654
-      - -1.2939691884722391
-      - 1.2983109040653655
-      - -1.5750541672234513
-      - -1.5708476087656382
-      - 0.23083800435917173
-    velocities:
-      - 0.21629682399201888
-      - -0.024965770138076063
-      - -0.034263306958322311
-      - -0.16106875472514659
-      - 0.19541279725569022
-      - -4.819268246377738e-05
-      - -0.024884233041497686
-    accelerations:
-      - -0.5795564765779937
-      - 0.066894527202180629
-      - 0.091806810151812343
-      - 0.43157563875628735
-      - -0.52359877581900482
-      - 0.00012912987222863607
-      - 0.066676052647022088
+      - 0.84562705655210901
+      - 0.22725599079917055
+      - -1.2962232091419601
+      - 1.3016563561701937
+      - -1.5762805016481354
+      - -1.5707517202897425
+      - 0.22723537215664449
+    velocities:
+      - 0.22118399219152862
+      - -0.029737216562640202
+      - -0.037519822007024625
+      - -0.15868903364081594
+      - 0.19616038869666086
+      - 4.2598787037343772e-05
+      - -0.029664865861604019
+    accelerations:
+      - -0.59039273045157736
+      - 0.079375710278542788
+      - 0.10014933694479228
+      - 0.4235788084645658
+      - -0.52359877557854473
+      - -0.00011370630371444125
+      - 0.079182589033595541
     effort: []
     time_from_start:
       sec: 9
       nanosec: 450000000
   - positions:
-      - 0.84586506058288757
-      - 0.23060171260686702
-      - -1.2943074322609234
-      - 1.2967208501367373
-      - -1.5731250724929999
-      - -1.5708480845187673
-      - 0.23059234980887705
-    velocities:
-      - 0.2105012592292638
-      - -0.024296824866403392
-      - -0.033345238857283341
-      - -0.15675299833983627
-      - 0.19017680950023308
-      - -4.6901383742165001e-05
-      - -0.024217472515375437
-    accelerations:
-      - -0.57955647599712756
-      - 0.066894527135134427
-      - 0.091806810059792215
-      - 0.43157563832373397
-      - -0.52359877529421661
-      - 0.0001291298720992084
-      - 0.066676052580197556
+      - 0.84781368381489264
+      - 0.22696200836485916
+      - -1.2965941304951849
+      - 1.3000875547220156
+      - -1.5743412579915197
+      - -1.570751299157688
+      - 0.22694210498212117
+    velocities:
+      - 0.215280064886477
+      - -0.028943459459782696
+      - -0.036518328637485768
+      - -0.15445324555578582
+      - 0.19092440094039992
+      - 4.1461724000096157e-05
+      - -0.028873039971196179
+    accelerations:
+      - -0.59039273076391685
+      - 0.079375710320534754
+      - 0.10014933699777323
+      - 0.42357880868866127
+      - -0.52359877585555892
+      - -0.00011370630377458867
+      - 0.07918258907548377
     effort: []
     time_from_start:
       sec: 9
       nanosec: 460000000
   - positions:
-      - 0.84794236459703787
-      - 0.23036194258358594
-      - -1.2946364953685963
-      - 1.2951739537719662
-      - -1.5712483376401081
-      - -1.5708485473589093
-      - 0.2303533628638442
-    velocities:
-      - 0.20470569446574077
-      - -0.023627879594641663
-      - -0.032427170756122892
-      - -0.15243724195395489
-      - 0.18494082174407803
-      - -4.5610085020535573e-05
-      - -0.023550711989165314
-    accelerations:
-      - -0.57955647618411688
-      - 0.066894527156717856
-      - 0.091806810089421292
-      - 0.43157563846298369
-      - -0.52359877546313704
-      - 0.00012912987214131611
-      - 0.066676052601711597
+      - 0.84994127180462953
+      - 0.22667596350157587
+      - -1.2969550369147149
+      - 1.2985611111546858
+      - -1.5724543742124633
+      - -1.5707508893962636
+      - 0.22665675606650137
+    velocities:
+      - 0.20937613758237769
+      - -0.028149702357053333
+      - -0.035516835268108088
+      - -0.15021745747144316
+      - 0.18568841318498563
+      - 4.0324660961948898e-05
+      - -0.028081214080916544
+    accelerations:
+      - -0.59039273012392279
+      - 0.079375710234498159
+      - 0.10014933688921868
+      - 0.42357880822953159
+      - -0.52359877528802712
+      - -0.00011370630364828459
+      - 0.079182588989658464
     effort: []
     time_from_start:
       sec: 9
       nanosec: 470000000
   - positions:
-      - 0.84996171296355483
-      - 0.23012886201302232
-      - -1.294956377795258
-      - 1.2936702149710526
-      - -1.5694239626647761
-      - -1.5708489972860644
-      - 0.23012104352407328
-    velocities:
-      - 0.19891012970221653
-      - -0.022958934322880226
-      - -0.031509102654962068
-      - -0.14812148556807175
-      - 0.17970483398792608
-      - -4.4318786298747452e-05
-      - -0.022883951462954563
-    accelerations:
-      - -0.57955647637099517
-      - 0.066894527178287408
-      - 0.091806810119022614
-      - 0.43157563860215015
-      - -0.52359877563197421
-      - 0.00012912987218294947
-      - 0.06667605262321176
+      - 0.85200982052131846
+      - 0.22639785620932085
+      - -1.2973059284005501
+      - 1.297077025468204
+      - -1.5706198503109674
+      - -1.5707504910054697
+      - 0.22637932540978536
+    velocities:
+      - 0.20347221027751458
+      - -0.027355945254221175
+      - -0.034515341898601226
+      - -0.14598166938654822
+      - 0.18045242542889187
+      - 3.9187597924768131e-05
+      - -0.027289388190533979
+    accelerations:
+      - -0.59039273024885064
+      - 0.079375710251290282
+      - 0.10014933691040312
+      - 0.42357880831912659
+      - -0.52359877539879962
+      - -0.00011370630367234032
+      - 0.079182589006408954
     effort: []
     time_from_start:
       sec: 9
       nanosec: 480000000
   - positions:
-      - 0.8519231056824389
-      - 0.22990247089517607
-      - -1.2952670795409083
-      - 1.2922096337339966
-      - -1.5676519475670041
-      - -1.5708494343002322
-      - 0.2298953917895642
-    velocities:
-      - 0.19311456493857579
-      - -0.022289989051105342
-      - -0.030591034553782794
-      - -0.14380572918210188
-      - 0.17446884623166889
-      - -4.302748757693337e-05
-      - -0.02221719093673041
-    accelerations:
-      - -0.5795564766733341
-      - 0.066894527213185714
-      - 0.091806810166918315
-      - 0.43157563882731387
-      - -0.52359877590513038
-      - 0.00012912987225032011
-      - 0.066676052657995949
+      - 0.85401932996496022
+      - 0.22612768648809389
+      - -1.2976468049526904
+      - 1.2956352976625702
+      - -1.5688376862870308
+      - -1.570750103985306
+      - 0.22610981301197292
+    velocities:
+      - 0.19756828297265144
+      - -0.026562188151389006
+      - -0.033513848529094351
+      - -0.14174588130165319
+      - 0.17521643767279804
+      - 3.8050534887587344e-05
+      - -0.026497562300151403
+    accelerations:
+      - -0.59039273037380624
+      - 0.079375710268089344
+      - 0.10014933693160838
+      - 0.42357880840880485
+      - -0.52359877550959988
+      - -0.00011370630369641639
+      - 0.079182589023169853
     effort: []
     time_from_start:
       sec: 9
       nanosec: 490000000
   - positions:
-      - 0.85382654275368908
-      - 0.22968276923004724
-      - -1.2955686006055471
-      - 1.2907922100607978
-      - -1.565932292346792
-      - -1.5708498584014123
-      - 0.22967640766031702
-    velocities:
-      - 0.18731900017573866
-      - -0.021621043779423213
-      - -0.02967296645273082
-      - -0.13948997279673045
-      - 0.16923285847613775
-      - -4.1736188855298345e-05
-      - -0.02155043041059871
-    accelerations:
-      - -0.57955647617412487
-      - 0.066894527155566
-      - 0.091806810087839225
-      - 0.4315756384555452
-      - -0.52359877545408873
-      - 0.00012912987213908671
-      - 0.06667605260056321
+      - 0.85596980013555457
+      - 0.22586545433789512
+      - -1.2979776665711358
+      - 1.2942359277377846
+      - -1.5671078821406543
+      - -1.570749728335773
+      - 0.22584821887306422
+    velocities:
+      - 0.19166435566778839
+      - -0.025768431048556847
+      - -0.032512355159587496
+      - -0.13751009321675828
+      - 0.1699804499167043
+      - 3.6913471850406583e-05
+      - -0.02570573640976884
+    accelerations:
+      - -0.59039273049867858
+      - 0.079375710284881468
+      - 0.10014933695278588
+      - 0.42357880849837209
+      - -0.52359877562034463
+      - -0.00011370630372046535
+      - 0.079182589039916873
     effort: []
     time_from_start:
       sec: 9
       nanosec: 500000000
   - positions:
-      - 0.85567202417730592
-      - 0.22946975701763581
-      - -1.2958609409891748
-      - 1.2894179439514568
-      - -1.5642649970041398
-      - -1.5708502695896054
-      - 0.22946409113633176
-    velocities:
-      - 0.18152343541221436
-      - -0.020952098507661769
-      - -0.028754898351569993
-      - -0.13517421641084729
-      - 0.16399687071998575
-      - -4.044489013351021e-05
-      - -0.020883669884387952
-    accelerations:
-      - -0.57955647636105867
-      - 0.06689452717714249
-      - 0.091806810117447485
-      - 0.43157563859473941
-      - -0.52359877562300916
-      - 0.00012912987218074041
-      - 0.066676052622070311
+      - 0.8578612310331013
+      - 0.22561115975872453
+      - -1.2982985132558862
+      - 1.2928789156938469
+      - -1.5654304378718376
+      - -1.5707493640568702
+      - 0.22559454299305914
+    velocities:
+      - 0.18576042836284168
+      - -0.024974673945713448
+      - -0.031510861790066451
+      - -0.13327430513180333
+      - 0.16474446216053637
+      - 3.5776408813209716e-05
+      - -0.024913910519375058
+    accelerations:
+      - -0.5903927307061575
+      - 0.079375710312773601
+      - 0.10014933698798245
+      - 0.42357880864722219
+      - -0.52359877580434988
+      - -0.0001137063037604195
+      - 0.079182589067743434
     effort: []
     time_from_start:
       sec: 9
       nanosec: 510000000
   - positions:
-      - 0.85745954995328943
-      - 0.22926343425794177
-      - -1.2961441006917911
-      - 1.2880868354059731
-      - -1.5626500615390473
-      - -1.5708506678648113
-      - 0.22925844221760838
-    velocities:
-      - 0.17572787064863543
-      - -0.020283153235894021
-      - -0.027836830250400509
-      - -0.13085846002492343
-      - 0.15876088296378443
-      - -3.9153591411709904e-05
-      - -0.020216909358170911
-    accelerations:
-      - -0.57955647660158593
-      - 0.066894527204904145
-      - 0.091806810155552407
-      - 0.43157563877385663
-      - -0.52359877584029335
-      - 0.00012912987223432813
-      - 0.066676052649742135
+      - 0.85969362265760085
+      - 0.22536480275058207
+      - -1.298609345006942
+      - 1.2915642615307577
+      - -1.5638053534805807
+      - -1.5707490111485978
+      - 0.22534878537195771
+    velocities:
+      - 0.17985650105863962
+      - -0.024180916842970159
+      - -0.030509368420671722
+      - -0.12903851704738262
+      - 0.15950847440502883
+      - 3.4639345776156254e-05
+      - -0.02412208462908115
+    accelerations:
+      - -0.59039273017107952
+      - 0.079375710240833369
+      - 0.10014933689721575
+      - 0.42357880826333788
+      - -0.52359877532979926
+      - -0.00011370630365736478
+      - 0.079182588995976327
     effort: []
     time_from_start:
       sec: 9
       nanosec: 520000000
   - positions:
-      - 0.85918912008163961
-      - 0.22906380095096507
-      - -1.2964180797133962
-      - 1.2867988844243468
-      - -1.5610874859515143
-      - -1.5708510532270301
-      - 0.22905946090414692
-    velocities:
-      - 0.16993230588573652
-      - -0.019614207964204759
-      - -0.026918762149338745
-      - -0.12654270363950595
-      - 0.15352489520819743
-      - -3.786229269006111e-05
-      - -0.019550148832032103
-    accelerations:
-      - -0.57955647616416062
-      - 0.066894527154417613
-      - 0.091806810086260626
-      - 0.43157563844813446
-      - -0.52359877544512368
-      - 0.00012912987213687088
-      - 0.066676052599414823
+      - 0.86146697500905267
+      - 0.22512638331346779
+      - -1.2989101618243029
+      - 1.2902919652485163
+      - -1.562232628966884
+      - -1.5707486696109556
+      - 0.22511094600976
+    velocities:
+      - 0.17395257375377654
+      - -0.023387159740137997
+      - -0.029507875051164863
+      - -0.12480272896248766
+      - 0.15427248664893506
+      - 3.3502282738975487e-05
+      - -0.023330258738698581
+    accelerations:
+      - -0.59039273029597961
+      - 0.079375710257628962
+      - 0.10014933691840019
+      - 0.42357880835294676
+      - -0.52359877544057176
+      - -0.00011370630368142052
+      - 0.079182589012730287
     effort: []
     time_from_start:
       sec: 9
       nanosec: 530000000
   - positions:
-      - 0.86086073456235712
-      - 0.22887085709670577
-      - -1.2966828780539899
-      - 1.2855540910065772
-      - -1.5595772702415409
-      - -1.5708514256762616
-      - 0.22886714719594725
-    velocities:
-      - 0.16413674112221224
-      - -0.018945262692443322
-      - -0.026000694048177921
-      - -0.12222694725362282
-      - 0.14828890745204548
-      - -3.6570993968272981e-05
-      - -0.018883388305821348
-    accelerations:
-      - -0.57955647635106666
-      - 0.066894527175987165
-      - 0.091806810115868887
-      - 0.43157563858730091
-      - -0.5235987756139886
-      - 0.00012912987217851102
-      - 0.066676052620918455
+      - 0.86318128808745809
+      - 0.22489590144738156
+      - -1.2992009637079689
+      - 1.2890620268471222
+      - -1.5607122643307461
+      - -1.5707483394439439
+      - 0.22488102490646578
+    velocities:
+      - 0.16804864644891337
+      - -0.022593402637305828
+      - -0.028506381681657988
+      - -0.12056694087759265
+      - 0.14903649889284121
+      - 3.2365219701794707e-05
+      - -0.022538432848316005
+    accelerations:
+      - -0.59039273042096296
+      - 0.079375710274428024
+      - 0.10014933693960199
+      - 0.42357880844261114
+      - -0.52359877555139978
+      - -0.00011370630370548981
+      - 0.079182589029491185
     effort: []
     time_from_start:
       sec: 9
       nanosec: 540000000
   - positions:
-      - 0.86247439339544041
-      - 0.22868460269516394
-      - -1.2969384957135723
-      - 1.2843524551526659
-      - -1.5581194144091279
-      - -1.5708517852125057
-      - 0.22868150109300955
-    velocities:
-      - 0.15834117635869502
-      - -0.018276317420682694
-      - -0.025082625947018215
-      - -0.11791119086774493
-      - 0.14305291969589989
-      - -3.5279695246486425e-05
-      - -0.018216627779611406
-    accelerations:
-      - -0.57955647652994879
-      - 0.066894527196632983
-      - 0.091806810144200376
-      - 0.43157563872048266
-      - -0.52359877577556735
-      - 0.00012912987221836325
-      - 0.066676052641495259
+      - 0.86483656189281555
+      - 0.22467335715232356
+      - -1.2994817506579401
+      - 1.2878744463265768
+      - -1.5592442595721687
+      - -1.5707480206475624
+      - 0.22465902206207533
+    velocities:
+      - 0.16214471914405029
+      - -0.021799645534473666
+      - -0.027504888312151126
+      - -0.11633115279269769
+      - 0.14380051113674744
+      - 3.1228156664613939e-05
+      - -0.021746606957933439
+    accelerations:
+      - -0.59039273054586305
+      - 0.079375710291223617
+      - 0.10014933696078643
+      - 0.42357880853222002
+      - -0.52359877566217228
+      - -0.00011370630372954554
+      - 0.079182589046241675
     effort: []
     time_from_start:
       sec: 9
       nanosec: 550000000
   - positions:
-      - 0.86403009658089047
-      - 0.22850503774633948
-      - -1.2971849326921432
-      - 1.2831939768626119
-      - -1.5567139184542751
-      - -1.5708521318357629
-      - 0.22850252259533374
-    velocities:
-      - 0.15254561159573415
-      - -0.017607372148986285
-      - -0.024164557845946635
-      - -0.11359543448228132
-      - 0.13781693194025696
-      - -3.3988396524823827e-05
-      - -0.017549867253465471
-    accelerations:
-      - -0.57955647615464045
-      - 0.066894527153314329
-      - 0.091806810084751417
-      - 0.43157563844102903
-      - -0.52359877543649169
-      - 0.00012912987213474313
-      - 0.066676052598318478
+      - 0.86643279642512516
+      - 0.22445875042829375
+      - -1.2997525226742164
+      - 1.2867292236868797
+      - -1.5578286146911515
+      - -1.5707477132218117
+      - 0.22444493747658859
+    velocities:
+      - 0.15624079183920847
+      - -0.021005888431644363
+      - -0.026503394942647873
+      - -0.11209536470781799
+      - 0.13856452338067252
+      - 3.0091093627437265e-05
+      - -0.020954781067553725
+    accelerations:
+      - -0.59039273064845366
+      - 0.079375710305019387
+      - 0.10014933697819167
+      - 0.42357880860583863
+      - -0.5235987757531686
+      - -0.00011370630374930982
+      - 0.079182589060003097
     effort: []
     time_from_start:
       sec: 9
       nanosec: 560000000
   - positions:
-      - 0.86552784411870731
-      - 0.2283321622502324
-      - -1.2974221889897031
-      - 1.2820786561364153
-      - -1.5553607823769813
-      - -1.5708524655460328
-      - 0.22833021170291978
-    velocities:
-      - 0.14675004683220932
-      - -0.016938426877225181
-      - -0.023246489744785964
-      - -0.10927967809639624
-      - 0.13258094418410668
-      - -3.2697097803249585e-05
-      - -0.016883106727254647
-    accelerations:
-      - -0.57955647634190732
-      - 0.066894527174928983
-      - 0.091806810114411719
-      - 0.43157563858045916
-      - -0.52359877560568968
-      - 0.00012912987217731162
-      - 0.066676052619860274
+      - 0.86796999168438793
+      - 0.22425208127529206
+      - -1.3000132797567976
+      - 1.2856263589280303
+      - -1.5564653296876936
+      - -1.5707474171666909
+      - 0.22423877115000546
+    velocities:
+      - 0.150336864534904
+      - -0.02021213132888677
+      - -0.0255019015732348
+      - -0.10785957662332239
+      - 0.13332853562506933
+      - 2.895403058615574e-05
+      - -0.020162955177245388
+    accelerations:
+      - -0.59039273021809746
+      - 0.079375710247158171
+      - 0.10014933690518507
+      - 0.4235788082970609
+      - -0.52359877537151589
+      - -0.00011370630364989734
+      - 0.079182589002283782
     effort: []
     time_from_start:
       sec: 9
       nanosec: 570000000
   - positions:
-      - 0.86696763600889082
-      - 0.22816597620684276
-      - -1.2976502646062518
-      - 1.2810064929740761
-      - -1.5540600061772476
-      - -1.5708527863433155
-      - 0.22816456841576777
-    velocities:
-      - 0.1409544820687538
-      - -0.016269481605471661
-      - -0.022328421643636017
-      - -0.10496392171056435
-      - 0.12734495642801674
-      - -3.1405799081468321e-05
-      - -0.0162163462010518
-    accelerations:
-      - -0.57955647645922759
-      - 0.066894527188469374
-      - 0.091806810133001002
-      - 0.43157563866783033
-      - -0.52359877571170177
-      - 0.00012912987220345547
-      - 0.066676052633362876
+      - 0.86944814767060286
+      - 0.22405334969331855
+      - -1.3002640219056842
+      - 1.2845658520500294
+      - -1.555154404561796
+      - -1.5707471324822007
+      - 0.22404052308232603
+    velocities:
+      - 0.14443293723004097
+      - -0.019418374226054639
+      - -0.024500408203727987
+      - -0.10362378853842753
+      - 0.12809254786897581
+      - 2.7816967549140253e-05
+      - -0.019371129286862857
+    accelerations:
+      - -0.59039273034266448
+      - 0.079375710263905191
+      - 0.10014933692631747
+      - 0.42357880838643386
+      - -0.52359877548195533
+      - -0.00011370630367388531
+      - 0.079182589018989169
     effort: []
     time_from_start:
       sec: 9
       nanosec: 580000000
   - positions:
-      - 0.86834947225144044
-      - 0.22800647961617049
-      - -1.2978691595417886
-      - 1.2799774873755945
-      - -1.5528115898550741
-      - -1.5708530942276107
-      - 0.22800559273387766
-    velocities:
-      - 0.13515891730573115
-      - -0.015600536333768102
-      - -0.021410353542554644
-      - -0.1006481653250548
-      - 0.12210896867231789
-      - -3.0114500359783507e-05
-      - -0.015549585674898756
-    accelerations:
-      - -0.57955647614573091
-      - 0.066894527152287372
-      - 0.091806810083339352
-      - 0.43157563843438157
-      - -0.52359877542845645
-      - 0.00012912987213360133
-      - 0.066676052597294991
+      - 0.87086726438377071
+      - 0.2238625556823732
+      - -1.3005047491208761
+      - 1.2835477030528764
+      - -1.5538958393134581
+      - -1.5707468591683411
+      - 0.22385019327355021
+    velocities:
+      - 0.13852900992517794
+      - -0.018624617123222508
+      - -0.023498914834221174
+      - -0.099388000453532674
+      - 0.12285656011288226
+      - 2.6679904512124762e-05
+      - -0.018579303396480326
+    accelerations:
+      - -0.59039273046723151
+      - 0.079375710280648742
+      - 0.1001493369474464
+      - 0.42357880847580681
+      - -0.52359877559245027
+      - -0.00011370630369787667
+      - 0.079182589035698026
     effort: []
     time_from_start:
       sec: 9
       nanosec: 590000000
   - positions:
-      - 0.86967335284635694
-      - 0.22785367247821564
-      - -1.2980788737963147
-      - 1.2789916393409704
-      - -1.5516155334104602
-      - -1.5708533891989189
-      - 0.22785328465724941
-    velocities:
-      - 0.12936335254220674
-      - -0.014931591062006628
-      - -0.020492285441393789
-      - -0.096332408939171596
-      - 0.11687298091616571
-      - -2.8823201637986895e-05
-      - -0.014882825148687986
-    accelerations:
-      - -0.57955647633297003
-      - 0.066894527173898558
-      - 0.091806810112999654
-      - 0.43157563857382558
-      - -0.52359877559762669
-      - 0.00012912987217532278
-      - 0.066676052618836787
+      - 0.87222734182389106
+      - 0.22367969924245593
+      - -1.3007354614023727
+      - 1.2825719119365711
+      - -1.5526896339426797
+      - -1.5707465972251113
+      - 0.22366778172367804
+    velocities:
+      - 0.13262508262031494
+      - -0.017830860020390381
+      - -0.022497421464714364
+      - -0.095152212368637828
+      - 0.11762057235678876
+      - 2.5542841475109279e-05
+      - -0.017787477506097799
+    accelerations:
+      - -0.59039273059177078
+      - 0.079375710297392293
+      - 0.10014933696857534
+      - 0.42357880856516589
+      - -0.52359877570290358
+      - -0.00011370630372186465
+      - 0.079182589052399943
     effort: []
     time_from_start:
       sec: 9
       nanosec: 600000000
   - positions:
-      - 0.87093927779364022
-      - 0.22770755479297816
-      - -1.2982794073698292
-      - 1.2780489488702036
-      - -1.5504718368434061
-      - -1.5708536712572401
-      - 0.22770764418588307
-    velocities:
-      - 0.12356778777881293
-      - -0.014262645790260231
-      - -0.019574217340253622
-      - -0.092016652553385675
-      - 0.11163699316013155
-      - -2.7531902916219383e-05
-      - -0.014216064622492244
-    accelerations:
-      - -0.57955647638856189
-      - 0.066894527180316174
-      - 0.091806810121808566
-      - 0.43157563861521964
-      - -0.52359877564785007
-      - 0.00012912987218771082
-      - 0.066676052625232227
+      - 0.87352837999096411
+      - 0.22350478037356689
+      - -1.3009561587501746
+      - 1.2816384787011141
+      - -1.5515357884494616
+      - -1.5707463466525124
+      - 0.22349328843270957
+    velocities:
+      - 0.12672115531557809
+      - -0.017037102917575212
+      - -0.021495928095228954
+      - -0.090916424283833494
+      - 0.11238458460080712
+      - 2.4405778438118091e-05
+      - -0.016995651615732188
+    accelerations:
+      - -0.59039273058913999
+      - 0.079375710297036189
+      - 0.10014933696812334
+      - 0.42357880856326158
+      - -0.52359877570054403
+      - -0.00011370630372135095
+      - 0.079182589052044186
     effort: []
     time_from_start:
       sec: 9
       nanosec: 610000000
   - positions:
-      - 0.87214724709329028
-      - 0.22756812656045811
-      - -1.2984707602623324
-      - 1.2771494159632941
-      - -1.5493805001539118
-      - -1.5708539404025739
-      - 0.22756867131977859
-    velocities:
-      - 0.11777222301572854
-      - -0.013593700518549547
-      - -0.018656149239162468
-      - -0.087700896167830153
-      - 0.10640100540437691
-      - -2.6240604194520813e-05
-      - -0.013549304096332097
-    accelerations:
-      - -0.5795564761368075
-      - 0.066894527151258681
-      - 0.091806810081927287
-      - 0.43157563842774799
-      - -0.52359877542040734
-      - 0.00012912987213161588
-      - 0.066676052596268034
+      - 0.87477037888498999
+      - 0.22333779907570595
+      - -1.3011668411642821
+      - 1.2807474033465049
+      - -1.550434302833803
+      - -1.5707461074505438
+      - 0.22332671340064469
+    velocities:
+      - 0.12081722801116633
+      - -0.016243345814803752
+      - -0.020494434725798691
+      - -0.086680636199262404
+      - 0.1071485968451138
+      - 2.3268715401189513e-05
+      - -0.016203825725410181
+    accelerations:
+      - -0.59039273026347783
+      - 0.079375710253253989
+      - 0.10014933691288377
+      - 0.42357880832961819
+      - -0.52359877541173372
+      - -0.00011370630365863533
+      - 0.079182589008369192
     effort: []
     time_from_start:
       sec: 9
       nanosec: 620000000
   - positions:
-      - 0.87329726074530645
-      - 0.22743538778065545
-      - -1.2986529324738243
-      - 1.2762930406202422
-      - -1.5483415233419775
-      - -1.5708541966349203
-      - 0.22743636605893608
-    velocities:
-      - 0.11197665825220408
-      - -0.01292475524678807
-      - -0.017738081138001606
-      - -0.083385139781946935
-      - 0.10116501764822471
-      - -2.4949305472724191e-05
-      - -0.012882543570121321
-    accelerations:
-      - -0.57955647632408824
-      - 0.066894527172873336
-      - 0.091806810111594528
-      - 0.43157563856720588
-      - -0.52359877558960533
-      - 0.00012912987217334412
-      - 0.066676052617815035
+      - 0.87595333850596802
+      - 0.22317875534887321
+      - -1.3013675086446941
+      - 1.2798986858727441
+      - -1.5493851770957043
+      - -1.5707458796192055
+      - 0.2231680566274836
+    velocities:
+      - 0.11491330070630333
+      - -0.015449588711971624
+      - -0.019492941356291885
+      - -0.082444848114367572
+      - 0.10191260908902029
+      - 2.2131652364174029e-05
+      - -0.015411999835027654
+    accelerations:
+      - -0.5903927303880171
+      - 0.079375710269999275
+      - 0.10014933693400924
+      - 0.42357880841896339
+      - -0.52359877552218703
+      - -0.00011370630368261992
+      - 0.07918258902507111
     effort: []
     time_from_start:
       sec: 9
       nanosec: 630000000
   - positions:
-      - 0.87438931874968973
-      - 0.22730933845357015
-      - -1.298825924004305
-      - 1.2754798228410478
-      - -1.5473549064076029
-      - -1.5708544399542796
-      - 0.22731072840335537
-    velocities:
-      - 0.10618109348887207
-      - -0.012255809975048805
-      - -0.01682001303687123
-      - -0.079069383396207019
-      - 0.095929029892246359
-      - -2.3658006750970452e-05
-      - -0.012215783043932688
-    accelerations:
-      - -0.5795564763178962
-      - 0.066894527172159504
-      - 0.091806810110609191
-      - 0.43157563856259507
-      - -0.52359877558401224
-      - 0.0001291298721719594
-      - 0.066676052617101578
+      - 0.87707725885389887
+      - 0.22302764919306861
+      - -1.3015581611914115
+      - 1.2790923262798315
+      - -1.5483884112351658
+      - -1.5707456631584975
+      - 0.22301731811322606
+    velocities:
+      - 0.10900937340144032
+      - -0.014655831609139493
+      - -0.018491447986785071
+      - -0.078209060029472713
+      - 0.096676621332926774
+      - 2.0994589327158541e-05
+      - -0.014620173944645123
+    accelerations:
+      - -0.59039273051257024
+      - 0.079375710286744561
+      - 0.10014933695513817
+      - 0.42357880850833635
+      - -0.52359877563264035
+      - -0.00011370630370660789
+      - 0.079182589041776497
     effort: []
     time_from_start:
       sec: 9
       nanosec: 640000000
   - positions:
-      - 0.87542342110643911
-      - 0.22718997857920234
-      - -1.2989897348537742
-      - 1.2747097626257109
-      - -1.5464206493507884
-      - -1.5708546703606516
-      - 0.22719175835303662
-    velocities:
-      - 0.10038552872536825
-      - -0.01158686470328971
-      - -0.015901944935713633
-      - -0.074753627010339163
-      - 0.090693042136112789
-      - -2.2366708029178427e-05
-      - -0.011549022517724286
-    accelerations:
-      - -0.57955647648454067
-      - 0.066894527191394118
-      - 0.091806810137011682
-      - 0.43157563868669024
-      - -0.52359877573455849
-      - 0.00012912987220909332
-      - 0.066676052636275476
+      - 0.87814213992878254
+      - 0.22288448060829213
+      - -1.301738798804434
+      - 1.2783283245677666
+      - -1.5474440052521865
+      - -1.5707454580684199
+      - 0.22287449785787219
+    velocities:
+      - 0.10310544609657729
+      - -0.013862074506307361
+      - -0.017489954617278258
+      - -0.073973271944577854
+      - 0.091440633576833227
+      - 1.9857526290143054e-05
+      - -0.013828348054262592
+    accelerations:
+      - -0.59039273063713726
+      - 0.079375710303493316
+      - 0.10014933697627057
+      - 0.4235788085977093
+      - -0.52359877574313529
+      - -0.00011370630373059925
+      - 0.079182589058483618
     effort: []
     time_from_start:
       sec: 9
       nanosec: 650000000
   - positions:
-      - 0.8763995678155555
-      - 0.22707730815755187
-      - -1.2991443650222323
-      - 1.2739828599742311
-      - -1.5455387521715334
-      - -1.5708548878540367
-      - 0.22707945590797973
-    velocities:
-      - 0.09458996396220147
-      - -0.010917919431569516
-      - -0.01498387683460943
-      - -0.070437870624722287
-      - 0.085457054380283726
-      - -2.1075409307461497e-05
-      - -0.010882261991554662
-    accelerations:
-      - -0.5795564763151787
-      - 0.066894527171844645
-      - 0.091806810110180728
-      - 0.43157563856057229
-      - -0.52359877558154233
-      - 0.00012912987217135867
-      - 0.066676052616788078
+      - 0.87914798173061826
+      - 0.22274924959454387
+      - -1.3019094214837617
+      - 1.27760668073655
+      - -1.5465519591467676
+      - -1.5707452643489728
+      - 0.22273959586142206
+    velocities:
+      - 0.097201518791945329
+      - -0.013068317403506296
+      - -0.016488461247810639
+      - -0.069737483859848765
+      - 0.086204645820944614
+      - 1.8720463253172066e-05
+      - -0.01303652216391105
+    accelerations:
+      - -0.5903927305295904
+      - 0.07937571028903391
+      - 0.10014933695802725
+      - 0.42357880852055962
+      - -0.52359877564775292
+      - -0.00011370630370988551
+      - 0.079182589044059254
     effort: []
     time_from_start:
       sec: 9
       nanosec: 660000000
   - positions:
-      - 0.87731775887703833
-      - 0.22697132718861882
-      - -1.2992898145096787
-      - 1.2732991148866091
-      - -1.5447092148698385
-      - -1.5708550924344342
-      - 0.22697382106818478
-    velocities:
-      - 0.088794399198992305
-      - -0.010248974159844529
-      - -0.01406580873349615
-      - -0.06612211423907545
-      - 0.0802210666244184
-      - -1.9784110586093572e-05
-      - -0.010215501465379952
-    accelerations:
-      - -0.57955647618725581
-      - 0.066894527157081288
-      - 0.091806810089903573
-      - 0.43157563846531849
-      - -0.52359877546599609
-      - 0.0001291298721451979
-      - 0.066676052602071156
+      - 0.88009478425940724
+      - 0.22262195615182367
+      - -1.3020700292293945
+      - 1.276927394786181
+      - -1.5457122729189081
+      - -1.5707450820001556
+      - 0.22261261212387545
+    velocities:
+      - 0.091297591487099358
+      - -0.012274560300677334
+      - -0.015486967878308973
+      - -0.065501695774967075
+      - 0.080968658064874563
+      - 1.7583400221431927e-05
+      - -0.012244696273531424
+    accelerations:
+      - -0.59039273063368769
+      - 0.079375710303034863
+      - 0.10014933697569714
+      - 0.423578808595236
+      - -0.52359877574012348
+      - -0.00011370630376402786
+      - 0.079182589058023778
     effort: []
     time_from_start:
       sec: 9
       nanosec: 670000000
   - positions:
-      - 0.87817799429088783
-      - 0.22687203567240316
-      - -1.299426083316114
-      - 1.2726585273628446
-      - -1.5439320374457033
-      - -1.5708552841018446
-      - 0.22687485383365169
-    velocities:
-      - 0.082998834435426008
-      - -0.0095800288880782142
-      - -0.013147740632328812
-      - -0.061806357853160965
-      - 0.074985078868228264
-      - -1.8492811864264234e-05
-      - -0.0095487409391643765
-    accelerations:
-      - -0.57955647641456887
-      - 0.06689452718331898
-      - 0.091806810125912922
-      - 0.43157563863459997
-      - -0.52359877567135904
-      - 0.00012912987219584234
-      - 0.06667605262822289
+      - 0.88098254751514848
+      - 0.22250260028013175
+      - -1.3022206220413326
+      - 1.2762904667166606
+      - -1.5449249465686086
+      - -1.5707449110219693
+      - 0.2224935466452326
+    velocities:
+      - 0.085393664182561446
+      - -0.011480803197888856
+      - -0.014485474508857163
+      - -0.061265907690305405
+      - 0.075732670309068814
+      - 1.6446337184138125e-05
+      - -0.011452870383192456
+    accelerations:
+      - -0.59039273043496565
+      - 0.079375710276318873
+      - 0.10014933694198896
+      - 0.4235788084526656
+      - -0.52359877556388978
+      - -0.00011370630372575422
+      - 0.07918258903137336
     effort: []
     time_from_start:
       sec: 9
       nanosec: 680000000
   - positions:
-      - 0.87898027405710411
-      - 0.22677943360890487
-      - -1.299553171441538
-      - 1.2720610974029372
-      - -1.5432072198991278
-      - -1.5708554628562679
-      - 0.22678255420438048
-    velocities:
-      - 0.077203269672197428
-      - -0.008911083616350882
-      - -0.012229672531214974
-      - -0.057490601467497973
-      - 0.069749091112343231
-      - -1.7201513142510143e-05
-      - -0.0088819804129876556
-    accelerations:
-      - -0.57955647630721285
-      - 0.066894527170926976
-      - 0.091806810108903972
-      - 0.43157563855463954
-      - -0.52359877557436751
-      - 0.00012912987217191771
-      - 0.06667605261587041
+      - 0.88181127149784233
+      - 0.22239118197946792
+      - -1.3023611999195757
+      - 1.2756958965279881
+      - -1.5441899800958689
+      - -1.5707447514144131
+      - 0.22238239942549343
+    velocities:
+      - 0.079489736877698142
+      - -0.01068704609505663
+      - -0.013483981139350157
+      - -0.057030119605410282
+      - 0.070496682552974491
+      - 1.5309274146781653e-05
+      - -0.010661044492809848
+    accelerations:
+      - -0.59039273056057351
+      - 0.079375710293204671
+      - 0.10014933696329484
+      - 0.42357880854278102
+      - -0.52359877567527291
+      - -0.00011370630374994548
+      - 0.079182589048217525
     effort: []
     time_from_start:
       sec: 9
       nanosec: 690000000
   - positions:
-      - 0.87972459817568704
-      - 0.22669352099812398
-      - -1.2996710788859507
-      - 1.2715068250068873
-      - -1.542534762230112
-      - -1.570855628697704
-      - 0.22669692218037113
-    velocities:
-      - 0.071407704908927713
-      - -0.0082421383446188018
-      - -0.011311604430094617
-      - -0.053174845081804339
-      - 0.064513103356421034
-      - -1.591021442074688e-05
-      - -0.0082152198868062007
-    accelerations:
-      - -0.57955647624093509
-      - 0.06689452716327772
-      - 0.091806810098407188
-      - 0.43157563850529346
-      - -0.52359877551448508
-      - 0.00012912987215715801
-      - 0.066676052608248507
+      - 0.882580956207489
+      - 0.22228770124983219
+      - -1.3024917628641239
+      - 1.2751436842201633
+      - -1.543507373500689
+      - -1.5707446031774874
+      - 0.22227917046465781
+    velocities:
+      - 0.073585809573149863
+      - -0.0098932889922667584
+      - -0.01248248776989659
+      - -0.052794331520741179
+      - 0.065260694797159555
+      - 1.4172211109485856e-05
+      - -0.0098692186024694883
+    accelerations:
+      - -0.5903927303700236
+      - 0.079375710267587524
+      - 0.1001493369309725
+      - 0.42357880840607481
+      - -0.52359877550629663
+      - -0.00011370630371324823
+      - 0.079182589022663175
     effort: []
     time_from_start:
       sec: 9
       nanosec: 700000000
   - positions:
-      - 0.88041096664663654
-      - 0.22661429784006049
-      - -1.2997798056493521
-      - 1.2709957101746947
-      - -1.5419146644386563
-      - -1.5708557816261526
-      - 0.22661795776162372
-    velocities:
-      - 0.065612140145485068
-      - -0.0075731930728667601
-      - -0.010393536328946868
-      - -0.048859088695981941
-      - 0.0592771156003426
-      - -1.4618915698945094e-05
-      - -0.0075484593606048528
-    accelerations:
-      - -0.57955647634451379
-      - 0.066894527175231699
-      - 0.091806810114814161
-      - 0.43157563858241255
-      - -0.52359877560806245
-      - 0.00012912987218023151
-      - 0.066676052620162504
+      - 0.88329160164408838
+      - 0.22219215809122464
+      - -1.3026123108749776
+      - 1.2746338297931867
+      - -1.5428771267830688
+      - -1.5707444663111918
+      - 0.22218385976272589
+    velocities:
+      - 0.067681882268307611
+      - -0.0090995318894373633
+      - -0.011480994400393156
+      - -0.048558543435861169
+      - 0.060024707041083911
+      - 1.3035148072133441e-05
+      - -0.009077392712089705
+    accelerations:
+      - -0.59039273047450946
+      - 0.07937571028163358
+      - 0.10014933694869617
+      - 0.42357880848102875
+      - -0.52359877559895174
+      - -0.00011370630373337035
+      - 0.079182589036674536
     effort: []
     time_from_start:
       sec: 9
       nanosec: 710000000
   - positions:
-      - 0.8810393794699527
-      - 0.22654176413471444
-      - -1.2998793517317422
-      - 1.2705277529063597
-      - -1.5413469265247604
-      - -1.5708559216416145
-      - 0.22654566094813819
-    velocities:
-      - 0.059816575382194759
-      - -0.0069042478011323025
-      - -0.0094754682278232506
-      - -0.044543332310272972
-      - 0.0540411278444018
-      - -1.3327616977177247e-05
-      - -0.0068816988344210291
-    accelerations:
-      - -0.57955647629883067
-      - 0.066894527169959875
-      - 0.091806810107576908
-      - 0.43157563854840841
-      - -0.52359877556679713
-      - 0.00012912987217005424
-      - 0.066676052614907638
+      - 0.88394320780764035
+      - 0.22210455250364525
+      - -1.3027228439521359
+      - 1.2741663332470583
+      - -1.5422992399430084
+      - -1.5707443408155268
+      - 0.22209646731969762
+    velocities:
+      - 0.061777954963465359
+      - -0.0083057747866079681
+      - -0.010479501030889722
+      - -0.044322755350981152
+      - 0.05478871928500826
+      - 1.1898085034781024e-05
+      - -0.0082855668217099183
+    accelerations:
+      - -0.59039273057898833
+      - 0.07937571029568137
+      - 0.1001493369664181
+      - 0.42357880855599656
+      - -0.52359877569161373
+      - -0.00011370630375349416
+      - 0.079182589050689367
     effort: []
     time_from_start:
       sec: 9
       nanosec: 720000000
   - positions:
-      - 0.88160983664563541
-      - 0.22647591988208574
-      - -1.299969717133121
-      - 1.2701029532018822
-      - -1.5408315484884243
-      - -1.5708560487440888
-      - 0.22648003173991454
-    velocities:
-      - 0.054021010618863267
-      - -0.00623530252939309
-      - -0.0085574001266931089
-      - -0.040227575924533333
-      - 0.048805140088423786
-      - -1.2036318255400223e-05
-      - -0.006214938308232467
-    accelerations:
-      - -0.57955647629433682
-      - 0.066894527169442053
-      - 0.091806810106865699
-      - 0.4315756385450672
-      - -0.52359877556273815
-      - 0.00012912987216905545
-      - 0.066676052614391162
+      - 0.88453577469814448
+      - 0.22202488448709407
+      - -1.3028233620955998
+      - 1.273741194581778
+      - -1.541773712980508
+      - -1.5707442266904921
+      - 0.22201699313557305
+    velocities:
+      - 0.05587402765882267
+      - -0.007512017683805404
+      - -0.0094780076614201392
+      - -0.040086967266244319
+      - 0.049552731529109599
+      - 1.0761021997467044e-05
+      - -0.0074937409313568992
+    accelerations:
+      - -0.59039273048495344
+      - 0.079375710283037457
+      - 0.10014933695046656
+      - 0.4235788084885258
+      - -0.52359877560820844
+      - -0.0001137063037353816
+      - 0.079182589038076331
     effort: []
     time_from_start:
       sec: 9
       nanosec: 730000000
   - positions:
-      - 0.88212233817368491
-      - 0.22641676508217445
-      - -1.3000509018534885
-      - 1.2697213110612617
-      - -1.5403685303296477
-      - -1.570856162933576
-      - 0.22642107013695278
-    velocities:
-      - 0.048225445855544183
-      - -0.0055663572576553112
-      - -0.0076393320255649317
-      - -0.035911819538802944
-      - 0.043569152332456985
-      - -1.0745019533625964e-05
-      - -0.0055481777820453335
-    accelerations:
-      - -0.5795564762743477
-      - 0.06689452716713401
-      - 0.091806810103699787
-      - 0.43157563853017655
-      - -0.52359877554467571
-      - 0.00012912987216460206
-      - 0.066676052612091696
+      - 0.88506930231560188
+      - 0.22195315404157093
+      - -1.3029138653053687
+      - 1.2733584137973455
+      - -1.5413005458955673
+      - -1.5707441239360878
+      - 0.22194543721035206
+    velocities:
+      - 0.049970100354138007
+      - -0.0067182605809971967
+      - -0.0084765142919434374
+      - -0.035851179181477372
+      - 0.044316743773173711
+      - 9.6239589601449797e-06
+      - -0.0067019150409982501
+    accelerations:
+      - -0.59039273043289886
+      - 0.079375710276038333
+      - 0.10014933694163604
+      - 0.42357880845116985
+      - -0.52359877556203738
+      - -0.00011370630372535482
+      - 0.079182589031094222
     effort: []
     time_from_start:
       sec: 9
       nanosec: 740000000
   - positions:
-      - 0.88257688405410106
-      - 0.22636429973498054
-      - -1.3001229058928447
-      - 1.2693828264844993
-      - -1.5399578720484313
-      - -1.5708562642100758
-      - 0.22636877613925294
-    velocities:
-      - 0.042429881092192076
-      - -0.0048974119859137204
-      - -0.0067212639244315251
-      - -0.031596063153047964
-      - 0.038333164576460355
-      - -9.4537208118443496e-06
-      - -0.0048814172558544018
-    accelerations:
-      - -0.57955647629046936
-      - 0.066894527168994494
-      - 0.091806810106253314
-      - 0.43157563854217729
-      - -0.52359877555924073
-      - 0.00012912987216819247
-      - 0.066676052613944867
+      - 0.88554379066001165
+      - 0.22188936116707597
+      - -1.3029943535814428
+      - 1.2730179908937609
+      - -1.5408797386881863
+      - -1.5707440325523141
+      - 0.22188179954403475
+    velocities:
+      - 0.04406617304935842
+      - -0.0059245034781762263
+      - -0.0074750209224506321
+      - -0.031615391096642319
+      - 0.039080756017153634
+      - 8.4868959228046333e-06
+      - -0.0059100891506268698
+    accelerations:
+      - -0.59039273047156637
+      - 0.079375710281237577
+      - 0.10014933694819561
+      - 0.42357880847891632
+      - -0.5235987755963355
+      - -0.00011370630373280246
+      - 0.079182589036279741
     effort: []
     time_from_start:
       sec: 9
       nanosec: 750000000
   - positions:
-      - 0.88297347428688377
-      - 0.22631852384050408
-      - -1.3001857292511896
-      - 1.2690874994715939
-      - -1.5395995736447745
-      - -1.5708563525735886
-      - 0.22632314974681494
-    velocities:
-      - 0.036634316328798822
-      - -0.004228466714167379
-      - -0.0058031958232915987
-      - -0.027280306767262331
-      - 0.033097176820426538
-      - -8.1624220900535649e-06
-      - -0.0042146567296587343
-    accelerations:
-      - -0.57955647634773855
-      - 0.066894527175605525
-      - 0.091806810115325946
-      - 0.43157563858483056
-      - -0.52359877561098433
-      - 0.00012912987218095286
-      - 0.066676052620534693
+      - 0.88595923973137403
+      - 0.22183350586360923
+      - -1.3030648269238219
+      - 1.2727199258710249
+      - -1.5405112913583654
+      - -1.5707439525391704
+      - 0.22182608013662114
+    velocities:
+      - 0.038162245744673758
+      - -0.0051307463753680182
+      - -0.0064735275529739303
+      - -0.027379603011875364
+      - 0.033844768261217746
+      - 7.3498328854825675e-06
+      - -0.0051182632602682198
+    accelerations:
+      - -0.59039273041951179
+      - 0.079375710274238453
+      - 0.10014933693936509
+      - 0.42357880844157075
+      - -0.52359877555017131
+      - -0.00011370630372277821
+      - 0.079182589029299352
     effort: []
     time_from_start:
       sec: 9
       nanosec: 760000000
   - positions:
-      - 0.88331210887203293
-      - 0.22627943739874501
-      - -1.3002393719285232
-      - 1.2688353300225461
-      - -1.5392936351186779
-      - -1.570856428024114
-      - 0.22628419095963889
-    velocities:
-      - 0.030838751565494094
-      - -0.0035595214424302066
-      - -0.0048851277221697853
-      - -0.022964550381543398
-      - 0.02786118906446906
-      - -6.871123368756947e-06
-      - -0.0035478962034734452
-    accelerations:
-      - -0.57955647631275886
-      - 0.066894527171547577
-      - 0.091806810109860637
-      - 0.43157563855879272
-      - -0.52359877557931089
-      - 0.00012912987218207482
-      - 0.066676052616513465
+      - 0.88631564952968911
+      - 0.22178558813117061
+      - -1.3031252853325062
+      - 1.2724642187291364
+      - -1.5401952039061044
+      - -1.5707438838966574
+      - 0.22177827898811117
+    velocities:
+      - 0.032258318439835731
+      - -0.0043369892725384869
+      - -0.0054720341834683011
+      - -0.023143814926997647
+      - 0.028608780505136978
+      - 6.2127698442734226e-06
+      - -0.0043264373698895468
+    accelerations:
+      - -0.59039273052315111
+      - 0.07937571028816047
+      - 0.10014933695689361
+      - 0.4235788085159175
+      - -0.52359877564192425
+      - -0.0001137063036721375
+      - 0.079182589043209239
     effort: []
     time_from_start:
       sec: 9
       nanosec: 770000000
   - positions:
-      - 0.88359278780954886
-      - 0.22624704040970334
-      - -1.3002838339248455
-      - 1.2686263181373558
-      - -1.539040056470141
-      - -1.5708564905616522
-      - 0.2262518997777247
-    velocities:
-      - 0.025043186802101245
-      - -0.0028905761706841102
-      - -0.0039670596210291554
-      - -0.018648793995757928
-      - 0.022625201308436305
-      - -5.5798246468770909e-06
-      - -0.0028811356772777885
-    accelerations:
-      - -0.57955647636887275
-      - 0.066894527178024604
-      - 0.091806810118750248
-      - 0.43157563860058207
-      - -0.52359877563000667
-      - 0.0001291298721945777
-      - 0.066676052622969717
+      - 0.88661302005495668
+      - 0.22174560796976012
+      - -1.3031757288074957
+      - 1.2722508694680963
+      - -1.5399314763314029
+      - -1.5707438266247744
+      - 0.22173839609850482
+    velocities:
+      - 0.026354391135183272
+      - -0.003543232169734737
+      - -0.0044705408139975936
+      - -0.018908026842253935
+      - 0.023372792749231267
+      - 5.0757068076635675e-06
+      - -0.003534611479535116
+    accelerations:
+      - -0.59039273043812035
+      - 0.079375710276728323
+      - 0.10014933694246957
+      - 0.42357880845490992
+      - -0.52359877556651646
+      - -0.00011370630365576173
+      - 0.079182589031805459
     effort: []
     time_from_start:
       sec: 9
       nanosec: 780000000
   - positions:
-      - 0.88381551109943124
-      - 0.22622133287337906
-      - -1.3003191152401563
-      - 1.2684604638160228
-      - -1.538838837699164
-      - -1.5708565401862034
-      - 0.22622627620107244
-    velocities:
-      - 0.01924762203880602
-      - -0.0022216308989492827
-      - -0.003048991519903991
-      - -0.01433303761004516
-      - 0.017389213552491747
-      - -4.2885259250189867e-06
-      - -0.0022143751510933637
-    accelerations:
-      - -0.57955647632942242
-      - 0.066894527173470955
-      - 0.091806810112500525
-      - 0.43157563857120246
-      - -0.52359877559436596
-      - 0.0001291298721857884
-      - 0.066676052618430945
+      - 0.88685135130717718
+      - 0.22171356537937775
+      - -1.3032161573487899
+      - 1.2720798780879041
+      - -1.5397201086342613
+      - -1.5707437807235221
+      - 0.22170643146780217
+    velocities:
+      - 0.020450463830373217
+      - -0.0027494750669097997
+      - -0.0034690474445001535
+      - -0.014672238757397154
+      - 0.018136804993185793
+      - 3.9386437710233615e-06
+      - -0.0027427855891595495
+    accelerations:
+      - -0.59039273050963703
+      - 0.079375710286343076
+      - 0.10014933695460101
+      - 0.42357880850622082
+      - -0.52359877562994162
+      - -0.00011370630366953572
+      - 0.079182589041396884
     effort: []
     time_from_start:
       sec: 9
       nanosec: 790000000
   - positions:
-      - 0.88398027874168061
-      - 0.22620231478977215
-      - -1.300345215874456
-      - 1.2683377670585472
-      - -1.5386899788057464
-      - -1.5708565768977671
-      - 0.22620732022968199
-    velocities:
-      - 0.013452057275469727
-      - -0.0015526856272097141
-      - -0.0021309234187723201
-      - -0.010017281224301806
-      - 0.012153225796510085
-      - -2.9972272031517315e-06
-      - -0.0015476146249042138
-    accelerations:
-      - -0.57955647632074658
-      - 0.066894527172469798
-      - 0.091806810111126069
-      - 0.43157563856474312
-      - -0.52359877558652823
-      - 0.00012912987218385494
-      - 0.066676052617432952
+      - 0.88703064328634995
+      - 0.22168946036002363
+      - -1.3032465709563898
+      - 1.2719512445885601
+      - -1.5395611008146797
+      - -1.5707437461929001
+      - 0.22168238509600313
+    velocities:
+      - 0.014546536525676787
+      - -0.0019557179641001383
+      - -0.0024675540750219876
+      - -0.010436450672621896
+      - 0.012900817237241093
+      - 2.8015807344050395e-06
+      - -0.0019509596987992218
+    accelerations:
+      - -0.59039273045913765
+      - 0.079375710279553868
+      - 0.10014933694603474
+      - 0.42357880846998902
+      - -0.52359877558515433
+      - -0.00011370630365980906
+      - 0.079182589034623732
     effort: []
     time_from_start:
       sec: 9
       nanosec: 800000000
   - positions:
-      - 0.88408709073629621
-      - 0.22618998615888267
-      - -1.3003621358277442
-      - 1.2682582278649293
-      - -1.538593479789889
-      - -1.570856600696344
-      - 0.22619503186355353
-    velocities:
-      - 0.0076564925121333314
-      - -0.00088374035547013417
-      - -0.0012128553176406333
-      - -0.0057015248385583785
-      - 0.0069172380405283325
-      - -1.7059284812844539e-06
-      - -0.00088085409871505223
-    accelerations:
-      - -0.57955647632246643
-      - 0.06689452717266843
-      - 0.091806810111398685
-      - 0.43157563856602216
-      - -0.52359877558808077
-      - 0.00012912987218423837
-      - 0.066676052617630738
+      - 0.88715089599247532
+      - 0.22167329291169763
+      - -1.3032669696302945
+      - 1.2718649689700641
+      - -1.5394544528726579
+      - -1.5707437230329082
+      - 0.22166625698310782
+    velocities:
+      - 0.0086426092209188777
+      - -0.0011619608612822119
+      - -0.0014660607055333931
+      - -0.006200662587802528
+      - 0.0076648294812418673
+      - 1.6645176977748766e-06
+      - -0.0011591338084306487
+    accelerations:
+      - -0.59039273047745633
+      - 0.079375710282016523
+      - 0.10014933694914185
+      - 0.42357880848313129
+      - -0.52359877560139823
+      - -0.00011370630366333696
+      - 0.079182589037080531
     effort: []
     time_from_start:
       sec: 9
       nanosec: 810000000
   - positions:
-      - 0.88415172607927417
-      - 0.22618831128163283
-      - -1.3003688004508271
-      - 1.2682133115892242
-      - -1.5385468179687785
-      - -1.5708503575851187
-      - 0.22618683421817598
-    velocities:
-      - 0.006656281230194838
-      - 0.0011659295712071705
-      - 0.00014050059081957035
-      - -0.0038817264742848734
-      - 0.0020911071139154067
-      - 0.0020905177055965517
-      - -0.0010203876305639559
-    accelerations:
-      - 0.042731508839424399
-      - 0.2712615806466212
-      - 0.1638565532525624
-      - 0.12167858117735841
-      - -0.52149976393252573
-      - 0.29871404611231739
-      - -0.041271923480439655
+      - 0.88721211992153137
+      - 0.22166506306794181
+      - -1.3032773565661941
+      - 1.2718210546171518
+      - -1.5394001489836773
+      - -1.5707437234027293
+      - 0.22165802516766137
+    velocities:
+      - 0.0030023615219211749
+      - -0.0003684382847891112
+      - -0.0005437941236949202
+      - -0.0018879816937229779
+      - 0.002821526361163331
+      - -0.00029586759969137751
+      - -0.00090369776795177343
+    accelerations:
+      - -0.32671312473583491
+      - 0.079141183959114805
+      - 0.020922549302924563
+      - 0.50047161775188109
+      - -0.13091413969907165
+      - -0.29650876065177606
+      - -0.45720726084243635
     effort: []
     time_from_start:
       sec: 9
       nanosec: 820000000
   - positions:
-      - 0.88421439297751914
-      - 0.22621100872126668
-      - -1.300360237011408
-      - 1.2681832801895736
-      - -1.5385508994561012
-      - -1.5708179993516196
-      - 0.22617568477858091
-    velocities:
-      - 0.0052672623078851158
-      - 0.0032837347198935007
-      - 0.0015698150022241959
-      - -0.0017594707173708281
-      - -0.0031334561983724302
-      - 0.004207982769347517
-      - -0.001118251567205034
-    accelerations:
-      - -0.28875542935011722
-      - 0.16152508072891519
-      - 0.12493757415588858
-      - 0.28627313638931184
-      - -0.52084932054041155
-      - 0.13871744058699209
-      - 0.016345740533248422
+      - 0.88723328352272013
+      - 0.22166403290708778
+      - -1.303282724784447
+      - 1.2718195851980951
+      - -1.5393731925841463
+      - -1.5707589994731763
+      - 0.22162936163662172
+    velocities:
+      - -0.00029731435563230265
+      - 0.00033032737774685127
+      - -0.00023400360064120156
+      - 0.0024070485480795875
+      - 0.0010459214343335388
+      - -0.0024442407958948404
+      - -0.0040910592375425154
+    accelerations:
+      - -0.56835712123707027
+      - 0.073375659909753088
+      - 0.099386956788760347
+      - 0.38482015320029156
+      - -0.51775614011831872
+      - 0.025459631814508034
+      - 0.11944174144010257
     effort: []
     time_from_start:
       sec: 9
       nanosec: 830000000
   - positions:
-      - 0.88426896718272008
-      - 0.22624130348198684
-      - -1.300343584505238
-      - 1.268162214343906
-      - -1.5385789871902307
-      - -1.5707768566212068
-      - 0.22616293542839833
-    velocities:
-      - 0.0063835645644427933
-      - 0.0019634197981450363
-      - 0.0013454578896119123
-      - -0.0034484190572464817
-      - -0.00052301873261624934
-      - 0.0033223404315296081
-      - -0.0015130499349400239
-    accelerations:
-      - 0.11982562872217579
-      - -0.26395272918634505
-      - -0.09603517752436988
-      - -0.25023459750297966
-      - 0.52387315626288278
-      - -0.22518137792652956
-      - -0.028475572600442482
+      - 0.88722363302302365
+      - 0.2216670825667888
+      - -1.3032820240027996
+      - 1.2718454174171168
+      - -1.5393693452315604
+      - -1.5707820654573386
+      - 0.22159069104226475
+    velocities:
+      - 0.00064903217278818167
+      - -0.0001218220297402331
+      - 0.00016770957239714603
+      - 0.0010459878638268347
+      - 0.0018276399209091448
+      - -0.0023084788386844696
+      - -0.0042965062730425186
+    accelerations:
+      - 0.50282121447935413
+      - -0.11651477959520348
+      - -0.0081695667978634624
+      - -0.51804217372306949
+      - 0.39389900638997122
+      - 0.10058409805692638
+      - 0.06555811645693721
     effort: []
     time_from_start:
       sec: 9
       nanosec: 840000000
   - positions:
-      - 0.88433274579979826
-      - 0.22624644288242207
-      - -1.3003359794133174
-      - 1.2681188330202358
-      - -1.5385585272922131
-      - -1.5707575018290598
-      - 0.22614781487626229
-    velocities:
-      - 0.0057624401827287937
-      - -0.0011372491235619371
-      - 4.1334799849963227e-05
-      - -0.0049072159424191205
-      - 0.004690104209172364
-      - 0.00021773790629104904
-      - -0.0013665468011077706
-    accelerations:
-      - -0.23147807725430333
-      - -0.35238785122903932
-      - -0.16216929909861258
-      - -0.04836192049651479
-      - 0.51785219447434594
-      - -0.38926627778007822
-      - 0.054796229950373802
+      - 0.88724739841692191
+      - 0.22166176433335527
+      - -1.3032812327071523
+      - 1.2718322584805744
+      - -1.539342014241031
+      - -1.570793417176225
+      - 0.22156485099655934
+    velocities:
+      - 0.0042992544725681259
+      - -0.00098615365302290162
+      - -6.9763203778494548e-06
+      - -0.0038245845776564993
+      - 0.0038332620155206894
+      - -4.2818593661474161e-08
+      - -0.00098481238241466575
+    accelerations:
+      - 0.58725032848186498
+      - -0.13470220485119561
+      - -0.00095292020038060198
+      - -0.52241349375019219
+      - 0.52359877558652923
+      - -5.8487426955706351e-06
+      - -0.13451899596921471
     effort: []
     time_from_start:
       sec: 9
       nanosec: 850000000
   - positions:
-      - 0.88441503062828986
-      - 0.22622701481925653
-      - -1.3003366749093264
-      - 1.2680467939440314
-      - -1.5384858975326772
-      - -1.570757440744929
-      - 0.22612830046978022
-    velocities:
-      - 0.011540355645761179
-      - -0.0027363256735779421
-      - -0.00010220429951538247
-      - -0.010110530073748087
-      - 0.01020675514753323
-      - -2.4846869003366939e-06
-      - -0.0027368766482181958
-    accelerations:
-      - 0.59201146680194927
-      - -0.14037142575044662
-      - -0.0052430028265022764
-      - -0.51866250251164059
-      - 0.5235987756060988
-      - -0.00012746254808466032
-      - -0.14039969033040914
+      - 0.88731560027275136
+      - 0.22164612033979814
+      - -1.3032813433770369
+      - 1.271771586620456
+      - -1.5392812047251001
+      - -1.5707934178554839
+      - 0.22154922828044582
+    velocities:
+      - 0.01017175775750857
+      - -0.0023331757015627929
+      - -1.6505522381853115e-05
+      - -0.009048719515266767
+      - 0.0090692497714945745
+      - -1.013060206183935e-07
+      - -0.0023300023421347128
+    accelerations:
+      - 0.58725032848626046
+      - -0.13470220485220352
+      - -0.0009529202003877356
+      - -0.52241349375410107
+      - 0.52359877559044632
+      - -5.8487426956144038e-06
+      - -0.13451899597022132
     effort: []
     time_from_start:
       sec: 9
       nanosec: 860000000
   - positions:
-      - 0.8845563501287641
-      - 0.22619350665112078
-      - -1.3003379264704567
-      - 1.2679229836297388
-      - -1.5383609088769385
-      - -1.5707574711716095
-      - 0.22609478555458543
-    velocities:
-      - 0.017460470313710699
-      - -0.0041400399310658137
-      - -0.00015463432777978548
-      - -0.015297155098803181
-      - 0.01544274290353234
-      - -3.7593123811682306e-06
-      - -0.0041408735515056907
-    accelerations:
-      - 0.59201146681913652
-      - -0.14037142575452105
-      - -0.005243002826654455
-      - -0.51866250252669599
-      - 0.52359877562129808
-      - -0.00012746254808836032
-      - -0.14039969033448396
+      - 0.88744252716143046
+      - 0.22161700612575566
+      - -1.3032815493389418
+      - 1.2716586734109614
+      - -1.53916803533161
+      - -1.5707934191196173
+      - 0.22152015366473513
+    velocities:
+      - 0.016044261042473616
+      - -0.003680197750108328
+      - -2.6034724385896697e-05
+      - -0.014272854452898921
+      - 0.014305237527490397
+      - -1.597934475755579e-07
+      - -0.0036751923018603955
+    accelerations:
+      - 0.58725032850483649
+      - -0.13470220485646442
+      - -0.00095292020041787783
+      - -0.52241349377062751
+      - 0.52359877560701062
+      - -5.848742695799428e-06
+      - -0.13451899597447659
     effort: []
     time_from_start:
       sec: 9
       nanosec: 870000000
   - positions:
-      - 0.88475687077591747
-      - 0.22614596134041018
-      - -1.3003397023318692
-      - 1.2677473070651959
-      - -1.53818356034364
-      - -1.5707575143445442
-      - 0.22604723067035778
-    velocities:
-      - 0.023380584981618133
-      - -0.0055437541885437073
-      - -0.00020706435604381582
-      - -0.020483780123821408
-      - 0.020678730659494229
-      - -5.0339378619907069e-06
-      - -0.0055448704547832062
-    accelerations:
-      - 0.59201146679422212
-      - -0.14037142574861478
-      - -0.0052430028264338581
-      - -0.51866250250487478
-      - 0.52359877559926682
-      - -0.00012746254808299707
-      - -0.14039969032857677
+      - 0.88762817908295899
+      - 0.22157442169122768
+      - -1.3032818505928665
+      - 1.2714935188520906
+      - -1.5390025060605597
+      - -1.570793420968625
+      - 0.2214776271494272
+    velocities:
+      - 0.021916764327455571
+      - -0.0050272197986577418
+      - -3.5563926389967719e-05
+      - -0.019496989390546119
+      - 0.019541225283501298
+      - -2.1828087453289068e-07
+      - -0.0050203822615899523
+    accelerations:
+      - 0.58725032853093417
+      - -0.13470220486245152
+      - -0.00095292020046022601
+      - -0.52241349379384372
+      - 0.52359877563028057
+      - -5.8487426960593206e-06
+      - -0.13451899598045533
     effort: []
     time_from_start:
       sec: 9
       nanosec: 880000000
   - positions:
-      - 0.88501659256975018
-      - 0.22608437888712479
-      - -1.3003420024935648
-      - 1.2675197642504026
-      - -1.5379538519327818
-      - -1.5707575702637344
-      - 0.22598563581709735
-    velocities:
-      - 0.029300699649557439
-      - -0.0069474684460291572
-      - -0.00025949438430812838
-      - -0.025670405148867551
-      - 0.025914718415484306
-      - -6.3085633428200442e-06
-      - -0.0069488673580682782
-    accelerations:
-      - 0.59201146680748418
-      - -0.14037142575175846
-      - -0.0052430028265512772
-      - -0.51866250251648627
-      - 0.52359877561099499
-      - -0.00012746254808585118
-      - -0.14039969033172067
+      - 0.88787255603733717
+      - 0.22151836703621428
+      - -1.3032822471388112
+      - 1.2712761229438434
+      - -1.5387846169119492
+      - -1.5707934234025069
+      - 0.22142164873452197
+    velocities:
+      - 0.027789267612371299
+      - -0.0063742418471919634
+      - -4.5093128393931273e-05
+      - -0.024721124328134399
+      - 0.024777213039453145
+      - -2.7676830148956385e-07
+      - -0.0063655722213043376
+    accelerations:
+      - 0.58725032849810399
+      - -0.13470220485491999
+      - -0.00095292020040695514
+      - -0.52241349376464119
+      - 0.52359877560100943
+      - -5.8487426957323929e-06
+      - -0.13451899597293529
     effort: []
     time_from_start:
       sec: 9
       nanosec: 890000000
   - positions:
-      - 0.88533551551026235
-      - 0.22600875929126452
-      - -1.3003448269555427
-      - 1.2672403551853586
-      - -1.5376717836443632
-      - -1.5707576389291789
-      - 0.22591000099480402
-    velocities:
-      - 0.035220814317506934
-      - -0.0083511827035170228
-      - -0.0003119244125725312
-      - -0.030857030173922627
-      - 0.031150706171483394
-      - -7.583188823651577e-06
-      - -0.0083528642613557684
-    accelerations:
-      - 0.59201146682462291
-      - -0.14037142575582248
-      - -0.0052430028267030767
-      - -0.51866250253150703
-      - 0.52359877562615276
-      - -0.00012746254808954229
-      - -0.14039969033578553
+      - 0.88817565802456477
+      - 0.22144884216071548
+      - -1.303282738976776
+      - 1.2710064856862202
+      - -1.5385143678857793
+      - -1.5707934264212631
+      - 0.22135221842001962
+    velocities:
+      - 0.033661770897370477
+      - -0.0077212638957453285
+      - -5.4622330398030244e-05
+      - -0.029945259265796918
+      - 0.030013200795479401
+      - -3.3525572844706819e-07
+      - -0.0077107621810378396
+    accelerations:
+      - 0.5872503285487245
+      - -0.13470220486653287
+      - -0.00095292020048910102
+      - -0.5224134938096745
+      - 0.52359877564614399
+      - -5.8487426962365631e-06
+      - -0.13451899598453193
     effort: []
     time_from_start:
       sec: 9
       nanosec: 900000000
   - positions:
-      - 0.88571363959745364
-      - 0.22591910255282938
-      - -1.3003481757178035
-      - 1.2669090798700642
-      - -1.5373373554783849
-      - -1.5707577203408785
-      - 0.22582032620347789
-    velocities:
-      - 0.041140928985414389
-      - -0.0097548969609949215
-      - -0.0003643544408365617
-      - -0.036043655198940865
-      - 0.036386693927445299
-      - -8.8578143044740567e-06
-      - -0.0097568611646332883
-    accelerations:
-      - 0.59201146679974315
-      - -0.14037142574992315
-      - -0.0052430028264827235
-      - -0.51866250250969959
-      - 0.52359877560414225
-      - -0.0001274625480841837
-      - -0.14039969032988614
+      - 0.88853748504464192
+      - 0.22136584706473128
+      - -1.3032833261067609
+      - 1.2706846070792208
+      - -1.5381917589820497
+      - -1.5707934300248936
+      - 0.22126933620591999
+    velocities:
+      - 0.039534274182297435
+      - -0.0090682859442821253
+      - -6.4151532402012006e-05
+      - -0.035169394203395182
+      - 0.035249188551441261
+      - -3.9374315540385317e-07
+      - -0.0090559521407547958
+    accelerations:
+      - 0.5872503285219125
+      - -0.13470220486037926
+      - -0.00095292020044557442
+      - -0.52241349378581015
+      - 0.52359877562223167
+      - -5.8487426959693902e-06
+      - -0.1345189959783871
     effort: []
     time_from_start:
       sec: 9
       nanosec: 910000000
   - positions:
-      - 0.88615096483132438
-      - 0.22581540867181946
-      - -1.3003520487803466
-      - 1.2665259383045198
-      - -1.5369505674348471
-      - -1.5707578144988328
-      - 0.22571661144311894
-    velocities:
-      - 0.047061043653279795
-      - -0.011158611218462849
-      - -0.00041678446910021978
-      - -0.041230280223922271
-      - 0.041622681683370015
-      - -1.0132439785287484e-05
-      - -0.011160858067900835
-    accelerations:
-      - 0.59201146673283445
-      - -0.14037142573405781
-      - -0.0052430028258901628
-      - -0.51866250245108836
-      - 0.52359877554496714
-      - -0.00012746254806977964
-      - -0.14039969031401728
+      - 0.88895803709756838
+      - 0.22126938174826163
+      - -1.3032840085287658
+      - 1.2703104871228454
+      - -1.5378167902007602
+      - -1.570793434213398
+      - 0.22117300209222318
+    velocities:
+      - 0.045406777467198928
+      - -0.010415307992813082
+      - -7.3680734405952473e-05
+      - -0.040393529140970802
+      - 0.040485176307380417
+      - -4.5223058236038463e-07
+      - -0.010401142100465921
+    accelerations:
+      - 0.58725032847380054
+      - -0.13470220484934459
+      - -0.00095292020036752401
+      - -0.52241349374301616
+      - 0.52359877557933576
+      - -5.8487426954903533e-06
+      - -0.13451899596736772
     effort: []
     time_from_start:
       sec: 9
       nanosec: 920000000
   - positions:
-      - 0.88664749121187447
-      - 0.22569767764823467
-      - -1.3003564461431727
-      - 1.2660909304887245
-      - -1.5365114195137493
-      - -1.5707579214030418
-      - 0.22559885671372715
-    velocities:
-      - 0.052981158321290307
-      - -0.012562325475965183
-      - -0.00046921449736516297
-      - -0.046416905249030804
-      - 0.046858669439423073
-      - -1.1407065266132154e-05
-      - -0.012564854971202796
-    accelerations:
-      - 0.59201146681208361
-      - -0.14037142575285008
-      - -0.0052430028265920215
-      - -0.51866250252051893
-      - 0.52359877561506385
-      - -0.00012746254808684228
-      - -0.14039969033281302
+      - 0.88943731418334437
+      - 0.22115944621130654
+      - -1.3032847862427908
+      - 1.2698841258170934
+      - -1.5373894615419106
+      - -1.5707934389867768
+      - 0.22106321607892909
+    velocities:
+      - 0.051279280752142151
+      - -0.011762330041353613
+      - -8.3209936409960636e-05
+      - -0.045617664078583545
+      - 0.045721164063356787
+      - -5.1071800931733162e-07
+      - -0.011746332060186606
+    accelerations:
+      - 0.58725032846742609
+      - -0.13470220484788384
+      - -0.00095292020035716858
+      - -0.52241349373734525
+      - 0.52359877557365997
+      - -5.8487426954267335e-06
+      - -0.13451899596590836
     effort: []
     time_from_start:
       sec: 9
       nanosec: 930000000
   - positions:
-      - 0.8872032187271407
-      - 0.22556590948491162
-      - -1.3003613678061754
-      - 1.2656040564331601
-      - -1.5360199117256725
-      - -1.5707580410535034
-      - 0.22546706201813965
-    velocities:
-      - 0.058868050949982494
-      - -0.013958162478908819
-      - -0.00052135030287029131
-      - -0.051574424374983968
-      - 0.052065274286386971
-      - -1.2674537900222793e-05
-      - -0.013960973033816458
-    accelerations:
-      - 0.59184366762838758
-      - -0.14033163900511683
-      - -0.005241516751925932
-      - -0.51851549329924762
-      - 0.5234503672639792
-      - -0.0001274264175101697
-      - -0.1403598955739313
+      - 0.88997531630197013
+      - 0.22103604045386602
+      - -1.3032856592488355
+      - 1.2694055231619654
+      - -1.5369097730055012
+      - -1.5707934443450302
+      - 0.22093997816603778
+    velocities:
+      - 0.057151784037062489
+      - -0.013109352089888893
+      - -9.2739138413931678e-05
+      - -0.050841799016175929
+      - 0.050957151819312749
+      - -5.6920543627405085e-07
+      - -0.013091522019902048
+    accelerations:
+      - 0.58725032843503755
+      - -0.13470220484045423
+      - -0.00095292020030461459
+      - -0.52241349370853862
+      - 0.52359877554477974
+      - -5.8487426951043045e-06
+      - -0.13451899595848982
     effort: []
     time_from_start:
       sec: 9
       nanosec: 940000000
   - positions:
-      - 0.88781814584370256
-      - 0.22542010454543862
-      - -1.3003668137557742
-      - 1.2650653174812592
-      - -1.5354760454268352
-      - -1.5707581734498868
-      - 0.22532122772001797
-    velocities:
-      - 0.064788165617978649
-      - -0.015361876736407713
-      - -0.00057378033113484293
-      - -0.056761049400079901
-      - 0.057301262042427574
-      - -1.3949163380807088e-05
-      - -0.015364969937114991
-    accelerations:
-      - 0.59201146684730921
-      - -0.14037142576119885
-      - -0.0052430028268775353
-      - -0.51866250255138158
-      - 0.52359877564624058
-      - -0.00012746254806869823
-      - -0.14039969034116531
+      - 0.89057204159906389
+      - 0.22089916490129405
+      - -1.3032866275438915
+      - 1.2688746808071047
+      - -1.5363777262449188
+      - -1.5707934502881391
+      - 0.2208032887783247
+    velocities:
+      - 0.063080547164501358
+      - -0.014469278898907275
+      - -0.00010235963221196725
+      - -0.056115982288299629
+      - 0.056243301462339378
+      - -6.2825318951568446e-07
+      - -0.01444959918829578
+    accelerations:
+      - 0.58725032847614356
+      - -0.13470220484989806
+      - -0.00095292020030231066
+      - -0.52241349374519674
+      - 0.52359877558146573
+      - -5.8487427343829163e-06
+      - -0.13451899596791458
     effort: []
     time_from_start:
       sec: 9
       nanosec: 950000000
   - positions:
-      - 0.88849227408001397
-      - 0.22526026246977604
-      - -1.3003727840054173
-      - 1.2644747123027009
-      - -1.5348798192742559
-      - -1.5707583185925191
-      - 0.22516135345925001
-    velocities:
-      - 0.07070828028576015
-      - -0.016765590993855706
-      - -0.00062621035939749352
-      - -0.061947674424987755
-      - 0.062537249798278322
-      - -1.5223788861345163e-05
-      - -0.016768966840362613
-    accelerations:
-      - 0.59201146669672444
-      - -0.14037142572549174
-      - -0.005243002825543977
-      - -0.51866250241945389
-      - 0.52359877551306211
-      - -0.00012746254803627609
-      - -0.14039969030545296
+      - 0.89122749122373313
+      - 0.22074881929001089
+      - -1.3032876911298232
+      - 1.2682915977302747
+      - -1.5357933202356064
+      - -1.5707934568161155
+      - 0.2206531476525686
+    velocities:
+      - 0.068953050449486006
+      - -0.015816300947457441
+      - -0.00011188883421535239
+      - -0.061340117225950092
+      - 0.061479289218353009
+      - -6.8674061686173572e-07
+      - -0.015794789148026039
+    accelerations:
+      - 0.58725032851152736
+      - -0.13470220485801473
+      - -0.00095292020035971775
+      - -0.52241349377666979
+      - 0.52359877561301016
+      - -5.8487427347352956e-06
+      - -0.13451899597601877
     effort: []
     time_from_start:
       sec: 9
       nanosec: 960000000
   - positions:
-      - 0.88922560346300494
-      - 0.22508638325153857
-      - -1.3003792785553432
-      - 1.2638322408738922
-      - -1.5342312332441164
-      - -1.5707584764814064
-      - 0.22498743922944919
-    velocities:
-      - 0.076628394953770773
-      - -0.018169305251358032
-      - -0.00067864038766217341
-      - -0.067134299450096357
-      - 0.067773237554331719
-      - -1.6498414341932574e-05
-      - -0.018172963743664575
-    accelerations:
-      - 0.59201146677632743
-      - -0.140371425744369
-      - -0.0052430028262489253
-      - -0.51866250248919676
-      - 0.52359877558345713
-      - -0.00012746254805341497
-      - -0.14039969032433022
+      - 0.89194166588125134
+      - 0.22058500345824242
+      - -1.3032888500077746
+      - 1.2676562733040686
+      - -1.5351565543487344
+      - -1.570793463928966
+      - 0.22048955462721537
+    velocities:
+      - 0.074825553734512371
+      - -0.017163322996017177
+      - -0.00012141803621880525
+      - -0.066564252163637677
+      - 0.066715276974403853
+      - -7.4522804420820256e-07
+      - -0.017139979107765862
+    accelerations:
+      - 0.58725032858863468
+      - -0.13470220487569839
+      - -0.00095292020048484694
+      - -0.52241349384526592
+      - 0.52359877568176794
+      - -5.8487427355031445e-06
+      - -0.13451899599368475
     effort: []
     time_from_start:
       sec: 9
       nanosec: 970000000
   - positions:
-      - 0.89001813399267515
-      - 0.22489846689072629
-      - -1.3003862974055518
-      - 1.2631379031948331
-      - -1.5335302873364172
-      - -1.5707586471165484
-      - 0.22479948503061553
-    velocities:
-      - 0.082548509621781493
-      - -0.019573019508860378
-      - -0.00073107041592685405
-      - -0.072320924475205037
-      - 0.073009225310385201
-      - -1.7773039822520004e-05
-      - -0.019576960646966561
-    accelerations:
-      - 0.59201146685611084
-      - -0.14037142576328443
-      - -0.0052430028269554998
-      - -0.5186625025590853
-      - 0.52359877565402568
-      - -0.0001274625480705928
-      - -0.14039969034324912
+      - 0.89271456557161954
+      - 0.22040771740598847
+      - -1.3032901041777463
+      - 1.2669687075284861
+      - -1.5344674285843025
+      - -1.5707934716266909
+      - 0.22031250970226485
+    velocities:
+      - 0.080698057019264913
+      - -0.018510345044514102
+      - -0.00013094723822181377
+      - -0.071788387101081666
+      - 0.071951264730210532
+      - -8.0371547155194227e-07
+      - -0.018485169067442953
+    accelerations:
+      - 0.58725032838878988
+      - -0.13470220482986028
+      - -0.00095292020016056478
+      - -0.52241349366748113
+      - 0.52359877550357659
+      - -5.8487427335129076e-06
+      - -0.13451899594790281
     effort: []
     time_from_start:
       sec: 9
       nanosec: 980000000
   - positions:
-      - 0.8908698656690246
-      - 0.22469651338733918
-      - -1.3003938405560427
-      - 1.2623916992655237
-      - -1.5327769815511583
-      - -1.5707588304979452
-      - 0.22459749086274905
-    velocities:
-      - 0.088468624289561107
-      - -0.020976733766307928
-      - -0.00078350044418948794
-      - -0.077507549500111253
-      - 0.07824521306623429
-      - -1.9047665303057677e-05
-      - -0.020980957550213741
-    accelerations:
-      - 0.59201146670582516
-      - -0.14037142572765277
-      - -0.0052430028256246312
-      - -0.51866250242743206
-      - 0.52359877552111844
-      - -0.00012746254803823893
-      - -0.14039969030761404
+      - 0.89354619029483695
+      - 0.2202169611332491
+      - -1.3032914536397378
+      - 1.2662289004035276
+      - -1.5337259429423111
+      - -1.5707934799092902
+      - 0.22012201287771715
+    velocities:
+      - 0.086570560304312122
+      - -0.019857367093078622
+      - -0.00014047644022530044
+      - -0.077012522038787792
+      - 0.077187252486279959
+      - -8.6220289889861673e-07
+      - -0.019830359027187546
+    accelerations:
+      - 0.58725032848674164
+      - -0.13470220485232831
+      - -0.00095292020031949385
+      - -0.52241349375461799
+      - 0.52359877559092372
+      - -5.8487427344883855e-06
+      - -0.13451899597033928
     effort: []
     time_from_start:
       sec: 9
       nanosec: 990000000
   - positions:
-      - 0.89178079849205338
-      - 0.22448052274137728
-      - -1.3004019080068163
-      - 1.2615936290859642
-      - -1.5319713158883395
-      - -1.5707590266255969
-      - 0.2243814567258498
-    velocities:
-      - 0.094388738957592852
-      - -0.022380448023815259
-      - -0.00083593047245435475
-      - -0.082694174525238362
-      - 0.083481200822306367
-      - -2.0322290783649631e-05
-      - -0.022384954453520713
-    accelerations:
-      - 0.59201146680663341
-      - -0.14037142575155379
-      - -0.0052430028265173633
-      - -0.5186625025157503
-      - 0.52359877561026935
-      - -0.00012746254805993991
-      - -0.140399690331522
+      - 0.89443654005090378
+      - 0.22001273464002433
+      - -1.3032928983937495
+      - 1.265436851929193
+      - -1.5329320974227598
+      - -1.5707934887767636
+      - 0.21991806415357226
+    velocities:
+      - 0.092443063589287722
+      - -0.021204389141626711
+      - -0.00015000564222867092
+      - -0.08223665697643022
+      - 0.08242324024228552
+      - -9.20690326244578e-07
+      - -0.021175548986915736
+    accelerations:
+      - 0.5872503285109838
+      - -0.13470220485788995
+      - -0.00095292020035886535
+      - -0.52241349377619972
+      - 0.5235987756125311
+      - -5.848742734729988e-06
+      - -0.13451899597589431
     effort: []
     time_from_start:
       sec: 10
       nanosec: 0
   - positions:
-      - 0.89275093246176129
-      - 0.22425049495284055
-      - -1.3004104997578725
-      - 1.2607436926561539
-      - -1.5311132903479612
-      - -1.5707592354995032
-      - 0.22415138261991774
-    velocities:
-      - 0.1003088536256246
-      - -0.023784162281322591
-      - -0.00088836050071922166
-      - -0.087880799550365457
-      - 0.088717188578378445
-      - -2.1596916264241588e-05
-      - -0.023788951356827681
-    accelerations:
-      - 0.59201146690744166
-      - -0.14037142577545828
-      - -0.0052430028274100954
-      - -0.51866250260405466
-      - 0.52359877569943414
-      - -0.00012746254808164429
-      - -0.14039969035542302
+      - 0.89538561483982004
+      - 0.21979503792631422
+      - -1.3032944384397811
+      - 1.2645925621054821
+      - -1.5320858920256486
+      - -1.5707934982291112
+      - 0.21970066352983017
+    velocities:
+      - 0.098315566874376675
+      - -0.022551411190200803
+      - -0.00015953484423222533
+      - -0.087460791914173469
+      - 0.087659227998392153
+      - -9.7917775359166814e-07
+      - -0.02252073894666989
+    accelerations:
+      - 0.58725032865067994
+      - -0.13470220488993365
+      - -0.00095292020058552996
+      - -0.52241349390045966
+      - 0.52359877573708458
+      - -5.8487427361212532e-06
+      - -0.13451899600789258
     effort: []
     time_from_start:
       sec: 10
       nanosec: 10000000
   - positions:
-      - 0.89378026757814899
-      - 0.22400643002172888
-      - -1.3004196158092114
-      - 1.259841889976093
-      - -1.5302029049300225
-      - -1.5707594571196646
-      - 0.22390726854495269
-    velocities:
-      - 0.10622896829327995
-      - -0.025187876538740675
-      - -0.00094079052898075508
-      - -0.093067424575162802
-      - 0.093953176334117622
-      - -2.2871541744752508e-05
-      - -0.025192948260045391
-    accelerations:
-      - 0.59201146663080495
-      - -0.14037142570986189
-      - -0.0052430028249601341
-      - -0.51866250236170153
-      - 0.52359877545475453
-      - -0.00012746254802208491
-      - -0.14039969028981963
+      - 0.89639341466158595
+      - 0.21956387099211855
+      - -1.3032960737778327
+      - 1.263696030932395
+      - -1.5311873267509775
+      - -1.5707935082663331
+      - 0.21946981100649077
+    velocities:
+      - 0.10418807015913827
+      - -0.023898433238699803
+      - -0.00016906404623524851
+      - -0.092684926851625507
+      - 0.092895215754206908
+      - -1.0376651809354978e-06
+      - -0.023865928906349056
+    accelerations:
+      - 0.58725032846196978
+      - -0.13470220484664189
+      - -0.00095292020027926995
+      - -0.52241349373258006
+      - 0.5235987755688164
+      - -5.8487427342414753e-06
+      - -0.13451899596466327
     effort: []
     time_from_start:
       sec: 10
       nanosec: 20000000
   - positions:
-      - 0.89486880384121548
-      - 0.2237483279480425
-      - -1.300429256160833
-      - 1.2588882210457826
-      - -1.5292401596345244
-      - -1.5707596914860806
-      - 0.22364911450095498
-    velocities:
-      - 0.11214908296129067
-      - -0.026591590796243021
-      - -0.00099322055724543573
-      - -0.098254049600271481
-      - 0.099189164090171103
-      - -2.4146167225339935e-05
-      - -0.026596945163347374
-    accelerations:
-      - 0.59201146671057447
-      - -0.14037142572877731
-      - -0.0052430028256667087
-      - -0.51866250243159007
-      - 0.52359877552532308
-      - -0.00012746254803925935
-      - -0.14039969030873853
+      - 0.89745993951620129
+      - 0.21931923383743751
+      - -1.3032978044079044
+      - 1.2627472584099317
+      - -1.5302364015987466
+      - -1.5707935188884292
+      - 0.21922550658355416
+    velocities:
+      - 0.11006057344405125
+      - -0.025245455287233532
+      - -0.00017859324823851736
+      - -0.097909061789212229
+      - 0.098131203510156639
+      - -1.0961526082808355e-06
+      - -0.025211118866062903
+    accelerations:
+      - 0.58725032842359537
+      - -0.13470220483784348
+      - -0.0009529202002170246
+      - -0.52241349369844248
+      - 0.52359877553460732
+      - -5.8487427338594499e-06
+      - -0.13451899595587907
     effort: []
     time_from_start:
       sec: 10
       nanosec: 30000000
   - positions:
-      - 0.89601654125096153
-      - 0.22347618873178121
-      - -1.3004394208127372
-      - 1.2578826858652208
-      - -1.5282250544614664
-      - -1.5707599385987514
-      - 0.22337692048792432
-    velocities:
-      - 0.11806919762917548
-      - -0.027995305053715513
-      - -0.0010456505855090013
-      - -0.10344067462526986
-      - 0.10442515184611323
-      - -2.5420792705900257e-05
-      - -0.028000942066619499
-    accelerations:
-      - 0.59201146666549631
-      - -0.14037142571809097
-      - -0.005243002825267495
-      - -0.51866250239209921
-      - 0.52359877548545253
-      - -0.00012746254802955515
-      - -0.1403996902980453
+      - 0.89858518940366627
+      - 0.21906112646227105
+      - -1.3032996303299962
+      - 1.261746244538092
+      - -1.5292331165689559
+      - -1.5707935300953997
+      - 0.21896775026102036
+    velocities:
+      - 0.11593307672920281
+      - -0.026592477335821985
+      - -0.00018812245024217339
+      - -0.10313319672701118
+      - 0.1033671912663191
+      - -1.1546400356285493e-06
+      - -0.026556308825831397
+    accelerations:
+      - 0.58725032862589421
+      - -0.13470220488424722
+      - -0.00095292020054530606
+      - -0.52241349387840785
+      - 0.52359877571497726
+      - -5.8487427358743431e-06
+      - -0.13451899600221656
     effort: []
     time_from_start:
       sec: 10
       nanosec: 40000000
   - positions:
-      - 0.89722347702034266
-      - 0.22319001303377919
-      - -1.3004501097402414
-      - 1.2568252868761443
-      - -1.5271575918758225
-      - -1.5707601984570772
-      - 0.22309068716682803
-    velocities:
-      - 0.12415591235020362
-      - -0.02943852173352518
-      - -0.0010995560658522468
-      - -0.10877325831040789
-      - 0.10980848739636705
-      - -2.6731287878703117e-05
-      - -0.029444449346264272
-    accelerations:
-      - 0.59201146696701901
-      - -0.14037142578958239
-      - -0.0052430028279404871
-      - -0.51866250265624902
-      - 0.52359877575211422
-      - -0.0001274625481092745
-      - -0.14039969036955408
+      - 0.89976916218057768
+      - 0.21878954935826825
+      - -1.3033015515406299
+      - 1.2606929912236315
+      - -1.5281774735726865
+      - -1.5707935418872232
+      - 0.2186965425298697
+    velocities:
+      - 0.12138964511483739
+      - -0.027844093140560026
+      - -0.00019697672241310483
+      - -0.10798731909351841
+      - 0.10823232694535088
+      - -1.208984944827833e-06
+      - -0.027806222304075
+    accelerations:
+      - 0.5872503283907351
+      - -0.13470220483029732
+      - -0.00095292020017849336
+      - -0.52241349366918632
+      - 0.52359877550528389
+      - -5.848742742413861e-06
+      - -0.13451899594834646
     effort: []
     time_from_start:
       sec: 10
       nanosec: 50000000
   - positions:
-      - 0.89848961372420644
-      - 0.22288980024351612
-      - -1.3004613229661488
-      - 1.2557160218227237
-      - -1.526037769600294
-      - -1.5707604710616119
-      - 0.22279041392702287
-    velocities:
-      - 0.13007602701777413
-      - -0.030842235990923169
-      - -0.0011519860941130585
-      - -0.11395988333513089
-      - 0.11504447515203109
-      - -2.8005913359343795e-05
-      - -0.030848446249461849
-    accelerations:
-      - 0.59201146660531145
-      - -0.14037142570382505
-      - -0.0052430028247375474
-      - -0.51866250233938604
-      - 0.523598775432217
-      - -0.00012746254803140228
-      - -0.14039969028377586
+      - 0.90101185909363168
+      - 0.21850450223946477
+      - -1.3033035680418286
+      - 1.259587497357499
+      - -1.5270694714983712
+      - -1.570793554263912
+      - 0.21841188310452683
+    velocities:
+      - 0.12726214839968947
+      - -0.029191115189079714
+      - -0.0002065059244164227
+      - -0.11321145403105061
+      - 0.11346831470124613
+      - -1.2674723722613807e-06
+      - -0.029151412263774851
+    accelerations:
+      - 0.58725032829127066
+      - -0.13470220480748582
+      - -0.00095292020001709772
+      - -0.52241349358070333
+      - 0.52359877541661837
+      - -5.8487427414232424e-06
+      - -0.13451899592555958
     effort: []
     time_from_start:
       sec: 10
       nanosec: 60000000
   - positions:
-      - 0.899814951574749
-      - 0.22257555031067844
-      - -1.3004730604923391
-      - 1.2545548905190529
-      - -1.5248655874472066
-      - -1.5707607564124015
-      - 0.22247610071818502
-    velocities:
-      - 0.13599614168578472
-      - -0.032245950248425505
-      - -0.0012044161223777675
-      - -0.11914650836023945
-      - 0.12028046290808435
-      - -2.9280538840079223e-05
-      - -0.032252443152763793
-    accelerations:
-      - 0.59201146668477567
-      - -0.14037142572266068
-      - -0.0052430028254409778
-      - -0.51866250240898315
-      - 0.52359877550248024
-      - -0.00012746254804850556
-      - -0.14039969030261495
+      - 0.90231328103953534
+      - 0.2182059849001759
+      - -1.3033056798350475
+      - 1.25842976214199
+      - -1.5259091095464963
+      - -1.5707935672254749
+      - 0.21811377177958671
+    velocities:
+      - 0.13313465168490232
+      - -0.030538137237682152
+      - -0.00021603512642032598
+      - -0.11843558896890374
+      - 0.11870430245746304
+      - -1.3259597996985215e-06
+      - -0.030496602223557344
+    accelerations:
+      - 0.58725032855468728
+      - -0.13470220486790266
+      - -0.00095292020044450236
+      - -0.522413493815028
+      - 0.52359877565145863
+      - -5.8487427440467287e-06
+      - -0.13451899598589628
     effort: []
     time_from_start:
       sec: 10
       nanosec: 70000000
   - positions:
-      - 0.90119949057197113
-      - 0.22224726323526578
-      - -1.3004853223188118
-      - 1.2533418929651314
-      - -1.5236410454165588
-      - -1.5707610545094459
-      - 0.22214774754031419
-    velocities:
-      - 0.1419162563537541
-      - -0.033649664505918067
-      - -0.0012568461506421115
-      - -0.12433313338531191
-      - 0.12551645066410116
-      - -3.0555164320805784e-05
-      - -0.033656440056055975
-    accelerations:
-      - 0.5920114667240467
-      - -0.14037142573197917
-      - -0.0052430028257889963
-      - -0.51866250244340539
-      - 0.52359877553721668
-      - -0.00012746254805696852
-      - -0.1403996903119335
+      - 0.90367342801828809
+      - 0.21789399734040155
+      - -1.3033078869202861
+      - 1.2572197855771048
+      - -1.5246963877170612
+      - -1.5707935807719124
+      - 0.21780220855504939
+    velocities:
+      - 0.13900715496971264
+      - -0.031885159286192261
+      - -0.00022556432842357611
+      - -0.12365972390639879
+      - 0.12394029021332105
+      - -1.3844472271316532e-06
+      - -0.031841792183247633
+    accelerations:
+      - 0.58725032841345071
+      - -0.13470220483551201
+      - -0.0009529202002153712
+      - -0.52241349368939416
+      - 0.523598775525559
+      - -5.848742742640217e-06
+      - -0.13451899595355107
     effort: []
     time_from_start:
       sec: 10
       nanosec: 80000000
   - positions:
-      - 0.9026432307158726
-      - 0.22190493901727826
-      - -1.3004981084455669
-      - 1.2520770291609595
-      - -1.522364143508351
-      - -1.570761365352745
-      - 0.22180535439341059
-    velocities:
-      - 0.14783637102178573
-      - -0.035053378763425388
-      - -0.0013092761789070067
-      - -0.12951975841043886
-      - 0.13075243842017303
-      - -3.1829789801545734e-05
-      - -0.035060436959362909
-    accelerations:
-      - 0.59201146682452188
-      - -0.14037142575580039
-      - -0.0052430028266786926
-      - -0.51866250253139057
-      - 0.52359877562609003
-      - -0.00012746254807859158
-      - -0.14039969033576166
+      - 0.90509230002989072
+      - 0.21756853956014183
+      - -1.3033101892975449
+      - 1.2559575676628434
+      - -1.5234313060100666
+      - -1.5707935949032241
+      - 0.21747719343091482
+    velocities:
+      - 0.14487965825496724
+      - -0.033232181334804274
+      - -0.00023509353042754712
+      - -0.12888385884428905
+      - 0.12917627796957518
+      - -1.4429346545692096e-06
+      - -0.033186982143039688
+    accelerations:
+      - 0.58725032871861171
+      - -0.13470220490550799
+      - -0.00095292020071051137
+      - -0.52241349396082803
+      - 0.52359877579761949
+      - -5.848742745679173e-06
+      - -0.13451899602344958
     effort: []
     time_from_start:
       sec: 10
       nanosec: 90000000
   - positions:
-      - 0.90414617200645342
-      - 0.22154857765671598
-      - -1.3005114188726052
-      - 1.2507602991065374
-      - -1.5210348817225836
-      - -1.5707616889422993
-      - 0.22144892127747418
-    velocities:
-      - 0.15375648568981731
-      - -0.036457093020932703
-      - -0.0013617062071719017
-      - -0.13470638343556582
-      - 0.13598842617624488
-      - -3.3104415282285685e-05
-      - -0.036464433862669836
-    accelerations:
-      - 0.59201146692496931
-      - -0.14037142577961467
-      - -0.0052430028275683889
-      - -0.5186625026194035
-      - 0.52359877571490787
-      - -0.00012746254810022141
-      - -0.14039969035958288
+      - 0.90656989707434255
+      - 0.21722961155939668
+      - -1.3033125869668241
+      - 1.2546431083992058
+      - -1.5221138644255121
+      - -1.5707936096194099
+      - 0.2171387264071831
+    velocities:
+      - 0.15075216153972901
+      - -0.034579203383303246
+      - -0.00024462273243071846
+      - -0.13410799378174093
+      - 0.13441226572538989
+      - -1.5014220820018582e-06
+      - -0.034532172102718854
+    accelerations:
+      - 0.5872503285298738
+      - -0.13470220486221623
+      - -0.00095292020040427846
+      - -0.52241349379299007
+      - 0.52359877562936519
+      - -5.8487427437998186e-06
+      - -0.13451899598022027
     effort: []
     time_from_start:
       sec: 10
       nanosec: 100000000
   - positions:
-      - 0.90570831444371391
-      - 0.22117817915357868
-      - -1.3005252535999259
-      - 1.2493917028018644
-      - -1.5196532600592558
-      - -1.5707620252781078
-      - 0.22107844819250477
-    velocities:
-      - 0.15967660035784892
-      - -0.037860807278440017
-      - -0.0014141362354367967
-      - -0.1398930084606928
-      - 0.14122441393231672
-      - -3.4379040763025643e-05
-      - -0.03786843076597677
-    accelerations:
-      - 0.59201146702541674
-      - -0.1403714258034359
-      - -0.0052430028284578684
-      - -0.51866250270741643
-      - 0.52359877580375347
-      - -0.00012746254812185125
-      - -0.14039969038341105
+      - 0.90810621915164402
+      - 0.21687721333816609
+      - -1.3033150799281228
+      - 1.2532764077861922
+      - -1.5207440629633977
+      - -1.5707936249204701
+      - 0.21678680748385409
+    velocities:
+      - 0.15662466482447684
+      - -0.035926225431799026
+      - -0.00025415193443386718
+      - -0.13933212871918038
+      - 0.1396482534811922
+      - -1.5599095094343678e-06
+      - -0.035877362062394835
+    accelerations:
+      - 0.5872503283262982
+      - -0.134702204815528
+      - -0.00095292020007396413
+      - -0.52241349361187284
+      - 0.52359877544785727
+      - -5.8487427417724317e-06
+      - -0.13451899593359481
     effort: []
     time_from_start:
       sec: 10
       nanosec: 110000000
   - positions:
-      - 0.90732965802765375
-      - 0.22079374350786665
-      - -1.3005396126275293
-      - 1.2479712402469412
-      - -1.5182192785183686
-      - -1.5707623743601715
-      - 0.22069393513850261
-    velocities:
-      - 0.16559671502529327
-      - -0.039264521535808089
-      - -0.001466566263696491
-      - -0.14507963348530528
-      - 0.14646040168786917
-      - -3.5653666243639155e-05
-      - -0.039272427669144426
-    accelerations:
-      - 0.59201146653758785
-      - -0.14037142568775804
-      - -0.0052430028241375499
-      - -0.51866250228003075
-      - 0.52359877537227884
-      - -0.00012746254801681637
-      - -0.14039969026770538
+      - 0.90970126626179559
+      - 0.21651134489644996
+      - -1.3033176681814416
+      - 1.2518574658238018
+      - -1.5193219016237229
+      - -1.5707936408064045
+      - 0.21642143666092772
+    velocities:
+      - 0.1624971681097942
+      - -0.037273247480425431
+      - -0.00026368113643794009
+      - -0.14455626365712648
+      - 0.14488424123750229
+      - -1.6183969368725493e-06
+      - -0.037222552022201261
+    accelerations:
+      - 0.5872503286943811
+      - -0.13470220489994994
+      - -0.00095292020067126325
+      - -0.52241349393928971
+      - 0.52359877577602565
+      - -5.8487427454381921e-06
+      - -0.13451899601789846
     effort: []
     time_from_start:
       sec: 10
       nanosec: 120000000
   - positions:
-      - 0.90901020275827205
-      - 0.22039527071957987
-      - -1.3005544959554149
-      - 1.2464989114417679
-      - -1.5167329370999219
-      - -1.5707627361884899
-      - 0.22029538211546773
-    velocities:
-      - 0.17151682969330381
-      - -0.040668235793310414
-      - -0.0015189962919611995
-      - -0.15026625851041378
-      - 0.15169638944392241
-      - -3.6928291724374573e-05
-      - -0.040676424572446364
-    accelerations:
-      - 0.5920114666169688
-      - -0.14037142570658326
-      - -0.0052430028248405466
-      - -0.51866250234955846
-      - 0.5235987754425282
-      - -0.0001274625480339061
-      - -0.14039969028653754
+      - 0.91135503840479548
+      - 0.21613200623424866
+      - -1.3033203517267806
+      - 1.250386282512036
+      - -1.5178473804064891
+      - -1.5707936572772132
+      - 0.21604261393840443
+    velocities:
+      - 0.16836967139455608
+      - -0.038620269528924431
+      - -0.00027321033844111158
+      - -0.14978039859457845
+      - 0.15012022899331712
+      - -1.6768843643051987e-06
+      - -0.038567741981880455
+    accelerations:
+      - 0.58725032850594849
+      - -0.13470220485672757
+      - -0.00095292020036546402
+      - -0.52241349377167379
+      - 0.52359877560802115
+      - -5.8487427435613789e-06
+      - -0.1345189959747316
     effort: []
     time_from_start:
       sec: 10
       nanosec: 130000000
   - positions:
-      - 0.91074994863557035
-      - 0.21998276078871817
-      - -1.3005699035835836
-      - 1.244974716386344
-      - -1.515194235803915
-      - -1.5707631107630631
-      - 0.21988278912339992
-    velocities:
-      - 0.17743694436139942
-      - -0.042071950050832911
-      - -0.0015714263202266613
-      - -0.15545288353559683
-      - 0.15693237720005088
-      - -3.8202917205128306e-05
-      - -0.042080421475768473
-    accelerations:
-      - 0.59201146678247218
-      - -0.14037142574583614
-      - -0.0052430028263063776
-      - -0.51866250249458667
-      - 0.52359877558889756
-      - -0.00012746254806954527
-      - -0.14039969032579047
+      - 0.91306753558064568
+      - 0.21573919735156175
+      - -1.3033231305641395
+      - 1.2488628578508933
+      - -1.5163204993116952
+      - -1.5707936743328963
+      - 0.21565033931628369
+    velocities:
+      - 0.17424217467924144
+      - -0.039967291577405875
+      - -0.00028273954044415889
+      - -0.15500453353196234
+      - 0.15535621674906369
+      - -1.7353717917370857e-06
+      - -0.039912931941542114
+    accelerations:
+      - 0.58725032823992285
+      - -0.13470220479571052
+      - -0.00095292019993377679
+      - -0.5224134935350454
+      - 0.52359877537083555
+      - -5.8487427409118463e-06
+      - -0.13451899591379815
     effort: []
     time_from_start:
       sec: 10
       nanosec: 140000000
   - positions:
-      - 0.91254889489624225
-      - 0.2195562138962685
-      - -1.3005858355052748
-      - 1.2433986557494034
-      - -1.5136031753054464
-      - -1.5707634980837268
-      - 0.21945615634332261
-    velocities:
-      - 0.18341251714757023
-      - -0.043488813944030015
-      - -0.0016243474995700446
-      - -0.1606880955357278
-      - 0.16221741434854783
-      - -3.9489483048990301e-05
-      - -0.043497570662519539
-    accelerations:
-      - 0.59201146674913774
-      - -0.1403714257379258
-      - -0.0052430028260125588
-      - -0.51866250246538781
-      - 0.52359877555942114
-      - -0.00012746254805601984
-      - -0.14039969031788013
+      - 0.91483875720062968
+      - 0.21533291838342775
+      - -1.3033260046925634
+      - 1.2472871923640918
+      - -1.5147412588642468
+      - -1.5707936919734475
+      - 0.2152446129294204
+    velocities:
+      - 0.18017169596147514
+      - -0.041327392290323978
+      - -0.00029236126449081888
+      - -0.16027939125290713
+      - 0.16064304237113938
+      - -1.7944270913795358e-06
+      - -0.041271182777308478
+    accelerations:
+      - 0.58725032861394544
+      - -0.13470220488149942
+      - -0.00095292020053438272
+      - -0.52241349386776359
+      - 0.52359877570430524
+      - -5.8487427420994e-06
+      - -0.13451899599948264
     effort: []
     time_from_start:
       sec: 10
       nanosec: 150000000
   - positions:
-      - 0.91440704222852798
-      - 0.21911562987904268
-      - -1.3006022917265838
-      - 1.2417707289279774
-      - -1.5119597549958086
-      - -1.5707638981506291
-      - 0.2190154836120147
-    velocities:
-      - 0.18933263181560184
-      - -0.044892528201537323
-      - -0.0016767775278349526
-      - -0.16587472056085478
-      - 0.16745340210461968
-      - -4.0764108529666819e-05
-      - -0.0449015675658265
-    accelerations:
-      - 0.59201146684961292
-      - -0.14037142576174008
-      - -0.0052430028269020382
-      - -0.51866250255340074
-      - 0.52359877564826673
-      - -0.00012746254807764968
-      - -0.14039969034171523
+      - 0.91666870358345065
+      - 0.21491316925674317
+      - -1.3033289741125691
+      - 1.245659285768115
+      - -1.5131096587799842
+      - -1.5707937101988705
+      - 0.21482543470481053
+    velocities:
+      - 0.18604419924611817
+      - -0.042674414338795742
+      - -0.00030189046649373407
+      - -0.16550352619025346
+      - 0.16587903012684813
+      - -1.8529145187856248e-06
+      - -0.042616372736960458
+    accelerations:
+      - 0.58725032830528723
+      - -0.13470220481069853
+      - -0.00095292020003346918
+      - -0.52241349359316558
+      - 0.52359877542906674
+      - -5.8487427390248686e-06
+      - -0.13451899592877228
     effort: []
     time_from_start:
       sec: 10
       nanosec: 160000000
   - positions:
-      - 0.91632439070749361
-      - 0.21866100871924196
-      - -1.3006192722481758
-      - 1.2400909358563008
-      - -1.5102639748086113
-      - -1.5707643109637863
-      - 0.21856077091167389
-    velocities:
-      - 0.19525274648363342
-      - -0.046296242459044637
-      - -0.0017292075560998608
-      - -0.17106134558598179
-      - 0.17268938986069154
-      - -4.2038734010343344e-05
-      - -0.046305564469133455
-    accelerations:
-      - 0.59201146695006035
-      - -0.14037142578556824
-      - -0.0052430028277919514
-      - -0.51866250264141367
-      - 0.52359877573714009
-      - -0.00012746254809928629
-      - -0.14039969036553646
+      - 0.91855737499912171
+      - 0.21447994990957309
+      - -1.3033320388245946
+      - 1.2439791378227616
+      - -1.5114256988181616
+      - -1.5707937290091678
+      - 0.21439280458060334
+    velocities:
+      - 0.1919167025315397
+      - -0.044021436387446079
+      - -0.00031141966849791252
+      - -0.17072766112829232
+      - 0.17111501788325101
+      - -1.9114019461994675e-06
+      - -0.043961562696790774
+    accelerations:
+      - 0.58725032877720373
+      - -0.13470220491894169
+      - -0.0009529202007991991
+      - -0.52241349401298076
+      - 0.52359877584985548
+      - -5.8487427437248562e-06
+      - -0.1345189960368694
     effort: []
     time_from_start:
       sec: 10
       nanosec: 170000000
   - positions:
-      - 0.91830094033313814
-      - 0.21819235041686649
-      - -1.30063677707005
-      - 1.2383592765343738
-      - -1.5085158347438541
-      - -1.570764736523198
-      - 0.21809201824230035
-    velocities:
-      - 0.20117286115166502
-      - -0.047699956716551951
-      - -0.001781637584364769
-      - -0.17624797061110881
-      - 0.17792537761676339
-      - -4.3313359491019862e-05
-      - -0.047709561372440409
-    accelerations:
-      - 0.59201146705056329
-      - -0.14037142580938947
-      - -0.0052430028286818645
-      - -0.5186625027294266
-      - 0.52359877582598569
-      - -0.00012746254812090934
-      - -0.14039969038936462
+      - 0.9205047714476422
+      - 0.21403326034191761
+      - -1.3033351988286404
+      - 1.242246748528032
+      - -1.5096893789787793
+      - -1.5707937484043395
+      - 0.21394672255679892
+    velocities:
+      - 0.19778920581630127
+      - -0.045368458435945037
+      - -0.00032094887050102016
+      - -0.1759517960657441
+      - 0.17635100563906547
+      - -1.9698893736067376e-06
+      - -0.045306752656469912
+    accelerations:
+      - 0.587250328588105
+      - -0.13470220487557361
+      - -0.0009529202004924241
+      - -0.52241349384475422
+      - 0.52359877568126811
+      - -5.848742741841902e-06
+      - -0.13451899599355682
     effort: []
     time_from_start:
       sec: 10
       nanosec: 180000000
   - positions:
-      - 0.92033669110546235
-      - 0.21770965497191602
-      - -1.300654806192207
-      - 1.236575750962196
-      - -1.5067153348015363
-      - -1.5707651748288649
-      - 0.21760922560389381
-    velocities:
-      - 0.2070929758196966
-      - -0.049103670974059266
-      - -0.001834067612629677
-      - -0.18143459563623579
-      - 0.18316136537283523
-      - -4.4587984971696387e-05
-      - -0.049113558275747364
-    accelerations:
-      - 0.59201146715101072
-      - -0.14037142583321069
-      - -0.005243002829571344
-      - -0.51866250281743953
-      - 0.52359877591483128
-      - -0.00012746254814254595
-      - -0.14039969041318584
+      - 0.92251089292901234
+      - 0.21357310055377665
+      - -1.3033384541247059
+      - 1.2404621178839259
+      - -1.5079006992618367
+      - -1.5707937683843849
+      - 0.21348718863339719
+    velocities:
+      - 0.20366170910088177
+      - -0.046715480484402466
+      - -0.00033047807250383393
+      - -0.18117593100303483
+      - 0.18158699339471848
+      - -2.028376801012204e-06
+      - -0.046651942616107583
+    accelerations:
+      - 0.58725032821691348
+      - -0.13470220479043696
+      - -0.00095292019989008344
+      - -0.52241349351456179
+      - 0.52359877535029642
+      - -5.8487427381448014e-06
+      - -0.13451899590853153
     effort: []
     time_from_start:
       sec: 10
       nanosec: 190000000
   - positions:
-      - 0.92243164302446612
-      - 0.21721292238439072
-      - -1.3006733596146467
-      - 1.2347403591397677
-      - -1.5048624749816588
-      - -1.5707656258807865
-      - 0.21711239299645441
-    velocities:
-      - 0.21301309048697245
-      - -0.050507385231387383
-      - -0.0018864976408878922
-      - -0.18662122066070069
-      - 0.18839735312823869
-      - -4.5862610452210187e-05
-      - -0.050517555178875087
-    accelerations:
-      - 0.59201146649467773
-      - -0.14037142567758562
-      - -0.0052430028237589466
-      - -0.51866250224242194
-      - 0.52359877533436472
-      - -0.00012746254800123096
-      - -0.14039969025753296
+      - 0.92457573944323213
+      - 0.21309947054515022
+      - -1.3033418047127916
+      - 1.2386252458904436
+      - -1.5060596596673346
+      - -1.5707937889493051
+      - 0.21301420281039829
+    velocities:
+      - 0.20953421238636588
+      - -0.048062502533067153
+      - -0.00034000727450811397
+      - -0.18640006594112934
+      - 0.18682298115117715
+      - -2.0868642284266701e-06
+      - -0.047997132575952228
+    accelerations:
+      - 0.5872503287514188
+      - -0.13470220491302975
+      - -0.00095292020075740311
+      - -0.5224134939900269
+      - 0.52359877582687386
+      - -5.8487427434686288e-06
+      - -0.1345189960309644
     effort: []
     time_from_start:
       sec: 10
       nanosec: 200000000
   - positions:
-      - 0.92458579609014868
-      - 0.21670215265429071
-      - -1.3006924373373689
-      - 1.2328531010670896
-      - -1.5029572552842221
-      - -1.5707660896789628
-      - 0.21660152041998232
-    velocities:
-      - 0.21893320515521544
-      - -0.051911099488944817
-      - -0.0019389276691546727
-      - -0.19180784568601292
-      - 0.19363334088449752
-      - -4.7137235932932228e-05
-      - -0.051921552082232182
-    accelerations:
-      - 0.59201146680759098
-      - -0.14037142575178277
-      - -0.0052430028265301569
-      - -0.51866250251659685
-      - 0.52359877561112977
-      - -0.00012746254806861014
-      - -0.14039969033175098
+      - 0.92669931099030134
+      - 0.21261237031603841
+      - -1.3033452505928975
+      - 1.2367361325475854
+      - -1.5041662601952726
+      - -1.5707938100990995
+      - 0.21252776508780213
+    velocities:
+      - 0.21540671567112743
+      - -0.049409524581566111
+      - -0.00034953647651122155
+      - -0.19162420087858115
+      - 0.19205896890699159
+      - -2.1453516558339398e-06
+      - -0.049342322535631367
+    accelerations:
+      - 0.58725032856232007
+      - -0.13470220486966167
+      - -0.0009529202004505739
+      - -0.52241349382182811
+      - 0.52359877565825874
+      - -5.848742741585251e-06
+      - -0.13451899598765182
     effort: []
     time_from_start:
       sec: 10
       nanosec: 210000000
   - positions:
-      - 0.9267991503025107
-      - 0.21617734578161579
-      - -1.3007120393603737
-      - 1.2309139767441608
-      - -1.5009996757092252
-      - -1.5707665662233938
-      - 0.21607660787447741
-    velocities:
-      - 0.22485331982324699
-      - -0.053314813746452125
-      - -0.0019913576974195804
-      - -0.19699447071113987
-      - 0.19886932864056933
-      - -4.8411861413608739e-05
-      - -0.05332554898553913
-    accelerations:
-      - 0.59201146690801065
-      - -0.14037142577559705
-      - -0.0052430028274194195
-      - -0.51866250260455427
-      - 0.52359877569994762
-      - -0.00012746254809022642
-      - -0.14039969035556527
+      - 0.92888160757021976
+      - 0.21211179986644124
+      - -1.3033487917650233
+      - 1.2347947778553512
+      - -1.5022205008456508
+      - -1.570793831833768
+      - 0.21202787546560883
+    velocities:
+      - 0.22127921895564531
+      - -0.050756546630009169
+      - -0.00035906567851393367
+      - -0.19684833581581612
+      - 0.19729495666258878
+      - -2.2038390832387828e-06
+      - -0.050687512495254688
+    accelerations:
+      - 0.58725032812848421
+      - -0.13470220477014763
+      - -0.00095292019974658928
+      - -0.52241349343590249
+      - 0.52359877527147058
+      - -5.8487427372647341e-06
+      - -0.1345189958882769
     effort: []
     time_from_start:
       sec: 10
       nanosec: 220000000
   - positions:
-      - 0.9290717056615525
-      - 0.21563850176636598
-      - -1.3007321656836612
-      - 1.2289229861709814
-      - -1.4989897362566682
-      - -1.5707670555140798
-      - 0.21553765535993949
-    velocities:
-      - 0.2307734344912786
-      - -0.054718528003959439
-      - -0.0020437877256844887
-      - -0.20218109573626689
-      - 0.20410531639664117
-      - -4.9686486894285264e-05
-      - -0.054729545888846085
-    accelerations:
-      - 0.59201146700851359
-      - -0.14037142579941828
-      - -0.0052430028283093327
-      - -0.51866250269259495
-      - 0.52359877578879321
-      - -0.00012746254811186303
-      - -0.14039969037939343
+      - 0.93112262918298838
+      - 0.21159775919635851
+      - -1.3033524282291693
+      - 1.2328011818137399
+      - -1.5002223816184688
+      - -1.5707938541533111
+      - 0.21151453394381817
+    velocities:
+      - 0.22715172224119201
+      - -0.05210356867868822
+      - -0.0003685948805183153
+      - -0.20207247075396634
+      - 0.20253094441910324
+      - -2.2623265106538719e-06
+      - -0.052032702455113676
+    accelerations:
+      - 0.58725032872557836
+      - -0.13470220490711088
+      - -0.0009529202007154987
+      - -0.52241349396704528
+      - 0.52359877580383674
+      - -5.8487427432111307e-06
+      - -0.13451899602505246
     effort: []
     time_from_start:
       sec: 10
       nanosec: 230000000
   - positions:
-      - 0.93140346216727343
-      - 0.21508562060854131
-      - -1.3007528163072315
-      - 1.2268801293475515
-      - -1.4969274369265515
-      - -1.5707675575510205
-      - 0.2149846628763688
-    velocities:
-      - 0.23669354915931018
-      - -0.056122242261466747
-      - -0.0020962177539493969
-      - -0.2073677207613939
-      - 0.20934130415271301
-      - -5.0961112374961782e-05
-      - -0.056133542792153039
-    accelerations:
-      - 0.59201146710896102
-      - -0.14037142582323256
-      - -0.0052430028291992458
-      - -0.51866250278060788
-      - 0.52359877587763881
-      - -0.00012746254813349287
-      - -0.14039969040321465
+      - 0.93342237582860621
+      - 0.21107024830579035
+      - -1.3033561599853349
+      - 1.2307553444227528
+      - -1.4981719025137272
+      - -1.5707938770577281
+      - 0.2109877405224303
+    velocities:
+      - 0.23302422552595359
+      - -0.053450590727187178
+      - -0.00037812408252142288
+      - -0.20729660569141814
+      - 0.20776693217491771
+      - -2.320813938061142e-06
+      - -0.053377892414792814
+    accelerations:
+      - 0.58725032853650738
+      - -0.13470220486374279
+      - -0.00095292020040866948
+      - -0.52241349379887425
+      - 0.52359877563524937
+      - -5.8487427413281765e-06
+      - -0.13451899598173989
     effort: []
     time_from_start:
       sec: 10
       nanosec: 240000000
   - positions:
-      - 0.93379441952099007
-      - 0.21451870237896253
-      - -1.3007739912284393
-      - 1.2247854065355488
-      - -1.4948127779830427
-      - -1.5707680723341519
-      - 0.21441763049460025
-    velocities:
-      - 0.24264140155068167
-      - -0.057532533391197828
-      - -0.0021488934344886033
-      - -0.21257864686480621
-      - 0.21460182426802432
-      - -5.2241709904212709e-05
-      - -0.057544117891973542
-    accelerations:
-      - 0.59201146693426743
-      - -0.1403714257818143
-      - -0.0052430028276575103
-      - -0.51866250262756364
-      - 0.52359877572312352
-      - -0.00012746254809728051
-      - -0.14039969036178945
+      - 0.93578084727693789
+      - 0.21052926724752485
+      - -1.3033599870331476
+      - 1.2286572658871167
+      - -1.496069063736617
+      - -1.5707939005470171
+      - 0.21044749525416145
+    velocities:
+      - 0.23892524574499802
+      - -0.054804153928133925
+      - -0.00038769955842267841
+      - -0.21254610908002222
+      - 0.2130283459392899
+      - -2.3795853764081775e-06
+      - -0.054729614630278249
+    accelerations:
+      - 0.58725032871344918
+      - -0.13470220490432838
+      - -0.00095292020069229677
+      - -0.52241349395630388
+      - 0.52359877579303982
+      - -5.8487427318117613e-06
+      - -0.13451899602226997
     effort: []
     time_from_start:
       sec: 10
       nanosec: 250000000
   - positions:
-      - 0.93624457798945726
-      - 0.21393774701437945
-      - -1.3007956904496465
-      - 1.2226388175012683
-      - -1.4926457591902131
-      - -1.570768599863531
-      - 0.21383655815137087
-    velocities:
-      - 0.24856151621871328
-      - -0.058936247648705142
-      - -0.0022013234627535675
-      - -0.21776527188993319
-      - 0.21983781202409614
-      - -5.3516335384903328e-05
-      - -0.058948114795280483
-    accelerations:
-      - 0.59201146703471486
-      - -0.14037142580563552
-      - -0.0052430028285469898
-      - -0.51866250271554881
-      - 0.52359877581196912
-      - -0.00012746254811891712
-      - -0.14039969038561068
+      - 0.93819804364895865
+      - 0.2099748159938129
+      - -1.3033639093728029
+      - 1.2265069460992122
+      - -1.4939138651792758
+      - -1.5707939246211795
+      - 0.20989379811130032
+    velocities:
+      - 0.24479774902975951
+      - -0.056151175976632869
+      - -0.00039722876042575065
+      - -0.21777024401747402
+      - 0.21826433369510445
+      - -2.4380728037026622e-06
+      - -0.05607480458995738
+    accelerations:
+      - 0.5872503285243782
+      - -0.1347022048609603
+      - -0.00095292020038552176
+      - -0.52241349378807733
+      - 0.52359877562445245
+      - -5.8487427299288071e-06
+      - -0.13451899597896433
     effort: []
     time_from_start:
       sec: 10
       nanosec: 260000000
   - positions:
-      - 0.93875393760460457
-      - 0.21334275450722145
-      - -1.3008179139711367
-      - 1.220440362216737
-      - -1.4904263805198235
-      - -1.570769140139165
-      - 0.21324144583910865
-    velocities:
-      - 0.25448163088674491
-      - -0.060339961906212457
-      - -0.0022537534910185321
-      - -0.2229518969150602
-      - 0.22507379978016795
-      - -5.4790960865593948e-05
-      - -0.060352111698587424
-    accelerations:
-      - 0.59201146713521779
-      - -0.14037142582945675
-      - -0.0052430028294369029
-      - -0.5186625028035895
-      - 0.52359877590081472
-      - -0.00012746254814054696
-      - -0.1403996904094319
+      - 0.94067396505382839
+      - 0.20940689451961561
+      - -1.3033679270044782
+      - 1.2243043849619322
+      - -1.491706306744375
+      - -1.5707939492802159
+      - 0.20932664906884205
+    velocities:
+      - 0.2506702523150624
+      - -0.057498198025255992
+      - -0.00040675796242970136
+      - -0.22299437895540747
+      - 0.2235003214514017
+      - -2.4965602310025388e-06
+      - -0.057419994549760517
+    accelerations:
+      - 0.58725032887667972
+      - -0.13470220494176371
+      - -0.00095292020095716736
+      - -0.52241349410152105
+      - 0.52359877593859006
+      - -5.8487427334376411e-06
+      - -0.13451899605966366
     effort: []
     time_from_start:
       sec: 10
       nanosec: 270000000
   - positions:
-      - 0.941322498366431
-      - 0.21273372485748859
-      - -1.3008406617929096
-      - 1.2181900406819557
-      - -1.4881546419718739
-      - -1.5707696931610542
-      - 0.21263229355781355
-    velocities:
-      - 0.26040174555477652
-      - -0.061743676163719771
-      - -0.0023061835192834967
-      - -0.22813852194018719
-      - 0.23030978753623979
-      - -5.6065586346284561e-05
-      - -0.061756108601894372
-    accelerations:
-      - 0.59201146723563747
-      - -0.14037142585327797
-      - -0.0052430028303268161
-      - -0.51866250289160243
-      - 0.52359877598968807
-      - -0.00012746254816217679
-      - -0.140399690433267
+      - 0.94320861149154811
+      - 0.20882550282493284
+      - -1.3033720399281736
+      - 1.2220495824752757
+      - -1.4894463884319142
+      - -1.5707939745241268
+      - 0.20874604812678649
+    velocities:
+      - 0.25654275559982392
+      - -0.058845220073754943
+      - -0.00041628716443277365
+      - -0.2282185138928593
+      - 0.22873630920721624
+      - -2.5550476582970235e-06
+      - -0.058765184509439655
+    accelerations:
+      - 0.58725032868766425
+      - -0.13470220489840257
+      - -0.00095292020065044657
+      - -0.52241349393332226
+      - 0.52359877577003044
+      - -5.8487427315546868e-06
+      - -0.13451899601635803
     effort: []
     time_from_start:
       sec: 10
       nanosec: 280000000
   - positions:
-      - 0.94395026027493678
-      - 0.2121106580651809
-      - -1.300863933914965
-      - 1.2158878528969235
-      - -1.4858305435463643
-      - -1.5707702589291976
-      - 0.21200910130748563
-    velocities:
-      - 0.26632186022186305
-      - -0.063147390421002994
-      - -0.0023586135475400908
-      - -0.23332514696448617
-      - 0.23554577529147572
-      - -5.7340211826771696e-05
-      - -0.063160105504977179
-    accelerations:
-      - 0.5920114663899837
-      - -0.14037142565275826
-      - -0.005243002822836941
-      - -0.51866250215066201
-      - 0.52359877524171661
-      - -0.0001274625479800958
-      - -0.14039969023271254
+      - 0.94580198296211826
+      - 0.20823064090976443
+      - -1.3033762481438893
+      - 1.2197425386392422
+      - -1.4871341102418927
+      - -1.5707940003529119
+      - 0.20815199528513348
+    velocities:
+      - 0.26241525888419559
+      - -0.060192242122164473
+      - -0.00042581636643521326
+      - -0.23344264882996432
+      - 0.23397229696268318
+      - -2.6135350855876259e-06
+      - -0.060110374469029483
+    accelerations:
+      - 0.58725032810769529
+      - -0.13470220476538061
+      - -0.00095292019970929273
+      - -0.52241349341738952
+      - 0.5235987752529021
+      - -5.8487427257789674e-06
+      - -0.13451899588350988
     effort: []
     time_from_start:
       sec: 10
       nanosec: 290000000
   - positions:
-      - 0.94663722333012157
-      - 0.21147355413029842
-      - -1.300887730337303
-      - 1.2135337988616413
-      - -1.4834540852432951
-      - -1.570770837443596
-      - 0.21137186908812489
-    velocities:
-      - 0.27224197489029545
-      - -0.064551104678605337
-      - -0.0024110435758086051
-      - -0.23851177198996432
-      - 0.24078176304790203
-      - -5.8614837307548604e-05
-      - -0.064564102408379162
-    accelerations:
-      - 0.59201146689224549
-      - -0.14037142577185699
-      - -0.0052430028272858458
-      - -0.51866250259075974
-      - 0.52359877568601432
-      - -0.00012746254808824775
-      - -0.1403996903518252
+      - 0.94845407946553761
+      - 0.20762230877411059
+      - -1.3033805516516246
+      - 1.2173832534538325
+      - -1.4847694721743117
+      - -1.5707940267665714
+      - 0.20754449054388327
+    velocities:
+      - 0.26828776216988826
+      - -0.061539264170877017
+      - -0.0004353455684397966
+      - -0.23866678376824454
+      - 0.23920828471932801
+      - -2.6720225128913848e-06
+      - -0.061455564428921923
+    accelerations:
+      - 0.58725032885086703
+      - -0.13470220493584484
+      - -0.00095292020091531716
+      - -0.52241349407853943
+      - 0.52359877591555293
+      - -5.8487427331805666e-06
+      - -0.13451899605375173
     effort: []
     time_from_start:
       sec: 10
       nanosec: 300000000
   - positions:
-      - 0.94938338753198614
-      - 0.210822413052841
-      - -1.3009120510599237
-      - 1.2111278785761082
-      - -1.4810252670626656
-      - -1.5707714287042494
-      - 0.21072059689973127
-    velocities:
-      - 0.27816208955832711
-      - -0.065954818936112658
-      - -0.0024634736040735693
-      - -0.24369839701509133
-      - 0.24601775080397384
-      - -5.9889462788239224e-05
-      - -0.06596809931168611
-    accelerations:
-      - 0.59201146699277618
-      - -0.14037142579568515
-      - -0.0052430028281753253
-      - -0.51866250267880043
-      - 0.52359877577485991
-      - -0.00012746254810987759
-      - -0.14039969037565336
+      - 0.95116490100180573
+      - 0.2070005064179716
+      - -1.3033849504513801
+      - 1.2149717269190474
+      - -1.4823524742291712
+      - -1.5707940537651051
+      - 0.20692353390303608
+    velocities:
+      - 0.27416026545464978
+      - -0.062886286219375961
+      - -0.00044487477044286879
+      - -0.24389091870569635
+      - 0.24444427247514253
+      - -2.7305099401858695e-06
+      - -0.062800754388601054
+    accelerations:
+      - 0.58725032866179605
+      - -0.13470220489248369
+      - -0.00095292020060843373
+      - -0.52241349391031289
+      - 0.52359877574696556
+      - -5.8487427312976123e-06
+      - -0.13451899601044609
     effort: []
     time_from_start:
       sec: 10
       nanosec: 310000000
   - positions:
-      - 0.95218875288052995
-      - 0.21015723483280879
-      - -1.3009368960828271
-      - 1.2086700920403248
-      - -1.4785440890044765
-      - -1.5707720327111574
-      - 0.21005528474230478
-    velocities:
-      - 0.28408220422635871
-      - -0.067358533193619979
-      - -0.0025159036323385339
-      - -0.24888502204021831
-      - 0.25125373856004568
-      - -6.1164088268929844e-05
-      - -0.067372096214993057
-    accelerations:
-      - 0.59201146709319585
-      - -0.14037142581951331
-      - -0.0052430028290652384
-      - -0.51866250276681336
-      - 0.52359877586373327
-      - -0.00012746254813150742
-      - -0.14039969039948152
+      - 0.95393444757092349
+      - 0.20636523384134706
+      - -1.3033894445431558
+      - 1.2125079590348857
+      - -1.479883116406471
+      - -1.5707940813485128
+      - 0.20628912536259153
+    velocities:
+      - 0.28003276873895883
+      - -0.064233308267771128
+      - -0.00045440397244520686
+      - -0.24911505364274569
+      - 0.24968026023055367
+      - -2.7889973674758481e-06
+      - -0.06414594434817654
+    accelerations:
+      - 0.58725032801921051
+      - -0.13470220474508435
+      - -0.00095292019956579857
+      - -0.52241349333873022
+      - 0.52359877517407627
+      - -5.8487427248980531e-06
+      - -0.13451899586324137
     effort: []
     time_from_start:
       sec: 10
       nanosec: 320000000
   - positions:
-      - 0.95505331937575333
-      - 0.20947801947020167
-      - -1.3009622654060131
-      - 1.2061604392542908
-      - -1.4760105510687274
-      - -1.5707726494643202
-      - 0.20937593261584544
-    velocities:
-      - 0.29000231889439027
-      - -0.068762247451127273
-      - -0.0025683336606034976
-      - -0.25407164706534524
-      - 0.25648972631611744
-      - -6.2438713749620443e-05
-      - -0.068776093118299977
-    accelerations:
-      - 0.59201146719361553
-      - -0.14037142584331372
-      - -0.0052430028299542842
-      - -0.51866250285477078
-      - 0.5235987759524956
-      - -0.0001274625481531237
-      - -0.14039969042328193
+      - 0.95676271917289191
+      - 0.20571649104423692
+      - -1.3033940339269514
+      - 1.2099919498013472
+      - -1.47736139870621
+      - -1.570794109516795
+      - 0.20564126492254961
+    velocities:
+      - 0.28590527202471422
+      - -0.065580330316498042
+      - -0.00046393317444989185
+      - -0.25433918858108168
+      - 0.25491624798725437
+      - -2.8474847947802312e-06
+      - -0.065491134308083329
+    accelerations:
+      - 0.58725032882510986
+      - -0.13470220492992596
+      - -0.00095292020087341274
+      - -0.52241349405558557
+      - 0.52359877589259907
+      - -5.8487427329239156e-06
+      - -0.13451899604783285
     effort: []
     time_from_start:
       sec: 10
       nanosec: 330000000
   - positions:
-      - 0.9579770870176556
-      - 0.20878476696501982
-      - -1.3009881590294816
-      - 1.2035989202180069
-      - -1.4734246532554187
-      - -1.5707732789637379
-      - 0.20868254052035337
-    velocities:
-      - 0.29592243356242187
-      - -0.07016596170863458
-      - -0.0026207636888684622
-      - -0.25925827209047225
-      - 0.26172571407218925
-      - -6.3713339230311056e-05
-      - -0.070180090021606925
-    accelerations:
-      - 0.5920114672940352
-      - -0.140371425867128
-      - -0.0052430028308437637
-      - -0.51866250294281147
-      - 0.52359877604136895
-      - -0.00012746254817475354
-      - -0.14039969044711009
+      - 0.95964971580770897
+      - 0.2050542780266415
+      - -1.3033987186027671
+      - 1.2074236992184331
+      - -1.4747873211283897
+      - -1.5707941382699515
+      - 0.2049799525829106
+    velocities:
+      - 0.29177777530947568
+      - -0.066927352364996986
+      - -0.00047346237645296409
+      - -0.25956332351853345
+      - 0.26015223574306889
+      - -2.9059722220747155e-06
+      - -0.066836324267762467
+    accelerations:
+      - 0.58725032863598337
+      - -0.13470220488655787
+      - -0.00095292020056663774
+      - -0.52241349388738678
+      - 0.5235987757240117
+      - -5.8487427310405378e-06
+      - -0.13451899600453415
     effort: []
     time_from_start:
       sec: 10
       nanosec: 340000000
   - positions:
-      - 0.96096005566063469
-      - 0.20807747735178683
-      - -1.3010145769519434
-      - 1.2009855350590353
-      - -1.4707863956933271
-      - -1.5707739212093788
-      - 0.20797510849035911
-    velocities:
-      - 0.30126718476735292
-      - -0.071433251936931091
-      - -0.0026680981532212055
-      - -0.26394081996446361
-      - 0.26645282721737656
-      - -6.4864086548306127e-05
-      - -0.071447635425954267
-    accelerations:
-      - 0.59201146720016584
-      - -0.14037142584485415
-      - -0.0052430028300037238
-      - -0.51866250286048843
-      - 0.52359877595832427
-      - -0.00012746254815542763
-      - -0.14039969042485012
+      - 0.9625954373632869
+      - 0.20437859481427134
+      - -1.3034034985704208
+      - 1.2048032073858561
+      - -1.4721608837729492
+      - -1.5707941676079811
+      - 0.20430518836935005
+    velocities:
+      - 0.29766739406160431
+      - -0.068278300322225358
+      - -0.00048301935140997962
+      - -0.26480268424755471
+      - 0.26540348383560747
+      - -2.9646301160866849e-06
+      - -0.068185434796531011
+    accelerations:
+      - 0.58725032888317452
+      - -0.13470220494326252
+      - -0.00095292020097353881
+      - -0.52241349410726645
+      - 0.52359877594439097
+      - -5.8487427424737886e-06
+      - -0.13451899606115553
     effort: []
     time_from_start:
       sec: 10
       nanosec: 350000000
   - positions:
-      - 0.96400222543405678
-      - 0.20735615059982881
-      - -1.3010415191745441
-      - 1.1983202836640379
-      - -1.4680957782680355
-      - -1.5707745762012713
-      - 0.20725363649518255
-    velocities:
-      - 0.30718729943538442
-      - -0.072836966194438385
-      - -0.0027205281814860838
-      - -0.26912744498959057
-      - 0.27168881497344827
-      - -6.6138712029005698e-05
-      - -0.072851632329261187
-    accelerations:
-      - 0.59201146730047449
-      - -0.14037142586865456
-      - -0.0052430028308923359
-      - -0.51866250294841809
-      - 0.52359877604703109
-      - -0.00012746254817703036
-      - -0.14039969044863665
+      - 0.96559988389759344
+      - 0.20368944139382986
+      - -1.3034083738300066
+      - 1.2021304742520484
+      - -1.4694820865882037
+      - -1.5707941975308848
+      - 0.20361697226858955
+    velocities:
+      - 0.30353989734636588
+      - -0.069625322370724302
+      - -0.00049254855341311025
+      - -0.27002681918500648
+      - 0.27063947159142193
+      - -3.0231175434708848e-06
+      - -0.069530624756210149
+    accelerations:
+      - 0.58725032869410354
+      - -0.13470220489989443
+      - -0.00095292020066676381
+      - -0.52241349393906766
+      - 0.52359877577574809
+      - -5.8487427405908343e-06
+      - -0.13451899601784295
     effort: []
     time_from_start:
       sec: 10
       nanosec: 360000000
   - positions:
-      - 0.96710359635415821
-      - 0.20662078670529591
-      - -1.3010689856974273
-      - 1.19560316601879
-      - -1.4653528009651842
-      - -1.5707752439394187
-      - 0.20651812453097321
-    velocities:
-      - 0.31310741410230469
-      - -0.074240680451682181
-      - -0.0027729582097411206
-      - -0.27431407001374386
-      - 0.27692480272853714
-      - -6.7413337509466013e-05
-      - -0.074255629232304582
-    accelerations:
-      - 0.59201146628856482
-      - -0.14037142562870805
-      - -0.0052430028219301143
-      - -0.51866250206181641
-      - 0.52359877515198283
-      - -0.00012746254795916392
-      - -0.14039969020864845
+      - 0.96866305546474951
+      - 0.20298681775290298
+      - -1.3034133443816127
+      - 1.1994054997688643
+      - -1.4667509295258983
+      - -1.5707942280386622
+      - 0.20291530426823176
+    velocities:
+      - 0.30941240063057091
+      - -0.070972344419095584
+      - -0.00050207775541533778
+      - -0.27525095412196315
+      - 0.27587545934674024
+      - -3.0816049708495417e-06
+      - -0.070875814715761806
+    accelerations:
+      - 0.58725032794765664
+      - -0.13470220472866692
+      - -0.00095292019945553521
+      - -0.52241349327505893
+      - 0.52359877511023845
+      - -5.8487427331562008e-06
+      - -0.1345189958468517
     effort: []
     time_from_start:
       sec: 10
       nanosec: 370000000
   - positions:
-      - 0.97026416842093843
-      - 0.2058713856681883
-      - -1.3010969765205931
-      - 1.1928341821232922
-      - -1.4625574637847734
-      - -1.5707759244238206
-      - 0.2057685725977311
-    velocities:
-      - 0.31902752877090335
-      - -0.07564439470932395
-      - -0.0028253882380110218
-      - -0.27950069503936764
-      - 0.2821607904851105
-      - -6.8687962990287679e-05
-      - -0.075659626135746005
-    accelerations:
-      - 0.59201146695708251
-      - -0.14037142578723358
-      - -0.0052430028278513657
-      - -0.51866250264754765
-      - 0.52359877574332958
-      - -0.00012746254810310132
-      - -0.14039969036720179
+      - 0.97178495206475546
+      - 0.20227072389149056
+      - -1.3034184102252389
+      - 1.1966282839363038
+      - -1.4639674125860325
+      - -1.5707942591313142
+      - 0.20220018436827669
+    velocities:
+      - 0.31528490391643094
+      - -0.072319366467846494
+      - -0.00051160695742025078
+      - -0.28047508906039209
+      - 0.28111144710353414
+      - -3.1400923982446824e-06
+      - -0.072221004675692563
+    accelerations:
+      - 0.58725032885841655
+      - -0.13470220493757262
+      - -0.00095292020093336912
+      - -0.52241349408522852
+      - 0.52359877592229753
+      - -5.848742742227302e-06
+      - -0.13451899605547951
     effort: []
     time_from_start:
       sec: 10
       nanosec: 380000000
   - positions:
-      - 0.973483941634399
-      - 0.20510794748850569
-      - -1.3011254916440418
-      - 1.1900133319775432
-      - -1.459709766726802
-      - -1.5707766176544775
-      - 0.205004980695456
-    velocities:
-      - 0.32494764343893501
-      - -0.077048108966831272
-      - -0.0028778182662759014
-      - -0.28468732006449471
-      - 0.28739677824118232
-      - -6.9962588470987277e-05
-      - -0.077063623039052967
-    accelerations:
-      - 0.59201146705761321
-      - -0.14037142581106174
-      - -0.0052430028287412788
-      - -0.51866250273564385
-      - 0.52359877583220293
-      - -0.00012746254812473116
-      - -0.14039969039102995
+      - 0.97496557369761039
+      - 0.20154115980959289
+      - -1.303423571360885
+      - 1.193798826754368
+      - -1.4611315357686077
+      - -1.5707942908088404
+      - 0.20147161256872459
+    velocities:
+      - 0.3211574072011929
+      - -0.073666388516345535
+      - -0.00052113615942338211
+      - -0.2856992239978442
+      - 0.28634743485934899
+      - -3.1985798256288861e-06
+      - -0.073566194635371798
+    accelerations:
+      - 0.58725032867006721
+      - -0.13470220489437107
+      - -0.00095292020062773253
+      - -0.52241349391769587
+      - 0.5235987757543763
+      - -5.848742740351124e-06
+      - -0.13451899601233347
     effort: []
     time_from_start:
       sec: 10
       nanosec: 390000000
   - positions:
-      - 0.97676291599453802
-      - 0.20433047216624836
-      - -1.3011545310677728
-      - 1.1871406155815445
-      - -1.4568097097912713
-      - -1.5707773236313891
-      - 0.2042273488241482
-    velocities:
-      - 0.33086775810696667
-      - -0.078451823224338593
-      - -0.002930248294540781
-      - -0.28987394508962172
-      - 0.29263276599725419
-      - -7.1237213951686875e-05
-      - -0.078467619942359929
-    accelerations:
-      - 0.59201146715808839
-      - -0.1403714258348899
-      - -0.0052430028296311919
-      - -0.51866250282362902
-      - 0.52359877592107629
-      - -0.00012746254814637454
-      - -0.14039969041487199
+      - 0.97820492036331497
+      - 0.20079812550720971
+      - -1.3034288277885513
+      - 1.1909171282230555
+      - -1.4582432990736227
+      - -1.5707943230712409
+      - 0.20072958886957512
+    velocities:
+      - 0.32702991048649621
+      - -0.075013410564968741
+      - -0.00053066536142739175
+      - -0.29092335893577786
+      - 0.29158342261564651
+      - -3.2570672530184816e-06
+      - -0.074911384595175032
+    accelerations:
+      - 0.58725032902306262
+      - -0.13470220497533408
+      - -0.00095292020120051654
+      - -0.52241349423172245
+      - 0.52359877606912453
+      - -5.8487427438671578e-06
+      - -0.13451899609319934
     effort: []
     time_from_start:
       sec: 10
       nanosec: 400000000
   - positions:
-      - 0.98010109150135682
-      - 0.20353895970141608
-      - -1.3011840947917865
-      - 1.1842160329352949
-      - -1.4538572929781806
-      - -1.5707780423545556
-      - 0.20343567698380746
-    velocities:
-      - 0.33678787277499822
-      - -0.079855537481845901
-      - -0.0029826783228056601
-      - -0.29506057011474868
-      - 0.29786875375332594
-      - -7.251183943238646e-05
-      - -0.079871616845666876
-    accelerations:
-      - 0.59201146725850806
-      - -0.14037142585870419
-      - -0.0052430028305206714
-      - -0.5186625029116142
-      - 0.52359877600989413
-      - -0.00012746254816799082
-      - -0.14039969043868628
+      - 0.98150299206186942
+      - 0.20004162098434106
+      - -1.3034341795082374
+      - 1.1879831883423666
+      - -1.4553027025010778
+      - -1.5707943559185156
+      - 0.19997411327082842
+    velocities:
+      - 0.33290241377125807
+      - -0.076360432613467755
+      - -0.00054019456343052275
+      - -0.29614749387322986
+      - 0.29681941037146126
+      - -3.3155546804026841e-06
+      - -0.076256574554854226
+    accelerations:
+      - 0.58725032883460226
+      - -0.13470220493211865
+      - -0.00095292020089466311
+      - -0.52241349406402326
+      - 0.52359877590109227
+      - -5.8487427419897092e-06
+      - -0.13451899605001166
     effort: []
     time_from_start:
       sec: 10
       nanosec: 410000000
   - positions:
-      - 0.98349846815485553
-      - 0.20273341009400886
-      - -1.301214182816083
-      - 1.1812395840387946
-      - -1.4508525162875294
-      - -1.5707787738239769
-      - 0.20262996517443377
-    velocities:
-      - 0.34270798744302988
-      - -0.081259251739353222
-      - -0.0030351083510705397
-      - -0.30024719513987574
-      - 0.30310474150939781
-      - -7.3786464913086058e-05
-      - -0.081275613748973838
-    accelerations:
-      - 0.59201146735898325
-      - -0.14037142588253235
-      - -0.0052430028314110182
-      - -0.5186625029997104
-      - 0.52359877609882299
-      - -0.00012746254818963421
-      - -0.14039969046251444
+      - 0.98485978879327407
+      - 0.19927164624098681
+      - -1.3034396265199437
+      - 1.1849970071123006
+      - -1.4523097460509722
+      - -1.5707943893506648
+      - 0.19920518577248431
+    velocities:
+      - 0.33877491705602003
+      - -0.077707454661966796
+      - -0.00054972376543365408
+      - -0.30137162881068197
+      - 0.30205539812727611
+      - -3.3740421077868883e-06
+      - -0.077601764514533461
+    accelerations:
+      - 0.58725032864625293
+      - -0.1347022048889171
+      - -0.00095292020058913493
+      - -0.52241349389649061
+      - 0.52359877573311553
+      - -5.8487427401139548e-06
+      - -0.1345189960068795
     effort: []
     time_from_start:
       sec: 10
       nanosec: 420000000
   - positions:
-      - 0.98695504595503281
-      - 0.20191382334402699
-      - -1.301244795140662
-      - 1.1782112688920443
-      - -1.447795379719319
-      - -1.5707795180396531
-      - 0.20181021339602739
-    velocities:
-      - 0.34862810211051715
-      - -0.082662965996731466
-      - -0.0030875383793305977
-      - -0.3054338201645258
-      - 0.30834072926498818
-      - -7.506109039366844e-05
-      - -0.082679610652151694
-    accelerations:
-      - 0.59201146691511608
-      - -0.1403714257772832
-      - -0.0052430028274792675
-      - -0.51866250261074376
-      - 0.52359877570619262
-      - -0.00012746254809406179
-      - -0.14039969035725142
+      - 0.98827531055752726
+      - 0.19848820127714736
+      - -1.3034451688236699
+      - 1.1819585845328595
+      - -1.4492644297233077
+      - -1.570794423367688
+      - 0.19842280637454318
+    velocities:
+      - 0.3446474203413234
+      - -0.079054476710590016
+      - -0.00055925296743766382
+      - -0.30659576374861569
+      - 0.30729138588357363
+      - -3.4325295351764842e-06
+      - -0.078946954474336709
+    accelerations:
+      - 0.58725032899930385
+      - -0.13470220496989399
+      - -0.00095292020116202736
+      - -0.5224134942105727
+      - 0.52359877604786376
+      - -5.8487427436304121e-06
+      - -0.13451899608774537
     effort: []
     time_from_start:
       sec: 10
       nanosec: 430000000
   - positions:
-      - 0.99047082490188998
-      - 0.20108019945147013
-      - -1.3012759317655238
-      - 1.1751310874950434
-      - -1.4446858832735483
-      - -1.570780275001584
-      - 0.20097642164858809
-    velocities:
-      - 0.35454821677854881
-      - -0.084066680254238788
-      - -0.0031399684075954773
-      - -0.31062044518965287
-      - 0.31357671702105999
-      - -7.6335715874368038e-05
-      - -0.084083607555458656
-    accelerations:
-      - 0.59201146701564678
-      - -0.14037142580109749
-      - -0.0052430028283691806
-      - -0.51866250269883996
-      - 0.52359877579506597
-      - -0.00012746254811569162
-      - -0.14039969038107958
+      - 0.99174955735463044
+      - 0.19769128609282238
+      - -1.3034508064194164
+      - 1.1788679206040416
+      - -1.4461667535180831
+      - -1.5707944579695858
+      - 0.19762697507700472
+    velocities:
+      - 0.35051992362608525
+      - -0.08040149875908903
+      - -0.00056878216944079483
+      - -0.31181989868606769
+      - 0.31252737363938837
+      - -3.4910169625606871e-06
+      - -0.080292144434015916
+    accelerations:
+      - 0.58725032881084349
+      - -0.13470220492667856
+      - -0.00095292020085606551
+      - -0.52241349404287352
+      - 0.5235987758798315
+      - -5.848742741753387e-06
+      - -0.13451899604458545
     effort: []
     time_from_start:
       sec: 10
       nanosec: 440000000
   - positions:
-      - 0.99404580491395478
-      - 0.20023253843565614
-      - -1.3013075926899467
-      - 1.1719990399191693
-      - -1.4415240270222747
-      - -1.5707810447097519
-      - 0.20012858995143751
-    velocities:
-      - 0.36047943291682044
-      - -0.085473026773607699
-      - -0.0031924967532827048
-      - -0.31581679623642073
-      - 0.31882252336436107
-      - -7.7612731548480133e-05
-      - -0.085490237250647402
-    accelerations:
-      - 0.59201146702008767
-      - -0.14037142580216608
-      - -0.0052430028284134161
-      - -0.51866250270278125
-      - 0.52359877579906278
-      - -0.00012746254811729082
-      - -0.14039969038213429
+      - 0.99528252912190585
+      - 0.19688090070238873
+      - -1.3034565393070809
+      - 1.175725015381605
+      - -1.4430167174911823
+      - -1.5707944931563569
+      - 0.19681769189422629
+    velocities:
+      - 0.35640384003401915
+      - -0.081751138724992442
+      - -0.00057832989130521555
+      - -0.31705418665241236
+      - 0.31777353745987391
+      - -3.5496180590169871e-06
+      - -0.081639948750461405
+    accelerations:
+      - 0.58725032889577555
+      - -0.1347022049461491
+      - -0.0009529202009911571
+      - -0.5224134941184797
+      - 0.52359877595560422
+      - -5.8487427419778508e-06
+      - -0.13451899606402823
     effort: []
     time_from_start:
       sec: 10
       nanosec: 450000000
   - positions:
-      - 0.99767998606337771
-      - 0.19937084027947746
-      - -1.3013397779145695
-      - 1.1688151261012114
-      - -1.4383098109016852
-      - -1.5707818271641731
-      - 0.19926671828746473
-    velocities:
-      - 0.36639954758485205
-      - -0.086876741031115021
-      - -0.0032449267815476278
-      - -0.32100342126154774
-      - 0.32405851112043293
-      - -7.8887357029185938e-05
-      - -0.086894234153954364
-    accelerations:
-      - 0.59201146712056285
-      - -0.14037142582599424
-      - -0.0052430028293033292
-      - -0.51866250279076642
-      - 0.52359877588793613
-      - -0.00012746254813892065
-      - -0.14039969040597633
+      - 0.9988742258914306
+      - 0.1960570450984887
+      - -1.3034623674867161
+      - 1.1725298688370136
+      - -1.4398143216140049
+      - -1.5707945289280021
+      - 0.19599495681886006
+    velocities:
+      - 0.36227634331878095
+      - -0.083098160773491442
+      - -0.00058785909330831868
+      - -0.32227832158986436
+      - 0.32300952521568871
+      - -3.6081054863949791e-06
+      - -0.082985138710140599
+    accelerations:
+      - 0.58725032870731519
+      - -0.13470220490291979
+      - -0.00095292020068541209
+      - -0.52241349395083603
+      - 0.52359877578757197
+      - -5.8487427401012493e-06
+      - -0.13451899602086831
     effort: []
     time_from_start:
       sec: 10
       nanosec: 460000000
   - positions:
-      - 1.0013733683594803
-      - 0.19849510498072381
-      - -1.3013724874394752
-      - 1.1655793460330024
-      - -1.4350432349035354
-      - -1.5707826223648489
-      - 0.19839080665445896
-    velocities:
-      - 0.3723196622528836
-      - -0.088280455288622328
-      - -0.0032973568098125499
-      - -0.32619004628667475
-      - 0.32929449887650475
-      - -8.0161982509891717e-05
-      - -0.088298231057261284
-    accelerations:
-      - 0.59201146722103803
-      - -0.14037142584980852
-      - -0.0052430028301928087
-      - -0.51866250287880711
-      - 0.52359877597675397
-      - -0.00012746254816053693
-      - -0.14039969042979061
+      - 1.0025246476938052
+      - 0.19521971927410314
+      - -1.303468290958371
+      - 1.1692824809430458
+      - -1.4365595658592676
+      - -1.5707945652845217
+      - 0.19515876984389655
+    velocities:
+      - 0.36814884660408431
+      - -0.084445182822114662
+      - -0.00059738829531230046
+      - -0.32750245652779808
+      - 0.32824551297198629
+      - -3.6665929137783642e-06
+      - -0.084330328669943833
+    accelerations:
+      - 0.58725032906036612
+      - -0.13470220498389668
+      - -0.00095292020125819609
+      - -0.52241349426486261
+      - 0.5235987761023202
+      - -5.848742743617283e-06
+      - -0.13451899610173418
     effort: []
     time_from_start:
       sec: 10
       nanosec: 470000000
   - positions:
-      - 1.0051259518022617
-      - 0.1976053325393955
-      - -1.3014057212646635
-      - 1.162291699714544
-      - -1.4317242990278265
-      - -1.5707834303117794
-      - 0.19750085505242054
-    velocities:
-      - 0.37823977692091509
-      - -0.089684169546129622
-      - -0.0033497868380774716
-      - -0.33137667131180165
-      - 0.33453048663257656
-      - -8.1436607990597495e-05
-      - -0.089702227960568204
-    accelerations:
-      - 0.5920114673214022
-      - -0.14037142587360893
-      - -0.0052430028310818545
-      - -0.51866250296668126
-      - 0.52359877606557181
-      - -0.00012746254818215321
-      - -0.14039969045359102
+      - 1.0062337945290285
+      - 0.19436892322923233
+      - -1.303474309722046
+      - 1.1659828516997024
+      - -1.4332524502269708
+      - -1.5707946022259152
+      - 0.19430913096933594
+    velocities:
+      - 0.37402134988884622
+      - -0.085792204870613703
+      - -0.00060691749731540381
+      - -0.33272659146525019
+      - 0.33348150072780119
+      - -3.7250803411563571e-06
+      - -0.085675518629623054
+    accelerations:
+      - 0.58725032887201678
+      - -0.134702204940709
+      - -0.00095292020095266792
+      - -0.52241349409732996
+      - 0.52359877593445447
+      - -5.8487427417415286e-06
+      - -0.13451899605858814
     effort: []
     time_from_start:
       sec: 10
       nanosec: 480000000
   - positions:
-      - 1.0089377363917229
-      - 0.19670152295549223
-      - -1.3014394793901343
-      - 1.1589521871458346
-      - -1.4283530032745571
-      - -1.5707842510049648
-      - 0.19659686348134917
-    velocities:
-      - 0.3841598915889467
-      - -0.091087883803636929
-      - -0.0034022168663423945
-      - -0.33656329633692872
-      - 0.33976647438864843
-      - -8.27112334713033e-05
-      - -0.091106224863875152
-    accelerations:
-      - 0.59201146742187738
-      - -0.14037142589742321
-      - -0.0052430028319717676
-      - -0.51866250305477746
-      - 0.52359877615444517
-      - -0.0001274625482037966
-      - -0.14039969047741918
+      - 1.0100016663971023
+      - 0.19350465696387587
+      - -1.3034804237777409
+      - 1.1626309811069819
+      - -1.4298929747171136
+      - -1.5707946397521833
+      - 0.19344604019517792
+    velocities:
+      - 0.37989385317360802
+      - -0.087139226919112703
+      - -0.00061644669931850695
+      - -0.33795072640270224
+      - 0.33871748848361594
+      - -3.7835677685343491e-06
+      - -0.087020708589302248
+    accelerations:
+      - 0.58725032868350091
+      - -0.13470220489746582
+      - -0.00095292020064681449
+      - -0.52241349392968628
+      - 0.52359877576636671
+      - -5.8487427398645036e-06
+      - -0.13451899601542822
     effort: []
     time_from_start:
       sec: 10
       nanosec: 490000000
   - positions:
-      - 1.0128087221278625
-      - 0.19578367622901427
-      - -1.3014737618158878
-      - 1.1555608083268751
-      - -1.4249293476437286
-      - -1.5707850844444047
-      - 0.19567883194124508
-    velocities:
-      - 0.39008000625643391
-      - -0.092491598061015173
-      - -0.0034546468946024958
-      - -0.34174992136157883
-      - 0.3450024621442388
-      - -8.3985858951891889e-05
-      - -0.092510221767052994
-    accelerations:
-      - 0.5920114669779547
-      - -0.14037142579218795
-      - -0.0052430028280404505
-      - -0.51866250266586633
-      - 0.52359877576181479
-      - -0.00012746254810821063
-      - -0.14039969037215616
+      - 1.0138282632980258
+      - 0.19262692047803404
+      - -1.3034866331254564
+      - 1.1592268691648855
+      - -1.4264811393296968
+      - -1.5707946778633257
+      - 0.19256949752142272
+    velocities:
+      - 0.38576635645891139
+      - -0.088486248967735923
+      - -0.00062597590132248873
+      - -0.34317486134063596
+      - 0.34395347623991351
+      - -3.8420551959177342e-06
+      - -0.088365898549105482
+    accelerations:
+      - 0.58725032903660734
+      - -0.13470220497844271
+      - -0.00095292020121970692
+      - -0.52241349424376837
+      - 0.52359877608111494
+      - -5.8487427433805373e-06
+      - -0.13451899609629409
     effort: []
     time_from_start:
       sec: 10
       nanosec: 500000000
   - positions:
-      - 1.0167389090106826
-      - 0.19485179235996131
-      - -1.3015085685419239
-      - 1.1521175632576648
-      - -1.4214533321353395
-      - -1.5707859306301
-      - 0.19474676043210803
-    velocities:
-      - 0.39600012092446552
-      - -0.093895312318522495
-      - -0.0035070769228674188
-      - -0.34693654638670585
-      - 0.35023844990031067
-      - -8.5260484432597694e-05
-      - -0.093914218670359942
-    accelerations:
-      - 0.5920114670784854
-      - -0.14037142581601611
-      - -0.0052430028289303637
-      - -0.51866250275390702
-      - 0.52359877585068815
-      - -0.00012746254812985401
-      - -0.14039969039598432
+      - 1.0177135852317984
+      - 0.19173571377170673
+      - -1.3034929377651914
+      - 1.1557705158734128
+      - -1.42301694406472
+      - -1.5707947165593423
+      - 0.19167950294807026
+    velocities:
+      - 0.39163885974367324
+      - -0.08983327101623495
+      - -0.00063550510332559197
+      - -0.34839899627808801
+      - 0.34918946399572837
+      - -3.9005426232957266e-06
+      - -0.089711088508784675
+    accelerations:
+      - 0.5872503288482025
+      - -0.13470220493524115
+      - -0.0009529202009139619
+      - -0.5224134940761247
+      - 0.5235987759131937
+      - -5.8487427415043594e-06
+      - -0.13451899605313417
     effort: []
     time_from_start:
       sec: 10
       nanosec: 510000000
   - positions:
-      - 1.0207282970401819
-      - 0.19390587134833345
-      - -1.3015438995682427
-      - 1.1486224519382038
-      - -1.4179249567493906
-      - -1.5707867895620498
-      - 0.19380064895393809
-    velocities:
-      - 0.40192023559249707
-      - -0.095299026576029788
-      - -0.0035595069511323409
-      - -0.35212317141183286
-      - 0.35547443765638254
-      - -8.6535109913303486e-05
-      - -0.095318215573666876
-    accelerations:
-      - 0.59201146717890507
-      - -0.14037142583981652
-      - -0.0052430028298198431
-      - -0.51866250284189219
-      - 0.52359877593950599
-      - -0.00012746254815148385
-      - -0.14039969041981248
+      - 1.0216576321984203
+      - 0.19083103684489411
+      - -1.3034993376969466
+      - 1.1522619212325642
+      - -1.4195003889221836
+      - -1.5707947558402333
+      - 0.19077605647512066
+    velocities:
+      - 0.3975113630275654
+      - -0.091180293064534471
+      - -0.00064503430532728391
+      - -0.35362313121476635
+      - 0.35442545175076773
+      - -3.9590300506650565e-06
+      - -0.091056278468264654
+    accelerations:
+      - 0.58725032778900577
+      - -0.13470220469227936
+      - -0.00095292019919521827
+      - -0.52241349313389407
+      - 0.52359877496879603
+      - -5.8487427309551857e-06
+      - -0.13451899581050578
     effort: []
     time_from_start:
       sec: 10
       nanosec: 520000000
   - positions:
-      - 1.0247768862163606
-      - 0.19294591319413076
-      - -1.3015797548948438
-      - 1.1450754743684926
-      - -1.4143442214858817
-      - -1.5707876612402543
-      - 0.19284049750673532
-    velocities:
-      - 0.40784035026052867
-      - -0.09670274083353711
-      - -0.0036119369793972639
-      - -0.35730979643695987
-      - 0.36071042541245441
-      - -8.7809735394009278e-05
-      - -0.096722212476973823
-    accelerations:
-      - 0.59201146727938025
-      - -0.14037142586364468
-      - -0.0052430028307097563
-      - -0.51866250292993288
-      - 0.52359877602837934
-      - -0.00012746254817311368
-      - -0.14039969044364065
+      - 1.0256604041978925
+      - 0.18991288969759587
+      - -1.3035058329207216
+      - 1.1487010852423387
+      - -1.4159314739020867
+      - -1.5707947957059982
+      - 0.18985915810257364
+    velocities:
+      - 0.4033838663137384
+      - -0.09252731511335717
+      - -0.000654563507332677
+      - -0.35884726615347379
+      - 0.35966143950784074
+      - -4.0175174780571037e-06
+      - -0.092401468428267103
+    accelerations:
+      - 0.58725032901279306
+      - -0.13470220497298874
+      - -0.00095292020118110932
+      - -0.52241349422256311
+      - 0.52359877605996519
+      - -5.8487427431433681e-06
+      - -0.13451899609084011
     effort: []
     time_from_start:
       sec: 10
       nanosec: 530000000
   - positions:
-      - 1.0288846765392194
-      - 0.1919719178973531
-      - -1.3016161345217281
-      - 1.1414766305485304
-      - -1.4107111263448124
-      - -1.5707885456647135
-      - 0.19186630609049957
-    velocities:
-      - 0.41376046492856022
-      - -0.098106455091044417
-      - -0.0036643670076621864
-      - -0.36249642146208688
-      - 0.36594641316852622
-      - -8.9084360874715069e-05
-      - -0.098126209380280757
-    accelerations:
-      - 0.59201146737979993
-      - -0.14037142588747284
-      - -0.0052430028315996694
-      - -0.51866250301791805
-      - 0.52359877611719718
-      - -0.00012746254819472996
-      - -0.14039969046745493
+      - 1.0297219012302148
+      - 0.18898127232981213
+      - -1.3035124234365172
+      - 1.1450880079027363
+      - -1.4123101990044296
+      - -1.5707948361566377
+      - 0.18892880783042934
+    velocities:
+      - 0.40925636959850037
+      - -0.093874337161856211
+      - -0.00066409270933578024
+      - -0.36407140109092589
+      - 0.36489742726365559
+      - -4.0760049054350962e-06
+      - -0.093746658387946324
+    accelerations:
+      - 0.58725032882449923
+      - -0.13470220492978718
+      - -0.00095292020087536431
+      - -0.52241349405503046
+      - 0.52359877589198844
+      - -5.8487427412671901e-06
+      - -0.13451899604769407
     effort: []
     time_from_start:
       sec: 10
       nanosec: 540000000
   - positions:
-      - 1.0330259072050374
-      - 0.19098999358419308
-      - -1.3016528103047214
-      - 1.1378484895731296
-      - -1.4070484552181224
-      - -1.5707894372890188
-      - 0.19088418406132918
-    velocities:
-      - 0.41149020960236582
-      - -0.097568156434977502
-      - -0.0036442610540460647
-      - -0.36050744595256484
-      - 0.36393850795761684
-      - -8.8595565394187077e-05
-      - -0.097587802334737711
-    accelerations:
-      - -0.59201146641301772
-      - 0.14037142565822566
-      - 0.0052430028230379417
-      - 0.5186625021708734
-      - -0.52359877526210341
-      - 0.00012746254798476066
-      - 0.14039969023816612
+      - 1.0338351270271122
+      - 0.18803778953036396
+      - -1.3035190978916178
+      - 1.1414289130416133
+      - -1.408642802178047
+      - -1.5707948771224716
+      - 0.1879866082648306
+    velocities:
+      - 0.41070607960093874
+      - -0.094206868493475024
+      - -0.00066644512682837993
+      - -0.36536105225086374
+      - 0.36619000445844918
+      - -4.0904433489929928e-06
+      - -0.094078737442681151
+    accelerations:
+      - -0.58725032807976163
+      - 0.13470220475897937
+      - 0.0009529201996655031
+      - 0.52241349339256038
+      - -0.52359877522801956
+      - 5.8487427335422496e-06
+      - 0.1345189958771083
     effort: []
     time_from_start:
       sec: 10
       nanosec: 550000000
   - positions:
-      - 1.0371147944641488
-      - 0.19002048037966876
-      - -1.3016890225213065
-      - 1.1342662067674349
-      - -1.403432078707668
-      - -1.5707903176435696
-      - 0.18991447563984137
-    velocities:
-      - 0.40557009493433416
-      - -0.096164442177470194
-      - -0.0035918310257811335
-      - -0.35532082092743783
-      - 0.35870252020154497
-      - -8.7320939913499405e-05
-      - -0.096183805431430749
-    accelerations:
-      - -0.59201146651354841
-      - 0.14037142568205382
-      - 0.0052430028239282885
-      - 0.51866250225891408
-      - -0.52359877535097676
-      - 0.00012746254800640404
-      - 0.14039969026200816
+      - 1.0379148100827056
+      - 0.18710200069206193
+      - -1.3035257179175352
+      - 1.1377996575519214
+      - -1.4050053124243809
+      - -1.5707949177542355
+      - 0.18705209219579783
+    velocities:
+      - 0.40483357631617695
+      - -0.09285984644497601
+      - -0.00065691592482529327
+      - -0.36013691731341169
+      - 0.36095401670263449
+      - -4.0319559216180835e-06
+      - -0.092733547483001944
+    accelerations:
+      - -0.58725032789130127
+      - 0.13470220471575006
+      - 0.00095292019935954125
+      - 0.5224134932249167
+      - -0.52359877505998731
+      - 5.8487427316660717e-06
+      - 0.13451899583394838
     effort: []
     time_from_start:
       sec: 10
       nanosec: 560000000
   - positions:
-      - 1.0411444805765808
-      - 0.18906500431771933
-      - -1.3017247104376088
-      - 1.130735790211991
-      - -1.3998680620747739
-      - -1.5707911852518652
-      - 0.18895880718738645
-    velocities:
-      - 0.39964998026630261
-      - -0.094760727919962887
-      - -0.0035394009975162032
-      - -0.35013419590231082
-      - 0.35346653244547316
-      - -8.604631443281176e-05
-      - -0.094779808528123816
-    accelerations:
-      - -0.59201146661396808
-      - 0.14037142570586811
-      - 0.0052430028248173343
-      - 0.51866250234695477
-      - -0.52359877543979461
-      - 0.00012746254802802032
-      - 0.14039969028582244
+      - 1.0419357681054495
+      - 0.18617968207424526
+      - -1.3035322426514326
+      - 1.1342226434116052
+      - -1.4014201825482744
+      - -1.5707949578011249
+      - 0.18613102802636222
+    velocities:
+      - 0.39896107303087369
+      - -0.091512824396352804
+      - -0.00064738672282132798
+      - -0.35491278237547796
+      - 0.35571802894633697
+      - -3.9734684942377821e-06
+      - -0.091388357523198724
+    accelerations:
+      - -0.58725032824424117
+      - 0.13470220479671308
+      - 0.00095292019993232526
+      - 0.52241349353894329
+      - -0.52359877537473554
+      - 5.8487427351812584e-06
+      - 0.13451899591480038
     effort: []
     time_from_start:
       sec: 10
       nanosec: 570000000
   - positions:
-      - 1.045114965542334
-      - 0.18812356539834457
-      - -1.3017598740536287
-      - 1.1272572399067964
-      - -1.3963564053194384
-      - -1.5707920401139064
-      - 0.18801717870396417
-    velocities:
-      - 0.39372986559881529
-      - -0.093357013662584643
-      - -0.0034869709692560927
-      - -0.3449475708776607
-      - 0.34823054468988268
-      - -8.4771688952241291e-05
-      - -0.093375811624945945
-    accelerations:
-      - -0.59201146617010092
-      - 0.14037142560061897
-      - 0.0052430028208864509
-      - 0.51866250195804364
-      - -0.52359877504733077
-      - 0.00012746254793247501
-      - 0.1403996901805733
+      - 1.045898001095344
+      - 0.18527083367691405
+      - -1.30353867209331
+      - 1.1306978706206654
+      - -1.3978874125497278
+      - -1.5707949972631403
+      - 0.1852234157565239
+    velocities:
+      - 0.39308856974611173
+      - -0.090165802347853763
+      - -0.00063785752081824099
+      - -0.3496886474380258
+      - 0.35048204119052212
+      - -3.914981066862872e-06
+      - -0.090043167563519488
+    accelerations:
+      - -0.58725032805594735
+      - 0.13470220475349765
+      - 0.00095292019962679708
+      - 0.52241349337135512
+      - -0.5235987752068143
+      - 5.8487427333059275e-06
+      - 0.13451899587166821
     effort: []
     time_from_start:
       sec: 10
       nanosec: 580000000
   - positions:
-      - 1.0490262493614075
-      - 0.18719616362154479
-      - -1.3017945133693658
-      - 1.1238305558518533
-      - -1.3928971084416637
-      - -1.5707928822296926
-      - 0.18708959018957488
-    velocities:
-      - 0.38780975093078379
-      - -0.091953299405077349
-      - -0.0034345409409911624
-      - -0.33976094585253375
-      - 0.34299455693381098
-      - -8.349706347155366e-05
-      - -0.091971814721639025
-    accelerations:
-      - -0.59201146627046508
-      - 0.14037142562443325
-      - 0.0052430028217754967
-      - 0.51866250204602882
-      - -0.52359877513603759
-      - 0.00012746254795407774
-      - 0.14039969020435983
+      - 1.0498015090523887
+      - 0.18437545550006834
+      - -1.3035450062431675
+      - 1.1272253391791023
+      - -1.3944070024287414
+      - -1.5707950361402814
+      - 0.18432925538628289
+    velocities:
+      - 0.38721606646134993
+      - -0.088818780299354749
+      - -0.00062832831881515423
+      - -0.34446451250057375
+      - 0.34524605343470743
+      - -3.8564936394879636e-06
+      - -0.088697977603840295
+    accelerations:
+      - -0.58725032786748699
+      - 0.13470220471026834
+      - 0.00095292019932094365
+      - 0.52241349320371144
+      - -0.52359877503872654
+      - 5.8487427314280554e-06
+      - 0.13451899582848054
     effort: []
     time_from_start:
       sec: 10
       nanosec: 590000000
   - positions:
-      - 1.052878332033802
-      - 0.18628279898731975
-      - -1.3018286283848206
-      - 1.12045573804716
-      - -1.3894901714414487
-      - -1.5707937115992239
-      - 0.18617604164421842
-    velocities:
-      - 0.38188963626275224
-      - -0.090549585147570055
-      - -0.0033821109127262316
-      - -0.33457432082740679
-      - 0.33775856917773917
-      - -8.2222437990866015e-05
-      - -0.090567817818332078
-    accelerations:
-      - -0.59201146637088475
-      - 0.14037142564823366
-      - 0.0052430028226649762
-      - 0.51866250213401399
-      - -0.52359877522485543
-      - 0.00012746254797569402
-      - 0.14039969022818799
+      - 1.0536462919765839
+      - 0.183493547543708
+      - -1.3035512451010045
+      - 1.1238050490869149
+      - -1.3909789521853146
+      - -1.5707950744325481
+      - 0.18344854691563903
+    velocities:
+      - 0.38134356317604662
+      - -0.087471758250731516
+      - -0.00061879911681118882
+      - -0.33924037756263997
+      - 0.34001006567840986
+      - -3.7980062121076608e-06
+      - -0.087352787644037047
+    accelerations:
+      - -0.5872503282204824
+      - 0.13470220479125911
+      - 0.00095292019989383608
+      - 0.52241349351779354
+      - -0.52359877535353028
+      - 5.8487427349449362e-06
+      - 0.13451899590936028
     effort: []
     time_from_start:
       sec: 10
       nanosec: 600000000
   - positions:
-      - 1.0566712135595164
-      - 0.18538347149566975
-      - -1.3018622190999922
-      - 1.1171327864927176
-      - -1.3861355943187939
-      - -1.5707945282225007
-      - 0.18527653306789485
-    velocities:
-      - 0.37596952159472063
-      - -0.089145870890062734
-      - -0.0033296808844613004
-      - -0.32938769580227978
-      - 0.3325225814216673
-      - -8.0947812510178356e-05
-      - -0.08916382091502513
-    accelerations:
-      - -0.59201146647135994
-      - 0.14037142567206182
-      - 0.0052430028235548893
-      - 0.51866250222199917
-      - -0.52359877531372878
-      - 0.00012746254799732385
-      - 0.14039969025201615
+      - 1.0574323498679294
+      - 0.1826251098078332
+      - -1.3035573886668219
+      - 1.1204370003441042
+      - -1.3876032618194483
+      - -1.5707951121399404
+      - 0.1825812903445925
+    velocities:
+      - 0.37547105989128465
+      - -0.086124736202232474
+      - -0.00060926991480810195
+      - -0.33401624262518781
+      - 0.334774077922595
+      - -3.7395187847327507e-06
+      - -0.086007597684357825
+    accelerations:
+      - -0.58725032803218857
+      - 0.13470220474805755
+      - 0.00095292019958819949
+      - 0.52241349335026088
+      - -0.52359877518560904
+      - 5.8487427330691817e-06
+      - 0.13451899586621424
     effort: []
     time_from_start:
       sec: 10
       nanosec: 610000000
   - positions:
-      - 1.060404893938552
-      - 0.18449818114659444
-      - -1.3018952855148815
-      - 1.1138617011885252
-      - -1.3828333770736987
-      - -1.5707953320995223
-      - 0.18439106446060405
-    velocities:
-      - 0.37004940692668903
-      - -0.08774215663255544
-      - -0.0032772508561963701
-      - -0.32420107077715277
-      - 0.32728659366559548
-      - -7.9673187029490698e-05
-      - -0.087759824011718182
-    accelerations:
-      - -0.59201146657183512
-      - 0.1403714256958761
-      - 0.0052430028244443688
-      - 0.51866250231003985
-      - -0.52359877540254662
-      - 0.00012746254801896724
-      - 0.14039969027583044
+      - 1.0611596827264262
+      - 0.18177014229244359
+      - -1.3035634369406193
+      - 1.117121192950669
+      - -1.3842799313311405
+      - -1.5707951492624588
+      - 0.18172748567314298
+    velocities:
+      - 0.36959855660652285
+      - -0.084777714153733461
+      - -0.00059974071280501518
+      - -0.32879210768773576
+      - 0.32953809016678032
+      - -3.6810313573578419e-06
+      - -0.084662407724678618
+    accelerations:
+      - -0.58725032784372821
+      - 0.13470220470482824
+      - 0.00095292019928234605
+      - 0.52241349318256169
+      - -0.52359877501752128
+      - 5.8487427311921567e-06
+      - 0.13451899582305432
     effort: []
     time_from_start:
       sec: 10
       nanosec: 620000000
   - positions:
-      - 1.0640793731709077
-      - 0.18362692794009411
-      - -1.3019278276294881
-      - 1.1106424821345837
-      - -1.3795835197061634
-      - -1.5707961232302892
-      - 0.18351963582234621
-    velocities:
-      - 0.36412929225790713
-      - -0.08633844237487022
-      - -0.0032248208279247936
-      - -0.31901444575136839
-      - 0.32205060590885998
-      - -7.8398561548641494e-05
-      - -0.086355827108233293
-    accelerations:
-      - -0.59201146742154742
-      - 0.14037142589735427
-      - 0.0052430028319702601
-      - 0.51866250305452233
-      - -0.52359877615418116
-      - 0.00012746254820191678
-      - 0.14039969047735018
+      - 1.0648282905520727
+      - 0.18092864499753963
+      - -1.3035693899223961
+      - 1.1138576269066107
+      - -1.3810089607203937
+      - -1.5707951858001024
+      - 0.18088713290129088
+    velocities:
+      - 0.3637260533212196
+      - -0.083430692105110241
+      - -0.00059021151080104989
+      - -0.32356797274980204
+      - 0.3243021024104828
+      - -3.6225439299775404e-06
+      - -0.083317217764875398
+    accelerations:
+      - -0.58725032819672363
+      - 0.13470220478580514
+      - 0.00095292019985513006
+      - 0.52241349349658828
+      - -0.52359877533232502
+      - 5.848742734707767e-06
+      - 0.13451899590390631
     effort: []
     time_from_start:
       sec: 10
       nanosec: 630000000
   - positions:
-      - 1.0676946512565844
-      - 0.18276971187616856
-      - -1.3019598454438122
-      - 1.1074751293308929
-      - -1.3763860222161881
-      - -1.5707969016148013
-      - 0.18266224715312115
-    velocities:
-      - 0.35820917759117021
-      - -0.084934728117669889
-      - -0.0031723907996713289
-      - -0.31382782072737564
-      - 0.31681461815393325
-      - -7.7123936068232597e-05
-      - -0.084951830205233378
-    accelerations:
-      - -0.59201146622838763
-      - 0.14037142561445512
-      - 0.0052430028214029648
-      - 0.51866250200916941
-      - -0.52359877509884512
-      - 0.00012746254794501109
-      - 0.14039969019439558
+      - 1.0684381733448691
+      - 0.18010061792312115
+      - -1.3035752476121534
+      - 1.1106463022119291
+      - -1.3777903499872068
+      - -1.570795221752872
+      - 0.18006023202903609
+    velocities:
+      - 0.35785355003645763
+      - -0.082083670056611199
+      - -0.0005806823087979629
+      - -0.31834383781234987
+      - 0.31906611465466794
+      - -3.5640565026026303e-06
+      - -0.081972027805196163
+    accelerations:
+      - -0.58725032800837429
+      - 0.13470220474260358
+      - 0.00095292019954960189
+      - 0.52241349332905562
+      - -0.52359877516440378
+      - 5.8487427328320125e-06
+      - 0.13451899586076027
     effort: []
     time_from_start:
       sec: 10
       nanosec: 640000000
   - positions:
-      - 1.0712507281955812
-      - 0.18192653295481795
-      - -1.3019913389578535
-      - 1.1043596427774522
-      - -1.3732408846037729
-      - -1.5707976672530588
-      - 0.18181889845292901
-    velocities:
-      - 0.35228906292314005
-      - -0.083531013860162859
-      - -0.0031199607714067594
-      - -0.30864119570224724
-      - 0.3115786303978611
-      - -7.5849310589028358e-05
-      - -0.083547833301926194
-    accelerations:
-      - -0.59201146632891832
-      - 0.14037142563828328
-      - 0.0052430028222937453
-      - 0.5186625020972101
-      - -0.52359877518771847
-      - 0.00012746254796914815
-      - 0.14039969021823762
+      - 1.0719893311048161
+      - 0.17928606106918815
+      - -1.3035810100098906
+      - 1.1074872188666234
+      - -1.3746240991315799
+      - -1.5707952571207673
+      - 0.17924678305637856
+    velocities:
+      - 0.35198104675115444
+      - -0.080736648007987466
+      - -0.0005711531067960925
+      - -0.31311970287441493
+      - 0.31383012689837209
+      - -3.5055690721152871e-06
+      - -0.080626837845392471
+    accelerations:
+      - -0.58725032836131419
+      - 0.13470220482353884
+      - 0.00095292020012574692
+      - 0.52241349364297118
+      - -0.52359877547904099
+      - 5.8487427311629341e-06
+      - 0.13451899594161226
     effort: []
     time_from_start:
       sec: 10
       nanosec: 650000000
   - positions:
-      - 1.0747476039878983
-      - 0.18109739117604223
-      - -1.302022308171612
-      - 1.1012960224742625
-      - -1.3701481068689181
-      - -1.5707984201450613
-      - 0.18098958972176979
-    velocities:
-      - 0.34636894825510839
-      - -0.082127299602655537
-      - -0.0030675307431418221
-      - -0.30345457067712023
-      - 0.30634264264178923
-      - -7.4574685108315763e-05
-      - -0.082143836398619247
-    accelerations:
-      - -0.59201146642939351
-      - 0.14037142566211144
-      - 0.0052430028231836585
-      - 0.51866250218525078
-      - -0.52359877527664733
-      - 0.00012746254799079153
-      - 0.14039969024206578
+      - 1.0754817638319139
+      - 0.17848497443574046
+      - -1.3035866771156077
+      - 1.1043803768706939
+      - -1.3715102081535127
+      - -1.5707952919037884
+      - 0.17844678598331817
+    velocities:
+      - 0.34610854346639253
+      - -0.079389625959488425
+      - -0.00056162390479297061
+      - -0.30789556793696277
+      - 0.30859413914255718
+      - -3.4470816447922154e-06
+      - -0.07928164788571325
+    accelerations:
+      - -0.58725032817296485
+      - 0.13470220478035116
+      - 0.00095292019982011033
+      - 0.52241349347543853
+      - -0.52359877531111976
+      - 5.8487427292867561e-06
+      - 0.13451899589846622
     effort: []
     time_from_start:
       sec: 10
       nanosec: 660000000
   - positions:
-      - 1.0781852786335362
-      - 0.18028228653984135
-      - -1.3020527530850881
-      - 1.098284268421323
-      - -1.3671076890116227
-      - -1.5707991602908089
-      - 0.18017432095964336
-    velocities:
-      - 0.34044883358707678
-      - -0.08072358534514823
-      - -0.0030151007148768853
-      - -0.29826794565199327
-      - 0.30110665488571742
-      - -7.3300059627603195e-05
-      - -0.080739839495312313
-    accelerations:
-      - -0.59201146652986869
-      - 0.14037142568592573
-      - 0.0052430028240731379
-      - 0.51866250227323596
-      - -0.52359877536546517
-      - 0.00012746254801240781
-      - 0.14039969026588006
+      - 1.0789154715261617
+      - 0.17769735802277836
+      - -1.3035922489293048
+      - 1.1013257762241411
+      - -1.3684486770530058
+      - -1.5707953261019354
+      - 0.17766024080985515
+    velocities:
+      - 0.34023604018163056
+      - -0.078042603910989397
+      - -0.00055209470278984871
+      - -0.3026714329995106
+      - 0.30335815138674233
+      - -3.3885942174691433e-06
+      - -0.077936457926034028
+    accelerations:
+      - -0.58725032798467103
+      - 0.13470220473713573
+      - 0.00095292019951458216
+      - 0.52241349330796139
+      - -0.52359877514319852
+      - 5.8487427274114252e-06
+      - 0.13451899585532018
     effort: []
     time_from_start:
       sec: 10
       nanosec: 670000000
   - positions:
-      - 1.0815637521324948
-      - 0.17948121904621533
-      - -1.3020826736982816
-      - 1.0953243806186341
-      - -1.3641196310318875
-      - -1.5707998876903022
-      - 0.17937309216654984
-    velocities:
-      - 0.33452871891904512
-      - -0.079319871087640909
-      - -0.002962670686611948
-      - -0.29308132062686626
-      - 0.29587066712964555
-      - -7.20254341468906e-05
-      - -0.079335842592005351
-    accelerations:
-      - -0.59201146663034387
-      - 0.14037142570975389
-      - 0.0052430028249634848
-      - 0.51866250236127664
-      - -0.52359877545433853
-      - 0.0001274625480340512
-      - 0.1403996902897221
+      - 1.08229045418756
+      - 0.17692321183030163
+      - -1.3035977254509818
+      - 1.0983234169269642
+      - -1.3654395058300581
+      - -1.5707953597152076
+      - 0.17688714753598928
+    velocities:
+      - 0.33436353689632731
+      - -0.076695581862366191
+      - -0.00054256550078584851
+      - -0.29744729806157694
+      - 0.2981221636304448
+      - -3.3301067901406803e-06
+      - -0.076591267966230808
+    accelerations:
+      - -0.58725032833761093
+      - 0.13470220481811263
+      - 0.00095292020008725775
+      - 0.52241349362193246
+      - -0.52359877545794675
+      - 5.8487427309270354e-06
+      - 0.13451899593618605
     effort: []
     time_from_start:
       sec: 10
       nanosec: 680000000
   - positions:
-      - 1.0848830244847745
-      - 0.17869418869516401
-      - -1.3021120700111923
-      - 1.0924163590661951
-      - -1.3611839329297115
-      - -1.5708006023435401
-      - 0.17858590334248903
-    velocities:
-      - 0.32860860425038946
-      - -0.077916156829985622
-      - -0.0029102406583414843
-      - -0.28789469560119252
-      - 0.29063467937302179
-      - -7.0750808666043659e-05
-      - -0.077931845688550411
-    accelerations:
-      - -0.59201146735382382
-      - 0.14037142588129767
-      - 0.0052430028313704795
-      - 0.5186625029951254
-      - -0.52359877609422911
-      - 0.00012746254818981438
-      - 0.14039969046129358
+      - 1.0856067118161088
+      - 0.17616253585831032
+      - -1.3036031066806388
+      - 1.0953732989791636
+      - -1.3624826944846709
+      - -1.570795392743606
+      - 0.17612750616172068
+    velocities:
+      - 0.32849103361156551
+      - -0.075348559813867191
+      - -0.00053303629878272683
+      - -0.29222316312412489
+      - 0.29288617587463006
+      - -3.2716193628176099e-06
+      - -0.075246078006551628
+    accelerations:
+      - -0.58725032814915057
+      - 0.13470220477488332
+      - 0.00095292019978140431
+      - 0.52241349345428878
+      - -0.52359877528985899
+      - 5.8487427290500104e-06
+      - 0.13451899589299837
     effort: []
     time_from_start:
       sec: 10
       nanosec: 690000000
   - positions:
-      - 1.0881430956903753
-      - 0.17792119548668747
-      - -1.3021409420238204
-      - 1.0895602037640062
-      - -1.3583005947050948
-      - -1.5708013042505233
-      - 0.17781275448746092
-    velocities:
-      - 0.32268848958352619
-      - -0.076512442572755343
-      - -0.0028578106300868947
-      - -0.28270807057708919
-      - 0.28539869161798331
-      - -6.9476183185582626e-05
-      - -0.076527848785520561
-    accelerations:
-      - -0.59201146628695189
-      - 0.14037142562833291
-      - 0.0052430028219220808
-      - 0.51866250206040621
-      - -0.52359877515063702
-      - 0.00012746254796012216
-      - 0.14039969020827336
+      - 1.0888642444118086
+      - 0.17541533010680432
+      - -1.3036083926182758
+      - 1.0924754223807387
+      - -1.3595782430168426
+      - -1.5707954251871299
+      - 0.17538131668704915
+    velocities:
+      - 0.3226185303268036
+      - -0.07400153776536815
+      - -0.00052350709677960493
+      - -0.28699902818667272
+      - 0.28765018811881521
+      - -3.2131319354945382e-06
+      - -0.073900888046872407
+    accelerations:
+      - -0.58725032796080123
+      - 0.13470220473168176
+      - 0.00095292019947587614
+      - 0.52241349328675613
+      - -0.52359877512193775
+      - 5.8487427271738324e-06
+      - 0.13451899584985233
     effort: []
     time_from_start:
       sec: 10
       nanosec: 700000000
   - positions:
-      - 1.0913439657492956
-      - 0.17716223942078604
-      - -1.3021692897361659
-      - 1.0867559147120687
-      - -1.3554696163580395
-      - -1.570801993411252
-      - 0.17705364560146594
-    velocities:
-      - 0.31676837491549464
-      - -0.075108728315248036
-      - -0.0028053806018219583
-      - -0.27752144555196223
-      - 0.28016270386191156
-      - -6.8201557704870058e-05
-      - -0.075123851882213627
-    accelerations:
-      - -0.59201146638737157
-      - 0.14037142565214719
-      - 0.0052430028228111266
-      - 0.51866250214839138
-      - -0.52359877523939935
-      - 0.00012746254798173844
-      - 0.14039969023208765
+      - 1.0920630519746577
+      - 0.17468159457578403
+      - -1.3036135832638929
+      - 1.0896297871316911
+      - -1.3567261514265756
+      - -1.5707954570457794
+      - 0.17464857911197518
+    velocities:
+      - 0.31674602704150023
+      - -0.07265451571674493
+      - -0.00051397789477560451
+      - -0.281774893248739
+      - 0.28241420036251763
+      - -3.1546445081660743e-06
+      - -0.072555698087069173
+    accelerations:
+      - -0.58725032831385215
+      - 0.13470220481267253
+      - 0.00095292020004876857
+      - 0.52241349360078271
+      - -0.52359877543674149
+      - 5.8487427306902897e-06
+      - 0.13451899593073208
     effort: []
     time_from_start:
       sec: 10
       nanosec: 710000000
   - positions:
-      - 1.0944856346615368
-      - 0.17641732049745937
-      - -1.3021971131482288
-      - 1.0840034919103814
-      - -1.3526909978885435
-      - -1.5708026698257256
-      - 0.17630857668450373
-    velocities:
-      - 0.31084826024746298
-      - -0.073705014057740714
-      - -0.0027529505735570206
-      - -0.27233482052683522
-      - 0.27492671610583969
-      - -6.6926932224157463e-05
-      - -0.073719854978906665
-    accelerations:
-      - -0.59201146648784675
-      - 0.14037142567597535
-      - 0.0052430028237014734
-      - 0.51866250223643207
-      - -0.52359877532832821
-      - 0.00012746254800336828
-      - 0.14039969025592969
+      - 1.095203134504658
+      - 0.17396132926524904
+      - -1.3036186786174897
+      - 1.0868363932320193
+      - -1.3539264197138676
+      - -1.570795488319555
+      - 0.17392929343649827
+    velocities:
+      - 0.31087352375673843
+      - -0.07130749366824593
+      - -0.00050444869277248283
+      - -0.27655075831128695
+      - 0.27717821260670283
+      - -3.0961570808430039e-06
+      - -0.071210508127389979
+    accelerations:
+      - -0.5872503281253918
+      - 0.13470220476942935
+      - 0.00095292019974291514
+      - 0.52241349343313903
+      - -0.52359877526870924
+      - 5.8487427288132647e-06
+      - 0.13451899588755828
     effort: []
     time_from_start:
       sec: 10
       nanosec: 720000000
   - positions:
-      - 1.0975681024270987
-      - 0.17568643871670758
-      - -1.3022244122600091
-      - 1.0813029353589445
-      - -1.3499647392966074
-      - -1.5708033334939446
-      - 0.17557754773657441
-    velocities:
-      - 0.30492814557943132
-      - -0.072301299800233407
-      - -0.0027005205452920837
-      - -0.26714819550170821
-      - 0.26969072834976782
-      - -6.5652306743444882e-05
-      - -0.072315858075599718
-    accelerations:
-      - -0.59201146658837744
-      - 0.14037142569978964
-      - 0.0052430028245909529
-      - 0.51866250232447275
-      - -0.52359877541720157
-      - 0.00012746254802499811
-      - 0.14039969027975785
+      - 1.0982844920018087
+      - 0.17325453417519945
+      - -1.3036236786790667
+      - 1.0840952406817237
+      - -1.3511790478787198
+      - -1.5707955190084559
+      - 0.17322345966061858
+    velocities:
+      - 0.30500102047089189
+      - -0.069960471619498102
+      - -0.00049491949076760095
+      - -0.27132662337286995
+      - 0.27194222484992092
+      - -3.03766965350913e-06
+      - -0.069865318167462304
+    accelerations:
+      - -0.58725032902063168
+      - 0.13470220497478949
+      - 0.0009529202011956797
+      - 0.52241349422951766
+      - -0.52359877606691763
+      - 5.8487427377293317e-06
+      - 0.1345189960926412
     effort: []
     time_from_start:
       sec: 10
       nanosec: 730000000
   - positions:
-      - 1.100591369045981
-      - 0.1749695940785306
-      - -1.3022511870715066
-      - 1.0786542450577581
-      - -1.3472908405822313
-      - -1.5708039844159085
-      - 0.17486055875767789
-    velocities:
-      - 0.29900803091139971
-      - -0.070897585542726085
-      - -0.0026480905170271464
-      - -0.26196157047658125
-      - 0.264454740593696
-      - -6.43776812627323e-05
-      - -0.070911861172292784
-    accelerations:
-      - -0.59201146668879712
-      - 0.1403714257236178
-      - 0.005243002825480866
-      - 0.51866250241251344
-      - -0.52359877550601941
-      - 0.00012746254804662794
-      - 0.14039969030357213
+      - 1.1013071244661092
+      - 0.17256120930563543
+      - -1.3036285834486234
+      - 1.0814063294808045
+      - -1.3484840359211319
+      - -1.570795549112483
+      - 0.17253107778433624
+    velocities:
+      - 0.29912851718667349
+      - -0.068613449571123739
+      - -0.00048539028876536106
+      - -0.26610248843590134
+      - 0.26670623709459068
+      - -2.9791822261914713e-06
+      - -0.068520128207907594
+    accelerations:
+      - -0.58725032828953827
+      - 0.13470220480709366
+      - 0.00095292020000930361
+      - 0.52241349357913336
+      - -0.52359877541503663
+      - 5.8487427304480383e-06
+      - 0.13451899592515321
     effort: []
     time_from_start:
       sec: 10
       nanosec: 740000000
   - positions:
-      - 1.1035554345181842
-      - 0.17426678658292852
-      - -1.3022774375827215
-      - 1.0760574210068223
-      - -1.344669301745415
-      - -1.5708046225916179
-      - 0.17415760974781425
-    velocities:
-      - 0.2930879162428689
-      - -0.069493871285100928
-      - -0.002595660488757773
-      - -0.2567749454510182
-      - 0.25921875283718504
-      - -6.3103055781614471e-05
-      - -0.069507864268867639
-    accelerations:
-      - -0.59201146728610021
-      - 0.14037142586524107
-      - 0.0052430028307706988
-      - 0.51866250293583949
-      - -0.52359877603427707
-      - 0.00012746254817463555
-      - 0.14039969044523698
+      - 1.1042710318975602
+      - 0.17188135465655691
+      - -1.3036333929261601
+      - 1.0787696596292622
+      - -1.3458413838411043
+      - -1.5707955786316357
+      - 0.17185214780765121
+    velocities:
+      - 0.29325601390191086
+      - -0.067266427522624794
+      - -0.0004758610867592679
+      - -0.26087835349844846
+      - 0.26147024933877844
+      - -2.9206948035000956e-06
+      - -0.067174938248229094
+    accelerations:
+      - -0.58725032810035627
+      - 0.13470220476369782
+      - 0.00095292019969640286
+      - 0.52241349341087906
+      - -0.52359877524639376
+      - 5.8487427378392478e-06
+      - 0.13451899588184063
     effort: []
     time_from_start:
       sec: 10
       nanosec: 750000000
   - positions:
-      - 1.1064602988437071
-      - 0.17357801622990143
-      - -1.3023031637936537
-      - 1.0735124632061375
-      - -1.3421001227861593
-      - -1.5708052480210726
-      - 0.17346870070698361
-    velocities:
-      - 0.28716780157587957
-      - -0.068090157027840742
-      - -0.0025432304605020671
-      - -0.25158832042680435
-      - 0.25398276508203499
-      - -6.182843030113231e-05
-      - -0.068103867365807882
-    accelerations:
-      - -0.59201146634534962
-      - 0.14037142564218294
-      - 0.0052430028224394621
-      - 0.518662502111643
-      - -0.52359877520226239
-      - 0.00012746254797208904
-      - 0.1403996902221234
+      - 1.1071762142961616
+      - 0.17121497022796367
+      - -1.3036381071116767
+      - 1.0761852311270954
+      - -1.343251091638636
+      - -1.570795607565914
+      - 0.17118666973056326
+    velocities:
+      - 0.28738351061612727
+      - -0.065919405473891413
+      - -0.00046633188475454768
+      - -0.25565421856008747
+      - 0.25623426158205259
+      - -2.862207376074098e-06
+      - -0.065829748288315837
+    accelerations:
+      - -0.58725032893231344
+      - 0.13470220495452792
+      - 0.00095292020104638506
+      - 0.52241349415096938
+      - -0.52359877598820281
+      - 5.8487427461251223e-06
+      - 0.13451899607240739
     effort: []
     time_from_start:
       sec: 10
       nanosec: 760000000
   - positions:
-      - 1.1093059620225516
-      - 0.17290328301944899
-      - -1.3023283657043032
-      - 1.0710193716557019
-      - -1.3395833037044627
-      - -1.5708058607042723
-      - 0.17279383163518561
-    velocities:
-      - 0.28124768690784796
-      - -0.066686442770333421
-      - -0.0024908004322371307
-      - -0.24640169540167736
-      - 0.24874677732596312
-      - -6.0553804820425745e-05
-      - -0.066699870462500935
-    accelerations:
-      - -0.59201146644582481
-      - 0.1403714256660111
-      - 0.0052430028233289416
-      - 0.51866250219962817
-      - -0.52359877529113574
-      - 0.00012746254799371888
-      - 0.14039969024595156
+      - 1.1100226716619144
+      - 0.1705620560198558
+      - -1.3036427260051735
+      - 1.0736530439743044
+      - -1.3407131593137274
+      - -1.5707956359153179
+      - 0.17053464355307246
+    velocities:
+      - 0.28151100733184636
+      - -0.064572383425502713
+      - -0.00045680268275226588
+      - -0.25043008362306324
+      - 0.25099827382666656
+      - -2.8037199486630666e-06
+      - -0.064484558328746777
+    accelerations:
+      - -0.58725032826367007
+      - 0.13470220480115397
+      - 0.00095292019996138188
+      - 0.52241349355620725
+      - -0.5235987753919995
+      - 5.848742739465551e-06
+      - 0.13451899591924127
     effort: []
     time_from_start:
       sec: 10
       nanosec: 770000000
   - positions:
-      - 1.1120924240547163
-      - 0.17224258695157146
-      - -1.3023530433146702
-      - 1.0685781463555175
-      - -1.3371188445003261
-      - -1.5708064606412169
-      - 0.17213300253242053
-    velocities:
-      - 0.27532757223981635
-      - -0.065282728512826099
-      - -0.0024383704039721943
-      - -0.24121507037655038
-      - 0.24351078956989128
-      - -5.9279179339719188e-05
-      - -0.065295873559194001
-    accelerations:
-      - -0.59201146654629999
-      - 0.14037142568982539
-      - 0.005243002824218421
-      - 0.5186625022876411
-      - -0.52359877537998134
-      - 0.00012746254801534193
-      - 0.14039969026976584
+      - 1.1128104039948163
+      - 0.16992261203223358
+      - -1.3036472496066502
+      - 1.0711730981708909
+      - -1.3382275868663793
+      - -1.5707956636798477
+      - 0.16989606927517914
+    velocities:
+      - 0.27563850404708484
+      - -0.063225361377003769
+      - -0.00044727348074920416
+      - -0.24520594868561149
+      - 0.24576228607085202
+      - -2.7452325212472486e-06
+      - -0.063139368369067639
+    accelerations:
+      - -0.58725032807459909
+      - 0.13470220475778588
+      - 0.00095292019965455266
+      - 0.52241349338795295
+      - -0.52359877522341214
+      - 5.8487427375821733e-06
+      - 0.13451899587592869
     effort: []
     time_from_start:
       sec: 10
       nanosec: 780000000
   - positions:
-      - 1.1148196849402023
-      - 0.17159592802626866
-      - -1.3023771966247546
-      - 1.0661887873055829
-      - -1.3347067451737491
-      - -1.5708070478319072
-      - 0.17148621339868814
-    velocities:
-      - 0.2694074575717848
-      - -0.063879014255318806
-      - -0.0023859403757072583
-      - -0.23602844535142345
-      - 0.23827480181381946
-      - -5.8004553859012638e-05
-      - -0.063891876655887067
-    accelerations:
-      - -0.59201146664671966
-      - 0.14037142571362579
-      - 0.0052430028251079005
-      - 0.51866250237559852
-      - -0.52359877546879918
-      - 0.00012746254803696499
-      - 0.14039969029358013
+      - 1.1155394112948698
+      - 0.16929663826509661
+      - -1.3036516779161071
+      - 1.0687453937168527
+      - -1.3357943742965905
+      - -1.5707956908595033
+      - 0.16927094689688288
+    velocities:
+      - 0.26976600076178198
+      - -0.061878339328380647
+      - -0.00043774427874526396
+      - -0.23998181374767813
+      - 0.24052629831455474
+      - -2.6867450938260384e-06
+      - -0.061794178409264489
+    accelerations:
+      - -0.58725032842687286
+      - 0.13470220483859624
+      - 0.00095292020022625247
+      - 0.52241349370134116
+      - -0.52359877553754974
+      - 5.8487427410910073e-06
+      - 0.13451899595663497
     effort: []
     time_from_start:
       sec: 10
       nanosec: 790000000
   - positions:
-      - 1.1174877446790084
-      - 0.17096330624354084
-      - -1.3024008256345563
-      - 1.0638512945058995
-      - -1.3323470057247322
-      - -1.5708076222763423
-      - 0.17085346423398876
-    velocities:
-      - 0.26348734290375325
-      - -0.062475299997811484
-      - -0.0023335103474423219
-      - -0.23084182032629647
-      - 0.23303881405774762
-      - -5.6729928378306073e-05
-      - -0.062487879752580126
-    accelerations:
-      - -0.59201146674713934
-      - 0.14037142573745395
-      - 0.0052430028259973799
-      - 0.51866250246361145
-      - -0.52359877555761702
-      - 0.00012746254805859482
-      - 0.14039969031741523
+      - 1.1182096935620733
+      - 0.16868413471844512
+      - -1.3036560109335436
+      - 1.0663699306121908
+      - -1.3334135216043617
+      - -1.5707957174542846
+      - 0.16865927641818385
+    velocities:
+      - 0.2638934974770204
+      - -0.060531317279881695
+      - -0.00042821507674220218
+      - -0.23475767881022633
+      - 0.23529031055874017
+      - -2.6282576664102196e-06
+      - -0.060448988449585343
+    accelerations:
+      - -0.58725032823785739
+      - 0.13470220479523509
+      - 0.00095292019991947746
+      - 0.52241349353319788
+      - -0.52359877536899013
+      - 5.8487427392084766e-06
+      - 0.13451899591332239
     effort: []
     time_from_start:
       sec: 10
       nanosec: 800000000
   - positions:
-      - 1.120096603271135
-      - 0.17034472160338782
-      - -1.3024239303440754
-      - 1.0615656679564662
-      - -1.3300396261532754
-      - -1.5708081839745227
-      - 0.17023475503832219
-    velocities:
-      - 0.25756722823534983
-      - -0.061071585740216011
-      - -0.0022810803191740925
-      - -0.22565519530084377
-      - 0.22780282630134693
-      - -5.5455302897519461e-05
-      - -0.061083882849185013
-    accelerations:
-      - -0.59201146721837661
-      - 0.14037142584917753
-      - 0.0052430028301709182
-      - 0.5186625028764148
-      - -0.52359877597438054
-      - 0.00012746254816004625
-      - 0.14039969042915956
+      - 1.1208212507964275
+      - 0.16808510139227906
+      - -1.3036602486589601
+      - 1.0640467088569052
+      - -1.3310850287896929
+      - -1.5707957434641915
+      - 0.1680610578390821
+    velocities:
+      - 0.25802099419225893
+      - -0.059184295231382751
+      - -0.00041868587473914046
+      - -0.22953354387277455
+      - 0.23005432280292562
+      - -2.5697702389944016e-06
+      - -0.059103798489906198
+    accelerations:
+      - -0.5872503280487309
+      - 0.13470220475186701
+      - 0.00095292019961264825
+      - 0.52241349336499909
+      - -0.52359877520040277
+      - 5.8487427373250988e-06
+      - 0.13451899587001676
     effort: []
     time_from_start:
       sec: 10
       nanosec: 810000000
   - positions:
-      - 1.1226462607165821
-      - 0.1697401741058098
-      - -1.3024465107533119
-      - 1.0593319076572838
-      - -1.3277846064593788
-      - -1.5708087329264484
-      - 0.16963008581168856
-    velocities:
-      - 0.25164711356823438
-      - -0.059667871482925919
-      - -0.0022286502909172699
-      - -0.22046857027651939
-      - 0.22256683854608533
-      - -5.4180677417010141e-05
-      - -0.059679885946095336
-    accelerations:
-      - -0.59201146640374736
-      - 0.14037142565601909
-      - 0.005243002822955976
-      - 0.51866250216274101
-      - -0.52359877525391552
-      - 0.00012746254798465901
-      - 0.14039969023596649
+      - 1.1233740829979315
+      - 0.16749953828659853
+      - -1.3036643910923567
+      - 1.0617757284509963
+      - -1.3288088958525843
+      - -1.5707957688892242
+      - 0.16747629115957766
+    velocities:
+      - 0.25214849090695601
+      - -0.057837273182759628
+      - -0.00040915667273520027
+      - -0.22430940893484119
+      - 0.22481833504662835
+      - -2.5112828115731914e-06
+      - -0.057758608530103048
+    accelerations:
+      - -0.58725032840106017
+      - 0.13470220483267736
+      - 0.00095292020018434805
+      - 0.5224134936783873
+      - -0.52359877551454037
+      - 5.8487427408339328e-06
+      - 0.13451899595071609
     effort: []
     time_from_start:
       sec: 10
       nanosec: 820000000
   - positions:
-      - 1.1251367170153499
-      - 0.16914966375080648
-      - -1.3024685668622655
-      - 1.0571500136083514
-      - -1.3255819466430416
-      - -1.5708092691321194
-      - 0.1690394565540877
-    velocities:
-      - 0.24572699890020278
-      - -0.058264157225418597
-      - -0.002176220262652333
-      - -0.21528194525139241
-      - 0.21733085079001346
-      - -5.2906051936303577e-05
-      - -0.058275889042788395
-    accelerations:
-      - -0.59201146650419478
-      - 0.14037142567984726
-      - 0.0052430028238458892
-      - 0.5186625022507817
-      - -0.52359877534276111
-      - 0.00012746254800628885
-      - 0.14039969025978771
+      - 1.1258681901665859
+      - 0.16692744540140345
+      - -1.3036684382337331
+      - 1.0595569893944636
+      - -1.3265851227930356
+      - -1.5707957937293828
+      - 0.1669049763796705
+    velocities:
+      - 0.24627598762219452
+      - -0.056490251134260684
+      - -0.00039962747073213855
+      - -0.21908527399738942
+      - 0.2195823472908138
+      - -2.452795384157373e-06
+      - -0.056413418570423902
+    accelerations:
+      - -0.58725032821198919
+      - 0.13470220478930928
+      - 0.00095292019987751884
+      - 0.52241349351018851
+      - -0.52359877534592525
+      - 5.8487427389509785e-06
+      - 0.13451899590741045
     effort: []
     time_from_start:
       sec: 10
       nanosec: 830000000
   - positions:
-      - 1.1275679721674385
-      - 0.16857319053837808
-      - -1.3024900986709367
-      - 1.0550199858096696
-      - -1.3234316467042644
-      - -1.5708097925915352
-      - 0.16846286726551968
-    velocities:
-      - 0.23980688423217114
-      - -0.056860442967911269
-      - -0.0021237902343873962
-      - -0.2100953202262654
-      - 0.21209486303394157
-      - -5.1631426455597006e-05
-      - -0.056871892139481441
-    accelerations:
-      - -0.59201146660469772
-      - 0.14037142570367542
-      - 0.005243002824736236
-      - 0.51866250233882238
-      - -0.52359877543166222
-      - 0.00012746254802792546
-      - 0.14039969028362975
+      - 1.1283035723023909
+      - 0.16636882273669379
+      - -1.3036723900830898
+      - 1.0573904916873074
+      - -1.3244137096110469
+      - -1.5707958179846668
+      - 0.16634711349936054
+    velocities:
+      - 0.24040348433657782
+      - -0.055143229085565584
+      - -0.0003900982687276891
+      - -0.21386113905917689
+      - 0.21434635953423675
+      - -2.3943079567330377e-06
+      - -0.055068228610548872
+    accelerations:
+      - -0.58725032887705209
+      - 0.1347022049418575
+      - 0.00095292020095677575
+      - 0.52241349410181426
+      - -0.52359877593890891
+      - 5.8487427455745509e-06
+      - 0.13451899605975084
     effort: []
     time_from_start:
       sec: 10
       nanosec: 840000000
   - positions:
-      - 1.1299400261728481
-      - 0.1680107544685244
-      - -1.3025111061793253
-      - 1.0529418242612378
-      - -1.3213337066430468
-      - -1.5708103033046965
-      - 0.16790031794598442
-    velocities:
-      - 0.23388676956413948
-      - -0.055456728710403982
-      - -0.002071360206119944
-      - -0.20490869520114022
-      - 0.20685887527786798
-      - -5.0356800972044614e-05
-      - -0.05546789523617477
-    accelerations:
-      - -0.59201146670514515
-      - 0.14037142572749664
-      - 0.0052430028256192102
-      - 0.51866250242683531
-      - -0.52359877552050782
-      - 0.00012746254804235212
-      - 0.14039969030745791
+      - 1.1306802294053471
+      - 0.16582367029246936
+      - -1.3036762466404261
+      - 1.0552762353295264
+      - -1.3222946563066171
+      - -1.5707958416550767
+      - 0.16580270251864765
+    velocities:
+      - 0.23453098105213196
+      - -0.053796207037139394
+      - -0.00038056906672889138
+      - -0.20863700412200606
+      - 0.2091103717786979
+      - -2.3358205251509383e-06
+      - -0.053723038650941309
+    accelerations:
+      - -0.587250328375303
+      - 0.13470220482676543
+      - 0.0009529202001518762
+      - 0.52241349365546119
+      - -0.523598775491531
+      - 5.8487427301376007e-06
+      - 0.13451899594481109
     effort: []
     time_from_start:
       sec: 10
       nanosec: 850000000
   - positions:
-      - 1.1322528790315782
-      - 0.16746235554124561
-      - -1.3025315893874312
-      - 1.0509155289630567
-      - -1.319288126459389
-      - -1.5708108012716029
-      - 0.16735180859548204
-    velocities:
-      - 0.22796665489610787
-      - -0.054053014452896668
-      - -0.0020189301778550709
-      - -0.19972207017601318
-      - 0.20162288752179616
-      - -4.9082175491410082e-05
-      - -0.054063898332867823
-    accelerations:
-      - -0.59201146680562033
-      - 0.14037142575131092
-      - 0.0052430028265091234
-      - 0.518662502514876
-      - -0.52359877560935342
-      - 0.00012746254806398195
-      - 0.14039969033127914
+      - 1.1329981614754527
+      - 0.16529198806873061
+      - -1.3036800079057425
+      - 1.0532142203211226
+      - -1.3202279628797482
+      - -1.5707958647406122
+      - 0.16527174343753218
+    velocities:
+      - 0.22865847776737039
+      - -0.052449184988640436
+      - -0.00037103986472573561
+      - -0.20341286918455423
+      - 0.20387438402288346
+      - -2.2773330978395192e-06
+      - -0.052377848691262177
+    accelerations:
+      - -0.58725032818623202
+      - 0.1347022047833904
+      - 0.00095292019984510119
+      - 0.5224134934872624
+      - -0.52359877532294363
+      - 5.848742728254223e-06
+      - 0.13451899590149852
     effort: []
     time_from_start:
       sec: 10
       nanosec: 860000000
   - positions:
-      - 1.1345065307436291
-      - 0.16692799375654166
-      - -1.3025515482952543
-      - 1.0489410999151256
-      - -1.3172949061532913
-      - -1.5708112864922543
-      - 0.16681733921401248
-    velocities:
-      - 0.22204654022783074
-      - -0.052649300195331129
-      - -0.0019665001495880238
-      - -0.19453544515067106
-      - 0.19638689976550719
-      - -4.7807550010722688e-05
-      - -0.052659901429502644
-    accelerations:
-      - -0.59201146715056974
-      - 0.14037142583310705
-      - 0.0052430028295641987
-      - 0.51866250281704562
-      - -0.52359877591445625
-      - 0.00012746254813824701
-      - 0.14039969041308215
+      - 1.1352573685127094
+      - 0.16477377606547722
+      - -1.3036836738790389
+      - 1.0512044466620947
+      - -1.3182136293304387
+      - -1.5707958872412737
+      - 0.1647542362560139
+    velocities:
+      - 0.22278597448181628
+      - -0.051102162939959679
+      - -0.0003615106627212938
+      - -0.19818873424639738
+      - 0.19863839626636237
+      - -2.2188456705202067e-06
+      - -0.05103265873140149
+    accelerations:
+      - -0.58725032878865058
+      - 0.13470220492157511
+      - 0.00095292020082265994
+      - 0.52241349402318271
+      - -0.52359877586005532
+      - 5.848742734254379e-06
+      - 0.13451899603950315
     effort: []
     time_from_start:
       sec: 10
       nanosec: 870000000
   - positions:
-      - 1.1367009813090001
-      - 0.16640766911441263
-      - -1.3025709829027949
-      - 1.0470185371174459
-      - -1.3153540457247539
-      - -1.5708117589666513
-      - 0.16629690980157585
-    velocities:
-      - 0.21612642556058909
-      - -0.05124558593801111
-      - -0.0019140701213301468
-      - -0.18934882012623608
-      - 0.19115091201013404
-      - -4.6532924530258233e-05
-      - -0.051255904526383032
-    accelerations:
-      - -0.59201146646214509
-      - 0.14037142566987607
-      - 0.0052430028234672858
-      - 0.51866250221395005
-      - -0.52359877530556864
-      - 0.00012746254799003259
-      - 0.14039969024982346
+      - 1.1374578505171165
+      - 0.16426903428270911
+      - -1.3036872445603152
+      - 1.0492469143524426
+      - -1.3162516556586887
+      - -1.5707959091570605
+      - 0.16425018097409272
+    velocities:
+      - 0.21691347119730589
+      - -0.049755140891518328
+      - -0.00035198146071854563
+      - -0.19296459930916901
+      - 0.19340240851077184
+      - -2.1603582432112893e-06
+      - -0.049687468771779895
+    accelerations:
+      - -0.58725032834946256
+      - 0.13470220482083267
+      - 0.00095292020010997178
+      - 0.52241349363245182
+      - -0.52359877546849387
+      - 5.8487427298801027e-06
+      - 0.13451899593888528
     effort: []
     time_from_start:
       sec: 10
       nanosec: 880000000
   - positions:
-      - 1.138836230727692
-      - 0.16590138161485835
-      - -1.3025898932100528
-      - 1.0451478405700159
-      - -1.3134655451737756
-      - -1.570812218694793
-      - 0.16579052035817199
-    velocities:
-      - 0.21020631089255751
-      - -0.049841871680503795
-      - -0.0018616400930652741
-      - -0.18416219510110904
-      - 0.18591492425406222
-      - -4.52582990496237e-05
-      - -0.049851907623076085
-    accelerations:
-      - -0.59201146656259251
-      - 0.14037142569369035
-      - 0.0052430028243567652
-      - 0.51866250230196298
-      - -0.52359877539441424
-      - 0.00012746254801166242
-      - 0.14039969027364468
+      - 1.1395996074886738
+      - 0.1637777627204266
+      - -1.3036907199495715
+      - 1.0473416233921671
+      - -1.3143420418644993
+      - -1.5707959304879733
+      - 0.16375957759176896
+    velocities:
+      - 0.21104096791254431
+      - -0.048408118843019356
+      - -0.00034245225871538986
+      - -0.18774046437171715
+      - 0.18816642075495738
+      - -2.1018708158998699e-06
+      - -0.04834227881210075
+    accelerations:
+      - -0.58725032816039158
+      - 0.13470220477747152
+      - 0.00095292019980325099
+      - 0.52241349346430854
+      - -0.5235987752999065
+      - 5.848742727997572e-06
+      - 0.13451899589558658
     effort: []
     time_from_start:
       sec: 10
       nanosec: 890000000
   - positions:
-      - 1.1409122789997048
-      - 0.16540913125787898
-      - -1.3026082792170282
-      - 1.0433290102728363
-      - -1.3116294045003576
-      - -1.5708126656766803
-      - 0.165298170883801
-    velocities:
-      - 0.2042861962245259
-      - -0.048438157422996474
-      - -0.0018092100648004013
-      - -0.17897557007598203
-      - 0.18067893649799041
-      - -4.3983673568989175e-05
-      - -0.04844791071976913
-    accelerations:
-      - -0.5920114666630677
-      - 0.14037142571751851
-      - 0.0052430028252466784
-      - 0.51866250238994815
-      - -0.52359877548325984
-      - 0.00012746254803329226
-      - 0.14039969029747285
+      - 1.1416826394273814
+      - 0.16329996137862957
+      - -1.3036941000468079
+      - 1.0454885737812685
+      - -1.3124847879478696
+      - -1.5707959512340119
+      - 0.16328242610904242
+    velocities:
+      - 0.20516846462724136
+      - -0.047061096794396212
+      - -0.00033292305671135566
+      - -0.18251632943378374
+      - 0.18293043299866021
+      - -2.043383388583059e-06
+      - -0.046997088852297607
+    accelerations:
+      - -0.58725032851272085
+      - 0.13470220485828188
+      - 0.00095292020037489658
+      - 0.52241349377769675
+      - -0.52359877561404411
+      - 5.8487427315059824e-06
+      - 0.13451899597628592
     effort: []
     time_from_start:
       sec: 10
       nanosec: 900000000
   - positions:
-      - 1.1429291261250381
-      - 0.16493091804347443
-      - -1.3026261409237208
-      - 1.0415620462259074
-      - -1.3098456237044993
-      - -1.5708130999123129
-      - 0.16481986137846283
-    velocities:
-      - 0.19836608155649429
-      - -0.047034443165489152
-      - -0.0017567800365355284
-      - -0.17378894505085499
-      - 0.17544294874191857
-      - -4.2709048088354642e-05
-      - -0.047043913816462182
-    accelerations:
-      - -0.59201146676354288
-      - 0.14037142574133973
-      - 0.0052430028261363747
-      - 0.51866250247798884
-      - -0.52359877557216095
-      - 0.00012746254805492209
-      - 0.14039969032129407
+      - 1.1437069463332401
+      - 0.16283563025731781
+      - -1.3036973848520241
+      - 1.043687765519745
+      - -1.3106798939087994
+      - -1.570795971395176
+      - 0.16281872652591298
+    velocities:
+      - 0.19929596134247982
+      - -0.045714074745897254
+      - -0.00032339385470819988
+      - -0.17729219449633193
+      - 0.17769444524284575
+      - -1.98489596127164e-06
+      - -0.045651898892618475
+    accelerations:
+      - -0.58725032832362212
+      - 0.1347022048149138
+      - 0.00095292020006812158
+      - 0.52241349360949796
+      - -0.52359877544545674
+      - 5.8487427296230282e-06
+      - 0.13451899593297334
     effort: []
     time_from_start:
       sec: 10
       nanosec: 910000000
   - positions:
-      - 1.1448867721036915
-      - 0.16446674197164479
-      - -1.3026434783301306
-      - 1.039846948429229
-      - -1.3081142027862012
-      - -1.5708135214016903
-      - 0.16435559184215759
-    velocities:
-      - 0.19244596688832227
-      - -0.045630728907948538
-      - -0.0017043500082694119
-      - -0.16860232002560491
-      - 0.17020696098572255
-      - -4.1434422607689874e-05
-      - -0.045639916913121928
-    accelerations:
-      - -0.59201146700338192
-      - 0.14037142579820441
-      - 0.005243002828260554
-      - 0.51866250268812097
-      - -0.5235987757842826
-      - 0.0001274625481065612
-      - 0.14039969037817951
+      - 1.1456725282062488
+      - 0.16238476935649157
+      - -1.3037005743652204
+      - 1.0419391986075983
+      - -1.3089273597472892
+      - -1.5707959909714659
+      - 0.16236847884238084
+    velocities:
+      - 0.19342345805703001
+      - -0.044367052697240422
+      - -0.00031386465270392738
+      - -0.17206805955826787
+      - 0.17245845748641767
+      - -1.9264085339533667e-06
+      - -0.044306708932781685
+    accelerations:
+      - -0.58725032882173522
+      - 0.1347022049291732
+      - 0.00095292020087638216
+      - 0.52241349405260362
+      - -0.52359877588958725
+      - 5.8487427345838749e-06
+      - 0.13451899604708042
     effort: []
     time_from_start:
       sec: 10
       nanosec: 920000000
   - positions:
-      - 1.1467852169356656
-      - 0.16401660304238999
-      - -1.3026602914362579
-      - 1.0381837168828012
-      - -1.3064351417454627
-      - -1.570813930144813
-      - 0.16390536227488517
-    velocities:
-      - 0.18652585222031173
-      - -0.044227014650446213
-      - -0.0016519199800047255
-      - -0.16341569500049632
-      - 0.16497097322966936
-      - -4.0159797127059875e-05
-      - -0.044235920009819969
-    accelerations:
-      - -0.59201146708279062
-      - 0.14037142581703657
-      - 0.0052430028289637675
-      - 0.5186625027577042
-      - -0.52359877585450421
-      - 0.00012746254812366449
-      - 0.14039969039701167
+      - 1.147579385046408
+      - 0.16194737867615083
+      - -1.3037036685863965
+      - 1.0402428730448281
+      - -1.3072271854633395
+      - -1.5707960099628815
+      - 0.16193168305844605
+    velocities:
+      - 0.18755095477241523
+      - -0.043020030648775132
+      - -0.00030433545070100986
+      - -0.16684392462094663
+      - 0.1672224697307341
+      - -1.8679211066434095e-06
+      - -0.04296151897313618
+    accelerations:
+      - -0.58725032848693592
+      - 0.13470220485236994
+      - 0.00095292020033304638
+      - 0.52241349375477064
+      - -0.52359877559103474
+      - 5.8487427312493315e-06
+      - 0.13451899597038092
     effort: []
     time_from_start:
       sec: 10
       nanosec: 930000000
   - positions:
-      - 1.1486244606209604
-      - 0.16358050125571008
-      - -1.3026765802421025
-      - 1.0365723515866239
-      - -1.3048084405822846
-      - -1.5708143261416809
-      - 0.16346917267664562
-    velocities:
-      - 0.18060573755294382
-      - -0.042823300393096259
-      - -0.0015994899517457306
-      - -0.15822906997595074
-      - 0.15973498547418455
-      - -3.888517164656824e-05
-      - -0.042831923106670416
-    accelerations:
-      - -0.59201146652062608
-      - 0.14037142568373998
-      - 0.0052430028239851007
-      - 0.51866250226518684
-      - -0.52359877535727728
-      - 0.00012746254800262289
-      - 0.14039969026368737
+      - 1.1494275168537176
+      - 0.16152345821629543
+      - -1.3037066675155529
+      - 1.0385987888314339
+      - -1.3055793710569492
+      - -1.5707960283694231
+      - 0.16150833917410837
+    velocities:
+      - 0.18167845148765369
+      - -0.041673008600276173
+      - -0.00029480624869785408
+      - -0.16161978968349483
+      - 0.16198648197491963
+      - -1.8094336793319904e-06
+      - -0.041616329013457042
+    accelerations:
+      - -0.58725032829783719
+      - 0.13470220480899492
+      - 0.00095292020002627138
+      - 0.5224134935865441
+      - -0.52359877542247513
+      - 5.8487427293661655e-06
+      - 0.13451899592707528
     effort: []
     time_from_start:
       sec: 10
       nanosec: 940000000
   - positions:
-      - 1.1504045031595769
-      - 0.16315843661160478
-      - -1.3026923447476648
-      - 1.0350128525406961
-      - -1.3032340992966653
-      - -1.5708147093922942
-      - 0.16304702304743868
-    velocities:
-      - 0.17468562288491155
-      - -0.041419586135588798
-      - -0.0015470599234826668
-      - -0.15304244495082273
-      - 0.15449899771811468
-      - -3.7610546169858438e-05
-      - -0.041427926203363656
-    accelerations:
-      - -0.592011466621018
-      - 0.14037142570754038
-      - 0.005243002824880218
-      - 0.51866250235314426
-      - -0.52359877544609512
-      - 0.00012746254803754097
-      - 0.14039969028750166
+      - 1.1512169236281775
+      - 0.16111300797692549
+      - -1.3037095711526887
+      - 1.0370069459674156
+      - -1.3039839165281184
+      - -1.5707960461910899
+      - 0.16109844718936792
+    velocities:
+      - 0.17580594820226389
+      - -0.040325986551633192
+      - -0.00028527704668831946
+      - -0.15639565474548658
+      - 0.15675049421855011
+      - -1.7509462542283524e-06
+      - -0.04027113905363492
+    accelerations:
+      - -0.58725032873338923
+      - 0.13470220490889775
+      - 0.00095292020071505287
+      - 0.52241349397402759
+      - -0.52359877581081693
+      - 5.8487427410994641e-06
+      - 0.13451899602683967
     effort: []
     time_from_start:
       sec: 10
       nanosec: 950000000
   - positions:
-      - 1.1521253445515132
-      - 0.16275040911007449
-      - -1.3027075849529441
-      - 1.0335052197450192
-      - -1.3017121178886066
-      - -1.5708150798966525
-      - 0.16263891338726474
-    velocities:
-      - 0.16876550821687997
-      - -0.040015871878081484
-      - -0.0014946298952177325
-      - -0.14785581992569574
-      - 0.14926300996204281
-      - -3.6335920689090902e-05
-      - -0.040023929300056701
-    accelerations:
-      - -0.59201146672149318
-      - 0.1403714257313616
-      - 0.0052430028257701312
-      - 0.51866250244112944
-      - -0.52359877553494072
-      - 0.00012746254805917081
-      - 0.14039969031132288
+      - 1.1529476053697882
+      - 0.16071602795804096
+      - -1.3037123794978049
+      - 1.035467344452774
+      - -1.302440821876848
+      - -1.570796063427883
+      - 0.16070200710422475
+    velocities:
+      - 0.16993344491758669
+      - -0.038978964503153579
+      - -0.00027574784468547967
+      - -0.15117151980810975
+      - 0.15151450646281073
+      - -1.6924588268438174e-06
+      - -0.038925949093975079
+    accelerations:
+      - -0.58725032846106773
+      - 0.13470220484643719
+      - 0.00095292020027319842
+      - 0.52241349373176127
+      - -0.52359877556799761
+      - 5.8487427383872781e-06
+      - 0.13451899596446204
     effort: []
     time_from_start:
       sec: 10
       nanosec: 960000000
   - positions:
-      - 1.1537869847967706
-      - 0.16235641875111895
-      - -1.3027223008579412
-      - 1.0320494531995927
-      - -1.3002424963581074
-      - -1.5708154376547561
-      - 0.1622448436961236
-    velocities:
-      - 0.16284539354884842
-      - -0.03861215762057417
-      - -0.0014421998669527985
-      - -0.14266919490056873
-      - 0.14402702220597094
-      - -3.5061295208323365e-05
-      - -0.038619932396749747
-    accelerations:
-      - -0.59201146682194061
-      - 0.14037142575518283
-      - 0.0052430028266598275
-      - 0.51866250252917012
-      - -0.52359877562378632
-      - 0.00012746254808080064
-      - 0.14039969033515104
+      - 1.1546195620785495
+      - 0.16033251815964183
+      - -1.3037150925509009
+      - 1.0339799842875081
+      - -1.300950087103137
+      - -1.5707960800798015
+      - 0.16031901891867872
+    velocities:
+      - 0.16406094163282522
+      - -0.037631942454654635
+      - -0.00026621864268250306
+      - -0.14594738487065792
+      - 0.14627851870699618
+      - -1.6339713994584431e-06
+      - -0.037580759134295941
+    accelerations:
+      - -0.58725032827199675
+      - 0.13470220480306216
+      - 0.00095292019996642342
+      - 0.52241349356356248
+      - -0.52359877539941024
+      - 5.8487427365041121e-06
+      - 0.13451899592114946
     effort: []
     time_from_start:
       sec: 10
       nanosec: 970000000
   - positions:
-      - 1.1553894238953482
-      - 0.16197646553473838
-      - -1.3027364924626554
-      - 1.030645552904417
-      - -1.2988252347051683
-      - -1.5708157826666049
-      - 0.16186481397401536
-    velocities:
-      - 0.15692527888080257
-      - -0.037208443363063476
-      - -0.0013897698386877381
-      - -0.13748256987542926
-      - 0.13879103444988644
-      - -3.3786669727552751e-05
-      - -0.037215935493439406
-    accelerations:
-      - -0.59201146693563056
-      - 0.14037142578213394
-      - 0.005243002827666628
-      - 0.5186625026287518
-      - -0.52359877572433056
-      - 0.00012746254810527371
-      - 0.14039969036210903
+      - 1.1562327937544605
+      - 0.15996247858172824
+      - -1.3037177103119768
+      - 1.0325448654716192
+      - -1.2995117122069861
+      - -1.5707960961468459
+      - 0.15994948263273007
+    velocities:
+      - 0.15818843834750063
+      - -0.036284920406026523
+      - -0.00025668944067861279
+      - -0.14072324993270516
+      - 0.14104253095067956
+      - -1.5754839720674603e-06
+      - -0.036235569174487801
+    accelerations:
+      - -0.58725032864498772
+      - 0.13470220488862231
+      - 0.00095292020057161292
+      - 0.52241349389539604
+      - -0.5235987757319911
+      - 5.8487427402189733e-06
+      - 0.13451899600659198
     effort: []
     time_from_start:
       sec: 10
       nanosec: 980000000
   - positions:
-      - 1.1569326618472464
-      - 0.16161054946093259
-      - -1.3027501597670867
-      - 1.0292935188594914
-      - -1.2974603329297891
-      - -1.5708161149321986
-      - 0.16149882422093997
-    velocities:
-      - 0.15100516421279209
-      - -0.035804729105561157
-      - -0.0013373398104229908
-      - -0.13229594485032073
-      - 0.1335550466938332
-      - -3.2512044246789754e-05
-      - -0.035811938590137447
-    accelerations:
-      - -0.59201146701501151
-      - 0.14037142580096609
-      - 0.0052430028283696247
-      - 0.51866250269827952
-      - -0.52359877579455216
-      - 0.00012746254812236345
-      - 0.14039969038094119
+      - 1.1577873003975228
+      - 0.15960590922430001
+      - -1.3037202327810329
+      - 1.0311619880051059
+      - -1.2981256971883952
+      - -1.5707961116290159
+      - 0.15959339824637853
+    velocities:
+      - 0.15231593506276081
+      - -0.03493789835753254
+      - -0.00024716023867567131
+      - -0.13549911499527259
+      - 0.1358065431948843
+      - -1.5169965446823016e-06
+      - -0.034890379214813617
+    accelerations:
+      - -0.58725032843531055
+      - 0.13470220484052525
+      - 0.00095292020023140243
+      - 0.52241349370886292
+      - -0.52359877554504375
+      - 5.8487427381306271e-06
+      - 0.13451899595855704
     effort: []
     time_from_start:
       sec: 10
       nanosec: 990000000
   - positions:
-      - 1.1584166986524651
-      - 0.16125867052970172
-      - -1.3027633027712358
-      - 1.0279933510648163
-      - -1.2961477910319699
-      - -1.5708164344515376
-      - 0.16114687443689743
-    velocities:
-      - 0.14508504954529802
-      - -0.03440101484818129
-      - -0.0012849097821628168
-      - -0.12710931982566462
-      - 0.1283190589382367
-      - -3.1237418766137936e-05
-      - -0.034407941686957967
-    accelerations:
-      - -0.59201146657902382
-      - 0.14037142569759001
-      - 0.0052430028245083367
-      - 0.51866250231634037
-      - -0.52359877540895816
-      - 0.00012746254802850144
-      - 0.1403996902775374
+      - 1.1592830820077353
+      - 0.15926281008735715
+      - -1.3037226599580687
+      - 1.0298313518879687
+      - -1.2967920420473638
+      - -1.5707961265263117
+      - 0.15925076575962421
+    velocities:
+      - 0.14644343177799918
+      - -0.033590876309033561
+      - -0.00023763103667269451
+      - -0.13027498005782065
+      - 0.13057055543906962
+      - -1.4585091172969257e-06
+      - -0.033545189255134437
+    accelerations:
+      - -0.58725032824654488
+      - 0.13470220479722655
+      - 0.000952920199925034
+      - 0.52241349354091393
+      - -0.52359877537673394
+      - 5.8487427362504257e-06
+      - 0.13451899591531385
     effort: []
     time_from_start:
       sec: 11
       nanosec: 0
   - positions:
-      - 1.1598415343110053
-      - 0.16092082874104552
-      - -1.302775921475102
-      - 1.0267450495203914
-      - -1.2948876090117099
-      - -1.5708167412246223
-      - 0.16080896462188757
-    velocities:
-      - 0.13916493487726647
-      - -0.032997300590673982
-      - -0.001232479753897883
-      - -0.12192269480053765
-      - 0.12308307118216484
-      - -2.9962793285370402e-05
-      - -0.033003944783651012
-    accelerations:
-      - -0.59201146667947124
-      - 0.14037142572140429
-      - 0.0052430028253978161
-      - 0.51866250240432554
-      - -0.52359877549778988
-      - 0.0001274625480501245
-      - 0.14039969030136557
+      - 1.1607201385850978
+      - 0.15893318117089986
+      - -1.3037249918430847
+      - 1.0285529571202083
+      - -1.2955107467838927
+      - -1.5707961408387332
+      - 0.15892158517246724
+    velocities:
+      - 0.14057092849269615
+      - -0.032243854260410397
+      - -0.00022810183466883915
+      - -0.12505084511988707
+      - 0.12533456768277224
+      - -1.4000216899061577e-06
+      - -0.032199999295331239
+    accelerations:
+      - -0.58725032859917947
+      - 0.13470220487811324
+      - 0.00095292020049730301
+      - 0.5224134938546352
+      - -0.5235987756911491
+      - 5.8487427397626479e-06
+      - 0.13451899599609646
     effort: []
     time_from_start:
       sec: 11
       nanosec: 10000000
   - positions:
-      - 1.1612071688228656
-      - 0.16059702409496424
-      - -1.3027880158786855
-      - 1.0255486142262169
-      - -1.2936797868690102
-      - -1.5708170352514517
-      - 0.16048509477591066
-    velocities:
-      - 0.13324482020923489
-      - -0.031593586333166668
-      - -0.0011800497256329488
-      - -0.11673606977541065
-      - 0.11784708342609296
-      - -2.8688167804602862e-05
-      - -0.031599947880344058
-    accelerations:
-      - -0.59201146677994643
-      - 0.14037142574522551
-      - 0.0052430028262877293
-      - 0.51866250249235235
-      - -0.52359877558664936
-      - 0.00012746254807175433
-      - 0.14039969032518679
+      - 1.1620984701296113
+      - 0.15861702247492787
+      - -1.3037272284360806
+      - 1.0273268037018237
+      - -1.294281811397981
+      - -1.5707961545662803
+      - 0.15860585648490741
+    velocities:
+      - 0.13469842520793449
+      - -0.030896832211911411
+      - -0.00021857263266586229
+      - -0.11982671018243508
+      - 0.12009857992695751
+      - -1.3415342625207815e-06
+      - -0.030854809335652055
+    accelerations:
+      - -0.58725032841046931
+      - 0.13470220483482495
+      - 0.000952920200191043
+      - 0.52241349368674173
+      - -0.52359877552288092
+      - 5.8487427378830817e-06
+      - 0.13451899595286368
     effort: []
     time_from_start:
       sec: 11
       nanosec: 20000000
   - positions:
-      - 1.1625136021880469
-      - 0.16028725659145784
-      - -1.3027995859819865
-      - 1.0244040451822931
-      - -1.2925243246038702
-      - -1.5708173165320263
-      - 0.16017526489896655
-    velocities:
-      - 0.12732470554120334
-      - -0.030189872075659353
-      - -0.0011276196973680147
-      - -0.11154944475028365
-      - 0.11261109567002109
-      - -2.7413542323835322e-05
-      - -0.0301959509770371
-    accelerations:
-      - -0.59201146688039386
-      - 0.14037142576904674
-      - 0.0052430028271774256
-      - 0.51866250258036528
-      - -0.52359877567549495
-      - 0.00012746254809338416
-      - 0.14039969034901495
+      - 1.1634180766412752
+      - 0.15831433399944136
+      - -1.3037293697370562
+      - 1.0261528916328155
+      - -1.2931052358896293
+      - -1.5707961677089533
+      - 0.15830357969694481
+    velocities:
+      - 0.12882592192271414
+      - -0.029549810163307204
+      - -0.00020904343066214108
+      - -0.11460257524457504
+      - 0.11486259217073382
+      - -1.2830468351308367e-06
+      - -0.029509619375867793
+    accelerations:
+      - -0.58725032867937688
+      - 0.1347022048965153
+      - 0.00095292020062744934
+      - 0.52241349392598269
+      - -0.52359877576266101
+      - 5.8487427405615981e-06
+      - 0.13451899601447109
     effort: []
     time_from_start:
       sec: 11
       nanosec: 30000000
   - positions:
-      - 1.1637608344065486
-      - 0.1599915262305262
-      - -1.3028106317850048
-      - 1.0233113423886193
-      - -1.29142122221629
-      - -1.5708175850663464
-      - 0.15987947499105529
-    velocities:
-      - 0.12140459087328374
-      - -0.028786157818178591
-      - -0.0010751896691040723
-      - -0.10636281972525476
-      - 0.10737510791404824
-      - -2.6138916843091895e-05
-      - -0.0287919540737567
-    accelerations:
-      - -0.59201146686782369
-      - 0.14037142576606693
-      - 0.0052430028270661969
-      - 0.51866250256935487
-      - -0.52359877566439239
-      - 0.00012746254809067764
-      - 0.14039969034603508
+      - 1.1646789581200898
+      - 0.15802511574444025
+      - -1.303731415746012
+      - 1.0250312209131833
+      - -1.2919810202588373
+      - -1.5707961802667521
+      - 0.15801475480857938
+    velocities:
+      - 0.12295341863786979
+      - -0.028202788114789254
+      - -0.00019951422865903005
+      - -0.1093784403070495
+      - 0.10962660441484538
+      - -1.2245594077446372e-06
+      - -0.028164429416169666
+    accelerations:
+      - -0.58725032857437987
+      - 0.13470220487242682
+      - 0.000952920200457052
+      - 0.5224134938325834
+      - -0.52359877566905566
+      - 5.8487427395157378e-06
+      - 0.13451899599042044
     effort: []
     time_from_start:
       sec: 11
       nanosec: 40000000
   - positions:
-      - 1.1649488654783711
-      - 0.15970983301216946
-      - -1.3028211532877405
-      - 1.0222705058451962
-      - -1.2903704797062696
-      - -1.5708178408544113
-      - 0.1595977250521769
-    velocities:
-      - 0.11548447620527469
-      - -0.027382443560676043
-      - -0.0010227596408420401
-      - -0.10117619470014763
-      - 0.10213912015799244
-      - -2.4864291359875331e-05
-      - -0.027387957170454297
-    accelerations:
-      - -0.59201146694696871
-      - 0.14037142578482623
-      - 0.0052430028277809029
-      - 0.51866250263870217
-      - -0.5235987757343642
-      - 0.00012746254809513642
-      - 0.14039969036479785
+      - 1.1658811145660548
+      - 0.15774936770992454
+      - -1.3037333664629478
+      - 1.0239617915429275
+      - -1.2909091645056052
+      - -1.5707961922396763
+      - 0.15773938181981123
+    velocities:
+      - 0.11708091535311056
+      - -0.026855766066289709
+      - -0.00018998502665923102
+      - -0.10415430536959586
+      - 0.10439061665903009
+      - -1.1660719808887825e-06
+      - -0.026819239456489414
+    accelerations:
+      - -0.58725032838565583
+      - 0.13470220482913159
+      - 0.00095292020016675687
+      - 0.52241349366466217
+      - -0.52359877550077361
+      - 5.8487427402922552e-06
+      - 0.13451899594717726
     effort: []
     time_from_start:
       sec: 11
       nanosec: 50000000
   - positions:
-      - 1.1660776954035141
-      - 0.15944217693638754
-      - -1.3028311504901935
-      - 1.0212815355520235
-      - -1.2893720970738094
-      - -1.5708180838962216
-      - 0.1593300150823313
-    velocities:
-      - 0.10956436153765456
-      - -0.025978729303266314
-      - -0.00097032961258061115
-      - -0.095989569675381081
-      - 0.096903132402284639
-      - -2.3589665879322168e-05
-      - -0.025983960267244956
-    accelerations:
-      - -0.59201146663681092
-      - 0.14037142571128738
-      - 0.0052430028250340663
-      - 0.51866250236696654
-      - -0.52359877546005618
-      - 0.00012746254802835914
-      - 0.14039969029124172
+      - 1.1670245459791702
+      - 0.15748708989589433
+      - -1.3037352218878637
+      - 1.0229446035220477
+      - -1.2898896686299333
+      - -1.5707962036277265
+      - 0.15747746073064034
+    velocities:
+      - 0.11120841206795264
+      - -0.025508744017699883
+      - -0.00018045582465545196
+      - -0.098930170431791559
+      - 0.09915462890286221
+      - -1.1075845534729014e-06
+      - -0.025474049496719536
+    accelerations:
+      - -0.58725032859203008
+      - 0.1347022048764723
+      - 0.00095292020050162767
+      - 0.5224134938482532
+      - -0.52359877568476498
+      - 5.8487427423475671e-06
+      - 0.13451899599445238
     effort: []
     time_from_start:
       sec: 11
       nanosec: 60000000
   - positions:
-      - 1.1671473241819781
-      - 0.15918855800318044
-      - -1.3028406233923642
-      - 1.020344431509101
-      - -1.2884260743189087
-      - -1.5708183141917771
-      - 0.15907634508151852
-    velocities:
-      - 0.10364424686962311
-      - -0.024575015045759058
-      - -0.00091789958431553955
-      - -0.09080294465025418
-      - 0.091667144646213061
-      - -2.2315040398680446e-05
-      - -0.02457996336393807
-    accelerations:
-      - -0.59201146673692528
-      - 0.14037142573502187
-      - 0.0052430028259206184
-      - 0.51866250245467416
-      - -0.52359877554858258
-      - 0.00012746254804991443
-      - 0.14039969031497967
+      - 1.1681092523594359
+      - 0.15723828230234954
+      - -1.3037369820207592
+      - 1.0219796568505446
+      - -1.2889225326318208
+      - -1.5707962144309022
+      - 0.15722899154106668
+    velocities:
+      - 0.10533590878304563
+      - -0.024161721969167611
+      - -0.00017092662265208002
+      - -0.093706035494210471
+      - 0.093918641146918044
+      - -1.0490971260595193e-06
+      - -0.024128859537007136
+    accelerations:
+      - -0.58725032854958026
+      - 0.13470220486673345
+      - 0.00095292020043273877
+      - 0.52241349381048996
+      - -0.52359877564690671
+      - 5.8487427419246995e-06
+      - 0.13451899598473055
     effort: []
     time_from_start:
       sec: 11
       nanosec: 70000000
   - positions:
-      - 1.1681577518137627
-      - 0.15894897621254817
-      - -1.3028495719942517
-      - 1.0194591937164288
-      - -1.2875324114415676
-      - -1.5708185317410777
-      - 0.15883671504973856
-    velocities:
-      - 0.097724132201591637
-      - -0.023171300788251796
-      - -0.00086546955605046783
-      - -0.085616319625127266
-      - 0.08643115689014147
-      - -2.1040414918038724e-05
-      - -0.023175966460631178
-    accelerations:
-      - -0.59201146683705352
-      - 0.1403714257587633
-      - 0.0052430028268073874
-      - 0.51866250254239565
-      - -0.52359877563713675
-      - 0.00012746254807146973
-      - 0.14039969033872804
+      - 1.1691352337068526
+      - 0.15700294492929007
+      - -1.303738646861635
+      - 1.0210669515284172
+      - -1.2880077565112682
+      - -1.570796224649204
+      - 0.15699397425109018
+    velocities:
+      - 0.099463405498283836
+      - -0.02281469992066865
+      - -0.00016139742064894374
+      - -0.088481900556758558
+      - 0.088682653391103344
+      - -9.9060969864758328e-07
+      - -0.022783669577328001
+    accelerations:
+      - -0.5872503283608701
+      - 0.13470220482344863
+      - 0.00095292020012653297
+      - 0.52241349364261036
+      - -0.52359877547866629
+      - 5.8487427400453451e-06
+      - 0.13451899594150124
     effort: []
     time_from_start:
       sec: 11
       nanosec: 80000000
   - positions:
-      - 1.1691089782988677
-      - 0.15872343156449076
-      - -1.3028579962958569
-      - 1.0186258221740072
-      - -1.2866911084417869
-      - -1.5708187365441235
-      - 0.15861112498699148
-    velocities:
-      - 0.091804017533560198
-      - -0.021767586530744541
-      - -0.00081303952778539622
-      - -0.080429694600000365
-      - 0.081195169134069892
-      - -1.9765789437397002e-05
-      - -0.02177196955732429
-    accelerations:
-      - -0.59201146693714013
-      - 0.14037142578250125
-      - 0.0052430028276939395
-      - 0.51866250263008939
-      - -0.52359877572567703
-      - 0.00012746254809302502
-      - 0.14039969036246946
+      - 1.170102490021419
+      - 0.15678107777671618
+      - -1.3037402164104903
+      - 1.0202064875556662
+      - -1.2871453402682758
+      - -1.5707962342826312
+      - 0.156772408860711
+    velocities:
+      - 0.093590902213188526
+      - -0.021467677872093187
+      - -0.00015186821864526627
+      - -0.083257765619009952
+      - 0.083446665634991285
+      - -9.3212227123232572e-07
+      - -0.021438479617572465
+    accelerations:
+      - -0.58725032850464165
+      - 0.13470220485642237
+      - 0.00095292020035981403
+      - 0.52241349377050983
+      - -0.5235987756068412
+      - 5.848742741477029e-06
+      - 0.13451899597443367
     effort: []
     time_from_start:
       sec: 11
       nanosec: 90000000
   - positions:
-      - 1.1700010036372936
-      - 0.15851192405900816
-      - -1.3028658962971795
-      - 1.0178443168818361
-      - -1.2859021653195659
-      - -1.5708189286009144
-      - 0.15839957489327722
-    velocities:
-      - 0.085883902865766887
-      - -0.02036387227329375
-      - -0.00076060949952243381
-      - -0.075243069575082103
-      - 0.075959181378208951
-      - -1.8491163956806556e-05
-      - -0.02036797265407388
-    accelerations:
-      - -0.59201146679806005
-      - 0.14037142574952113
-      - 0.0052430028264620794
-      - 0.51866250250823709
-      - -0.52359877560265011
-      - 0.00012746254806307792
-      - 0.14039969032948235
+      - 1.1710110213031364
+      - 0.15657268084462761
+      - -1.303741690667326
+      - 1.0193982649322915
+      - -1.2863352839028428
+      - -1.5707962433311842
+      - 0.156564295369929
+    velocities:
+      - 0.087718398928218907
+      - -0.020120655823546552
+      - -0.00014233901664179274
+      - -0.078033630681373159
+      - 0.078210677878991289
+      - -8.7363484381831997e-07
+      - -0.020093289657845723
+    accelerations:
+      - -0.58725032852479453
+      - 0.13470220486104703
+      - 0.00095292020039251487
+      - 0.52241349378843815
+      - -0.52359877562481327
+      - 5.8487427416777893e-06
+      - 0.13451899597905106
     effort: []
     time_from_start:
       sec: 11
       nanosec: 100000000
   - positions:
-      - 1.1708338278290404
-      - 0.15831445369610042
-      - -1.3028732719982195
-      - 1.0171146778399152
-      - -1.2851655820749046
-      - -1.5708191079114511
-      - 0.15820206476859577
-    velocities:
-      - 0.079963788197756472
-      - -0.01896015801579148
-      - -0.00070817947125754836
-      - -0.070056444549973632
-      - 0.070723193622155955
-      - -1.7216538476169364e-05
-      - -0.01896397575077198
-    accelerations:
-      - -0.59201146687713568
-      - 0.14037142576827003
-      - 0.005243002827162474
-      - 0.51866250257751501
-      - -0.52359877567260804
-      - 0.00012746254808010328
-      - 0.14039969034823471
+      - 1.1718608275520046
+      - 0.15637775413302443
+      - -1.3037430696321417
+      - 1.0186422836582925
+      - -1.2855775874149695
+      - -1.570796251794863
+      - 0.15636963377874413
+    velocities:
+      - 0.081845895643165315
+      - -0.018773633774980657
+      - -0.00013280981463818296
+      - -0.072809495743661676
+      - 0.072974690122916436
+      - -8.1514741640347788e-07
+      - -0.018748099698099749
+    accelerations:
+      - -0.58725032862683557
+      - 0.1347022048844555
+      - 0.00095292020055811461
+      - 0.52241349387921454
+      - -0.52359877571579572
+      - 5.8487427426941095e-06
+      - 0.1345189960024217
     effort: []
     time_from_start:
       sec: 11
       nanosec: 110000000
   - positions:
-      - 1.1716074508741079
-      - 0.15813102047576744
-      - -1.3028801233989766
-      - 1.0164369050482445
-      - -1.284481358707803
-      - -1.5708192744757323
-      - 0.15801859461294712
-    velocities:
-      - 0.07404367353001011
-      - -0.01755644375835182
-      - -0.00065574944299500164
-      - -0.064869819525096489
-      - 0.065487205866336523
-      - -1.5941912995589025e-05
-      - -0.017559978847532701
-    accelerations:
-      - -0.59201146669322413
-      - 0.14037142572466557
-      - 0.0052430028255337751
-      - 0.51866250241639922
-      - -0.5235987755099607
-      - 0.00012746254804050559
-      - 0.14039969030462338
+      - 1.1726519087680229
+      - 0.15619629764190668
+      - -1.3037443533049371
+      - 1.0179385437336699
+      - -1.2848722508046562
+      - -1.5707962596736675
+      - 0.15618842408715655
+    velocities:
+      - 0.075973392358424416
+      - -0.017426611726486487
+      - -0.00012328061263508058
+      - -0.067585360806228345
+      - 0.06773870236712036
+      - -7.5665998899175012e-07
+      - -0.017402909738425398
+    accelerations:
+      - -0.58725032841723934
+      - 0.13470220483637591
+      - 0.00095292020021800039
+      - 0.52241349369275258
+      - -0.52359877552891743
+      - 5.8487427406064909e-06
+      - 0.1345189959544115
     effort: []
     time_from_start:
       sec: 11
       nanosec: 120000000
   - positions:
-      - 1.172321872772496
-      - 0.15796162439800931
-      - -1.3028864504994511
-      - 1.0158109985068244
-      - -1.2838494952182611
-      - -1.5708194282937589
-      - 0.15784916442633129
-    velocities:
-      - 0.068123558861978559
-      - -0.016152729500844544
-      - -0.00060331941472992917
-      - -0.059683194499969512
-      - 0.060251218110264869
-      - -1.4667287514947282e-05
-      - -0.016155981944225791
-    accelerations:
-      - -0.5920114667935189
-      - 0.14037142574844169
-      - 0.0052430028264219535
-      - 0.51866250250425949
-      - -0.52359877559864665
-      - 0.00012746254806209986
-      - 0.14039969032840643
+      - 1.1733842649511916
+      - 0.15602831137127446
+      - -1.3037455416857127
+      - 1.0172870451584239
+      - -1.2842192740719032
+      - -1.5707962669675979
+      - 0.15602066629516625
+    velocities:
+      - 0.070100889073392292
+      - -0.016079589677925516
+      - -0.00011375141063150563
+      - -0.062361225868535951
+      - 0.062502714611064644
+      - -6.9817256157712181e-07
+      - -0.016057719778684337
+    accelerations:
+      - -0.58725032849981451
+      - 0.13470220485531897
+      - 0.00095292020035197926
+      - 0.52241349376621282
+      - -0.52359877560253942
+      - 5.8487427414289734e-06
+      - 0.13451899597332648
     effort: []
     time_from_start:
       sec: 11
       nanosec: 130000000
   - positions:
-      - 1.1729770935242048
-      - 0.15780626546282608
-      - -1.3028922532996432
-      - 1.0152369582156546
-      - -1.2832699916062793
-      - -1.5708195693655307
-      - 0.15769377420874833
-    velocities:
-      - 0.062203444193947015
-      - -0.014749015243337264
-      - -0.0005508893864648568
-      - -0.054496569474842528
-      - 0.055015230354193208
-      - -1.3392662034305542e-05
-      - -0.014751985040918883
-    accelerations:
-      - -0.59201146689380679
-      - 0.140371425772223
-      - 0.0052430028273101319
-      - 0.51866250259211977
-      - -0.52359877568733959
-      - 0.00012746254808369242
-      - 0.14039969035218949
+      - 1.1740578961015111
+      - 0.15587379532112758
+      - -1.3037466347744682
+      - 1.0166877879325538
+      - -1.2836186572167094
+      - -1.5707962736766536
+      - 0.1558663604027731
+    velocities:
+      - 0.064228385788401357
+      - -0.014732567629373996
+      - -0.00010422220862799753
+      - -0.057137090930880201
+      - 0.057266726855045649
+      - -6.3968513416290377e-07
+      - -0.014712529818952713
+    accelerations:
+      - -0.58725032853911407
+      - 0.13470220486433271
+      - 0.00095292020041574531
+      - 0.52241349380117974
+      - -0.5235987756375805
+      - 5.848742741820395e-06
+      - 0.13451899598233014
     effort: []
     time_from_start:
       sec: 11
       nanosec: 140000000
   - positions:
-      - 1.1735731131292342
-      - 0.15766494367021763
-      - -1.3028975317995524
-      - 1.0147147841747353
-      - -1.2827428478718572
-      - -1.5708196976910478
-      - 0.1575524239601982
-    velocities:
-      - 0.056283329526114229
-      - -0.013345300985877148
-      - -0.00049845935820002371
-      - -0.049309944449889044
-      - 0.049779242598303193
-      - -1.2118036551998211e-05
-      - -0.013347988137659628
-    accelerations:
-      - -0.59201146679504246
-      - 0.14037142574880554
-      - 0.0052430028264194494
-      - 0.51866250250559021
-      - -0.52359877560005552
-      - 0.00012746254804445897
-      - 0.14039969032877378
+      - 1.1746728022189814
+      - 0.15573274949146601
+      - -1.3037476325712034
+      - 1.0161407720560593
+      - -1.2830704002390751
+      - -1.5707962798008352
+      - 0.15572550640997709
+    velocities:
+      - 0.058355882503533761
+      - -0.013385545580852318
+      - -9.4693006624083046e-05
+      - -0.051912955993335494
+      - 0.052030739099140445
+      - -5.8119770403858529e-07
+      - -0.013367339859250722
+    accelerations:
+      - -0.58725032845638625
+      - 0.13470220484537196
+      - 0.00095292020027540618
+      - 0.52241349372760304
+      - -0.52359877556386225
+      - 5.8487427137116337e-06
+      - 0.13451899596339301
     effort: []
     time_from_start:
       sec: 11
       nanosec: 150000000
   - positions:
-      - 1.1741099315875845
-      - 0.15753765902018402
-      - -1.302902285999179
-      - 1.0142444763840661
-      - -1.2822680640149948
-      - -1.57081981327031
-      - 0.15742511368068088
-    velocities:
-      - 0.050363214858245714
-      - -0.011941586728408522
-      - -0.0004460293299365551
-      - -0.04412331942490496
-      - 0.044543254842375105
-      - -1.0843411071571266e-05
-      - -0.011943991234391329
-    accelerations:
-      - -0.59201146673089855
-      - 0.14037142573359637
-      - 0.0052430028258513483
-      - 0.51866250244938827
-      - -0.52359877554332257
-      - 0.0001274625480306484
-      - 0.14039969031355931
+      - 1.1752289833036016
+      - 0.15560517388228998
+      - -1.3037485350759188
+      - 1.0156459975289418
+      - -1.2825745031390012
+      - -1.5707962853401425
+      - 0.15559810431677842
+    velocities:
+      - 0.052483379218563657
+      - -0.012038523532305416
+      - -8.5163804620669772e-05
+      - -0.046688821055698139
+      - 0.04679475134313963
+      - -5.2271027689742262e-07
+      - -0.012022149899523727
+    accelerations:
+      - -0.58725032847531322
+      - 0.13470220484971407
+      - 0.00095292020030611751
+      - 0.52241349374443857
+      - -0.52359877558073742
+      - 5.8487427139001909e-06
+      - 0.13451899596773026
     effort: []
     time_from_start:
       sec: 11
       nanosec: 160000000
   - positions:
-      - 1.1745875488992552
-      - 0.15742441151272529
-      - -1.3029065158985231
-      - 1.0138260348436476
-      - -1.2818456400356926
-      - -1.5708199161033174
-      - 0.15731184337019644
-    velocities:
-      - 0.044443100190234862
-      - -0.010537872470906146
-      - -0.00039359930167182593
-      - -0.038936694399796169
-      - 0.039307267086321131
-      - -9.5687855911136749e-06
-      - -0.010539994331089271
-    accelerations:
-      - -0.59201146681118844
-      - 0.14037142575263323
-      - 0.0052430028265624228
-      - 0.51866250251973478
-      - -0.52359877561433521
-      - 0.00012746254804793465
-      - 0.14039969033260138
+      - 1.1757264393553726
+      - 0.15549106849359934
+      - -1.3037493422886142
+      - 1.0152034643512002
+      - -1.2821309659164872
+      - -1.5707962902945758
+      - 0.15548415412317695
+    velocities:
+      - 0.046610875933635283
+      - -0.010691501483768087
+      - -7.5634602617324207e-05
+      - -0.041464686118097907
+      - 0.041558763587176029
+      - -4.6422284975667573e-07
+      - -0.010676959939806295
+    accelerations:
+      - -0.58725032845250968
+      - 0.13470220484448225
+      - 0.00095292020026912052
+      - 0.52241349372414414
+      - -0.52359877556039924
+      - 5.8487427136730141e-06
+      - 0.13451899596250572
     effort: []
     time_from_start:
       sec: 11
       nanosec: 170000000
   - positions:
-      - 1.1750059650642466
-      - 0.15732520114784138
-      - -1.3029102214975845
-      - 1.0134594595534796
-      - -1.28147557593395
-      - -1.5708200061900699
-      - 0.15721261302874479
-    velocities:
-      - 0.038522985522361941
-      - -0.009134158213436475
-      - -0.00034116927340831834
-      - -0.033750069374808227
-      - 0.034071279330389143
-      - -8.2941601106857829e-06
-      - -0.0091359974278199252
-    accelerations:
-      - -0.59201146675460559
-      - 0.14037142573921643
-      - 0.0052430028260611857
-      - 0.51866250247015488
-      - -0.52359877556428525
-      - 0.00012746254803575036
-      - 0.14039969031918118
+      - 1.1761651703742939
+      - 0.15539043332539415
+      - -1.3037500542092895
+      - 1.0148131725228349
+      - -1.2817397885715329
+      - -1.5707962946641345
+      - 0.15538365582917271
+    velocities:
+      - 0.04073837264864455
+      - -0.0093444794352164542
+      - -6.6105400613877458e-05
+      - -0.036240551180442199
+      - 0.036322775831156826
+      - -4.057354226153077e-07
+      - -0.0093317699800745772
+    accelerations:
+      - -0.58725032849518854
+      - 0.13470220485427281
+      - 0.00095292020033837122
+      - 0.5224134937621171
+      - -0.52359877559845958
+      - 5.8487427140980925e-06
+      - 0.13451899597228173
     effort: []
     time_from_start:
       sec: 11
       nanosec: 180000000
   - positions:
-      - 1.1753651800825589
-      - 0.15724002792553227
-      - -1.3029134027963631
-      - 1.0131447505135618
-      - -1.2811578717097671
-      - -1.5708200835305677
-      - 0.15712742265632598
-    velocities:
-      - 0.032602870854446984
-      - -0.0077304439559568363
-      - -0.00028873924514443837
-      - -0.028563444349783449
-      - 0.028835291574419979
-      - -7.019534630248837e-06
-      - -0.007732000524540609
-    accelerations:
-      - -0.59201146674001703
-      - 0.14037142573575867
-      - 0.0052430028259321006
-      - 0.51866250245737533
-      - -0.52359877555138612
-      - 0.00012746254803261151
-      - 0.14039969031572433
+      - 1.1765451763603663
+      - 0.1553032683776743
+      - -1.3037506708379449
+      - 1.0144751220438455
+      - -1.2814009711041381
+      - -1.5707962984488191
+      - 0.15529660943476559
+    velocities:
+      - 0.034865869363737007
+      - -0.0079974573866839049
+      - -5.6576198610565706e-05
+      - -0.031016416242860501
+      - 0.031086788075211796
+      - -3.4724799547476824e-07
+      - -0.0079865800203619171
+    accelerations:
+      - -0.58725032845157532
+      - 0.13470220484426704
+      - 0.0009529202002675945
+      - 0.52241349372331658
+      - -0.52359877555957035
+      - 5.8487427136637094e-06
+      - 0.13451899596229017
     effort: []
     time_from_start:
       sec: 11
       nanosec: 190000000
   - positions:
-      - 1.1756651939541918
-      - 0.15716889184579799
-      - -1.3029160597948592
-      - 1.0128819077238944
-      - -1.2808925273631444
-      - -1.5708201481248107
-      - 0.15705627225293997
-    velocities:
-      - 0.026682756186489971
-      - -0.0063267296984672265
-      - -0.00023630921688018599
-      - -0.023376819324721829
-      - 0.02359930381841362
-      - -5.744909149802838e-06
-      - -0.0063280036212513208
-    accelerations:
-      - -0.59201146676747807
-      - 0.14037142574226863
-      - 0.0052430028261753036
-      - 0.51866250248143442
-      - -0.52359877557567602
-      - 0.00012746254803852407
-      - 0.14039969032223606
+      - 1.1768664573135883
+      - 0.15522957365043999
+      - -1.3037511921745801
+      - 1.0141893129142328
+      - -1.2811145135143036
+      - -1.5707963016486293
+      - 0.15522301493995586
+    velocities:
+      - 0.028993366078767128
+      - -0.0066504353381370545
+      - -4.7046996607152798e-05
+      - -0.025792281305223347
+      - 0.025850800319211185
+      - -2.8876056833360789e-07
+      - -0.006641390060634975
+    accelerations:
+      - -0.58725032846926828
+      - 0.1347022048483274
+      - 0.00095292020029631491
+      - 0.52241349373905765
+      - -0.52359877557534873
+      - 5.8487427138399719e-06
+      - 0.13451899596634509
     effort: []
     time_from_start:
       sec: 11
       nanosec: 200000000
   - positions:
-      - 1.1759060066791454
-      - 0.15711179290863858
-      - -1.3029181924930726
-      - 1.0126709311844773
-      - -1.2806795428940814
-      - -1.5708201999727986
-      - 0.15699916181858686
-    velocities:
-      - 0.020762641518511527
-      - -0.0049230154409725339
-      - -0.00018387918861574381
-      - -0.018190194299641433
-      - 0.018363316062388307
-      - -4.4702836693522244e-06
-      - -0.004924006717956949
-    accelerations:
-      - -0.59201146680901195
-      - 0.14037142575211764
-      - 0.0052430028265431292
-      - 0.51866250251782087
-      - -0.52359877561240886
-      - 0.0001274625480474663
-      - 0.14039969033208563
+      - 1.1771290132339614
+      - 0.15516934914369102
+      - -1.3037516182191955
+      - 1.0139557451339958
+      - -1.2808804158020286
+      - -1.5707963042635653
+      - 0.15516287234474324
+    velocities:
+      - 0.023120862793755234
+      - -0.0053034132895805686
+      - -3.7517794603671713e-05
+      - -0.020568146367548813
+      - 0.020614812563173116
+      - -2.3027314119202911e-07
+      - -0.0052962001008984103
+    accelerations:
+      - -0.58725032853419901
+      - 0.13470220486322051
+      - 0.00095292020040167508
+      - 0.52241349379681856
+      - -0.52359877563323731
+      - 5.8487427144866418e-06
+      - 0.13451899598121816
     effort: []
     time_from_start:
       sec: 11
       nanosec: 210000000
   - positions:
-      - 1.1760876182574198
-      - 0.15706873111405398
-      - -1.3029198008910035
-      - 1.0125118208953108
-      - -1.280518918302578
-      - -1.5708202390745321
-      - 0.15695609135326655
-    velocities:
-      - 0.014842526850617599
-      - -0.0035193011834978821
-      - -0.00013144916035205014
-      - -0.013003569274635082
-      - 0.013127328306437744
-      - -3.195658188919808e-06
-      - -0.003520009814682621
-    accelerations:
-      - -0.59201146677340366
-      - 0.14037142574367384
-      - 0.0052430028262277781
-      - 0.51866250248662549
-      - -0.5235987755809135
-      - 0.00012746254803979923
-      - 0.14039969032364102
+      - 1.1773328441214848
+      - 0.15512259485742752
+      - -1.3037519489717906
+      - 1.0137744187031352
+      - -1.2806986779673135
+      - -1.5707963062936272
+      - 0.15511618164912788
+    velocities:
+      - 0.017248359508847937
+      - -0.0039563912410480748
+      - -2.7988592600360358e-05
+      - -0.015344011429967334
+      - 0.015378824807228304
+      - -1.7178571405149208e-07
+      - -0.0039510101411858057
+    accelerations:
+      - -0.58725032848931014
+      - 0.13470220485292342
+      - 0.00095292020032882948
+      - 0.52241349375688539
+      - -0.52359877559321666
+      - 5.8487427140395676e-06
+      - 0.13451899597093472
     effort: []
     time_from_start:
       sec: 11
       nanosec: 220000000
   - positions:
-      - 1.1762100286890147
-      - 0.15703970646204424
-      - -1.3029208849886516
-      - 1.0124045768563945
-      - -1.2804106535886344
-      - -1.5708202654300107
-      - 0.15692706085697902
-    velocities:
-      - 0.0089224121826815966
-      - -0.0021155869260132535
-      - -7.9019132087983844e-05
-      - -0.007816944249591869
-      - 0.007891340550449967
-      - -1.9210327084783326e-06
-      - -0.0021160129113983149
-    accelerations:
-      - -0.59201146677987626
-      - 0.14037142574520906
-      - 0.0052430028262850942
-      - 0.51866250249229651
-      - -0.52359877558664014
-      - 0.00012746254804119287
-      - 0.14039969032517585
+      - 1.1774779499761585
+      - 0.15508931079164945
+      - -1.3037521844323658
+      - 1.0136453336216509
+      - -1.2805693000101586
+      - -1.5707963077388145
+      - 0.15508294285310975
+    velocities:
+      - 0.011375856223899739
+      - -0.0026093691925061983
+      - -1.8459390596982629e-05
+      - -0.010119876492349467
+      - 0.010142837051247026
+      - -1.1329828691054769e-07
+      - -0.0026058201814638314
+    accelerations:
+      - -0.58725032848217573
+      - 0.13470220485128728
+      - 0.00095292020031725563
+      - 0.52241349375053836
+      - -0.52359877558685408
+      - 5.8487427139685092e-06
+      - 0.13451899596930109
     effort: []
     time_from_start:
       sec: 11
       nanosec: 230000000
   - positions:
-      - 1.1762732379739305
-      - 0.15702471895260928
-      - -1.3029214447860169
-      - 1.0123491990677285
-      - -1.2803547487522509
-      - -1.5708202790392345
-      - 0.15691207032972432
-    velocities:
-      - 0.0030022975147386923
-      - -0.00071187266852698855
-      - -2.6589103823856422e-05
-      - -0.0026303192245426084
-      - 0.0026553527944560853
-      - -6.4640722803537118e-07
-      - -0.00071201600811237188
-    accelerations:
-      - -0.59201146679639671
-      - 0.14037142574912601
-      - 0.0052430028264313956
-      - 0.51866250250677137
-      - -0.52359877560125145
-      - 0.00012746254804474975
-      - 0.14039969032909388
+      - 1.1775643307979831
+      - 0.15506949694635674
+      - -1.3037523246009208
+      - 1.0135684898895425
+      - -1.2804922819305629
+      - -1.5707963085991279
+      - 0.15506315595668885
+    velocities:
+      - 0.0055033529389483067
+      - -0.0012623471439635805
+      - -8.9301885935996562e-06
+      - -0.0048957415547287225
+      - 0.0049068492952628641
+      - -5.4810859769571094e-08
+      - -0.0012606302217411164
+    accelerations:
+      - -0.58725032849496628
+      - 0.13470220485422119
+      - 0.00095292020033800834
+      - 0.52241349376191637
+      - -0.52359877559825785
+      - 5.8487427140958885e-06
+      - 0.13451899597223099
     effort: []
     time_from_start:
       sec: 11
       nanosec: 240000000
   - positions:
-      - 1.1762893787453486
-      - 0.15702352411217649
-      - -1.3029143553682325
-      - 1.0123435346506862
-      - -1.2803456200719585
-      - -1.5708183470588808
-      - 0.15691219421641542
-    velocities:
-      - 0.0015674825294585443
-      - 0.00050703590773091439
-      - 0.0024004002953426987
-      - 0.0014563361505270799
-      - -0.00033176451990150495
-      - 0.0006457494256767929
-      - 0.00094743113324192508
-    accelerations:
-      - 0.34191461098049025
-      - 0.11059962831282086
-      - 0.52359877558766688
-      - 0.31767027638661816
-      - -0.072367719976079131
-      - 0.14085717672874071
-      - 0.20666293962786089
+      - 1.1775938475371321
+      - 0.15506351469671698
+      - -1.3037529568202457
+      - 1.0135423482742685
+      - -1.2804668954806793
+      - -1.5707964860459847
+      - 0.15505575148585615
+    velocities:
+      - 0.0011341958469373858
+      - 0.00059603426065587531
+      - -0.00063654091773773466
+      - -0.00088269442779081195
+      - 3.2503955180615556e-14
+      - -0.00019243741738425926
+      - -0.00095845237732882372
+    accelerations:
+      - -0.1453792410703626
+      - 0.35600837747511083
+      - -0.23895469975103914
+      - 0.17691677797737781
+      - -0.51072148946988027
+      - -0.072515466256976746
+      - -0.2299877465263255
     effort: []
     time_from_start:
       sec: 11
       nanosec: 250000000
   - positions:
-      - 1.1763182829909724
-      - 0.15703297114170112
-      - -1.3028686270116752
-      - 1.0123709790401416
-      - -1.2803523698127901
-      - -1.5708061830603497
-      - 0.15692993702246746
-    velocities:
-      - 0.0022860999674112
-      - 0.00094632996034037763
-      - 0.0066146030704058011
-      - 0.0033771469597860411
-      - -0.0018270278941133371
-      - 0.0014867568212278918
-      - 0.0019603703046953262
-    accelerations:
-      - -0.68463134621554578
-      - -0.11909366184253364
-      - 0.4925455466444657
-      - -0.015908206515910676
-      - -0.5198209204127141
-      - -0.012345860888108982
-      - -0.12747099580249888
+      - 1.1775912838709599
+      - 0.15508186470991719
+      - -1.3037661196906514
+      - 1.0135472485570531
+      - -1.2804901601591263
+      - -1.5708004779515683
+      - 0.15504184511950841
+    velocities:
+      - -0.0011587053481745642
+      - 0.0037718678736576813
+      - -0.002597198681582417
+      - 0.0015478788974083923
+      - -0.0051741983057815378
+      - -0.00078796749303638232
+      - -0.0025955174450953745
+    accelerations:
+      - -0.1172542422480807
+      - 0.38169109177096916
+      - -0.26282140136525989
+      - 0.15663634201166421
+      - -0.52359877560029644
+      - -0.079737727505665559
+      - -0.26265127001077965
     effort: []
     time_from_start:
       sec: 11
       nanosec: 260000000
   - positions:
-      - 1.176302585214033
-      - 0.15703407536106212
-      - -1.3027996042360317
-      - 1.0123938479499925
-      - -1.2803891912685479
-      - -1.5707963624252852
-      - 0.15693774138793912
-    velocities:
-      - -0.006127981987873868
-      - -0.001024038193089564
-      - 0.0050400545875106378
-      - 0.00011171753828801173
-      - -0.0049251621659352355
-      - -3.9769825709933783e-15
-      - -0.0010236410201087504
-    accelerations:
-      - -0.70420162451788204
-      - -0.20798953815028781
-      - -0.78033818846922098
-      - -0.53431267738956523
-      - 0.020474979314310224
-      - -0.23794149862785427
-      - -0.37025526554707189
+      - 1.1775702220040443
+      - 0.15511787699956428
+      - -1.3037841785928321
+      - 1.0135628290105383
+      - -1.2805493462927289
+      - -1.5708083296304476
+      - 0.15501441532829149
+    velocities:
+      - -0.0038471600016118383
+      - 0.0023108920918349317
+      - 0.00052291883224536305
+      - 0.0011999407112276812
+      - -0.0062401504378927939
+      - -0.00058582308957515715
+      - -0.0024212714372604015
+    accelerations:
+      - -0.33835867893374055
+      - -0.32928935836660278
+      - 0.52291883223732594
+      - -0.099882757129830607
+      - 0.021608601267229632
+      - 0.054352057917678144
+      - 0.11016083744062824
     effort: []
     time_from_start:
       sec: 11
       nanosec: 270000000
   - positions:
-      - 1.1762109760202424
-      - 0.15701876350765703
-      - -1.3027243065988321
-      - 1.0123954988237349
-      - -1.2804627985087873
-      - -1.5707963707870527
-      - 0.15692242976803711
-    velocities:
-      - -0.012504555085882784
-      - -0.0020904247973536792
-      - 0.010272422847864645
-      - 0.00022307962309463998
-      - -0.010044882663347682
-      - -2.1254231680589414e-06
-      - -0.0020910641930611908
-    accelerations:
-      - -0.63737346383878224
-      - -0.10655167535612792
-      - 0.52359877561352741
-      - 0.011370659020423885
-      - -0.51200075596612482
-      - -0.0001083355879073476
-      - -0.10658426618835323
+      - 1.1775185446467744
+      - 0.15512275440112058
+      - -1.3037537224744655
+      - 1.0135688549444453
+      - -1.2806051418540756
+      - -1.5708109969932149
+      - 0.15499776619575895
+    velocities:
+      - -0.0070536820715587784
+      - -0.0011626407434483412
+      - 0.0057945647514593178
+      - 0.00011723319115895468
+      - -0.0056572955826595852
+      - -5.7198881385954178e-07
+      - -0.0011631548919913627
+    accelerations:
+      - -0.63737303052006333
+      - -0.1050565997361444
+      - 0.52359877560602797
+      - 0.010593229687485531
+      - -0.51119508839312744
+      - -5.1685097232156236e-05
+      - -0.1051030583674918
     effort: []
     time_from_start:
       sec: 11
       nanosec: 280000000
   - positions:
-      - 1.176055628827549
-      - 0.15699279364135027
-      - -1.3025966897391663
-      - 1.0123982701972829
-      - -1.2805875885802427
-      - -1.5707963971917125
-      - 0.15689645195835872
-    velocities:
-      - -0.018878289724084434
-      - -0.0031559415508838336
-      - 0.015508410603846981
-      - 0.0003367862132955577
-      - -0.015164890222859386
-      - -3.2087790471007741e-06
-      - -0.0031569068549135923
-    accelerations:
-      - -0.63737346383685034
-      - -0.1065516753558042
-      - 0.52359877561193813
-      - 0.011370659020389348
-      - -0.51200075596457173
-      - -0.00010833558790701921
-      - -0.10658426618802989
+      - 1.1774179267022067
+      - 0.1551061697974073
+      - -1.3036710653332673
+      - 1.0135705272288791
+      - -1.2806858409056581
+      - -1.570811005152406
+      - 0.15498117425792299
+    velocities:
+      - -0.013427412376641015
+      - -0.0022132067407902708
+      - 0.011030552507422329
+      - 0.00022316548803184215
+      - -0.010769246466495901
+      - -1.088839786171503e-06
+      - -0.0022141854756467555
+    accelerations:
+      - -0.63737303049461036
+      - -0.10505659973194949
+      - 0.52359877558511903
+      - 0.010593229687062496
+      - -0.51119508837271244
+      - -5.1685097230092105e-05
+      - -0.10510305836329464
     effort: []
     time_from_start:
       sec: 11
       nanosec: 290000000
   - positions:
-      - 1.1758365442884733
-      - 0.15695616860750822
-      - -1.3024167130019406
-      - 1.012402178636733
-      - -1.2807635787272935
-      - -1.570796434429931
-      - 0.15685981572206181
-    velocities:
-      - -0.025252024362240801
-      - -0.0042214583044064185
-      - 0.02074439835979212
-      - 0.00045049280349566766
-      - -0.020284897782334714
-      - -4.2921349261349101e-06
-      - -0.0042227495167584221
-    accelerations:
-      - -0.63737346378964732
-      - -0.10655167534791363
-      - 0.52359877557316326
-      - 0.011370659019547324
-      - -0.51200075592665539
-      - -0.00010833558789899637
-      - -0.10658426618013665
+      - 1.177253571454588
+      - 0.15507907953372052
+      - -1.3035360483145093
+      - 1.0135732588362818
+      - -1.2808176594660792
+      - -1.5708110184801067
+      - 0.1549540720142504
+    velocities:
+      - -0.019801142681747173
+      - -0.0032637727381361428
+      - 0.016266540263404992
+      - 0.00032909778490512715
+      - -0.0158811973503514
+      - -1.605690758485404e-06
+      - -0.0032652160593060931
+    accelerations:
+      - -0.63737303049420968
+      - -0.10505659973188312
+      - 0.5235987755847894
+      - 0.010593229687055828
+      - -0.51119508837238981
+      - -5.1685097230059708e-05
+      - -0.10510305836322828
     effort: []
     time_from_start:
       sec: 11
       nanosec: 300000000
   - positions:
-      - 1.1755537224030159
-      - 0.15690888840613088
-      - -1.3021843763871557
-      - 1.0124072241420849
-      - -1.2809907689499389
-      - -1.5707964825017082
-      - 0.15681252105914639
-    velocities:
-      - -0.031625759000463126
-      - -0.0052869750579400297
-      - 0.02598038611579144
-      - 0.0005641993936969542
-      - -0.025404905341863026
-      - -5.3754908051802563e-06
-      - -0.0052885921786142804
-    accelerations:
-      - -0.63737346380954463
-      - -0.10655167535123997
-      - 0.52359877558950785
-      - 0.011370659019902238
-      - -0.51200075594263916
-      - -0.00010833558790237773
-      - -0.10658426618346385
+      - 1.1770254789039176
+      - 0.15504148361006026
+      - -1.303348671418191
+      - 1.013577049766653
+      - -1.2810005975353389
+      - -1.5708110369763171
+      - 0.1549164594647412
+    velocities:
+      - -0.026174872986853351
+      - -0.0043143387354820191
+      - 0.021502528019387672
+      - 0.00043503008177841259
+      - -0.020993148234206921
+      - -2.1225417307993069e-06
+      - -0.0043162466429654345
+    accelerations:
+      - -0.63737303049384886
+      - -0.10505659973182414
+      - 0.52359877558449452
+      - 0.01059322968704992
+      - -0.51119508837210359
+      - -5.1685097230030699e-05
+      - -0.10510305836316974
     effort: []
     time_from_start:
       sec: 11
       nanosec: 310000000
   - positions:
-      - 1.1752071631711765
-      - 0.15685095303721822
-      - -1.3018996798948104
-      - 1.012413406713339
-      - -1.28126915924818
-      - -1.5707965414070446
-      - 0.15675456796961243
-    velocities:
-      - -0.03799949363868544
-      - -0.0063524918114736383
-      - 0.031216373871790756
-      - 0.00067790598389824068
-      - -0.030524912901391327
-      - -6.4588466842256016e-06
-      - -0.0063544348404701379
-    accelerations:
-      - -0.63737346382942806
-      - -0.1065516753545637
-      - 0.52359877560584545
-      - 0.011370659020257096
-      - -0.5120007559586125
-      - -0.00010833558790575823
-      - -0.10658426618678932
+      - 1.1767336490501967
+      - 0.15499338202642654
+      - -1.3031089346443132
+      - 1.013581900019993
+      - -1.2812346551134375
+      - -1.570811060641037
+      - 0.15486833660939539
+    velocities:
+      - -0.032548603291959535
+      - -0.0053649047328278958
+      - 0.026738515775370356
+      - 0.00054096237865169808
+      - -0.026105099118062441
+      - -2.6393927031132102e-06
+      - -0.0053672772266247764
+    accelerations:
+      - -0.63737303049349836
+      - -0.1050565997317669
+      - 0.52359877558420653
+      - 0.010593229687044119
+      - -0.51119508837182248
+      - -5.168509723000232e-05
+      - -0.10510305836311162
     effort: []
     time_from_start:
       sec: 11
       nanosec: 320000000
   - positions:
-      - 1.1747968665929549
-      - 0.15678236250077027
-      - -1.3015626235249056
-      - 1.0124207263504952
-      - -1.2815987496220158
-      - -1.5707966111459395
-      - 0.15668595645345995
-    velocities:
-      - -0.044373228276907747
-      - -0.007418008565007247
-      - 0.036452361627790066
-      - 0.00079161257409952695
-      - -0.035644920460919625
-      - -7.542202563270946e-06
-      - -0.0074202775023259945
-    accelerations:
-      - -0.63737346384930793
-      - -0.10655167535788743
-      - 0.52359877562217616
-      - 0.01137065902061163
-      - -0.51200075597457884
-      - -0.00010833558790913705
-      - -0.10658426619011305
+      - 1.1763780818934242
+      - 0.15493477478281931
+      - -1.3028168379928751
+      - 1.0135878095963018
+      - -1.2815198322003745
+      - -1.5708110894742668
+      - 0.15480970344821296
+    velocities:
+      - -0.03892233359706572
+      - -0.0064154707301737716
+      - 0.031974503531353039
+      - 0.00064689467552498357
+      - -0.031217050001917965
+      - -3.1562436754271131e-06
+      - -0.0064183078102841183
+    accelerations:
+      - -0.63737303049314453
+      - -0.10505659973170792
+      - 0.5235987755839151
+      - 0.010593229687038264
+      - -0.51119508837154148
+      - -5.168509722997352e-05
+      - -0.10510305836305352
     effort: []
     time_from_start:
       sec: 11
       nanosec: 330000000
   - positions:
-      - 1.1743228326683512
-      - 0.156703116796787
-      - -1.3011732072774409
-      - 1.0124291830535532
-      - -1.2819795400714469
-      - -1.5707966917183933
-      - 0.15660668651068896
-    velocities:
-      - -0.050746962915130082
-      - -0.0084835253185408591
-      - 0.041688349383789396
-      - 0.00090531916430081375
-      - -0.040764928020447948
-      - -8.625558442316293e-06
-      - -0.0084861201641818554
-    accelerations:
-      - -0.63737346386920868
-      - -0.10655167536121463
-      - 0.52359877563853119
-      - 0.011370659020966815
-      - -0.51200075599057304
-      - -0.0001083355879125184
-      - -0.10658426619344198
+      - 1.1759587774336007
+      - 0.15486566187923864
+      - -1.3024723814638777
+      - 1.0135947784955794
+      - -1.2818561287961501
+      - -1.5708111234760065
+      - 0.15474055998119396
+    velocities:
+      - -0.045296063902171869
+      - -0.0074660367275196432
+      - 0.037210491287335695
+      - 0.00075282697239826841
+      - -0.036329000885773462
+      - -3.6730946477410134e-06
+      - -0.0074693383939434541
+    accelerations:
+      - -0.63737303049273508
+      - -0.10505659973164026
+      - 0.52359877558358203
+      - 0.010593229687031325
+      - -0.51119508837121186
+      - -5.1685097229940066e-05
+      - -0.10510305836298499
     effort: []
     time_from_start:
       sec: 11
       nanosec: 340000000
   - positions:
-      - 1.1737850613973655
-      - 0.15661321592526839
-      - -1.3007314311524161
-      - 1.0124387768225134
-      - -1.2824115305964734
-      - -1.5707967831244056
-      - 0.15651675814129937
-    velocities:
-      - -0.057120697553352397
-      - -0.0095490420720744686
-      - 0.046924337139788705
-      - 0.0010190257545021001
-      - -0.045884935579976249
-      - -9.7089143213616383e-06
-      - -0.0095519628260377128
-    accelerations:
-      - -0.63737346388909555
-      - -0.10655167536453836
-      - 0.52359877565485835
-      - 0.011370659021321566
-      - -0.51200075600654638
-      - -0.00010833558791589976
-      - -0.10658426619676745
+      - 1.1754757356707262
+      - 0.15478604331568452
+      - -1.3020755650573199
+      - 1.0136028067178255
+      - -1.2822435449007643
+      - -1.570811162646256
+      - 0.15466090620833833
+    velocities:
+      - -0.051669794207278012
+      - -0.0085166027248655112
+      - 0.042446479043318337
+      - 0.00085875926927155314
+      - -0.041440951769628948
+      - -4.1899456200549134e-06
+      - -0.008520368977602789
+    accelerations:
+      - -0.63737303049229799
+      - -0.10505659973156567
+      - 0.52359877558321433
+      - 0.010593229687023952
+      - -0.51119508837085803
+      - -5.1685097229904911e-05
+      - -0.10510305836291213
     effort: []
     time_from_start:
       sec: 11
       nanosec: 350000000
   - positions:
-      - 1.1731835527799979
-      - 0.15651265988621454
-      - -1.3002372951498316
-      - 1.0124495076573754
-      - -1.2828947211970947
-      - -1.5707968853639769
-      - 0.15641617134529132
-    velocities:
-      - -0.063494432191574718
-      - -0.010614558825608078
-      - 0.052160324895788021
-      - 0.0011327323447033865
-      - -0.051004943139504551
-      - -1.0792270200406984e-05
-      - -0.01061780548789357
-    accelerations:
-      - -0.63737346390898941
-      - -0.10655167536786382
-      - 0.5235987756711995
-      - 0.011370659021676317
-      - -0.51200075602251971
-      - -0.00010833558791927942
-      - -0.10658426620009291
+      - 1.1749289566048
+      - 0.15469591909215683
+      - -1.301626388773202
+      - 1.0136118942630405
+      - -1.2826820805142174
+      - -1.5708112069850146
+      - 0.15457074212964605
+    velocities:
+      - -0.058043524512384155
+      - -0.0095671687222113819
+      - 0.047682466799300993
+      - 0.00096469156614483798
+      - -0.04655290265348444
+      - -4.7067965923688133e-06
+      - -0.0095713995612621248
+    accelerations:
+      - -0.63737303049186078
+      - -0.10505659973149455
+      - 0.52359877558286039
+      - 0.010593229687016797
+      - -0.51119508837051109
+      - -5.1685097229869335e-05
+      - -0.10510305836284101
     effort: []
     time_from_start:
       sec: 11
       nanosec: 360000000
   - positions:
-      - 1.1725183115452231
-      - 0.15640144947018261
-      - -1.2996908031545142
-      - 1.0124613754737752
-      - -1.2834291080745359
-      - -1.5707969984363033
-      - 0.15630492691346379
-    velocities:
-      - -0.069988531451116137
-      - -0.011700197301778197
-      - 0.057495191522534066
-      - 0.0012485862239635514
-      - -0.056221639344864932
-      - -1.1896084683366652e-05
-      - -0.01170377602699323
-    accelerations:
-      - -0.63737346388672367
-      - -0.10655167536414302
-      - 0.52359877565288804
-      - 0.011370659021253077
-      - -0.51200075600465256
-      - -0.0001083355879044709
-      - -0.10658426619637565
+      - 1.1743184413081709
+      - 0.15459528938540815
+      - -1.3011248534924529
+      - 1.0136220411134018
+      - -1.2831717347764491
+      - -1.5708112564921966
+      - 0.15447006792194776
+    velocities:
+      - -0.064808969565805813
+      - -0.010682300080114315
+      - 0.053240246273444744
+      - 0.0010771342173970218
+      - -0.051979022235733911
+      - -5.2554120343788303e-06
+      - -0.010687024057879833
+    accelerations:
+      - -0.63737303050676675
+      - -0.10505659973395887
+      - 0.52359877559503842
+      - 0.010593229687254405
+      - -0.51119508838245886
+      - -5.1685097253591672e-05
+      - -0.10510305836529499
     effort: []
     time_from_start:
       sec: 11
       nanosec: 370000000
   - positions:
-      - 1.1717893331308471
-      - 0.15627958391449662
-      - -1.2990919514186463
-      - 1.0124743803531016
-      - -1.2840146948935971
-      - -1.5707971223421597
-      - 0.15618302408290749
-    velocities:
-      - -0.07636226608936085
-      - -0.012765714055315562
-      - 0.062731179278551555
-      - 0.0013622928141649772
-      - -0.061341646904411358
-      - -1.2979440562305547e-05
-      - -0.012769618688852871
-    accelerations:
-      - -0.63737346392871785
-      - -0.10655167537116171
-      - 0.52359877568737434
-      - 0.011370659022002261
-      - -0.51200075603837558
-      - -0.00010833558791160631
-      - -0.10658426620339607
+      - 1.1736441952324845
+      - 0.15448415509401953
+      - -1.3005709636935725
+      - 1.0136332471783021
+      - -1.283712503315052
+      - -1.5708113111673589
+      - 0.15435888448422197
+    velocities:
+      - -0.071182699870934285
+      - -0.011732866077463919
+      - 0.058476234029445094
+      - 0.0011830665142705786
+      - -0.057090973119607299
+      - -5.7722630069196834e-06
+      - -0.011738054641542822
+    accelerations:
+      - -0.63737303052788874
+      - -0.10505659973743872
+      - 0.52359877561239265
+      - 0.010593229687605687
+      - -0.51119508839940364
+      - -5.168509725530522e-05
+      - -0.10510305836877831
     effort: []
     time_from_start:
       sec: 11
       nanosec: 380000000
   - positions:
-      - 1.170996617370089
-      - 0.1561470631912753
-      - -1.2984407398052187
-      - 1.0124885222983302
-      - -1.2846514817882537
-      - -1.5707972570815754
-      - 0.15605046282573265
-    velocities:
-      - -0.08273600072731277
-      - -0.013831230808803982
-      - 0.067967167034328535
-      - 0.0014759994043611795
-      - -0.066461654463722597
-      - -1.4062796441194677e-05
-      - -0.013835461350663551
-    accelerations:
-      - -0.63737346367678627
-      - -0.10655167532904765
-      - 0.52359877548042844
-      - 0.011370659017507776
-      - -0.51200075583601612
-      - -0.00010833558786878779
-      - -0.10658426616126807
+      - 1.1729062118537472
+      - 0.15436251514265747
+      - -1.2999647140171326
+      - 1.013645512566171
+      - -1.2843043913624934
+      - -1.5708113710110312
+      - 0.15423719074065964
+    velocities:
+      - -0.077556430176062757
+      - -0.012783432074813523
+      - 0.06371222178544543
+      - 0.0012889988111441353
+      - -0.062202924003480674
+      - -6.2891139794605348e-06
+      - -0.012789085225205811
+    accelerations:
+      - -0.63737303054901073
+      - -0.10505659974092031
+      - 0.52359877562973989
+      - 0.010593229687956751
+      - -0.51119508841634154
+      - -5.1685097257017073e-05
+      - -0.10510305837226164
     effort: []
     time_from_start:
       sec: 11
       nanosec: 390000000
   - positions:
-      - 1.1701401642629488
-      - 0.1560038873005187
-      - -1.2977371683142311
-      - 1.0125038013094605
-      - -1.2853394687585054
-      - -1.5707974026545495
-      - 0.15590724314193927
-    velocities:
-      - -0.089109735365534848
-      - -0.01489674756233756
-      - 0.073203154790327421
-      - 0.0015897059945622013
-      - -0.071581662023250822
-      - -1.5146152320129724e-05
-      - -0.014901304012519405
-    accelerations:
-      - -0.6373734636961319
-      - -0.10655167533227944
-      - 0.5235987754963185
-      - 0.011370659017852986
-      - -0.51200075585153149
-      - -0.00010833558787207427
-      - -0.10658426616450159
+      - 1.1721044911719585
+      - 0.15423036953132194
+      - -1.2993061044631324
+      - 1.0136588372770086
+      - -1.2849473989187736
+      - -1.570811436023213
+      - 0.15410498669126063
+    velocities:
+      - -0.083930160481191243
+      - -0.013833998072163128
+      - 0.068948209541445774
+      - 0.0013949311080176919
+      - -0.067314874887354062
+      - -6.8059649520013879e-06
+      - -0.0138401158088688
+    accelerations:
+      - -0.6373730305701466
+      - -0.10505659974440364
+      - 0.52359877564708712
+      - 0.010593229688307816
+      - -0.51119508843328632
+      - -5.1685097258730621e-05
+      - -0.10510305837574496
     effort: []
     time_from_start:
       sec: 11
       nanosec: 400000000
   - positions:
-      - 1.1692199738094269
-      - 0.15585005624222684
-      - -1.2969812369456839
-      - 1.0125202173864931
-      - -1.286078655804352
-      - -1.570797559061083
-      - 0.15575336503152745
-    velocities:
-      - -0.09548347000375694
-      - -0.015962264315871146
-      - 0.078439142546326335
-      - 0.0017034125847632236
-      - -0.076701669582779089
-      - -1.6229508199064773e-05
-      - -0.015967146674375265
-    accelerations:
-      - -0.63737346371549142
-      - -0.10655167533551817
-      - 0.52359877551223633
-      - 0.011370659018198413
-      - -0.51200075586710236
-      - -0.00010833558787536584
-      - -0.10658426616774205
+      - 1.1712390331871185
+      - 0.15408771826001288
+      - -1.2985951350315723
+      - 1.0136732213108148
+      - -1.2856415259838925
+      - -1.5708115062039045
+      - 0.15396227233602502
+    velocities:
+      - -0.090303890786319715
+      - -0.014884564069512732
+      - 0.074184197297446117
+      - 0.0015008634048912486
+      - -0.072426825771227429
+      - -7.3228159245422402e-06
+      - -0.014891146392531789
+    accelerations:
+      - -0.63737303059125472
+      - -0.10505659974788523
+      - 0.52359877566444823
+      - 0.010593229688658881
+      - -0.51119508845021722
+      - -5.1685097260443322e-05
+      - -0.10510305837922829
     effort: []
     time_from_start:
       sec: 11
       nanosec: 410000000
   - positions:
-      - 1.1682360460095231
-      - 0.15568557001639965
-      - -1.296172945699577
-      - 1.0125377705294274
-      - -1.2868690429257938
-      - -1.5707977263011745
-      - 0.15558882849449707
-    velocities:
-      - -0.10185720464197903
-      - -0.017027781069404727
-      - 0.083675130302325235
-      - 0.0018171191749642456
-      - -0.081821677142307342
-      - -1.7312864077999825e-05
-      - -0.017032989336231121
-    accelerations:
-      - -0.63737346373485093
-      - -0.10655167533875516
-      - 0.52359877552812639
-      - 0.01137065901854384
-      - -0.51200075588265936
-      - -0.00010833558787865911
-      - -0.10658426617097558
+      - 1.1703098378992278
+      - 0.15393456132873043
+      - -1.2978318057224527
+      - 1.01368866466759
+      - -1.2863867725578497
+      - -1.5708115815531061
+      - 0.15380904767495285
+    velocities:
+      - -0.096677621091448174
+      - -0.015935130066862334
+      - 0.07942018505344646
+      - 0.0016067957017648052
+      - -0.077538776655100811
+      - -7.8396668970830916e-06
+      - -0.015942176976194777
+    accelerations:
+      - -0.63737303061236283
+      - -0.10505659975136508
+      - 0.52359877568179547
+      - 0.010593229689009729
+      - -0.511195088467162
+      - -5.1685097262156022e-05
+      - -0.10510305838270988
     effort: []
     time_from_start:
       sec: 11
       nanosec: 420000000
   - positions:
-      - 1.1671883808632368
-      - 0.15551042862303716
-      - -1.2953122945759099
-      - 1.012556460738264
-      - -1.2877106301228309
-      - -1.5707979043748255
-      - 0.15541363353084817
-    velocities:
-      - -0.1082309392802011
-      - -0.018093297822938306
-      - 0.088911118058324121
-      - 0.0019308257651652675
-      - -0.086941684701835567
-      - -1.839621995693487e-05
-      - -0.018098831998086977
-    accelerations:
-      - -0.63737346375419657
-      - -0.10655167534198522
-      - 0.52359877554401646
-      - 0.011370659018888833
-      - -0.51200075589818861
-      - -0.0001083355878819456
-      - -0.10658426617421257
+      - 1.1693169053082861
+      - 0.15377089873747454
+      - -1.2970161165357732
+      - 1.0137051673473336
+      - -1.2871831386406452
+      - -1.5708116620708172
+      - 0.1536453127080441
+    velocities:
+      - -0.10305135139657665
+      - -0.016985696064211939
+      - 0.084656172809446789
+      - 0.0017127279986383617
+      - -0.082650727538974192
+      - -8.356517869623943e-06
+      - -0.016993207559857764
+    accelerations:
+      - -0.63737303063348483
+      - -0.10505659975484841
+      - 0.5235987756991427
+      - 0.010593229689360793
+      - -0.5111950884840929
+      - -5.1685097263867029e-05
+      - -0.1051030583861932
     effort: []
     time_from_start:
       sec: 11
       nanosec: 430000000
   - positions:
-      - 1.1660769783705689
-      - 0.15532463206213937
-      - -1.2943992835746834
-      - 1.0125762880130025
-      - -1.2886034173954628
-      - -1.5707980932820349
-      - 0.15522778014058072
-    velocities:
-      - -0.1146046739184232
-      - -0.019158814576471891
-      - 0.094147105814323034
-      - 0.0020445323553662897
-      - -0.092061692261363834
-      - -1.9479575835869921e-05
-      - -0.019164674659942836
-    accelerations:
-      - -0.63737346377356996
-      - -0.10655167534522568
-      - 0.5235987755599204
-      - 0.01137065901923426
-      - -0.51200075591374561
-      - -0.00010833558788523547
-      - -0.10658426617744957
+      - 1.1682602354142935
+      - 0.15359673048624517
+      - -1.296148067471534
+      - 1.0137227293500461
+      - -1.2880306242322794
+      - -1.570811747757038
+      - 0.15347106743529879
+    velocities:
+      - -0.10942508170170512
+      - -0.018036262061561541
+      - 0.089892160565447132
+      - 0.0018186602955119183
+      - -0.087762678422847573
+      - -8.8733688421647961e-06
+      - -0.018044238143520751
+    accelerations:
+      - -0.63737303065460682
+      - -0.10505659975832479
+      - 0.52359877571648994
+      - 0.010593229689711641
+      - -0.51119508850103768
+      - -5.1685097265581423e-05
+      - -0.10510305838967306
     effort: []
     time_from_start:
       sec: 11
       nanosec: 440000000
   - positions:
-      - 1.1649018385315184
-      - 0.15512818033370621
-      - -1.2934339126958965
-      - 1.0125972523536431
-      - -1.2895474047436906
-      - -1.570798293022803
-      - 0.15503126832369468
-    velocities:
-      - -0.12097840855664527
-      - -0.020224331330005473
-      - 0.09938309357032192
-      - 0.0021582389455673113
-      - -0.097181699820892073
-      - -2.0562931714804966e-05
-      - -0.020230517321798688
-    accelerations:
-      - -0.63737346379290172
-      - -0.1065516753484592
-      - 0.52359877557581047
-      - 0.01137065901957947
-      - -0.51200075592928873
-      - -0.00010833558788852196
-      - -0.10658426618068309
+      - 1.1671398282172496
+      - 0.15341205657504234
+      - -1.2952276585297346
+      - 1.0137413506757276
+      - -1.2889292293327523
+      - -1.5708118386117684
+      - 0.15328631185671684
+    velocities:
+      - -0.11579881200683359
+      - -0.019086828058911143
+      - 0.095128148321447475
+      - 0.001924592592385475
+      - -0.092874629306720941
+      - -9.3902198147056475e-06
+      - -0.019095268727183742
+    accelerations:
+      - -0.63737303067572881
+      - -0.10505659976180465
+      - 0.52359877573383717
+      - 0.010593229690062706
+      - -0.51119508851796858
+      - -5.168509726729243e-05
+      - -0.10510305839315985
     effort: []
     time_from_start:
       sec: 11
       nanosec: 450000000
   - positions:
-      - 1.1636629613460865
-      - 0.15492107343773781
-      - -1.2924161819395501
-      - 1.0126193537601855
-      - -1.2905425921675129
-      - -1.5707985035971299
-      - 0.15482409808019021
-    velocities:
-      - -0.1273521431947425
-      - -0.021289848083518182
-      - 0.10461908132621826
-      - 0.002271945535766106
-      - -0.10230170738032003
-      - -2.1646287593718794e-05
-      - -0.021296359983633668
-    accelerations:
-      - -0.63737346368854886
-      - -0.10655167533101327
-      - 0.52359877549008771
-      - 0.011370659017717494
-      - -0.51200075584546045
-      - -0.0001083355878707844
-      - -0.10658426616323376
+      - 1.1659556837171545
+      - 0.15321687700386605
+      - -1.2942548897103756
+      - 1.0137610313243777
+      - -1.2898789539420636
+      - -1.5708119346350087
+      - 0.15309104597229828
+    velocities:
+      - -0.12217254231196206
+      - -0.020137394056260749
+      - 0.1003641360774478
+      - 0.0020305248892590316
+      - -0.097986580190594322
+      - -9.9070707872465006e-06
+      - -0.02014629931084673
+    accelerations:
+      - -0.63737303069685081
+      - -0.10505659976528797
+      - 0.52359877575118441
+      - 0.01059322969041377
+      - -0.51119508853491336
+      - -5.1685097269006825e-05
+      - -0.10510305839663971
     effort: []
     time_from_start:
       sec: 11
       nanosec: 460000000
   - positions:
-      - 1.1623603481310585
-      - 0.15470331159436529
-      - -1.2913460923873763
-      - 1.0126425922091387
-      - -1.2915889786091586
-      - -1.5707987250047921
-      - 0.15460626963026572
-    velocities:
-      - -0.13378705848283934
-      - -0.022365592593796016
-      - 0.1099053286477352
-      - 0.0023867435807399307
-      - -0.10747086122654573
-      - -2.274004246360016e-05
-      - -0.022372433530585611
-    accelerations:
-      - -0.63737346374564785
-      - -0.1065516753405558
-      - 0.52359877553698042
-      - 0.011370659018742032
-      - -0.5120007558913191
-      - -0.00010833558787456963
-      - -0.10658426617278316
+      - 1.1647078021326458
+      - 0.15301119180875372
+      - -1.2932297611930665
+      - 1.0137817712923627
+      - -1.2908797978848592
+      - -1.5708120358267412
+      - 0.15288526981809655
+    velocities:
+      - -0.12801034735635008
+      - -0.021099624835598081
+      - 0.10515986389632787
+      - 0.0021275500326934332
+      - -0.10266870058601166
+      - -1.0380463144070652e-05
+      - -0.021108955612475253
+    accelerations:
+      - -0.63737303052942917
+      - -0.10505659973769199
+      - 0.52359877561366941
+      - 0.010593229687643417
+      - -0.51119508840063188
+      - -5.1685097252469353e-05
+      - -0.10510305836902985
     effort: []
     time_from_start:
       sec: 11
       nanosec: 470000000
   - positions:
-      - 1.1609939976365602
-      - 0.15447489459464331
-      - -1.2902236430126106
-      - 1.0126669677228002
-      - -1.2926865650726498
-      - -1.5707989572460015
-      - 0.15437778276491193
-    velocities:
-      - -0.14016079312106139
-      - -0.02343110934732958
-      - 0.11514131640373405
-      - 0.0025004501709410113
-      - -0.11259086878607401
-      - -2.3823398342475994e-05
-      - -0.023438276192441463
-    accelerations:
-      - -0.63737346376496573
-      - -0.10655167534378933
-      - 0.52359877555287049
-      - 0.011370659019087242
-      - -0.51200075590684835
-      - -0.00010833558787785612
-      - -0.10658426617601668
+      - 1.1633961851615207
+      - 0.15279500126954906
+      - -1.2921522743725387
+      - 1.013803570551465
+      - -1.2919317597994464
+      - -1.5708121421868277
+      - 0.152668983674079
+    velocities:
+      - -0.13438407766147875
+      - -0.022150190832947714
+      - 0.11039585165232844
+      - 0.0022334823295671121
+      - -0.10778065146988512
+      - -1.0897314116581917e-05
+      - -0.022159986196138265
+    accelerations:
+      - -0.63737303055093975
+      - -0.10505659974123777
+      - 0.52359877563132196
+      - 0.01059322968800077
+      - -0.51119508841786809
+      - -5.1685097254212547e-05
+      - -0.10510305837257909
     effort: []
     time_from_start:
       sec: 11
       nanosec: 480000000
   - positions:
-      - 1.15956390979568
-      - 0.15423582242738607
-      - -1.289048833760285
-      - 1.0126924803023638
-      - -1.2938353516117358
-      - -1.5707992003207698
-      - 0.15413863747293971
-    velocities:
-      - -0.14653452775922679
-      - -0.024496626100853677
-      - 0.12037730415968635
-      - 0.0026141567611410814
-      - -0.11771087634555678
-      - -2.4906754221342195e-05
-      - -0.02450411885428784
-    accelerations:
-      - -0.63737346372876669
-      - -0.10655167533774053
-      - 0.5235987755231446
-      - 0.011370659018441741
-      - -0.51200075587778182
-      - -0.00010833558787170597
-      - -0.10658426616996448
+      - 1.1620208308873441
+      - 0.15256830507037092
+      - -1.2910224276744509
+      - 1.0138264291335359
+      - -1.2930348412228725
+      - -1.5708122537154239
+      - 0.15244218722422484
+    velocities:
+      - -0.14075780796660736
+      - -0.023200756830297341
+      - 0.115631839408329
+      - 0.00233941462644079
+      - -0.11289260235375856
+      - -1.1414165089093178e-05
+      - -0.023211016779801266
+    accelerations:
+      - -0.63737303057236705
+      - -0.10505659974477313
+      - 0.52359877564896062
+      - 0.010593229688357256
+      - -0.51119508843509043
+      - -5.1685097255954047e-05
+      - -0.10510305837611446
     effort: []
     time_from_start:
       sec: 11
       nanosec: 490000000
   - positions:
-      - 1.1580700846084182
-      - 0.15398609509259353
-      - -1.2878216646303997
-      - 1.0127191299478293
-      - -1.2950353382264166
-      - -1.5707994542290966
-      - 0.15388883375434895
-    velocities:
-      - -0.15290826239747149
-      - -0.02556214285439103
-      - 0.12561329191570381
-      - 0.0027278633513425662
-      - -0.12283088390510326
-      - -2.5990110100221878e-05
-      - -0.025569961516147481
-    accelerations:
-      - -0.63737346377076087
-      - -0.10655167534475922
-      - 0.52359877555764478
-      - 0.011370659019190708
-      - -0.51200075591150485
-      - -0.00010833558787884138
-      - -0.10658426617698318
+      - 1.1605817393101165
+      - 0.15233110321121932
+      - -1.2898402210988036
+      - 1.0138503470385758
+      - -1.294189042155137
+      - -1.5708123704125301
+      - 0.15220488046853409
+    velocities:
+      - -0.147131538271736
+      - -0.024251322827646971
+      - 0.12086782716432956
+      - 0.0024453469233144684
+      - -0.11800455323763201
+      - -1.1931016061604439e-05
+      - -0.024262047363464274
+    accelerations:
+      - -0.63737303059384987
+      - -0.10505659974831544
+      - 0.52359877566659929
+      - 0.010593229688714175
+      - -0.51119508845231276
+      - -5.1685097257693853e-05
+      - -0.10510305837965676
     effort: []
     time_from_start:
       sec: 11
       nanosec: 500000000
   - positions:
-      - 1.1565125220747738
-      - 0.15372571259026568
-      - -1.2865421356229545
-      - 1.0127469166591967
-      - -1.2962865249166931
-      - -1.5707997189709824
-      - 0.15362837160913961
-    velocities:
-      - -0.15928199703571622
-      - -0.026627659607928383
-      - 0.13084927967172127
-      - 0.002841569941544051
-      - -0.12795089146464975
-      - -2.7073465979101561e-05
-      - -0.026635804178007122
-    accelerations:
-      - -0.63737346381275506
-      - -0.10655167535177791
-      - 0.52359877559214496
-      - 0.011370659019939675
-      - -0.51200075594524175
-      - -0.00010833558788598017
-      - -0.10658426618400534
+      - 1.1590789104298378
+      - 0.15208339569209423
+      - -1.288605654645596
+      - 1.0138753242665843
+      - -1.2953943625962405
+      - -1.5708124922781457
+      - 0.15195706340700671
+    velocities:
+      - -0.15350526857686467
+      - -0.025301888824996604
+      - 0.12610381492033013
+      - 0.0025512792201881468
+      - -0.12311650412150547
+      - -1.2447867034115703e-05
+      - -0.025313077947127283
+    accelerations:
+      - -0.63737303061536044
+      - -0.10505659975185774
+      - 0.52359877568423796
+      - 0.010593229689071094
+      - -0.51119508846954897
+      - -5.1685097259437046e-05
+      - -0.10510305838320254
     effort: []
     time_from_start:
       sec: 11
       nanosec: 510000000
   - positions:
-      - 1.154891222194748
-      - 0.15345467492040255
-      - -1.2852102467379498
-      - 1.0127758404364664
-      - -1.2975889116825641
-      - -1.570799994546427
-      - 0.15335725103731179
-    velocities:
-      - -0.16565573167396083
-      - -0.027693176361465722
-      - 0.13608526742773866
-      - 0.0029552765317455345
-      - -0.13307089902419617
-      - -2.815682185798123e-05
-      - -0.027701646839866749
-    accelerations:
-      - -0.63737346385458271
-      - -0.10655167535877232
-      - 0.52359877562650636
-      - 0.01137065902068604
-      - -0.51200075597885375
-      - -0.00010833558789308847
-      - -0.10658426619100321
+      - 1.1575123442465083
+      - 0.15182518251299565
+      - -1.2873187283148289
+      - 1.0139013608175615
+      - -1.2966508025461825
+      - -1.5708126193122713
+      - 0.15169873603964273
+    velocities:
+      - -0.15987899888199333
+      - -0.026352454822346237
+      - 0.13133980267633072
+      - 0.0026572115170618257
+      - -0.12822845500537894
+      - -1.2964718006626968e-05
+      - -0.026364108530790294
+    accelerations:
+      - -0.63737303063687101
+      - -0.10505659975540352
+      - 0.52359877570191826
+      - 0.010593229689428448
+      - -0.51119508848679907
+      - -5.1685097261181934e-05
+      - -0.10510305838674831
     effort: []
     time_from_start:
       sec: 11
       nanosec: 520000000
   - positions:
-      - 1.1532061849683393
-      - 0.15317298208300401
-      - -1.2838259979753845
-      - 1.012805901279638
-      - -1.2989424985240308
-      - -1.5708002809554302
-      - 0.15307547203886537
-    velocities:
-      - -0.17202946631220536
-      - -0.028758693115003044
-      - 0.14132125518375596
-      - 0.0030689831219470162
-      - -0.1381909065837425
-      - -2.9240177736860882e-05
-      - -0.028767489501726359
-    accelerations:
-      - -0.63737346389621607
-      - -0.10655167536572856
-      - 0.52359877566067348
-      - 0.011370659021428501
-      - -0.51200075601229922
-      - -0.00010833558790016628
-      - -0.10658426619796292
+      - 1.1558820407601273
+      - 0.15155646367392367
+      - -1.2859794421065018
+      - 1.0139284566915074
+      - -1.2979583620049628
+      - -1.5708127515149064
+      - 0.15142989836644222
+    velocities:
+      - -0.16625272918712194
+      - -0.027403020819695863
+      - 0.13657579043233126
+      - 0.0027631438139355037
+      - -0.13334040588925236
+      - -1.3481568979138229e-05
+      - -0.027415139114453299
+    accelerations:
+      - -0.63737303065829831
+      - -0.10505659975893888
+      - 0.52359877571954305
+      - 0.010593229689785367
+      - -0.51119508850397977
+      - -5.168509726292174e-05
+      - -0.10510305839028715
     effort: []
     time_from_start:
       sec: 11
       nanosec: 530000000
   - positions:
-      - 1.1514574103955488
-      - 0.1528806340780702
-      - -1.2823893893352598
-      - 1.0128370991887115
-      - -1.3003472854410927
-      - -1.5708005781979923
-      - 0.15278303461380044
-    velocities:
-      - -0.1784032009504499
-      - -0.029824209868540369
-      - 0.14655724293977326
-      - 0.003182689712148498
-      - -0.14331091414328884
-      - -3.0323533615740534e-05
-      - -0.029833332163585968
-    accelerations:
-      - -0.63737346393784944
-      - -0.10655167537269174
-      - 0.52359877569486835
-      - 0.011370659022171397
-      - -0.51200075604571693
-      - -0.0001083355879072407
-      - -0.1065842662049261
+      - 1.1541879999706952
+      - 0.15127723917487818
+      - -1.2845877960206149
+      - 1.0139566118884222
+      - -1.2993170409725818
+      - -1.5708128888860515
+      - 0.15115055038740499
+    velocities:
+      - -0.17262645949225061
+      - -0.028453586817045493
+      - 0.14181177818833182
+      - 0.0028690761108091821
+      - -0.13845235677312581
+      - -1.399841995164949e-05
+      - -0.028466169698116304
+    accelerations:
+      - -0.63737303067980888
+      - -0.10505659976248119
+      - 0.5235987757371956
+      - 0.010593229690142286
+      - -0.51119508852121598
+      - -5.1685097264661546e-05
+      - -0.10510305839382598
     effort: []
     time_from_start:
       sec: 11
       nanosec: 540000000
   - positions:
-      - 1.149644898476377
-      - 0.15257763090560117
-      - -1.2809004208175754
-      - 1.012869434163687
-      - -1.3018032724337492
-      - -1.5708008862741134
-      - 0.15247993876211705
-    velocities:
-      - -0.18477693558869446
-      - -0.030889726622077698
-      - 0.15179323069579062
-      - 0.0032963963023499802
-      - -0.1484309217028352
-      - -3.1406889494620189e-05
-      - -0.030899174825445585
-    accelerations:
-      - -0.63737346397951056
-      - -0.10655167537965492
-      - 0.52359877572911873
-      - 0.011370659022914726
-      - -0.51200075607919016
-      - -0.00010833558791432189
-      - -0.10658426621189275
+      - 1.1524302218782123
+      - 0.15098750901585922
+      - -1.2831437900571681
+      - 1.0139858264083057
+      - -1.3007268394490394
+      - -1.5708130314257058
+      - 0.15086069210253128
+    velocities:
+      - -0.17900018979737925
+      - -0.02950415281439512
+      - 0.14704776594433239
+      - 0.0029750084076828605
+      - -0.14356430765699926
+      - -1.4515270924160753e-05
+      - -0.029517200281779312
+    accelerations:
+      - -0.6373730307012917
+      - -0.10505659976601656
+      - 0.52359877575482039
+      - 0.010593229690499206
+      - -0.51119508853845219
+      - -5.168509726640474e-05
+      - -0.10510305839737176
     effort: []
     time_from_start:
       sec: 11
       nanosec: 550000000
   - positions:
-      - 1.1477686492108226
-      - 0.15226397256559679
-      - -1.279359092422331
-      - 1.0129029062045647
-      - -1.3033104595020011
-      - -1.570801205183793
-      - 0.15216618448381514
-    velocities:
-      - -0.19115067022693899
-      - -0.031955243375615019
-      - 0.15702921845180792
-      - 0.0034101028925514619
-      - -0.15355092926238154
-      - -3.2490245373499841e-05
-      - -0.031965017487305195
-    accelerations:
-      - -0.63737346402114392
-      - -0.10655167538661463
-      - 0.5235987757633136
-      - 0.011370659023657187
-      - -0.51200075611263562
-      - -0.00010833558792139631
-      - -0.10658426621885593
+      - 1.1506087064826782
+      - 0.15068727319686684
+      - -1.2816474242161613
+      - 1.0140161002511578
+      - -1.3021877574343355
+      - -1.5708131791338704
+      - 0.15056032351182091
+    velocities:
+      - -0.18537392010250789
+      - -0.030554718811744749
+      - 0.15228375370033295
+      - 0.0030809407045565389
+      - -0.14867625854087271
+      - -1.5032121896672016e-05
+      - -0.030568230865442317
+    accelerations:
+      - -0.63737303072274676
+      - -0.10505659976955886
+      - 0.52359877577247294
+      - 0.010593229690856125
+      - -0.51119508855566065
+      - -5.1685097268146239e-05
+      - -0.1051030584009106
     effort: []
     time_from_start:
       sec: 11
       nanosec: 560000000
   - positions:
-      - 1.145828662910485
-      - 0.15193965911014801
-      - -1.2777654044055033
-      - 1.0129375153057854
-      - -1.3048688463955416
-      - -1.5708015349269786
-      - 0.1518417718310015
-    velocities:
-      - -0.19754483367993281
-      - -0.033024175276723557
-      - 0.16228198836616387
-      - 0.0035241739301281991
-      - -0.15868734724562419
-      - -3.3577073576346581e-05
-      - -0.033034276341322742
-    accelerations:
-      - -0.63737346382357973
-      - -0.10655167535358549
-      - 0.52359877560102674
-      - 0.011370659020129193
-      - -0.51200075595392924
-      - -0.0001083355878852856
-      - -0.10658426618581986
+      - 1.1487234538331226
+      - 0.15037653172598239
+      - -1.2800986985378726
+      - 1.0140474334161638
+      - -1.3036997948891467
+      - -1.5708133320105404
+      - 0.15024944462335899
+    velocities:
+      - -0.19178148925419142
+      - -0.031610862381391373
+      - 0.15754753990053166
+      - 0.0031874354078335501
+      - -0.15381534934333285
+      - -1.5551716888380846e-05
+      - -0.031624841487943117
+    accelerations:
+      - -0.63737303079446717
+      - -0.10505659978137927
+      - 0.52359877583137027
+      - 0.010593229692047013
+      - -0.51119508861322571
+      - -5.1685097272693112e-05
+      - -0.105103058412731
     effort: []
     time_from_start:
       sec: 11
       nanosec: 570000000
   - positions:
-      - 1.1438249392818221
-      - 0.15160469049018255
-      - -1.2761193565259497
-      - 1.0129732614725859
-      - -1.3064784333501722
-      - -1.5708018755037199
-      - 0.15150670075458889
-    velocities:
-      - -0.20391856831817767
-      - -0.03408969203026093
-      - 0.1675179761221815
-      - 0.0036378805203296483
-      - -0.16380735480517075
-      - -3.466042945520091e-05
-      - -0.03410011900318239
-    accelerations:
-      - -0.63737346386590699
-      - -0.10655167536066316
-      - 0.52359877563577673
-      - 0.011370659020883798
-      - -0.51200075598792982
-      - -0.00010833558789247522
-      - -0.10658426619289059
+      - 1.1467744643657611
+      - 0.15005528467510626
+      - -1.2784976133806505
+      - 1.0140798258960739
+      - -1.3052629514636134
+      - -1.5708134900556809
+      - 0.14992805550907753
+    velocities:
+      - -0.1981552195593197
+      - -0.032661428378740934
+      - 0.16278352765653184
+      - 0.0032933677047072099
+      - -0.15892730022720611
+      - -1.6068567860879392e-05
+      - -0.032675872071606063
+    accelerations:
+      - -0.63737303081522834
+      - -0.10505659978480014
+      - 0.52359877584841219
+      - 0.010593229692391789
+      - -0.51119508862987906
+      - -5.1685097274377014e-05
+      - -0.10510305841615881
     effort: []
     time_from_start:
       sec: 11
       nanosec: 580000000
   - positions:
-      - 1.1417574783067768
-      - 0.15125906670268169
-      - -1.2744209487688356
-      - 1.0130101447052886
-      - -1.3081392203803981
-      - -1.57080222691402
-      - 0.15116097125155764
-    velocities:
-      - -0.21029230295642254
-      - -0.035155208783798311
-      - 0.17275396387819916
-      - 0.003751587110531098
-      - -0.16892736236471734
-      - -3.5743785334055246e-05
-      - -0.035165961665042045
-    accelerations:
-      - -0.63737346390823424
-      - -0.10655167536774084
-      - 0.52359877567058222
-      - 0.01137065902163927
-      - -0.5120007560219304
-      - -0.00010833558789967161
-      - -0.1065842661999752
+      - 1.1447617375953481
+      - 0.14972353196425656
+      - -1.276844168345868
+      - 1.0141132776989525
+      - -1.3068772275469192
+      - -1.5708136532693313
+      - 0.14959615608895943
+    velocities:
+      - -0.20452894986444789
+      - -0.03371199437609048
+      - 0.16801951541253196
+      - 0.0033993000015808687
+      - -0.16403925111107931
+      - -1.6585418833377931e-05
+      - -0.033726902655268995
+    accelerations:
+      - -0.63737303083590624
+      - -0.10505659978820714
+      - 0.52359877586542636
+      - 0.010593229692735698
+      - -0.51119508864644914
+      - -5.1685097276054139e-05
+      - -0.10510305841957275
     effort: []
     time_from_start:
       sec: 11
       nanosec: 590000000
   - positions:
-      - 1.1396262799853498
-      - 0.15090278774764559
-      - -1.2726701811341619
-      - 1.0130481650038932
-      - -1.309851207486219
-      - -1.5708025891578785
-      - 0.15080458332190796
-    velocities:
-      - -0.21666603759466743
-      - -0.036220725537335685
-      - 0.1779899516342168
-      - 0.0038652937007325481
-      - -0.17404736992426392
-      - -3.6827141212909582e-05
-      - -0.0362318043269017
-    accelerations:
-      - -0.63737346395058925
-      - -0.10655167537481851
-      - 0.52359877570535995
-      - 0.011370659022394742
-      - -0.51200075605595874
-      - -0.000108335587906868
-      - -0.10658426620705981
+      - 1.1426852735218838
+      - 0.14938127359343339
+      - -1.2751383634335256
+      - 1.0141477888247998
+      - -1.3085426231390631
+      - -1.5708138216514911
+      - 0.1492537463630047
+    velocities:
+      - -0.2109026801695762
+      - -0.034762560373440041
+      - 0.17325550316853214
+      - 0.0035052322984545285
+      - -0.16915120199495257
+      - -1.7102269805876476e-05
+      - -0.034777933238931941
+    accelerations:
+      - -0.63737303085666741
+      - -0.10505659979162801
+      - 0.52359877588246828
+      - 0.010593229693080474
+      - -0.51119508866310248
+      - -5.1685097277734652e-05
+      - -0.10510305842299363
     effort: []
     time_from_start:
       sec: 11
       nanosec: 600000000
   - positions:
-      - 1.1374313443175406
-      - 0.15053585362507416
-      - -1.2708670536219282
-      - 1.0130873223683996
-      - -1.3116143946676351
-      - -1.5708029622352964
-      - 0.15043753696563972
-    velocities:
-      - -0.22303977223291233
-      - -0.037286242290873066
-      - 0.18322593939023446
-      - 0.0039790002909339981
-      - -0.17916737748381051
-      - -3.7910497091763918e-05
-      - -0.037297646988761354
-    accelerations:
-      - -0.63737346399294426
-      - -0.10655167538190312
-      - 0.52359877574016545
-      - 0.011370659023150648
-      - -0.51200075608995932
-      - -0.00010833558791407117
-      - -0.10658426621413748
+      - 1.1405450721453683
+      - 0.14902850956263675
+      - -1.2733801986436235
+      - 1.014183359273616
+      - -1.3102591382400459
+      - -1.5708139952021607
+      - 0.1489008263312134
+    velocities:
+      - -0.2172764104747045
+      - -0.035813126370789608
+      - 0.17849149092453237
+      - 0.0036111645953281891
+      - -0.17426315287882585
+      - -1.7619120778375025e-05
+      - -0.035828963822594886
+    accelerations:
+      - -0.63737303087745634
+      - -0.10505659979505583
+      - 0.52359877589956572
+      - 0.010593229693426118
+      - -0.51119508867978358
+      - -5.1685097279421942e-05
+      - -0.10510305842642144
     effort: []
     time_from_start:
       sec: 11
       nanosec: 610000000
   - positions:
-      - 1.1351726713033488
-      - 0.15015826433496737
-      - -1.2690115662321346
-      - 1.0131276167988084
-      - -1.3134287819246468
-      - -1.5708033461462727
-      - 0.15005983218275287
-    velocities:
-      - -0.22941350687115725
-      - -0.038351759044410447
-      - 0.18846192714625215
-      - 0.0040927068811354482
-      - -0.18428738504335712
-      - -3.8993852970618261e-05
-      - -0.038363489650621009
-    accelerations:
-      - -0.63737346403535478
-      - -0.10655167538898079
-      - 0.52359877577497094
-      - 0.01137065902390612
-      - -0.51200075612401541
-      - -0.00010833558792127434
-      - -0.10658426622122209
+      - 1.1383411334658011
+      - 0.14866523987186647
+      - -1.2715696739761606
+      - 1.0142199890454009
+      - -1.312026772849868
+      - -1.5708141739213404
+      - 0.14853739599358534
+    velocities:
+      - -0.22365014077983278
+      - -0.036863692368139168
+      - 0.18372747868053255
+      - 0.0037170968922018489
+      - -0.17937510376269911
+      - -1.8135971750873574e-05
+      - -0.036879994406257832
+    accelerations:
+      - -0.63737303089821751
+      - -0.1050565997984767
+      - 0.52359877591663539
+      - 0.010593229693771328
+      - -0.51119508869640917
+      - -5.1685097281109231e-05
+      - -0.10510305842984925
     effort: []
     time_from_start:
       sec: 11
       nanosec: 620000000
   - positions:
-      - 1.1328502609427757
-      - 0.14977001987732538
-      - -1.2671037189647816
-      - 1.013169048295119
-      - -1.3152943692572532
-      - -1.570803740890808
-      - 0.14967146897324762
-    velocities:
-      - -0.23578724150940211
-      - -0.039417275797947827
-      - 0.19369791490226979
-      - 0.0042064134713368983
-      - -0.18940739260290371
-      - -4.0077208849472597e-05
-      - -0.039429332312480664
-    accelerations:
-      - -0.63737346407768203
-      - -0.1065516753960654
-      - 0.52359877580974867
-      - 0.011370659024661592
-      - -0.51200075615804375
-      - -0.00010833558792847073
-      - -0.1065842662283067
+      - 1.1360734574831832
+      - 0.14829146452112285
+      - -1.2697067894311385
+      - 1.0142576781401544
+      - -1.3138455269685285
+      - -1.5708143578090294
+      - 0.14816345535012077
+    velocities:
+      - -0.23002387108496106
+      - -0.037914258365488729
+      - 0.18896346643653272
+      - 0.0038230291890755091
+      - -0.18448705464657236
+      - -1.8652822723372119e-05
+      - -0.037931024989920771
+    accelerations:
+      - -0.63737303091897868
+      - -0.10505659980189758
+      - 0.52359877593367732
+      - 0.010593229694116538
+      - -0.51119508871306252
+      - -5.1685097282789745e-05
+      - -0.10510305843327013
     effort: []
     time_from_start:
       sec: 11
       nanosec: 630000000
   - positions:
-      - 1.1304641132358202
-      - 0.14937112025214802
-      - -1.2651435118198682
-      - 1.0132116168573315
-      - -1.3172111566654547
-      - -1.570804146468902
-      - 0.14927244733712378
-    velocities:
-      - -0.24216097614764701
-      - -0.040482792551485201
-      - 0.19893390265828745
-      - 0.0043201200615383484
-      - -0.19452740016245029
-      - -4.1160564728326933e-05
-      - -0.040495174974340319
-    accelerations:
-      - -0.63737346412003704
-      - -0.10655167540314307
-      - 0.52359877584455417
-      - 0.011370659025417064
-      - -0.51200075619204433
-      - -0.00010833558793566712
-      - -0.10658426623538438
+      - 1.1337420441975166
+      - 0.14790718351040613
+      - -1.2677915450085584
+      - 1.0142964265578769
+      - -1.3157154005960254
+      - -1.5708145468652281
+      - 0.14777900440081995
+    velocities:
+      - -0.23639760138925062
+      - -0.038964824362700046
+      - 0.19419945419184387
+      - 0.0039289614859352286
+      - -0.18959900552977293
+      - -1.9169673695802651e-05
+      - -0.038982055573445411
+    accelerations:
+      - -0.6373730300998619
+      - -0.10505659966688824
+      - 0.52359877526075693
+      - 0.010593229680501826
+      - -0.51119508805612368
+      - -5.1685097216368477e-05
+      - -0.10510305829819827
     effort: []
     time_from_start:
       sec: 11
       nanosec: 640000000
   - positions:
-      - 1.1280142281824832
-      - 0.14896156545943542
-      - -1.2631309447973955
-      - 1.0132553224854464
-      - -1.3191791441492515
-      - -1.5708045628805547
-      - 0.14886276727438144
-    velocities:
-      - -0.2485347107858919
-      - -0.041548309305022582
-      - 0.20416989041430511
-      - 0.0044338266517397985
-      - -0.19964740772199688
-      - -4.2243920607181269e-05
-      - -0.041561017636199973
-    accelerations:
-      - -0.63737346416239204
-      - -0.10655167541022074
-      - 0.5235987758793319
-      - 0.011370659026172536
-      - -0.51200075622607266
-      - -0.00010833558794287029
-      - -0.10658426624246899
+      - 1.1313468936087983
+      - 0.1475123968397159
+      - -1.265823940708418
+      - 1.014336234298568
+      - -1.3176363937323612
+      - -1.5708147410899369
+      - 0.14738404314568249
+    velocities:
+      - -0.24277133169435625
+      - -0.040015390360045873
+      - 0.19943544194782545
+      - 0.0040348937828085128
+      - -0.19471095641362804
+      - -1.9686524668299361e-05
+      - -0.040033086157104616
+    accelerations:
+      - -0.63737303009797452
+      - -0.10505659966657599
+      - 0.52359877525923038
+      - 0.010593229680471468
+      - -0.51119508805459712
+      - -5.1685097216216011e-05
+      - -0.10510305829788602
     effort: []
     time_from_start:
       sec: 11
       nanosec: 650000000
   - positions:
-      - 1.1255006057827637
-      - 0.14854135549918743
-      - -1.2610660178973625
-      - 1.0133001651794629
-      - -1.3211983317086433
-      - -1.5708049901257664
-      - 0.14844242878502054
-    velocities:
-      - -0.25490844542413688
-      - -0.04261382605855997
-      - 0.20940587817032283
-      - 0.0045475332419412495
-      - -0.20476741528154355
-      - -4.3327276486035612e-05
-      - -0.042626860298059642
-    accelerations:
-      - -0.63737346420480256
-      - -0.10655167541731229
-      - 0.5235987759141929
-      - 0.011370659026929743
-      - -0.51200075626018426
-      - -0.00010833558795007346
-      - -0.10658426624956747
+      - 1.1288880057170292
+      - 0.14710710450905223
+      - -1.2638039765307181
+      - 1.0143771013622278
+      - -1.3196085063775356
+      - -1.5708149404831551
+      - 0.14697857158470848
+    velocities:
+      - -0.24914506199946196
+      - -0.041065956357391714
+      - 0.20467142970380708
+      - 0.004140826079681797
+      - -0.1998229072974832
+      - -2.0203375640796076e-05
+      - -0.041084116740763836
+    accelerations:
+      - -0.63737303009617041
+      - -0.10505659966627762
+      - 0.52359877525773157
+      - 0.010593229680441111
+      - -0.51119508805315383
+      - -5.1685097216066933e-05
+      - -0.10510305829758765
     effort: []
     time_from_start:
       sec: 11
       nanosec: 660000000
   - positions:
-      - 1.1229232461552365
-      - 0.14811049039122662
-      - -1.2589487312171783
-      - 1.013346144937266
-      - -1.3232687192483799
-      - -1.5708054282045167
-      - 0.14801143188886964
-    velocities:
-      - -0.26129240395039882
-      - -0.043681051970791564
-      - 0.21465026479380309
-      - 0.0046614222249635037
-      - -0.2098956356687196
-      - -4.4412370140154876e-05
-      - -0.043694412641391803
-    accelerations:
-      - -0.63737346426991714
-      - -0.10655167542819942
-      - 0.5235987759676779
-      - 0.011370659028089406
-      - -0.51200075631244801
-      - -0.00010833558796466953
-      - -0.10658426626044766
+      - 1.1263653805402973
+      - 0.14669130652139653
+      - -1.2617316524903177
+      - 1.0144190277485556
+      - -1.3216317385170411
+      - -1.5708151450448815
+      - 0.1465625897208806
+    velocities:
+      - -0.25553572387535545
+      - -0.042119313143129999
+      - 0.20992132666101201
+      - 0.0042470397816520046
+      - -0.20494843788334902
+      - -2.0721599607851476e-05
+      - -0.042137939346971631
+    accelerations:
+      - -0.63737303065793749
+      - -0.10505659975887643
+      - 0.52359877571920999
+      - 0.010593229689782331
+      - -0.51119508850367446
+      - -5.1685097260915966e-05
+      - -0.10510305839022123
     effort: []
     time_from_start:
       sec: 11
       nanosec: 670000000
   - positions:
-      - 1.1202821491885191
-      - 0.14766897011693275
-      - -1.2567790846653419
-      - 1.0133932617608432
-      - -1.3253903068579345
-      - -1.5708058771168245
-      - 0.1475697765673028
-    velocities:
-      - -0.2676661385876935
-      - -0.044746568724170106
-      - 0.21988625254904012
-      - 0.0047751288151479821
-      - -0.21501564322750294
-      - -4.5495726018882956e-05
-      - -0.044760255303092578
-    accelerations:
-      - -0.63737346336056699
-      - -0.10655167527618715
-      - 0.52359877522065013
-      - 0.011370659011866889
-      - -0.51200075558201097
-      - -0.00010833558781010704
-      - -0.10658426610838675
+      - 1.1237790182484944
+      - 0.14626500290475164
+      - -1.2596069687267821
+      - 1.014462013454728
+      - -1.3237060900146187
+      - -1.5708153547751027
+      - 0.14613609758221413
+    velocities:
+      - -0.261909454180484
+      - -0.043169879140479615
+      - 0.21515731441701252
+      - 0.0043529720785257129
+      - -0.21006038876722249
+      - -2.1238450580343001e-05
+      - -0.043188969930634633
+    accelerations:
+      - -0.63737303067936479
+      - -0.10505659976240833
+      - 0.52359877573683478
+      - 0.010593229690138817
+      - -0.51119508852091067
+      - -5.1685097262654078e-05
+      - -0.10510305839375313
     effort: []
     time_from_start:
       sec: 11
       nanosec: 680000000
   - positions:
-      - 1.1175773148754198
-      - 0.14721679467510357
-      - -1.2545570782359456
-      - 1.0134415156503223
-      - -1.3275630945430841
-      - -1.5708063368626908
-      - 0.14711746281911747
-    velocities:
-      - -0.27403987322591539
-      - -0.045812085477703657
-      - 0.22512224030503888
-      - 0.004888835405349002
-      - -0.22013565078703107
-      - -4.6579081897768639e-05
-      - -0.045826097964948402
-    accelerations:
-      - -0.63737346337955181
-      - -0.10655167527936517
-      - 0.52359877523627651
-      - 0.011370659012206028
-      - -0.51200075559724878
-      - -0.00010833558781333254
-      - -0.10658426611157171
+      - 1.1211289186536404
+      - 0.14582819362813329
+      - -1.2574299250856866
+      - 1.014506058483869
+      - -1.3258315610210345
+      - -1.5708155696738335
+      - 0.14569909513771107
+    velocities:
+      - -0.26828318448561267
+      - -0.044220445137829231
+      - 0.22039330217301309
+      - 0.0044589043753994213
+      - -0.21517233965109597
+      - -2.1755301552834533e-05
+      - -0.044240000514297648
+    accelerations:
+      - -0.63737303070084761
+      - -0.10505659976594717
+      - 0.52359877575448732
+      - 0.010593229690495302
+      - -0.51119508853811912
+      - -5.1685097264398965e-05
+      - -0.1051030583972989
     effort: []
     time_from_start:
       sec: 11
       nanosec: 690000000
   - positions:
-      - 1.1148087432159377
-      - 0.14675396406573904
-      - -1.2522827119289894
-      - 1.0134909066057032
-      - -1.3297870823038291
-      - -1.5708068074421162
-      - 0.14665449064431355
-    velocities:
-      - -0.28041360786413727
-      - -0.0468776022312372
-      - 0.23035822806103759
-      - 0.005002541995550021
-      - -0.2252556583465592
-      - -4.7662437776654322e-05
-      - -0.04689194062680422
-    accelerations:
-      - -0.63737346339853662
-      - -0.10655167528253624
-      - 0.52359877525184739
-      - 0.011370659012544299
-      - -0.51200075561251435
-      - -0.00010833558781656482
-      - -0.10658426611474278
+      - 1.1184150817557368
+      - 0.14538087869154176
+      - -1.2552005215670325
+      - 1.0145511628359789
+      - -1.328008151536288
+      - -1.5708157897410737
+      - 0.14525158238737165
+    velocities:
+      - -0.27465691479074128
+      - -0.045271011135178854
+      - 0.22562928992901363
+      - 0.0045648366722731305
+      - -0.22028429053496945
+      - -2.2272152525326062e-05
+      - -0.045291031097960656
+    accelerations:
+      - -0.63737303072233042
+      - -0.105056599769486
+      - 0.52359877577211211
+      - 0.010593229690851788
+      - -0.51119508855532758
+      - -5.1685097266137077e-05
+      - -0.10510305840083774
     effort: []
     time_from_start:
       sec: 11
       nanosec: 700000000
   - positions:
-      - 1.1119764342100735
-      - 0.14628047828883917
-      - -1.2499559857444731
-      - 1.0135414346269862
-      - -1.3320622701401696
-      - -1.5708072888551003
-      - 0.14618086004289105
-    velocities:
-      - -0.28678734250280069
-      - -0.04794311898484456
-      - 0.23559421581739906
-      - 0.0051162485857589174
-      - -0.23037566590644201
-      - -4.8745793655615052e-05
-      - -0.047957783288733874
-    accelerations:
-      - -0.63737346386018934
-      - -0.10655167535971254
-      - 0.52359877563111379
-      - 0.011370659020780148
-      - -0.51200075598335015
-      - -0.00010833558789502987
-      - -0.10658426619193996
+      - 1.1156375075547826
+      - 0.14492305809497683
+      - -1.252918758170819
+      - 1.0145973265110575
+      - -1.3302358615603798
+      - -1.570816014976824
+      - 0.14479355933119573
+    velocities:
+      - -0.28103064509586989
+      - -0.046321577132528477
+      - 0.23086527768501419
+      - 0.0046707689691468397
+      - -0.22539624141884293
+      - -2.278900349781759e-05
+      - -0.046342061681623671
+    accelerations:
+      - -0.63737303074381324
+      - -0.10505659977302484
+      - 0.52359877578976466
+      - 0.010593229691209141
+      - -0.51119508857256379
+      - -5.1685097267878577e-05
+      - -0.10510305840438351
     effort: []
     time_from_start:
       sec: 11
       nanosec: 710000000
   - positions:
-      - 1.1090803878578281
-      - 0.14579633734440409
-      - -1.2475768996823975
-      - 1.0135930997141711
-      - -1.3343886580521045
-      - -1.5708077811016432
-      - 0.14569657101485015
-    velocities:
-      - -0.29316107714104522
-      - -0.049008635738381885
-      - 0.24083020357341639
-      - 0.0052299551759603406
-      - -0.23549567346598835
-      - -4.9829149534504577e-05
-      - -0.04902362595059348
-    accelerations:
-      - -0.6373734639018227
-      - -0.10655167536667225
-      - 0.52359877566530866
-      - 0.01137065902152261
-      - -0.51200075601682338
-      - -0.00010833558790210429
-      - -0.10658426619889967
+      - 1.1127961960507773
+      - 0.14445473183843843
+      - -1.2505846348970457
+      - 1.0146445495091048
+      - -1.3325146910933101
+      - -1.5708162453810841
+      - 0.14432502596918317
+    velocities:
+      - -0.28740437540099856
+      - -0.0473721431298781
+      - 0.23610126544101476
+      - 0.0047767012660205489
+      - -0.23050819230271644
+      - -2.3305854470309122e-05
+      - -0.047393092265286686
+    accelerations:
+      - -0.63737303076529606
+      - -0.10505659977657061
+      - 0.52359877580744496
+      - 0.010593229691566494
+      - -0.51119508858980001
+      - -5.1685097269623465e-05
+      - -0.10510305840792929
     effort: []
     time_from_start:
       sec: 11
       nanosec: 720000000
   - positions:
-      - 1.1061206041592
-      - 0.14530154123243361
-      - -1.2451454537427615
-      - 1.0136459018672581
-      - -1.3367662460396352
-      - -1.570808284181745
-      - 0.14520162356019059
-    velocities:
-      - -0.29953481177928981
-      - -0.050074152491919224
-      - 0.24606619132943375
-      - 0.0053436617661617647
-      - -0.24061568102553468
-      - -5.0912505413394116e-05
-      - -0.050089468612453093
-    accelerations:
-      - -0.63737346394351158
-      - -0.1065516753736389
-      - 0.52359877569955904
-      - 0.011370659022265939
-      - -0.51200075605026885
-      - -0.00010833558790919226
-      - -0.10658426620587326
+      - 1.109891147243721
+      - 0.14397589992192655
+      - -1.2481981517457124
+      - 1.0146928318301207
+      - -1.3348446401350791
+      - -1.5708164809538538
+      - 0.14384598230133402
+    velocities:
+      - -0.29377810570612717
+      - -0.048422709127227723
+      - 0.24133725319701532
+      - 0.0048826335628942581
+      - -0.23562014318658994
+      - -2.3822705442800651e-05
+      - -0.048444122848949701
+    accelerations:
+      - -0.63737303078677887
+      - -0.10505659978010945
+      - 0.52359877582509751
+      - 0.010593229691923847
+      - -0.51119508860706397
+      - -5.1685097271364964e-05
+      - -0.10510305841147506
     effort: []
     time_from_start:
       sec: 11
       nanosec: 730000000
   - positions:
-      - 1.1030970831141897
-      - 0.14479608995292781
-      - -1.2426616479255657
-      - 1.0136998410862474
-      - -1.339195034102761
-      - -1.5708087980954055
-      - 0.14469601767891252
-    velocities:
-      - -0.30590854641753434
-      - -0.05113966924545655
-      - 0.25130217908545105
-      - 0.0054573683563631879
-      - -0.24573568858508099
-      - -5.1995861292283641e-05
-      - -0.051155311274312699
-    accelerations:
-      - -0.63737346398514494
-      - -0.10655167538059167
-      - 0.52359877573372615
-      - 0.011370659023008401
-      - -0.51200075608371431
-      - -0.0001083355879162599
-      - -0.10658426621283297
+      - 1.1069223611336136
+      - 0.14348656234544124
+      - -1.2457593087168197
+      - 1.0147421734741056
+      - -1.3372257086856862
+      - -1.5708167216951332
+      - 0.14335642832764833
+    velocities:
+      - -0.30015183601125583
+      - -0.049473275124577346
+      - 0.24657324095301586
+      - 0.0049885658597679664
+      - -0.24073209407046342
+      - -2.4339556415292183e-05
+      - -0.049495153432612717
+    accelerations:
+      - -0.63737303080826169
+      - -0.10505659978365522
+      - 0.5235987758427223
+      - 0.010593229692280333
+      - -0.51119508862427243
+      - -5.1685097273109852e-05
+      - -0.1051030584150139
     effort: []
     time_from_start:
       sec: 11
       nanosec: 740000000
   - positions:
-      - 1.1000098247227976
-      - 0.14427998350588669
-      - -1.2401254822308101
-      - 1.0137549173711384
-      - -1.3416750222414819
-      - -1.5708093228426248
-      - 0.14417975337101591
-    velocities:
-      - -0.31228228105577888
-      - -0.052205185998993882
-      - 0.25653816684146841
-      - 0.0055710749465646111
-      - -0.25085569614462733
-      - -5.3079217171173173e-05
-      - -0.052221153936172306
-    accelerations:
-      - -0.6373734640267783
-      - -0.10655167538755138
-      - 0.52359877576792102
-      - 0.011370659023750862
-      - -0.51200075611718754
-      - -0.0001083355879233411
-      - -0.10658426621979268
+      - 1.1038898377204549
+      - 0.14298671910898242
+      - -1.2432681058103665
+      - 1.0147925744410589
+      - -1.3396578967451325
+      - -1.5708169676049222
+      - 0.14285636404812596
+    velocities:
+      - -0.30652556631638439
+      - -0.050523841121926961
+      - 0.2518092287090164
+      - 0.0050944981566416747
+      - -0.24584404495433687
+      - -2.4856407387783708e-05
+      - -0.050546184016275718
+    accelerations:
+      - -0.63737303082968899
+      - -0.10505659978718712
+      - 0.52359877586034709
+      - 0.010593229692636819
+      - -0.51119508864148089
+      - -5.1685097274844576e-05
+      - -0.10510305841854579
     effort: []
     time_from_start:
       sec: 11
       nanosec: 750000000
   - positions:
-      - 1.0968588289850234
-      - 0.14375322189131037
-      - -1.2375369566584948
-      - 1.0138111307219315
-      - -1.3442062104557977
-      - -1.5708098584234029
-      - 0.14365283063650083
-    velocities:
-      - -0.31865601569402341
-      - -0.053270702752531214
-      - 0.26177415459748571
-      - 0.0056847815367660351
-      - -0.25597570370417361
-      - -5.4162573050062698e-05
-      - -0.053286996598031912
-    accelerations:
-      - -0.63737346406841167
-      - -0.10655167539451803
-      - 0.52359877580211589
-      - 0.011370659024494191
-      - -0.51200075615054974
-      - -0.00010833558793041552
-      - -0.10658426622675239
+      - 1.1007935770042454
+      - 0.14247637021255016
+      - -1.2407245430263538
+      - 1.0148440347309813
+      - -1.3421412043134171
+      - -1.5708172186832212
+      - 0.14234578946276705
+    velocities:
+      - -0.31289929662151306
+      - -0.051574407119276584
+      - 0.25704521646501693
+      - 0.0052004304535153839
+      - -0.25095599583821038
+      - -2.5373258360275237e-05
+      - -0.051597214599938733
+    accelerations:
+      - -0.63737303085122732
+      - -0.1050565997907329
+      - 0.52359877587799963
+      - 0.010593229692994172
+      - -0.5111950886587171
+      - -5.1685097276586076e-05
+      - -0.10510305842209157
     effort: []
     time_from_start:
       sec: 11
       nanosec: 760000000
   - positions:
-      - 1.093644095958104
-      - 0.14321580511876711
-      - -1.2348960712556392
-      - 1.0138684811376053
-      - -1.3467885986997306
-      - -1.57081040483773
-      - 0.14311524948493853
-    velocities:
-      - -0.32503588802947081
-      - -0.054337245563719778
-      - 0.26701518443781097
-      - 0.0057985976226820899
-      - -0.26110064166290398
-      - -5.5246972166239687e-05
-      - -0.054353865631381768
-    accelerations:
-      - -0.63737346416300267
-      - -0.10655167541031789
-      - 0.52359877587977599
-      - 0.011370659026183812
-      - -0.51200075622654451
-      - -0.00010833558794873176
-      - -0.10658426624256613
+      - 1.0976335789935516
+      - 0.14195551565755651
+      - -1.2381286203718191
+      - 1.0148965543437298
+      - -1.3446756313836692
+      - -1.570817474930029
+      - 0.14182470457298421
+    velocities:
+      - -0.31928319065603283
+      - -0.052626648378677407
+      - 0.26228955367417622
+      - 0.0053065316730027678
+      - -0.25607609838256756
+      - -2.5890933517621817e-05
+      - -0.052649921186495106
+    accelerations:
+      - -0.63737302998140111
+      - -0.10505659964736219
+      - 0.52359877516341813
+      - 0.010593229678532047
+      - -0.51119508796108859
+      - -5.1685097205611159e-05
+      - -0.10510305827865835
     effort: []
     time_from_start:
       sec: 11
       nanosec: 770000000
   - positions:
-      - 1.0903656255883569
-      - 0.14266773317928277
-      - -1.2322028259781437
-      - 1.0139269686191179
-      - -1.3494221870164036
-      - -1.5708109620856154
-      - 0.14256700990735213
-    velocities:
-      - -0.33140962266771534
-      - -0.055402762317257097
-      - 0.27225117219382833
-      - 0.00591230421288354
-      - -0.26622064922245026
-      - -5.6330328045151642e-05
-      - -0.05541970829324136
-    accelerations:
-      - -0.63737346420458052
-      - -0.1065516754172776
-      - 0.52359877591402637
-      - 0.011370659026927141
-      - -0.51200075626001773
-      - -0.00010833558795580618
-      - -0.10658426624952584
+      - 1.0944098437712708
+      - 0.14142415545766518
+      - -1.2354803379148616
+      - 1.0149501332779269
+      - -1.3472611778894026
+      - -1.5708177363453393
+      - 0.14129310939244727
+    velocities:
+      - -0.32565692096113891
+      - -0.053677214376023311
+      - 0.26752554143015822
+      - 0.0054124639698760486
+      - -0.26118804926642303
+      - -2.640778449010703e-05
+      - -0.053700951770154395
+    accelerations:
+      - -0.63737302998029088
+      - -0.10505659964718872
+      - 0.52359877516258546
+      - 0.0105932296785147
+      - -0.51119508796025592
+      - -5.1685097205519679e-05
+      - -0.10510305827848487
     effort: []
     time_from_start:
       sec: 11
       nanosec: 780000000
   - positions:
-      - 1.0870234178722269
-      - 0.14210900607226301
-      - -1.2294572208230878
-      - 1.0139865931665326
-      - -1.3521069754086721
-      - -1.5708115301670598
-      - 0.14200811190314708
-    velocities:
-      - -0.33778335730595987
-      - -0.056468279070794415
-      - 0.27748715994984569
-      - 0.0060260108030849892
-      - -0.27134065678199654
-      - -5.741368392406359e-05
-      - -0.056485550955100959
-    accelerations:
-      - -0.63737346424621388
-      - -0.10655167542423731
-      - 0.52359877594822124
-      - 0.011370659027668735
-      - -0.51200075629343544
-      - -0.0001083355879628806
-      - -0.10658426625649249
+      - 1.0911223712459386
+      - 0.14088228959780036
+      - -1.2327796955803443
+      - 1.0150047715350927
+      - -1.349897843903975
+      - -1.5708180029291592
+      - 0.14075100390607365
+    velocities:
+      - -0.33203065126624476
+      - -0.05472778037336918
+      - 0.27276152918613999
+      - 0.005518396266749325
+      - -0.26630000015027827
+      - -2.6924635462592227e-05
+      - -0.05475198235381365
+    accelerations:
+      - -0.63737302997901413
+      - -0.10505659964697361
+      - 0.52359877516153075
+      - 0.010593229678493016
+      - -0.51119508795920121
+      - -5.1685097205414647e-05
+      - -0.10510305827826977
     effort: []
     time_from_start:
       sec: 11
       nanosec: 790000000
   - positions:
-      - 1.0836174728097154
-      - 0.14153962379770799
-      - -1.2266592557904723
-      - 1.0140473547798492
-      - -1.3548429638765356
-      - -1.5708121090820626
-      - 0.14143855547232353
-    velocities:
-      - -0.34415709194420441
-      - -0.057533795824331734
-      - 0.28272314770586304
-      - 0.0061397173932864393
-      - -0.27646066434154282
-      - -5.8497039802975544e-05
-      - -0.057551393616960551
-    accelerations:
-      - -0.63737346428779174
-      - -0.10655167543119702
-      - 0.52359877598241611
-      - 0.011370659028412064
-      - -0.51200075632690867
-      - -0.00010833558796995502
-      - -0.1065842662634522
+      - 1.0877711614175549
+      - 0.14032991807796197
+      - -1.2300266933682664
+      - 1.0150604691152272
+      - -1.3525856294273859
+      - -1.5708182746814887
+      - 0.14019838811386337
+    velocities:
+      - -0.33840438157197522
+      - -0.055778346370818001
+      - 0.27799751694263486
+      - 0.0056243285636329819
+      - -0.2714119510346345
+      - -2.7441486435128072e-05
+      - -0.055803012937575898
+    accelerations:
+      - -0.63737303060342554
+      - -0.10505659974989751
+      - 0.52359877567444024
+      - 0.010593229688870734
+      - -0.51119508845998718
+      - -5.1685097256050609e-05
+      - -0.1051030583812423
     effort: []
     time_from_start:
       sec: 11
       nanosec: 800000000
   - positions:
-      - 1.0801477904008214
-      - 0.14095958635561759
-      - -1.2238089308802966
-      - 1.0141092534590679
-      - -1.3576301524199943
-      - -1.5708126988306241
-      - 0.14085834061488139
-    velocities:
-      - -0.350530826582449
-      - -0.058599312577869052
-      - 0.28795913546188034
-      - 0.0062534239834878885
-      - -0.2815806719010891
-      - -5.9580395681887499e-05
-      - -0.058617236278820144
-    accelerations:
-      - -0.63737346432948061
-      - -0.10655167543815673
-      - 0.52359877601655547
-      - 0.011370659029154526
-      - -0.51200075636032638
-      - -0.00010833558797703621
-      - -0.10658426627041191
+      - 1.0843562142861192
+      - 0.13976704089815001
+      - -1.2272213312786282
+      - 1.0151172260183308
+      - -1.3553245344596365
+      - -1.5708185516023279
+      - 0.13963526201581633
+    velocities:
+      - -0.34477811187710394
+      - -0.056828912368167631
+      - 0.28323350469863545
+      - 0.0057302608605066382
+      - -0.27652390191850812
+      - -2.7958337407615122e-05
+      - -0.05685404352123892
+    accelerations:
+      - -0.63737303062501938
+      - -0.10505659975344328
+      - 0.52359877569220381
+      - 0.010593229689228954
+      - -0.51119508847730666
+      - -5.1685097257798885e-05
+      - -0.10510305838479501
     effort: []
     time_from_start:
       sec: 11
       nanosec: 810000000
   - positions:
-      - 1.0766143706455458
-      - 0.14036889374599193
-      - -1.2209062460925613
-      - 1.0141722892041884
-      - -1.360468541039048
-      - -1.5708132994127446
-      - 0.14026746733082082
-    velocities:
-      - -0.35690456122069353
-      - -0.05966482933140637
-      - 0.2931951232178977
-      - 0.0063671305736893386
-      - -0.28670067946063538
-      - -6.0663751560799453e-05
-      - -0.059683078940679736
-    accelerations:
-      - -0.63737346437111397
-      - -0.10655167544511644
-      - 0.52359877605080585
-      - 0.011370659029896988
-      - -0.51200075639374409
-      - -0.00010833558798411063
-      - -0.10658426627737162
+      - 1.080877529851632
+      - 0.13919365805836451
+      - -1.2243636093114298
+      - 1.0151750422444028
+      - -1.3581145590007258
+      - -1.5708188336916771
+      - 0.13906162561193264
+    velocities:
+      - -0.35115184218223267
+      - -0.057879478365517267
+      - 0.28846949245463599
+      - 0.0058361931573802945
+      - -0.28163585280238174
+      - -2.8475188380102171e-05
+      - -0.057905074104901942
+    accelerations:
+      - -0.63737303064661321
+      - -0.10505659975700293
+      - 0.52359877570991187
+      - 0.010593229689587175
+      - -0.51119508849462614
+      - -5.1685097259543773e-05
+      - -0.10510305838834773
     effort: []
     time_from_start:
       sec: 11
       nanosec: 820000000
   - positions:
-      - 1.0730172135438876
-      - 0.13976754596883095
-      - -1.217951201427266
-      - 1.0142364620152111
-      - -1.3633581297336972
-      - -1.570813910828424
-      - 0.13966593562014162
-    velocities:
-      - -0.36327829585893806
-      - -0.060730346084943682
-      - 0.29843111097391506
-      - 0.0064808371638907878
-      - -0.29182068702018166
-      - -6.1747107439711401e-05
-      - -0.060748921602539328
-    accelerations:
-      - -0.63737346441269183
-      - -0.10655167545206921
-      - 0.52359877608500072
-      - 0.011370659030639449
-      - -0.51200075642721732
-      - -0.00010833558799117827
-      - -0.10658426628433133
+      - 1.0773351081140938
+      - 0.13860976955860554
+      - -1.2214535274666716
+      - 1.0152339177934435
+      - -1.3609557030506536
+      - -1.5708191209495359
+      - 0.1384774789022124
+    velocities:
+      - -0.35752557248736122
+      - -0.058930044362866876
+      - 0.29370548021063642
+      - 0.0059421254542539482
+      - -0.28674780368625519
+      - -2.8992039352589211e-05
+      - -0.058956104688564936
+    accelerations:
+      - -0.63737303066798501
+      - -0.10505659976052789
+      - 0.52359877572745339
+      - 0.010593229689942793
+      - -0.51119508851172357
+      - -5.1685097261281884e-05
+      - -0.10510305839187963
     effort: []
     time_from_start:
       sec: 11
       nanosec: 830000000
   - positions:
-      - 1.0693563190958477
-      - 0.13915554302413469
-      - -1.2149437968844112
-      - 1.0143017718921357
-      - -1.3662989185039411
-      - -1.5708145330776619
-      - 0.13905374548284399
-    velocities:
-      - -0.3696520304971827
-      - -0.061795862838481014
-      - 0.30366709872993247
-      - 0.0065945437540922388
-      - -0.29694069457972799
-      - -6.2830463318623369e-05
-      - -0.061814764264398935
-    accelerations:
-      - -0.63737346445443621
-      - -0.1065516754590428
-      - 0.5235987761192511
-      - 0.011370659031382778
-      - -0.51200075646069054
-      - -0.0001083355879982798
-      - -0.10658426629130492
+      - 1.0737289490735045
+      - 0.1380153753988731
+      - -1.2184910857443536
+      - 1.0152938526654531
+      - -1.3638479666094201
+      - -1.5708194133759044
+      - 0.13788282188665549
+    velocities:
+      - -0.36389930279248989
+      - -0.059980610360216513
+      - 0.29894146796663695
+      - 0.0060480577511276045
+      - -0.2918597545701288
+      - -2.950889032507626e-05
+      - -0.060007135272227959
+    accelerations:
+      - -0.63737303068952333
+      - -0.1050565997640806
+      - 0.52359877574516145
+      - 0.010593229690301013
+      - -0.51119508852904305
+      - -5.168509726303016e-05
+      - -0.10510305839543234
     effort: []
     time_from_start:
       sec: 11
       nanosec: 840000000
   - positions:
-      - 1.0656316873014253
-      - 0.13853288491190302
-      - -1.2118840324639957
-      - 1.0143682188349623
-      - -1.369290907349781
-      - -1.570815166160459
-      - 0.13843089691892768
-    velocities:
-      - -0.37602576513409242
-      - -0.062861379591795191
-      - 0.30890308648485326
-      - 0.0067082503442698754
-      - -0.30206070213820202
-      - -6.3913819197308441e-05
-      - -0.06288060692603531
-    accelerations:
-      - -0.63737346316011623
-      - -0.1065516752426723
-      - 0.52359877505600405
-      - 0.011370659008292492
-      - -0.51200075542100087
-      - -0.00010833558777827893
-      - -0.10658426607485802
+      - 1.0700590527298639
+      - 0.13741047557916716
+      - -1.2154762841444755
+      - 1.0153548468604314
+      - -1.3667913496770254
+      - -1.5708197109707824
+      - 0.137277654565262
+    velocities:
+      - -0.37027303309761844
+      - -0.061031176357566122
+      - 0.30417745572263744
+      - 0.0061539900480012582
+      - -0.29697170545400231
+      - -3.0025741297563299e-05
+      - -0.061058165855890953
+    accelerations:
+      - -0.63737303071089513
+      - -0.1050565997676125
+      - 0.52359877576275848
+      - 0.010593229690656632
+      - -0.51119508854625151
+      - -5.1685097264768272e-05
+      - -0.10510305839896424
     effort: []
     time_from_start:
       sec: 11
       nanosec: 850000000
   - positions:
-      - 1.0618433181606208
-      - 0.13789957163213609
-      - -1.2087719081660211
-      - 1.0144358028436911
-      - -1.3723340962712154
-      - -1.5708158100768144
-      - 0.13779738992839291
-    velocities:
-      - -0.38239949977309562
-      - -0.063926896345459325
-      - 0.31413907424149384
-      - 0.0068219569344848598
-      - -0.3071807096983577
-      - -6.4997175076349348e-05
-      - -0.063946449588021773
-    accelerations:
-      - -0.63737346396149719
-      - -0.10655167537664344
-      - 0.52359877571435276
-      - 0.011370659022590332
-      - -0.5120007560647295
-      - -0.00010833558791449808
-      - -0.10658426620888474
+      - 1.0663254190831721
+      - 0.1367950700994878
+      - -1.2124091226670377
+      - 1.0154169003783784
+      - -1.3697858522534692
+      - -1.5708200137341706
+      - 0.13666197693803189
+    velocities:
+      - -0.37664676340274716
+      - -0.062081742354915752
+      - 0.30941344347863797
+      - 0.0062599223448749144
+      - -0.30208365633787587
+      - -3.0542592270050346e-05
+      - -0.062109196439553975
+    accelerations:
+      - -0.63737303073248897
+      - -0.10505659977115828
+      - 0.52359877578046654
+      - 0.010593229691014852
+      - -0.51119508856345997
+      - -5.168509726651316e-05
+      - -0.10510305840251695
     effort: []
     time_from_start:
       sec: 11
       nanosec: 860000000
   - positions:
-      - 1.0579912117053192
-      - 0.13725560319016408
-      - -1.2056074240166792
-      - 1.0145045239177528
-      - -1.3754284852426324
-      - -1.5708164648267233
-      - 0.13715322451657144
-    velocities:
-      - -0.38877732768370621
-      - -0.064993097383884257
-      - 0.31937842459812532
-      - 0.0069357365481307739
-      - -0.31230400537494607
-      - -6.6081226693942961e-05
-      - -0.065012976744070361
-    accelerations:
-      - -0.63737346448735432
-      - -0.10655167546455922
-      - 0.52359877614628503
-      - 0.011370659031974319
-      - -0.51200075648711385
-      - -0.00010833558799949953
-      - -0.1065842662968144
+      - 1.0625280481381416
+      - 0.13616915896061163
+      - -1.2092896013159111
+      - 1.0154800132192159
+      - -1.3728314743349721
+      - -1.5708203216660679
+      - 0.13603578900574226
+    velocities:
+      - -0.38302727171898804
+      - -0.063133425554855252
+      - 0.3146549993370697
+      - 0.0063659672932502177
+      - -0.30720104341974119
+      - -3.1059992878377743e-05
+      - -0.063161344719861581
+    accelerations:
+      - -0.63737303067003892
+      - -0.10505659976087484
+      - 0.52359877572922975
+      - 0.01059322968998009
+      - -0.51119508851344442
+      - -5.1685097263795878e-05
+      - -0.10510305839221963
     effort: []
     time_from_start:
       sec: 11
       nanosec: 870000000
   - positions:
-      - 1.0540753679056443
-      - 0.1366009795809926
-      - -1.2023905799914276
-      - 1.0145743820576809
-      - -1.378574074288031
-      - -1.570817130410191
-      - 0.13649840067846739
-    velocities:
-      - -0.39515106232054797
-      - -0.066058614137187083
-      - 0.32461441235299038
-      - 0.0070494431383072344
-      - -0.31742401293336558
-      - -6.7164582572572888e-05
-      - -0.066078819405695391
-    accelerations:
-      - -0.63737346312508869
-      - -0.10655167523681587
-      - 0.52359877502724927
-      - 0.011370659007672328
-      - -0.51200075539285672
-      - -0.00010833558776796546
-      - -0.10658426606901547
+      - 1.0586669399412363
+      - 0.13553274217019726
+      - -1.2061177201292654
+      - 1.0155441853821716
+      - -1.3759282158842687
+      - -1.5708206347664708
+      - 0.13539909077605494
+    velocities:
+      - -0.38940100202411659
+      - -0.064183991552204861
+      - 0.31989098709307012
+      - 0.0064718995901238835
+      - -0.31231299430361464
+      - -3.1576843850888224e-05
+      - -0.064212375303524583
+    accelerations:
+      - -0.63737303069146622
+      - -0.10505659976439979
+      - 0.52359877574677127
+      - 0.010593229690335708
+      - -0.51119508853059736
+      - -5.1685097265537378e-05
+      - -0.10510305839575847
     effort: []
     time_from_start:
       sec: 11
       nanosec: 880000000
   - positions:
-      - 1.050095786759587
-      - 0.1359357008042858
-      - -1.1991213760886166
-      - 1.0146453772635109
-      - -1.3817708634090244
-      - -1.5708178068272172
-      - 0.13583291841374481
-    velocities:
-      - -0.40152479695961907
-      - -0.067124130890862596
-      - 0.32985040010968675
-      - 0.0071631497285234644
-      - -0.32254402049357589
-      - -6.8247938451581743e-05
-      - -0.06714466206769322
-    accelerations:
-      - -0.6373734639944153
-      - -0.10655167538215292
-      - 0.52359877574138669
-      - 0.011370659023180138
-      - -0.51200075609115281
-      - -0.00010833558791573136
-      - -0.10658426621438034
+      - 1.0547420944412793
+      - 0.13488581971980937
+      - -1.2028934790650596
+      - 1.015609416868096
+      - -1.379076076942404
+      - -1.5708209530353836
+      - 0.13475188224053103
+    velocities:
+      - -0.39577473232924532
+      - -0.065234557549554498
+      - 0.32512697484907072
+      - 0.0065778318869975519
+      - -0.31742494518748821
+      - -3.2093694823398706e-05
+      - -0.065263405887187598
+    accelerations:
+      - -0.63737303071300455
+      - -0.10505659976795251
+      - 0.52359877576447933
+      - 0.010593229690693928
+      - -0.51119508854786133
+      - -5.1685097267278878e-05
+      - -0.10510305839931118
     effort: []
     time_from_start:
       sec: 11
       nanosec: 890000000
   - positions:
-      - 1.0460524682671484
-      - 0.13525976686004371
-      - -1.1957998123082456
-      - 1.014717509535243
-      - -1.3850188526056131
-      - -1.5708184940778023
-      - 0.13515677772240375
-    velocities:
-      - -0.40789853159786355
-      - -0.068189647644399928
-      - 0.33508638786570411
-      - 0.0072768563187249492
-      - -0.32766402805312222
-      - -6.9331294330450099e-05
-      - -0.068210504729552826
-    accelerations:
-      - -0.63737346403604866
-      - -0.10655167538910569
-      - 0.52359877577558156
-      - 0.011370659023923467
-      - -0.51200075612462603
-      - -0.00010833558792280577
-      - -0.10658426622134699
+      - 1.0507535116382716
+      - 0.13422839160944805
+      - -1.1996168781232943
+      - 1.0156757076769889
+      - -1.3822750575093781
+      - -1.570821276472806
+      - 0.13409416339917052
+    velocities:
+      - -0.40214846263437387
+      - -0.066285123546904107
+      - 0.3303629626050712
+      - 0.0066837641838712178
+      - -0.32253689607136166
+      - -3.2610545795909188e-05
+      - -0.066314436470850599
+    accelerations:
+      - -0.63737303073443186
+      - -0.10505659977147747
+      - 0.52359877578207636
+      - 0.010593229691049547
+      - -0.51119508856506979
+      - -5.1685097269020377e-05
+      - -0.10510305840283614
     effort: []
     time_from_start:
       sec: 11
       nanosec: 900000000
   - positions:
-      - 1.0419454124283267
-      - 0.13457317774826627
-      - -1.1924258886503143
-      - 1.0147907788728769
-      - -1.3883180418777972
-      - -1.5708191921619461
-      - 0.13446997860444404
-    velocities:
-      - -0.41427226623610808
-      - -0.069255164397937261
-      - 0.34032237562172146
-      - 0.0073905629089264339
-      - -0.33278403561266851
-      - -7.0414650209318455e-05
-      - -0.069276347391412432
-    accelerations:
-      - -0.63737346407768203
-      - -0.10655167539607234
-      - 0.52359877580977643
-      - 0.011370659024665929
-      - -0.51200075615804375
-      - -0.00010833558792988019
-      - -0.10658426622829976
+      - 1.0467011915322117
+      - 0.13356045783911311
+      - -1.1962879173039682
+      - 1.0157430578088509
+      - -1.3855251575851908
+      - -1.5708216050787378
+      - 0.13342593425197327
+    velocities:
+      - -0.40852219293950254
+      - -0.067335689544253743
+      - 0.33559895036107179
+      - 0.0067896964807448853
+      - -0.32764884695523522
+      - -3.312739676841967e-05
+      - -0.067365467054513614
+    accelerations:
+      - -0.63737303075597018
+      - -0.10505659977504406
+      - 0.52359877579978442
+      - 0.0105932296914069
+      - -0.51119508858233376
+      - -5.1685097270761877e-05
+      - -0.10510305840638885
     effort: []
     time_from_start:
       sec: 11
       nanosec: 910000000
   - positions:
-      - 1.0377746192431232
-      - 0.13387593346895346
-      - -1.1889996051148235
-      - 1.0148651852764132
-      - -1.3916684312255765
-      - -1.5708199010796489
-      - 0.13377252105986581
-    velocities:
-      - -0.42064600087435255
-      - -0.070320681151474579
-      - 0.34555836337773882
-      - 0.0075042694991279187
-      - -0.33790404317221484
-      - -7.1498006088186798e-05
-      - -0.070342190053272038
-    accelerations:
-      - -0.63737346411931539
-      - -0.10655167540302511
-      - 0.5235987758439713
-      - 0.011370659025408391
-      - -0.51200075619146146
-      - -0.00010833558793695461
-      - -0.10658426623526641
+      - 1.0425851341231016
+      - 0.13288201840880481
+      - -1.1929065966070831
+      - 1.0158114672636813
+      - -1.3888263771698419
+      - -1.5708219388531797
+      - 0.13274719479893954
+    velocities:
+      - -0.41489592324463126
+      - -0.068386255541603366
+      - 0.34083493811707238
+      - 0.0068956287776185538
+      - -0.33276079783910878
+      - -3.3644247740930159e-05
+      - -0.068416497638176643
+    accelerations:
+      - -0.63737303077750851
+      - -0.10505659977858289
+      - 0.52359877581749248
+      - 0.01059322969176512
+      - -0.51119508859959772
+      - -5.1685097272510153e-05
+      - -0.10510305840995544
     effort: []
     time_from_start:
       sec: 11
       nanosec: 920000000
   - positions:
-      - 1.0335400887115376
-      - 0.13316803402210534
-      - -1.1855209617017721
-      - 1.0149407287458512
-      - -1.3950700206489512
-      - -1.5708206208309101
-      - 0.13306440508866901
-    velocities:
-      - -0.42701973551259709
-      - -0.071386197905011911
-      - 0.35079435113375612
-      - 0.0076179760893294035
-      - -0.34302405073176118
-      - -7.2581361967055154e-05
-      - -0.071408032715131645
-    accelerations:
-      - -0.63737346416094876
-      - -0.10655167540997788
-      - 0.52359877587811066
-      - 0.01137065902615172
-      - -0.51200075622493468
-      - -0.00010833558794402903
-      - -0.10658426624223306
+      - 1.03840533941094
+      - 0.13219307331852301
+      - -1.1894729160326376
+      - 1.0158809360414809
+      - -1.3921787162633319
+      - -1.5708222777961312
+      - 0.13205794504006915
+    velocities:
+      - -0.42126965354975976
+      - -0.069436821538952975
+      - 0.34607092587307281
+      - 0.0070015610744922187
+      - -0.33787274872298217
+      - -3.4161098713440634e-05
+      - -0.069467528221839617
+    accelerations:
+      - -0.6373730307988803
+      - -0.10505659978210785
+      - 0.523598775835034
+      - 0.010593229692120738
+      - -0.51119508861669516
+      - -5.1685097274244876e-05
+      - -0.10510305841345265
     effort: []
     time_from_start:
       sec: 11
       nanosec: 930000000
   - positions:
-      - 1.0292418208335694
-      - 0.13244947940772189
-      - -1.1819899584111613
-      - 1.0150174092811914
-      - -1.398522810147921
-      - -1.5708213514157303
-      - 0.13234563069085364
-    velocities:
-      - -0.43339347015084168
-      - -0.072451714658549257
-      - 0.35603033888977353
-      - 0.0077316826795308892
-      - -0.34814405829130757
-      - -7.3664717845923523e-05
-      - -0.072473875376991265
-    accelerations:
-      - -0.63737346420263763
-      - -0.10655167541695841
-      - 0.52359877591236104
-      - 0.011370659026895049
-      - -0.51200075625846342
-      - -0.000108335587951117
-      - -0.10658426624919971
+      - 1.0341618073957271
+      - 0.13149362256826769
+      - -1.1859868755806322
+      - 1.0159514641422487
+      - -1.3955821748656607
+      - -1.5708226219075925
+      - 0.13135818497536211
+    velocities:
+      - -0.42764338385488843
+      - -0.070487387536302598
+      - 0.3513069136290734
+      - 0.0071074933713658863
+      - -0.34298469960685574
+      - -3.4677949685951122e-05
+      - -0.070518558805502646
+    accelerations:
+      - -0.63737303082041863
+      - -0.10505659978564669
+      - 0.52359877585274206
+      - 0.010593229692478091
+      - -0.51119508863401464
+      - -5.1685097275993152e-05
+      - -0.10510305841701924
     effort: []
     time_from_start:
       sec: 11
       nanosec: 940000000
   - positions:
-      - 1.0248798156092187
-      - 0.13172026962580302
-      - -1.1784065952429896
-      - 1.0150952268824336
-      - -1.4020267997224867
-      - -1.5708220928341092
-      - 0.13161619786641965
-    velocities:
-      - -0.43976720478908615
-      - -0.073517231412086589
-      - 0.36126632664579089
-      - 0.0078453892697323731
-      - -0.35326406585085385
-      - -7.4748073724791879e-05
-      - -0.073539718038850871
-    accelerations:
-      - -0.63737346424427099
-      - -0.10655167542391118
-      - 0.52359877594661142
-      - 0.01137065902763751
-      - -0.51200075629188113
-      - -0.00010833558795819142
-      - -0.10658426625616636
+      - 1.0298545380774622
+      - 0.1307836661580388
+      - -1.1824484752510664
+      - 1.0160230515659856
+      - -1.3990367529768286
+      - -1.5708229711875634
+      - 0.13064791460481837
+    velocities:
+      - -0.43401711416001698
+      - -0.071537953533652207
+      - 0.35654290138507383
+      - 0.0072134256682395521
+      - -0.34809665049072919
+      - -3.5194800658461598e-05
+      - -0.071569589389165633
+    accelerations:
+      - -0.63737303084179042
+      - -0.10505659978917165
+      - 0.52359877587028358
+      - 0.01059322969283371
+      - -0.51119508865116758
+      - -5.1685097277727876e-05
+      - -0.1051030584205442
     effort: []
     time_from_start:
       sec: 11
       nanosec: 950000000
   - positions:
-      - 1.0204540730384866
-      - 0.13098040467634892
-      - -1.1747708721972587
-      - 1.0151741815495774
-      - -1.4055819893726469
-      - -1.5708228450860469
-      - 0.13087610661536722
-    velocities:
-      - -0.44614093942733068
-      - -0.074582748165623922
-      - 0.36650231440180825
-      - 0.0079590958599338579
-      - -0.35838407341040018
-      - -7.5831429603660235e-05
-      - -0.074605560700710477
-    accelerations:
-      - -0.63737346428590436
-      - -0.10655167543087783
-      - 0.52359877598080629
-      - 0.011370659028379972
-      - -0.51200075632529884
-      - -0.00010833558796526584
-      - -0.10658426626313301
+      - 1.025483531456147
+      - 0.13006320408783656
+      - -1.1788577150439412
+      - 1.016095698312691
+      - -1.4025424505968345
+      - -1.5708233256360442
+      - 0.12992713392843819
+    velocities:
+      - -0.4403908444651457
+      - -0.072588519531001844
+      - 0.36177888914107442
+      - 0.0073193579651132205
+      - -0.35320860137460275
+      - -3.5711651630972086e-05
+      - -0.072620619972828662
+    accelerations:
+      - -0.63737303086338426
+      - -0.10505659979273824
+      - 0.52359877588799164
+      - 0.01059322969319193
+      - -0.51119508866843155
+      - -5.1685097279476152e-05
+      - -0.10510305842409691
     effort: []
     time_from_start:
       sec: 11
       nanosec: 960000000
   - positions:
-      - 1.0159645931409171
-      - 0.13022988456262691
-      - -1.171082789290024
-      - 1.0152542732822749
-      - -1.409188379082702
-      - -1.5708236081715403
-      - 0.13012535694096464
-    velocities:
-      - -0.45251759770148897
-      - -0.075648753672336491
-      - 0.37174070390855823
-      - 0.0080728546074142413
-      - -0.36350642952049367
-      - -7.6915282419779814e-05
-      - -0.075671892265240043
-    accelerations:
-      - -0.63737346430933006
-      - -0.10655167543480525
-      - 0.52359877600012417
-      - 0.011370659028796306
-      - -0.51200075634417264
-      - -0.00010833558797102567
-      - -0.10658426626704655
+      - 1.0210487875346435
+      - 0.12933223635813265
+      - -1.175214594961608
+      - 1.0161694043823177
+      - -1.406099267723383
+      - -1.5708236852530344
+      - 0.1291958429466934
+    velocities:
+      - -0.44676941671460219
+      - -0.073639883613904
+      - 0.36701885453026589
+      - 0.007425370735785761
+      - -0.35832443566433037
+      - -3.6228895238332453e-05
+      - -0.073672448994977366
+    accelerations:
+      - -0.63737303090546171
+      - -0.10505659979967713
+      - 0.52359877592257509
+      - 0.010593229693892758
+      - -0.51119508870218233
+      - -5.1685097279530362e-05
+      - -0.1051030584310358
     effort: []
     time_from_start:
       sec: 11
       nanosec: 970000000
   - positions:
-      - 1.0114113758982093
-      - 0.1294687092815775
-      - -1.1673423465062513
-      - 1.0153355020808523
-      - -1.4128459688673534
-      - -1.5708243820905921
-      - 0.12936394884015148
-    velocities:
-      - -0.4588913323397335
-      - -0.07671427042587381
-      - 0.37697669166457554
-      - 0.0081865611976156914
-      - -0.36862643708004
-      - -7.7998638298665883e-05
-      - -0.076737734927099649
-    accelerations:
-      - -0.63737346435101894
-      - -0.10655167544175802
-      - 0.52359877603426352
-      - 0.011370659029538767
-      - -0.51200075637764586
-      - -0.00010833558797810009
-      - -0.1065842662740132
+      - 1.0165503063415506
+      - 0.12859076297364114
+      - -1.1715191150275606
+      - 1.0162441697743902
+      - -1.4097072043335366
+      - -1.5708240500385318
+      - 0.12845404166430011
+    velocities:
+      - -0.45314314701973091
+      - -0.074690449611253637
+      - 0.37225484228626649
+      - 0.0075313030326594442
+      - -0.36343638654820393
+      - -3.6745746210809386e-05
+      - -0.074723479578640395
+    accelerations:
+      - -0.63737303092700004
+      - -0.10505659980322984
+      - 0.52359877594028315
+      - 0.010593229694250979
+      - -0.51119508871950181
+      - -5.1685097281278638e-05
+      - -0.10510305843460239
     effort: []
     time_from_start:
       sec: 11
       nanosec: 980000000
   - positions:
-      - 1.0067944213091189
-      - 0.12869687883299269
-      - -1.1635495438449182
-      - 1.0154178679453314
-      - -1.4165547587275999
-      - -1.5708251668432027
-      - 0.12859188231271973
-    velocities:
-      - -0.46526506697797804
-      - -0.077779787179411128
-      - 0.38221267942059289
-      - 0.0083002677878171414
-      - -0.37374644463958628
-      - -7.9081994177551953e-05
-      - -0.077803577588959255
-    accelerations:
-      - -0.6373734643926523
-      - -0.10655167544871079
-      - 0.52359877606845839
-      - 0.011370659030281229
-      - -0.51200075641100806
-      - -0.0001083355879851745
-      - -0.10658426628097985
+      - 1.0119880878454064
+      - 0.12783878392917605
+      - -1.167771275215953
+      - 1.0163199944894314
+      - -1.413366260452529
+      - -1.5708244199925387
+      - 0.12770173007607014
+    velocities:
+      - -0.45951687732485946
+      - -0.075741015608603246
+      - 0.37749083004226697
+      - 0.0076372353295331256
+      - -0.36854833743207738
+      - -3.7262597183286298e-05
+      - -0.075774510162303396
+    accelerations:
+      - -0.63737303094842734
+      - -0.1050565998067548
+      - 0.52359877595788018
+      - 0.010593229694607464
+      - -0.51119508873665476
+      - -5.1685097283006585e-05
+      - -0.10510305843812735
     effort: []
     time_from_start:
       sec: 11
       nanosec: 990000000
   - positions:
-      - 1.0021137293736468
-      - 0.12791439321687262
-      - -1.1597043813060253
-      - 1.0155013708757128
-      - -1.4203147486634418
-      - -1.5708259624293721
-      - 0.12780915735866949
-    velocities:
-      - -0.47163880161622257
-      - -0.07884530393294846
-      - 0.38744866717661025
-      - 0.0084139743780185915
-      - -0.37886645219913262
-      - -8.0165350056438035e-05
-      - -0.078869420250818847
-    accelerations:
-      - -0.63737346443428566
-      - -0.10655167545567744
-      - 0.52359877610270877
-      - 0.011370659031023691
-      - -0.51200075644448129
-      - -0.00010833558799226248
-      - -0.10658426628793262
+      - 1.0073621320462112
+      - 0.12707629922473754
+      - -1.1639710755267858
+      - 1.0163968785274415
+      - -1.41707643608036
+      - -1.5708247951150556
+      - 0.1269389081820036
+    velocities:
+      - -0.46589060762998813
+      - -0.076791581605952869
+      - 0.38272681779826745
+      - 0.0077431676264068071
+      - -0.37366028831595088
+      - -3.7779448155763224e-05
+      - -0.076825540745966397
+    accelerations:
+      - -0.63737303096991016
+      - -0.10505659981029364
+      - 0.52359877597547722
+      - 0.01059322969496395
+      - -0.51119508875391872
+      - -5.1685097284754861e-05
+      - -0.10510305844166619
     effort: []
     time_from_start:
       sec: 12
       nanosec: 0
   - positions:
-      - 0.99736930009179259
-      - 0.12712125243321723
-      - -1.1558068588895725
-      - 1.0155860108719961
-      - -1.4241259386748784
-      - -1.5708267688491002
-      - 0.12701577397800071
-    velocities:
-      - -0.47801253625446705
-      - -0.079910820686485778
-      - 0.39268465493262761
-      - 0.0085276809682200434
-      - -0.3839864597586789
-      - -8.1248705935324105e-05
-      - -0.079935262912678454
-    accelerations:
-      - -0.63737346447586352
-      - -0.10655167546263021
-      - 0.52359877613690364
-      - 0.011370659031767887
-      - -0.512000756477899
-      - -0.0001083355879993369
-      - -0.10658426629488539
+      - 1.0026724389439647
+      - 0.12630330886032554
+      - -1.1601185159600584
+      - 1.0164748218884201
+      - -1.4208377312170297
+      - -1.570825175406082
+      - 0.12616557598210046
+    velocities:
+      - -0.47226433793511668
+      - -0.077842147603302478
+      - 0.38796280555426793
+      - 0.0078490999232804885
+      - -0.37877223919982433
+      - -3.8296299128240143e-05
+      - -0.077876571329629399
+    accelerations:
+      - -0.63737303099133746
+      - -0.1050565998138186
+      - 0.52359877599307425
+      - 0.010593229695320436
+      - -0.51119508877107167
+      - -5.1685097286489585e-05
+      - -0.10510305844519115
     effort: []
     time_from_start:
       sec: 12
       nanosec: 10000000
   - positions:
-      - 0.99256113346355623
-      - 0.12631745648202652
-      - -1.15185697659556
-      - 1.0156717879341812
-      - -1.4279883287619104
-      - -1.570827586102387
-      - 0.12621173217071338
-    velocities:
-      - -0.48438627089271169
-      - -0.080976337440023111
-      - 0.39792064268864497
-      - 0.0086413875584214934
-      - -0.38910646731822529
-      - -8.2332061814210187e-05
-      - -0.081001105574538074
-    accelerations:
-      - -0.6373734645176079
-      - -0.10655167546959686
-      - 0.52359877617109851
-      - 0.011370659032510349
-      - -0.51200075651142773
-      - -0.00010833558800642487
-      - -0.10658426630186592
+      - 0.99791900853866711
+      - 0.12551981283594008
+      - -1.1562135965157716
+      - 1.0165538245723678
+      - -1.4246501458625378
+      - -1.5708255608656183
+      - 0.12538173347636072
+    velocities:
+      - -0.47863806824024541
+      - -0.078892713600652115
+      - 0.39319879331026852
+      - 0.0079550322201541717
+      - -0.3838841900836979
+      - -3.8813150100717069e-05
+      - -0.078927601913292428
+    accelerations:
+      - -0.63737303101287579
+      - -0.10505659981737131
+      - 0.52359877601078231
+      - 0.010593229695677789
+      - -0.51119508878839115
+      - -5.1685097288231085e-05
+      - -0.10510305844875774
     effort: []
     time_from_start:
       sec: 12
       nanosec: 20000000
   - positions:
-      - 0.98768922948893678
-      - 0.12550300536330036
-      - -1.1478547344239867
-      - 1.0157587020622685
-      - -1.4319019189245383
-      - -1.5708284141892328
-      - 0.12539703193680737
-    velocities:
-      - -0.49076000553095617
-      - -0.082041854193560429
-      - 0.40315663044466232
-      - 0.0087550941486229453
-      - -0.39422647487777163
-      - -8.3415417693096257e-05
-      - -0.08206694823639768
-    accelerations:
-      - -0.63737346455918575
-      - -0.10655167547656351
-      - 0.52359877620534889
-      - 0.01137065903325281
-      - -0.51200075654490096
-      - -0.00010833558801349929
-      - -0.10658426630883257
+      - 0.99310184083031738
+      - 0.12472581115158096
+      - -1.1522563171939235
+      - 1.0166338865792839
+      - -1.4285136800168856
+      - -1.5708259514936644
+      - 0.1245873806647842
+    velocities:
+      - -0.48501179854537407
+      - -0.079943279598001751
+      - 0.39843478106626912
+      - 0.0080609645170278549
+      - -0.38899614096757146
+      - -3.9330001073194001e-05
+      - -0.079978632496955443
+    accelerations:
+      - -0.63737303103441412
+      - -0.10505659982092402
+      - 0.52359877602849036
+      - 0.010593229696036877
+      - -0.51119508880565512
+      - -5.1685097289986137e-05
+      - -0.10510305845229657
     effort: []
     time_from_start:
       sec: 12
       nanosec: 30000000
   - positions:
-      - 0.98275358816793623
-      - 0.12467789907703899
-      - -1.1438001323748543
-      - 1.0158467532562578
-      - -1.435866709162761
-      - -1.5708292531096375
-      - 0.12457167327628293
-    velocities:
-      - -0.4971337401692007
-      - -0.083107370947097761
-      - 0.40839261820067968
-      - 0.0088688007388243954
-      - -0.39934648243731791
-      - -8.4498773571982326e-05
-      - -0.083132790898257272
-    accelerations:
-      - -0.63737346460081912
-      - -0.10655167548353016
-      - 0.52359877623954376
-      - 0.011370659033995272
-      - -0.51200075657826316
-      - -0.00010833558802057371
-      - -0.10658426631578534
+      - 0.98822093581891735
+      - 0.1239213038072485
+      - -1.1482466779945164
+      - 1.0167150079091689
+      - -1.4324283336800714
+      - -1.57082634729022
+      - 0.12378251754737118
+    velocities:
+      - -0.49138552885050263
+      - -0.08099384559535136
+      - 0.4036707688222696
+      - 0.0081668968139015363
+      - -0.39410809185144491
+      - -3.984685204567092e-05
+      - -0.081029663080618444
+    accelerations:
+      - -0.63737303105578591
+      - -0.10505659982444898
+      - 0.5235987760460874
+      - 0.010593229696392495
+      - -0.51119508882280806
+      - -5.168509729172086e-05
+      - -0.10510305845583541
     effort: []
     time_from_start:
       sec: 12
       nanosec: 40000000
   - positions:
-      - 0.97775420950055347
-      - 0.12384213762324234
-      - -1.1396931704481621
-      - 1.0159359415161493
-      - -1.4398826994765785
-      - -1.5708301028636007
-      - 0.12373565618914001
-    velocities:
-      - -0.50350747480744518
-      - -0.08417288770063508
-      - 0.41362860595669704
-      - 0.0089825073290258454
-      - -0.40446648999686424
-      - -8.5582129450868395e-05
-      - -0.084198633560116878
-    accelerations:
-      - -0.63737346464245248
-      - -0.10655167549048293
-      - 0.52359877627373863
-      - 0.011370659034737733
-      - -0.51200075661173639
-      - -0.00010833558802763457
-      - -0.10658426632275199
+      - 0.98327629350446744
+      - 0.12310629080294282
+      - -1.1441846789175507
+      - 1.0167971885620224
+      - -1.4363941068520945
+      - -1.5708267482552856
+      - 0.12296714412412182
+    velocities:
+      - -0.49775925915563135
+      - -0.082044411592700997
+      - 0.40890675657827014
+      - 0.0082728291107752195
+      - -0.39922004273531847
+      - -4.0363703018147846e-05
+      - -0.082080693664281459
+    accelerations:
+      - -0.63737303107737975
+      - -0.1050565998280017
+      - 0.52359877606373995
+      - 0.010593229696751583
+      - -0.51119508884012754
+      - -5.1685097293469136e-05
+      - -0.10510305845938812
     effort: []
     time_from_start:
       sec: 12
       nanosec: 50000000
   - positions:
-      - 0.97269109348678839
-      - 0.12299572100191032
-      - -1.1355338486439095
-      - 1.0160262668419424
-      - -1.4439498898659917
-      - -1.5708309634511228
-      - 0.12288898067537846
-    velocities:
-      - -0.50988120944511361
-      - -0.085238404454076086
-      - 0.41886459371224105
-      - 0.0090962139192170173
-      - -0.40958649755594773
-      - -8.6665485329656547e-05
-      - -0.085264476221880131
-    accelerations:
-      - -0.63737346410799112
-      - -0.10655167540112385
-      - 0.52359877583458991
-      - 0.011370659025201959
-      - -0.51200075618235763
-      - -0.00010833558793679198
-      - -0.10658426623336516
+      - 0.97826791388696643
+      - 0.12228077213866365
+      - -1.1400703199630251
+      - 1.0168804285378448
+      - -1.4404109995329564
+      - -1.5708271543888608
+      - 0.12214126039503585
+    velocities:
+      - -0.50413298946075991
+      - -0.083094977590050606
+      - 0.41414274433427062
+      - 0.0083787614076488992
+      - -0.40433199361919187
+      - -4.0880553990624765e-05
+      - -0.083131724247944461
+    accelerations:
+      - -0.63737303109880705
+      - -0.10505659983152665
+      - 0.52359877608133698
+      - 0.010593229697105466
+      - -0.51119508885722498
+      - -5.168509729520386e-05
+      - -0.10510305846291308
     effort: []
     time_from_start:
       sec: 12
       nanosec: 60000000
   - positions:
-      - 0.96756424013940767
-      - 0.1221386492151772
-      - -1.1313221669725848
-      - 1.01611772923341
-      - -1.4480682803207445
-      - -1.5708318348722017
-      - 0.12203164673713325
-    velocities:
-      - -0.51625712486460718
-      - -0.086304285775498327
-      - 0.42410237296799175
-      - 0.0092099594142689509
-      - -0.4147082569324605
-      - -8.7749211881314214e-05
-      - -0.086330683563134294
-    accelerations:
-      - -0.63737346439620501
-      - -0.10655167544929366
-      - 0.52359877607140048
-      - 0.011370659030343679
-      - -0.51200075641389464
-      - -0.00010833558798727515
-      - -0.10658426628156271
+      - 0.97319579696827707
+      - 0.12144474781471805
+      - -1.1359036011324697
+      - 1.016964727836605
+      - -1.4444790117211626
+      - -1.5708275656909452
+      - 0.12130486636042041
+    velocities:
+      - -0.51051034266644724
+      - -0.084146140741022543
+      - 0.41938170828506638
+      - 0.0084847539176384802
+      - -0.40944685019390181
+      - -4.1397698751143511e-05
+      - -0.084183352249305982
+    accelerations:
+      - -0.63737303111113053
+      - -0.10505659983358057
+      - 0.52359877609160654
+      - 0.010593229697310164
+      - -0.5111950888672725
+      - -5.1685097301322826e-05
+      - -0.10510305846496699
     effort: []
     time_from_start:
       sec: 12
       nanosec: 70000000
   - positions:
-      - 0.96237364944646231
-      - 0.1212709222610454
-      - -1.1270581254243717
-      - 1.0162103286907651
-      - -1.4522378708504364
-      - -1.5708327171268393
-      - 0.1211636543724062
-    velocities:
-      - -0.52263085950285171
-      - -0.087369802529035659
-      - 0.42933836072400905
-      - 0.0093236660044703872
-      - -0.41982826449200683
-      - -8.8832567760215191e-05
-      - -0.087396526224993901
-    accelerations:
-      - -0.63737346443783838
-      - -0.10655167545627418
-      - 0.52359877610559535
-      - 0.011370659031084406
-      - -0.51200075644731236
-      - -0.00010833558799434957
-      - -0.10658426628852936
+      - 0.96805994276718921
+      - 0.12059821783420308
+      - -1.1316845224413206
+      - 1.0170500864579906
+      - -1.4485981434016435
+      - -1.5708279821615381
+      - 0.120457962023374
+    velocities:
+      - -0.51688407297157601
+      - -0.08519670673837218
+      - 0.42461769604106697
+      - 0.0085906862145121322
+      - -0.41455880107777543
+      - -4.1914549723671503e-05
+      - -0.085234382832969011
+    accelerations:
+      - -0.63737303113277988
+      - -0.10505659983714716
+      - 0.5235987761093146
+      - 0.010593229697669251
+      - -0.51119508888459197
+      - -5.1685097303071102e-05
+      - -0.10510305846853359
     effort: []
     time_from_start:
       sec: 12
       nanosec: 80000000
   - positions:
-      - 0.95711932140713452
-      - 0.12039254013937827
-      - -1.1227417239985986
-      - 1.0163040652140221
-      - -1.4564586614557229
-      - -1.5708336102150351
-      - 0.12028500358106058
-    velocities:
-      - -0.52900459414109624
-      - -0.088435319282572977
-      - 0.43457434848002641
-      - 0.0094373725946718251
-      - -0.42494827205155311
-      - -8.9915923639116181e-05
-      - -0.088462368886853493
-    accelerations:
-      - -0.63737346447947174
-      - -0.10655167546322696
-      - 0.52359877613979022
-      - 0.011370659031828602
-      - -0.51200075648073007
-      - -0.00010833558800142398
-      - -0.10658426629548214
+      - 0.96286035126305047
+      - 0.1197411821937147
+      - -1.1274130838726117
+      - 1.0171365044023448
+      - -1.4527683945909631
+      - -1.5708284038006408
+      - 0.11960054738049106
+    velocities:
+      - -0.52325780327670468
+      - -0.086247272735721817
+      - 0.42985368379706751
+      - 0.0086966185113857841
+      - -0.41967075196164899
+      - -4.2431400696199495e-05
+      - -0.086285413416632026
+    accelerations:
+      - -0.6373730311543182
+      - -0.10505659984069987
+      - 0.52359877612702266
+      - 0.010593229698026604
+      - -0.51119508890180043
+      - -5.1685097304812601e-05
+      - -0.10510305847207242
     effort: []
     time_from_start:
       sec: 12
       nanosec: 90000000
   - positions:
-      - 0.95180125602142507
-      - 0.11950350285017586
-      - -1.1183729626952659
-      - 1.0163989388031811
-      - -1.460730652136605
-      - -1.5708345141367905
-      - 0.11939569436309647
-    velocities:
-      - -0.53537832877934077
-      - -0.089500836036110296
-      - 0.43981033623604371
-      - 0.009551079184873263
-      - -0.43006827961109945
-      - -9.0999279518017158e-05
-      - -0.089528211548713099
-    accelerations:
-      - -0.6373734645211051
-      - -0.10655167547017973
-      - 0.52359877617398509
-      - 0.011370659032571064
-      - -0.51200075651420329
-      - -0.0001083355880084984
-      - -0.10658426630244879
+      - 0.95759702245586009
+      - 0.11887364089325275
+      - -1.1230892854263426
+      - 1.017223981669668
+      - -1.4569897652891215
+      - -1.5708288306082532
+      - 0.11873262243177138
+    velocities:
+      - -0.52963153358183324
+      - -0.087297838733071426
+      - 0.43508967155306799
+      - 0.0088025508082594326
+      - -0.4247827028455225
+      - -4.2948251668727473e-05
+      - -0.087336444000295027
+    accelerations:
+      - -0.63737303117574551
+      - -0.10505659984422483
+      - 0.52359877614461969
+      - 0.010593229698382223
+      - -0.51119508891900889
+      - -5.1685097306547325e-05
+      - -0.10510305847561126
     effort: []
     time_from_start:
       sec: 12
       nanosec: 100000000
   - positions:
-      - 0.9464194532893333
-      - 0.11860381039343812
-      - -1.113951841514373
-      - 1.016494949458242
-      - -1.4650538428930819
-      - -1.5708354288921038
-      - 0.11849572671851377
-    velocities:
-      - -0.54175206341758531
-      - -0.090566352789647642
-      - 0.44504632399206107
-      - 0.0096647857750747027
-      - -0.43518828717064584
-      - -9.2082635396918149e-05
-      - -0.090594054210572705
-    accelerations:
-      - -0.63737346456273847
-      - -0.10655167547716025
-      - 0.52359877620817996
-      - 0.01137065903331526
-      - -0.51200075654767652
-      - -0.00010833558801558638
-      - -0.10658426630941543
+      - 0.95226995634561873
+      - 0.11799559393281737
+      - -1.1187131271025139
+      - 1.0173125182599598
+      - -1.4612622554961183
+      - -1.5708292625843749
+      - 0.11785418717721517
+    velocities:
+      - -0.5360052638869619
+      - -0.088348404730421062
+      - 0.44032565930906853
+      - 0.0089084831051330846
+      - -0.42989465372939611
+      - -4.3465102641255465e-05
+      - -0.088387474583958056
+    accelerations:
+      - -0.63737303119728383
+      - -0.10505659984777754
+      - 0.52359877616232775
+      - 0.010593229698739576
+      - -0.51119508893632837
+      - -5.1685097308295601e-05
+      - -0.10510305847916397
     effort: []
     time_from_start:
       sec: 12
       nanosec: 110000000
   - positions:
-      - 0.94097391321085855
-      - 0.11769346276916488
-      - -1.1094783604559195
-      - 1.0165920971792053
-      - -1.469428233725155
-      - -1.5708363544809765
-      - 0.11758510064731242
-    velocities:
-      - -0.54812579805582984
-      - -0.09163186954318496
-      - 0.45028231174807842
-      - 0.0097784923652761389
-      - -0.44030829473019217
-      - -9.316599127581914e-05
-      - -0.091659896872432312
-    accelerations:
-      - -0.63737346460437183
-      - -0.10655167548411303
-      - 0.52359877624243034
-      - 0.011370659034055987
-      - -0.51200075658114974
-      - -0.00010833558802266079
-      - -0.10658426631638208
+      - 0.94687915293232505
+      - 0.11710704131240832
+      - -1.114284608901124
+      - 1.0174021141732204
+      - -1.4655858652119547
+      - -1.5708296997290065
+      - 0.11696524161682215
+    velocities:
+      - -0.54237899419209046
+      - -0.089398970727770671
+      - 0.44556164706506896
+      - 0.0090144154020067348
+      - -0.43500660461326957
+      - -4.398195361378345e-05
+      - -0.089438505167621044
+    accelerations:
+      - -0.63737303121871114
+      - -0.1050565998513025
+      - 0.52359877617986927
+      - 0.010593229699096929
+      - -0.5111950889534258
+      - -5.1685097310037101e-05
+      - -0.10510305848268893
     effort: []
     time_from_start:
       sec: 12
       nanosec: 120000000
   - positions:
-      - 0.9354646357860027
-      - 0.11677245997735652
-      - -1.104952519519907
-      - 1.0166903819660702
-      - -1.4738538246328226
-      - -1.5708372909034078
-      - 0.11666381614949269
-    velocities:
-      - -0.55449953269407437
-      - -0.092697386296722278
-      - 0.45551829950409573
-      - 0.0098921989554775769
-      - -0.44542830228973845
-      - -9.4249347154720117e-05
-      - -0.092725739534291918
-    accelerations:
-      - -0.63737346464600519
-      - -0.1065516754910658
-      - 0.52359877627662521
-      - 0.011370659034800184
-      - -0.51200075661456745
-      - -0.00010833558802973521
-      - -0.10658426632334873
+      - 0.94142461221598117
+      - 0.11620798303202595
+      - -1.1098037308221751
+      - 1.0174927694094495
+      - -1.4699605944366287
+      - -1.5708301420421482
+      - 0.11606578575059265
+    velocities:
+      - -0.54875272449721912
+      - -0.090449536725120294
+      - 0.45079763482106949
+      - 0.009120347698880385
+      - -0.44011855549714313
+      - -4.4498804586311435e-05
+      - -0.090489535751284059
+    accelerations:
+      - -0.63737303124024947
+      - -0.10505659985484134
+      - 0.52359877619757733
+      - 0.010593229699452547
+      - -0.51119508897068977
+      - -5.16850973117786e-05
+      - -0.10510305848624164
     effort: []
     time_from_start:
       sec: 12
       nanosec: 130000000
   - positions:
-      - 0.92989162101476464
-      - 0.11584080201801283
-      - -1.1003743187063346
-      - 1.0167898038188372
-      - -1.4783306156160849
-      - -1.5708382381593979
-      - 0.11573187322505439
-    velocities:
-      - -0.5608732673323189
-      - -0.093762903050259611
-      - 0.46075428726011308
-      - 0.010005905545679015
-      - -0.45054830984928479
-      - -9.5332703033621107e-05
-      - -0.09379158219615151
-    accelerations:
-      - -0.63737346468752754
-      - -0.10655167549803245
-      - 0.52359877631082008
-      - 0.011370659035542645
-      - -0.51200075664804068
-      - -0.00010833558803682319
-      - -0.10658426633030151
+      - 0.9359063341965862
+      - 0.11529841909167012
+      - -1.1052704928656665
+      - 1.0175844839686476
+      - -1.4743864431701419
+      - -1.5708305895237993
+      - 0.11515581957852657
+    velocities:
+      - -0.55512645480234779
+      - -0.091500102722469931
+      - 0.45603362257707003
+      - 0.0092262799957540369
+      - -0.44523050638101674
+      - -4.5015655558839427e-05
+      - -0.091540566334947074
+    accelerations:
+      - -0.63737303126178779
+      - -0.10505659985839405
+      - 0.52359877621522988
+      - 0.010593229699811635
+      - -0.51119508898800925
+      - -5.1685097313526876e-05
+      - -0.10510305848978048
     effort: []
     time_from_start:
       sec: 12
       nanosec: 140000000
   - positions:
-      - 0.92425486889714459
-      - 0.11489848889113385
-      - -1.0957437580152023
-      - 1.0168903627375063
-      - -1.4828586066749427
-      - -1.570839196248947
-      - 0.11478927187399759
-    velocities:
-      - -0.56724700197056344
-      - -0.094828419803796929
-      - 0.46599027501613038
-      - 0.010119612135880453
-      - -0.45566831740883113
-      - -9.6416058912522084e-05
-      - -0.094857424858011116
-    accelerations:
-      - -0.6373734647291609
-      - -0.10655167550498522
-      - 0.52359877634501495
-      - 0.011370659036285107
-      - -0.51200075668145839
-      - -0.00010833558804388405
-      - -0.10658426633726815
+      - 0.93032431887414002
+      - 0.11437834949134081
+      - -1.1006848950315979
+      - 1.0176772578508144
+      - -1.4788634114124932
+      - -1.5708310421739602
+      - 0.11423534310062387
+    velocities:
+      - -0.56150018510747635
+      - -0.09255066871981954
+      - 0.46126961033307046
+      - 0.0093322122926276854
+      - -0.45034245726489019
+      - -4.5532506531367405e-05
+      - -0.092591596918610075
+    accelerations:
+      - -0.63737303128310407
+      - -0.10505659986193289
+      - 0.52359877623282691
+      - 0.010593229700167253
+      - -0.51119508900510668
+      - -5.16850973152616e-05
+      - -0.10510305849331932
     effort: []
     time_from_start:
       sec: 12
       nanosec: 150000000
   - positions:
-      - 0.91855437943314255
-      - 0.11394552059671954
-      - -1.0910608374465103
-      - 1.0169920587220773
-      - -1.4874377978093958
-      - -1.5708401651720547
-      - 0.11383601209632224
-    velocities:
-      - -0.57362073660823187
-      - -0.095893936557237935
-      - 0.4712262627716744
-      - 0.010233318726071612
-      - -0.46078832496791461
-      - -9.749941479132513e-05
-      - -0.095923267519774369
-    accelerations:
-      - -0.63737346419469953
-      - -0.10655167541564002
-      - 0.52359877590592174
-      - 0.011370659026749332
-      - -0.51200075625207964
-      - -0.00010833558795302791
-      - -0.10658426624788132
+      - 0.92467856624864242
+      - 0.11344777423103795
+      - -1.0960469373199691
+      - 1.0177710910559499
+      - -1.4833914991636836
+      - -1.5708314999926307
+      - 0.11330435631688453
+    velocities:
+      - -0.56787391541260501
+      - -0.093601234717169177
+      - 0.46650559808907105
+      - 0.0094381445895013374
+      - -0.45545440814876381
+      - -4.6049357503895396e-05
+      - -0.093642627502273104
+    accelerations:
+      - -0.6373730313046424
+      - -0.1050565998654856
+      - 0.52359877625053497
+      - 0.010593229700524606
+      - -0.51119508902242616
+      - -5.1685097317009876e-05
+      - -0.10510305849687203
     effort: []
     time_from_start:
       sec: 12
       nanosec: 160000000
   - positions:
-      - 0.91279015263158858
-      - 0.11298189713624611
-      - -1.0863255570075121
-      - 1.0170948917723928
-      - -1.4920681890123504
-      - -1.5708411449287194
-      - 0.112872093893505
-    velocities:
-      - -0.57999616765779849
-      - -0.096959736905055632
-      - 0.47646364412021464
-      - 0.010347055580030004
-      - -0.46590969525108916
-      - -9.8583059006820549e-05
-      - -0.096989393862656925
-    accelerations:
-      - -0.63737346474270562
-      - -0.10655167550723342
-      - 0.52359877635606167
-      - 0.011370659036526233
-      - -0.51200075669222755
-      - -0.00010833558803991316
-      - -0.10658426633950248
+      - 0.91896907632137537
+      - 0.11250669331097292
+      - -1.0913566197318334
+      - 1.0178659835840327
+      - -1.4879707064226848
+      - -1.5708319629798111
+      - 0.11236285922751994
+    velocities:
+      - -0.57425046391781154
+      - -0.094652265231376542
+      - 0.4717439009824258
+      - 0.0095441237252585857
+      - -0.46056861932600401
+      - -4.6566437003100144e-05
+      - -0.09469412280821482
+    accelerations:
+      - -0.63737303137825019
+      - -0.10505659987761479
+      - 0.52359877631098661
+      - 0.010593229701749321
+      - -0.51119508908143452
+      - -5.1685097319137623e-05
+      - -0.10510305850901509
     effort: []
     time_from_start:
       sec: 12
       nanosec: 170000000
   - positions:
-      - 0.90696218848422172
-      - 0.11200761850833252
-      - -1.0815379166914219
-      - 1.0171988618886001
-      - -1.4967497802904433
-      - -1.5708421355189433
-      - 0.11189751726416439
-    velocities:
-      - -0.58636990229546682
-      - -0.098025253658496639
-      - 0.48169963187575865
-      - 0.010460762170221178
-      - -0.47102970281017259
-      - -9.9666414885561118e-05
-      - -0.098055236524420192
-    accelerations:
-      - -0.63737346420813323
-      - -0.10655167541787434
-      - 0.52359877591691295
-      - 0.011370659026988724
-      - -0.51200075626279329
-      - -0.00010833558794905702
-      - -0.10658426625012953
+      - 0.91319584910536322
+      - 0.11155510673329244
+      - -1.08661394227789
+      - 1.0179619354348466
+      - -1.4926010331790502
+      - -1.5708324311354998
+      - 0.11141085183467779
+    velocities:
+      - -0.58062419422294032
+      - -0.095702831228726179
+      - 0.47697988873842639
+      - 0.0096500560221322446
+      - -0.46568057020987758
+      - -4.7083287975589741e-05
+      - -0.095745153391877835
+    accelerations:
+      - -0.63737303139989954
+      - -0.1050565998811675
+      - 0.52359877632869467
+      - 0.010593229702106674
+      - -0.511195089098754
+      - -5.1685097320879122e-05
+      - -0.10510305851255393
     effort: []
     time_from_start:
       sec: 12
       nanosec: 180000000
   - positions:
-      - 0.90107048699047287
-      - 0.1110226847128836
-      - -1.0766979164977717
-      - 1.0173039690707097
-      - -1.5014825716441313
-      - -1.5708431369427258
-      - 0.11091228220820525
-    velocities:
-      - -0.59274363693371135
-      - -0.099090770412033971
-      - 0.48693561963177601
-      - 0.010574468760422631
-      - -0.47614971036971893
-      - -0.00010074977076439962
-      - -0.099121079186279784
-    accelerations:
-      - -0.6373734642497666
-      - -0.10655167542484099
-      - 0.52359877595110782
-      - 0.01137065902773292
-      - -0.51200075629626651
-      - -0.00010833558795613144
-      - -0.10658426625706842
+      - 0.90735888458629999
+      - 0.11059301449563849
+      - -1.0818189049463869
+      - 1.0180589466086294
+      - -1.4972824794442545
+      - -1.5708329044596985
+      - 0.11044833413599907
+    velocities:
+      - -0.58699792452806887
+      - -0.096753397226075788
+      - 0.48221587649442688
+      - 0.0097559883190059017
+      - -0.47079252109375097
+      - -4.7600138948079332e-05
+      - -0.096796183975540837
+    accelerations:
+      - -0.63737303142121582
+      - -0.10505659988469246
+      - 0.52359877634629171
+      - 0.010593229702462292
+      - -0.51119508911590694
+      - -5.1685097322613846e-05
+      - -0.10510305851609276
     effort: []
     time_from_start:
       sec: 12
       nanosec: 190000000
   - positions:
-      - 0.89511504815034104
-      - 0.11002709574989923
-      - -1.0718055564265609
-      - 1.0174102133187211
-      - -1.5062665630734149
-      - -1.5708441492000671
-      - 0.10991638872562744
-    velocities:
-      - -0.59911737157195588
-      - -0.10015628716557129
-      - 0.49217160738779336
-      - 0.010688175350624085
-      - -0.48126971792926521
-      - -0.00010183312664323812
-      - -0.10018692184813939
-    accelerations:
-      - -0.63737346429139996
-      - -0.10655167543177989
-      - 0.52359877598530269
-      - 0.011370659028475382
-      - -0.51200075632968423
-      - -0.00010833558796320586
-      - -0.10658426626403507
+      - 0.90145818276418455
+      - 0.10962041659801086
+      - -1.076971507737323
+      - 1.0181570171053806
+      - -1.5020150452182983
+      - -1.5708333829524066
+      - 0.10947530613148353
+    velocities:
+      - -0.59337165483319754
+      - -0.097803963223425411
+      - 0.48745186425042747
+      - 0.0098619206158795623
+      - -0.47590447197762448
+      - -4.8116989920568936e-05
+      - -0.097847214559203866
+    accelerations:
+      - -0.63737303144275415
+      - -0.10505659988823129
+      - 0.52359877636399976
+      - 0.01059322970282138
+      - -0.51119508913317091
+      - -5.1685097324368898e-05
+      - -0.10510305851964548
     effort: []
     time_from_start:
       sec: 12
       nanosec: 200000000
   - positions:
-      - 0.88909587196382789
-      - 0.10902085161937969
-      - -1.0668608364777907
-      - 1.0175175946326345
-      - -1.5111017545782932
-      - -1.5708451722909671
-      - 0.10890983681643121
-    velocities:
-      - -0.6054911062102003
-      - -0.10122180391910862
-      - 0.49740759514381072
-      - 0.010801881940825537
-      - -0.48638972548881154
-      - -0.00010291648252207662
-      - -0.101252764509999
-    accelerations:
-      - -0.6373734643329223
-      - -0.10655167543874654
-      - 0.52359877601949756
-      - 0.011370659029217843
-      - -0.51200075636315745
-      - -0.00010833558797028028
-      - -0.10658426627100172
+      - 0.89549374363901924
+      - 0.10863731304041001
+      - -1.0720717506507003
+      - 1.0182561469251006
+      - -1.5067987305011794
+      - -1.5708338666136243
+      - 0.10849176782113162
+    velocities:
+      - -0.59974538513774955
+      - -0.098854529220679985
+      - 0.49268785200595427
+      - 0.0099678529127436369
+      - -0.48101642286103546
+      - -4.8633840893011771e-05
+      - -0.098898245142771776
+    accelerations:
+      - -0.63737303088764263
+      - -0.10505659979672116
+      - 0.52359877590786463
+      - 0.010593229693594386
+      - -0.51119508868791597
+      - -5.1685097279347403e-05
+      - -0.10510305842809371
     effort: []
     time_from_start:
       sec: 12
       nanosec: 210000000
   - positions:
-      - 0.88301295843093286
-      - 0.10800395232132487
-      - -1.0618637566514613
-      - 1.01762611301245
-      - -1.5159881461587665
-      - -1.5708462062154256
-      - 0.1078926264806165
-    velocities:
-      - -0.61186484084844484
-      - -0.10228732067264594
-      - 0.50264358289982813
-      - 0.01091558853102699
-      - -0.49150973304835782
-      - -0.00010399983840091512
-      - -0.1023186071718586
-    accelerations:
-      - -0.63737346437455566
-      - -0.10655167544569931
-      - 0.52359877605374794
-      - 0.011370659029960305
-      - -0.51200075639657516
-      - -0.00010833558797736825
-      - -0.10658426627796837
+      - 0.88946556721080361
+      - 0.10764370382283582
+      - -1.0671196336865183
+      - 1.0183563360677894
+      - -1.5116335352928987
+      - -1.5708343554433521
+      - 0.10749771920494326
+    velocities:
+      - -0.60611911544287822
+      - -0.099905095218029621
+      - 0.49792383976195487
+      - 0.010073785209617298
+      - -0.48612837374490897
+      - -4.9150691865501375e-05
+      - -0.099949275726434805
+    accelerations:
+      - -0.63737303090906994
+      - -0.10505659980027388
+      - 0.52359877592557269
+      - 0.010593229693953474
+      - -0.51119508870512442
+      - -5.1685097281095679e-05
+      - -0.10510305843164643
     effort: []
     time_from_start:
       sec: 12
       nanosec: 220000000
   - positions:
-      - 0.8768663075516554
-      - 0.10697639785573465
-      - -1.0568143169475712
-      - 1.0177357684581674
-      - -1.5209257378148353
-      - -1.5708472509734435
-      - 0.10686475771818317
-    velocities:
-      - -0.61823857548668937
-      - -0.10335283742618327
-      - 0.50787957065584544
-      - 0.011029295121228442
-      - -0.49662974060790416
-      - -0.00010508319427975362
-      - -0.10338444983371821
-    accelerations:
-      - -0.63737346441618903
-      - -0.10655167545266596
-      - 0.52359877608794281
-      - 0.011370659030702767
-      - -0.51200075643004839
-      - -0.00010833558798444267
-      - -0.10658426628493502
+      - 0.88337365347953689
+      - 0.10663958894528816
+      - -1.0621151568447766
+      - 1.0184575845334471
+      - -1.5165194595934564
+      - -1.5708348494415896
+      - 0.10649316028291828
+    velocities:
+      - -0.612492845748007
+      - -0.10095566121537926
+      - 0.50315982751795552
+      - 0.010179717506490956
+      - -0.49124032462878253
+      - -4.9667542837990979e-05
+      - -0.10100030631009782
+    accelerations:
+      - -0.63737303093071929
+      - -0.10505659980384047
+      - 0.52359877594328075
+      - 0.010593229694309092
+      - -0.5111950887224439
+      - -5.1685097282843955e-05
+      - -0.10510305843519914
     effort: []
     time_from_start:
       sec: 12
       nanosec: 230000000
   - positions:
-      - 0.87065591932599595
-      - 0.10593818822260918
-      - -1.0517125173661217
-      - 1.0178465609697869
-      - -1.5259145295464991
-      - -1.5708483065650196
-      - 0.10582623052913134
-    velocities:
-      - -0.6246123101249339
-      - -0.10441835417972059
-      - 0.51311555841186274
-      - 0.011143001711429895
-      - -0.50174974816745044
-      - -0.00010616655015859212
-      - -0.1044502924955778
-    accelerations:
-      - -0.63737346445782239
-      - -0.10655167545961873
-      - 0.52359877612202665
-      - 0.011370659031445228
-      - -0.5120007564634661
-      - -0.00010833558799151709
-      - -0.10658426629187391
+      - 0.87721800244521875
+      - 0.10562496840776699
+      - -1.0570583201254746
+      - 1.0185598923220733
+      - -1.5214565034028533
+      - -1.5708353486083366
+      - 0.10547809105505666
+    velocities:
+      - -0.61886657605313544
+      - -0.10200622721272885
+      - 0.50839581527395594
+      - 0.010285649803364614
+      - -0.49635227551265587
+      - -5.0184393810480563e-05
+      - -0.10205133689376081
+    accelerations:
+      - -0.63737303095203557
+      - -0.10505659980735155
+      - 0.52359877596082227
+      - 0.01059322969466471
+      - -0.51119508873954134
+      - -5.1685097284571902e-05
+      - -0.10510305843871022
     effort: []
     time_from_start:
       sec: 12
       nanosec: 240000000
   - positions:
-      - 0.86438179375395485
-      - 0.10488932342194845
-      - -1.0465583579071125
-      - 1.0179584905473082
-      - -1.5309545213537576
-      - -1.5708493729901549
-      - 0.10477704491346104
-    velocities:
-      - -0.63098604476317854
-      - -0.10548387093325794
-      - 0.51835154616788015
-      - 0.011256708301631349
-      - -0.50686975572699677
-      - -0.00010724990603743063
-      - -0.10551613515743742
-    accelerations:
-      - -0.6373734644996778
-      - -0.10655167546659926
-      - 0.52359877615633255
-      - 0.011370659032189425
-      - -0.51200075649688381
-      - -0.00010833558799860506
-      - -0.10658426629885444
+      - 0.87099861410784984
+      - 0.10459984221027238
+      - -1.0519491235286131
+      - 1.0186632594336684
+      - -1.5264446667210883
+      - -1.5708358529435935
+      - 0.10445251152135847
+    velocities:
+      - -0.62524030635826411
+      - -0.10305679321007849
+      - 0.51363180302995648
+      - 0.010391582100238274
+      - -0.50146422639652943
+      - -5.0701244782970167e-05
+      - -0.10310236747742384
+    accelerations:
+      - -0.6373730309735739
+      - -0.10505659981090426
+      - 0.52359877597847482
+      - 0.010593229695023798
+      - -0.51119508875691633
+      - -5.1685097286320178e-05
+      - -0.10510305844227681
     effort: []
     time_from_start:
       sec: 12
       nanosec: 250000000
   - positions:
-      - 0.8580439308355311
-      - 0.1038298034537523
-      - -1.0413518385705429
-      - 1.0180715571907317
-      - -1.5360457132366121
-      - -1.5708504502488487
-      - 0.1037172008711721
-    velocities:
-      - -0.63735977940142297
-      - -0.10654938768679527
-      - 0.52358753392389756
-      - 0.011370414891832803
-      - -0.51198976328654311
-      - -0.00010833326191626912
-      - -0.10658197781929703
-    accelerations:
-      - -0.63737346454120014
-      - -0.10655167547356591
-      - 0.52359877619052742
-      - 0.011370659032931886
-      - -0.51200075653041255
-      - -0.00010833558800566593
-      - -0.10658426630582109
+      - 0.86471548846742941
+      - 0.10356421035280426
+      - -1.0467875670541915
+      - 1.0187676858682322
+      - -1.5314839495481622
+      - -1.57083636244736
+      - 0.10341642168182363
+    velocities:
+      - -0.63161403666339277
+      - -0.1041073592074281
+      - 0.51886779078595702
+      - 0.010497514397111931
+      - -0.50657617728040283
+      - -5.1218095755459758e-05
+      - -0.10415339806108684
+    accelerations:
+      - -0.6373730309950012
+      - -0.10505659981442922
+      - 0.52359877599612736
+      - 0.010593229695379416
+      - -0.51119508877401376
+      - -5.1685097288054902e-05
+      - -0.10510305844580177
     effort: []
     time_from_start:
       sec: 12
       nanosec: 260000000
   - positions:
-      - 0.85167032795195396
-      - 0.10276430872604653
-      - -1.036115959050256
-      - 1.0181852614304472
-      - -1.5411656149579125
-      - -1.570851533582333
-      - 0.10265138024188107
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.85836883128409791
+      - 0.10251810675029102
+      - -1.0415738197331419
+      - 1.0188731682060019
+      - -1.5365741868573668
+      - -1.5708368771029508
+      - 0.10236985546637856
+    velocities:
+      - -0.63737303051034366
+      - -0.10505659973454702
+      - 0.5235987755979824
+      - 0.010593229687326464
+      - -0.51119508838533034
+      - -5.1685097250437457e-05
+      - -0.10510305836588514
+    accelerations:
+      - -0.02040626221982984
+      - -0.0033635130755180439
+      - 0.016763642955316085
+      - 0.00033915495699783269
+      - -0.016366524028664651
+      - -1.6547603944077921e-06
+      - -0.0033650005043299089
     effort: []
     time_from_start:
       sec: 12
       nanosec: 270000000
   - positions:
-      - 0.84529659331375018
-      - 0.10169879197251602
-      - -1.0308799712942722
-      - 1.018298968020648
-      - -1.546285622517426
-      - -1.570852616938212
-      - 0.10158553758002828
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.8519951013236069
+      - 0.10146754080974715
+      - -1.0363378322602597
+      - 1.0189791004971478
+      - -1.5416861374648287
+      - -1.5708373939538955
+      - 0.10131882493954643
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 280000000
   - positions:
-      - 0.83892285867554761
-      - 0.10063327521898571
-      - -1.0256439835382896
-      - 1.0184126746108486
-      - -1.5514056300769388
-      - -1.5708537002940908
-      - 0.10051969491817571
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.84562137101849888
+      - 0.10041697481240093
+      - -1.0311018445042759
+      - 1.0190850327940211
+      - -1.546798088348686
+      - -1.570837910804868
+      - 0.10026779435588684
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 290000000
   - positions:
-      - 0.83254912403734505
-      - 0.099567758465455403
-      - -1.0204079957823065
-      - 1.0185263812010494
-      - -1.5565256376364514
-      - -1.5708547836499698
-      - 0.099453852256323111
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.83924764071339086
+      - 0.099366408815054708
+      - -1.0258658567482923
+      - 1.0191909650908946
+      - -1.5519100392325429
+      - -1.5708384276558405
+      - 0.09921676377222724
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 300000000
   - positions:
-      - 0.82617538939914237
-      - 0.098502241711925079
-      - -1.0151720080263236
-      - 1.01864008779125
-      - -1.5616456451959642
-      - -1.5708558670058488
-      - 0.098388009594470513
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.83287391040828285
+      - 0.098315842817708471
+      - -1.0206298689923088
+      - 1.0192968973877679
+      - -1.5570219901163997
+      - -1.5708389445068129
+      - 0.098165733188567611
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 310000000
   - positions:
-      - 0.81980165476093947
-      - 0.097436724958394727
-      - -1.0099360202703405
-      - 1.0187537943814509
-      - -1.566765652755477
-      - -1.5708569503617276
-      - 0.097322166932617873
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.82650018010317483
+      - 0.097265276820362262
+      - -1.0153938812363252
+      - 1.0194028296846414
+      - -1.5621339410002568
+      - -1.5708394613577856
+      - 0.09711470260490801
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 320000000
   - positions:
-      - 0.81342792012273724
-      - 0.096371208204864459
-      - -1.0047000325143576
-      - 1.0188675009716515
-      - -1.5718856603149893
-      - -1.5708580337176064
-      - 0.096256324270765331
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.82012644979806681
+      - 0.096214710823016025
+      - -1.0101578934803417
+      - 1.0195087619815146
+      - -1.5672458918841139
+      - -1.5708399782087581
+      - 0.096063672021248409
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 330000000
   - positions:
-      - 0.80705418548453423
-      - 0.095305691451334093
-      - -0.99946404475837458
-      - 1.0189812075618523
-      - -1.5770056678745021
-      - -1.5708591170734854
-      - 0.095190481608912692
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.8137527194929588
+      - 0.095164144825669816
+      - -1.0049219057243579
+      - 1.0196146942783879
+      - -1.5723578427679707
+      - -1.5708404950597306
+      - 0.095012641437588793
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 340000000
   - positions:
-      - 0.80068045084633188
-      - 0.094240174697803825
-      - -0.99422805700239192
-      - 1.0190949141520529
-      - -1.5821256754340145
-      - -1.5708602004293644
-      - 0.094124638947060149
-    velocities:
-      - -0.63737346382027682
-      - -0.10655167535303399
-      - 0.52359877559830459
-      - 0.011370659020071417
-      - -0.51200075595127525
-      - -0.00010833558788879283
-      - -0.10658426618526171
-    accelerations:
-      - -7.1018764193915918e-12
-      - -1.1790224524380573e-12
-      - 5.7702745907556686e-12
-      - 1.2483767143461783e-13
-      - -5.7702745907556686e-12
-      - -1.19202637654583e-15
-      - -1.1790224524380573e-12
+      - 0.80737898918785078
+      - 0.09411357882832358
+      - -0.99968591796837447
+      - 1.0197206265752612
+      - -1.5774697936518278
+      - -1.570841011910703
+      - 0.093961610853929192
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 350000000
   - positions:
-      - 0.79430671620812898
-      - 0.093174657944273473
-      - -0.9889920692464087
-      - 1.0192086207422535
-      - -1.5872456829935273
-      - -1.5708612837852431
-      - 0.09305879628520751
-    velocities:
-      - -0.63737346381996429
-      - -0.10655167535298217
-      - 0.52359877559804557
-      - 0.011370659020065791
-      - -0.5120007559510289
-      - -0.00010833558788942196
-      - -0.10658426618520969
-    accelerations:
-      - 3.2132697858495118e-10
-      - 5.3277087643424521e-11
-      - -2.6642923960460695e-10
-      - -5.7872583213654136e-12
-      - 2.531136178093745e-10
-      - -6.6313760758727536e-13
-      - 5.3481494118351337e-11
+      - 0.80100525888274332
+      - 0.093063012830977454
+      - -0.99444993021239136
+      - 1.0198265588721345
+      - -1.5825817445356842
+      - -1.5708415287616755
+      - 0.092910580270269688
+    velocities:
+      - -0.637373030510898
+      - -0.10505659973463838
+      - 0.5235987755984377
+      - 0.010593229687335675
+      - -0.51119508838577488
+      - -5.1685097250482397e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 360000000
   - positions:
-      - 0.78793298156992553
-      - 0.092109141190742996
-      - -0.98375608149042504
-      - 1.0193223273324543
-      - -1.592365690553041
-      - -1.5708623671411219
-      - 0.091992953623354745
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.79463152857763397
+      - 0.092012446833630995
+      - -0.98921394245640659
+      - 1.0199324911690077
+      - -1.5876936954195424
+      - -1.570842045612648
+      - 0.091859549686609851
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 370000000
   - positions:
-      - 0.78155924693172307
-      - 0.091043624437212714
-      - -0.97852009373444238
-      - 1.0194360339226551
-      - -1.5974856981125531
-      - -1.5708634504970007
-      - 0.090927110961502203
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.78825779827252584
+      - 0.090961880836284773
+      - -0.98397795470042293
+      - 1.0200384234658812
+      - -1.5928056463033995
+      - -1.5708425624636204
+      - 0.090808519102950236
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 380000000
   - positions:
-      - 0.77518551229352028
-      - 0.089978107683682348
-      - -0.97328410597845916
-      - 1.0195497405128557
-      - -1.6026057056720662
-      - -1.5708645338528797
-      - 0.089861268299649563
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.78188406796741794
+      - 0.08991131483893855
+      - -0.97874196694443949
+      - 1.0201443557627545
+      - -1.5979175971872563
+      - -1.5708430793145931
+      - 0.089757488519290621
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 390000000
   - positions:
-      - 0.76881177765531794
-      - 0.08891259093015208
-      - -0.96804811822247661
-      - 1.0196634471030566
-      - -1.6077257132315785
-      - -1.5708656172087587
-      - 0.088795425637797021
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.77551033766231003
+      - 0.088860748841592341
+      - -0.97350597918845594
+      - 1.020250288059628
+      - -1.6030295480711136
+      - -1.5708435961655658
+      - 0.08870645793563102
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 400000000
   - positions:
-      - 0.76243804301711504
-      - 0.087847074176621714
-      - -0.96281213046649339
-      - 1.0197771536932572
-      - -1.6128457207910916
-      - -1.5708667005646375
-      - 0.087729582975944381
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.76913660735720191
+      - 0.087810182844246104
+      - -0.96826999143247239
+      - 1.0203562203565011
+      - -1.6081414989549705
+      - -1.570844113016538
+      - 0.087655427351971404
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 410000000
   - positions:
-      - 0.7560643083789127
-      - 0.086781557423091446
-      - -0.95757614271051072
-      - 1.019890860283458
-      - -1.6179657283506039
-      - -1.5708677839205163
-      - 0.086663740314091839
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.762762877052094
+      - 0.086759616846899881
+      - -0.96303400367648873
+      - 1.0204621526533746
+      - -1.6132534498388273
+      - -1.5708446298675105
+      - 0.086604396768311803
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 420000000
   - positions:
-      - 0.7496905737407098
-      - 0.08571604066956108
-      - -0.95234015495452762
-      - 1.0200045668736586
-      - -1.623085735910117
-      - -1.5708688672763953
-      - 0.085597897652239199
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.75638914674698587
+      - 0.085709050849553658
+      - -0.95779801592050506
+      - 1.0205680849502479
+      - -1.6183654007226844
+      - -1.570845146718483
+      - 0.085553366184652188
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 430000000
   - positions:
-      - 0.74331683910250756
-      - 0.084650523916030812
-      - -0.94710416719854507
-      - 1.0201182734638594
-      - -1.6282057434696293
-      - -1.5708699506322743
-      - 0.084532054990386657
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.75001541644187786
+      - 0.084658484852207436
+      - -0.95256202816452162
+      - 1.0206740172471211
+      - -1.6234773516065415
+      - -1.5708456635694557
+      - 0.084502335600992573
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 440000000
   - positions:
-      - 0.73694310446430344
-      - 0.083585007162500266
-      - -0.94186817944256096
-      - 1.02023198005406
-      - -1.633325751029143
-      - -1.5708710339881531
-      - 0.083466212328533823
-    velocities:
-      - -0.63737346382027238
-      - -0.10655167535303366
-      - 0.52359877559829859
-      - 0.011370659020071287
-      - -0.51200075595127637
-      - -0.00010833558788947431
-      - -0.10658426618526121
-    accelerations:
-      - 2.2193363810598724e-13
-      - 5.5483409526496811e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 5.4183017115719542e-17
-      - 4.1612557144872607e-14
+      - 0.74364168613676873
+      - 0.083607918854861032
+      - -0.94732604040853707
+      - 1.0207799495439944
+      - -1.6285893024903992
+      - -1.5708461804204279
+      - 0.083451305017332778
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 450000000
   - positions:
-      - 0.7305693698261011
-      - 0.082519490408969998
-      - -0.93663219168657841
-      - 1.0203456866442606
-      - -1.6384457585886556
-      - -1.5708721173440321
-      - 0.082400369666681281
-    velocities:
-      - -0.63737346382062388
-      - -0.10655167535309244
-      - 0.52359877559858969
-      - 0.011370659020075339
-      - -0.51200075595155436
-      - -0.00010833558788731363
-      - -0.10658426618532013
-    accelerations:
-      - -3.6956819041563215e-10
-      - -6.1789371912095258e-11
-      - 3.0602675691812777e-10
-      - 4.2578746653744758e-12
-      - -2.9224387244624262e-10
-      - 2.2732599837900307e-12
-      - -6.1949977557424435e-11
+      - 0.73726795583166072
+      - 0.08255735285751481
+      - -0.94209005265255352
+      - 1.0208858818408677
+      - -1.6337012533742563
+      - -1.5708466972714004
+      - 0.082400274433673176
+    velocities:
+      - -0.637373030510896
+      - -0.10505659973463785
+      - 0.52359877559843526
+      - 0.010593229687332683
+      - -0.51119508838577576
+      - -5.1685097248745112e-05
+      - -0.10510305836597654
+    accelerations:
+      - -1.6600636130327847e-10
+      - -2.7353320896562928e-11
+      - 1.3637822061612915e-10
+      - 2.7585657673955134e-12
+      - -1.3316018286359235e-10
+      - -1.3457706876116841e-14
+      - -2.7367191748944551e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 460000000
   - positions:
-      - 0.7241956351878982
-      - 0.081453973655439618
-      - -0.93139620393059519
-      - 1.0204593932344614
-      - -1.6435657661481686
-      - -1.5708732006999109
-      - 0.081334527004828627
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.73089422552655292
+      - 0.081506786860168615
+      - -0.93685406489657008
+      - 1.020991814137741
+      - -1.6388132042581132
+      - -1.5708472141223728
+      - 0.081349243850013589
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 470000000
   - positions:
-      - 0.71782190054969597
-      - 0.080388456901909336
-      - -0.92616021617461253
-      - 1.020573099824662
-      - -1.6486857737076808
-      - -1.5708742840557897
-      - 0.080268684342976099
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.7245204952214449
+      - 0.080456220862822378
+      - -0.93161807714058642
+      - 1.0210977464346143
+      - -1.64392515514197
+      - -1.5708477309733455
+      - 0.080298213266353988
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 480000000
   - positions:
-      - 0.71144816591149296
-      - 0.079322940148378984
-      - -0.92092422841862942
-      - 1.0206868064148629
-      - -1.6538057812671936
-      - -1.5708753674116687
-      - 0.079202841681123445
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.71814676491633689
+      - 0.079405654865476155
+      - -0.92638208938460287
+      - 1.0212036787314878
+      - -1.6490371060258269
+      - -1.5708482478243178
+      - 0.079247182682694359
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 490000000
   - positions:
-      - 0.70507443127329061
-      - 0.078257423394848702
-      - -0.91568824066264665
-      - 1.0208005130050635
-      - -1.6589257888267062
-      - -1.5708764507675474
-      - 0.078136999019270903
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.71177303461122887
+      - 0.078355088868129932
+      - -0.92114610162861932
+      - 1.0213096110283608
+      - -1.6541490569096839
+      - -1.5708487646752902
+      - 0.078196152099034757
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 500000000
   - positions:
-      - 0.69870069663508771
-      - 0.077191906641318336
-      - -0.91045225290666343
-      - 1.0209142195952641
-      - -1.664045796386219
-      - -1.5708775341234265
-      - 0.07707115635741825
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.70539930430612086
+      - 0.07730452287078371
+      - -0.91591011387263566
+      - 1.0214155433252343
+      - -1.6592610077935412
+      - -1.5708492815262629
+      - 0.077145121515375142
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 510000000
   - positions:
-      - 0.69232696199688548
-      - 0.076126389887788082
-      - -0.90521626515068077
-      - 1.0210279261854649
-      - -1.6691658039457313
-      - -1.5708786174793055
-      - 0.076005313695565707
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.69902557400101284
+      - 0.076253956873437487
+      - -0.91067412611665211
+      - 1.0215214756221078
+      - -1.6643729586773981
+      - -1.5708497983772354
+      - 0.076094090931715541
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 520000000
   - positions:
-      - 0.68595322735868136
-      - 0.075060873134257508
-      - -0.89998027739469677
-      - 1.0211416327756655
-      - -1.674285811505245
-      - -1.570879700835184
-      - 0.074939471033712873
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.69265184369590371
+      - 0.07520339087609107
+      - -0.90543813836066755
+      - 1.0216274079189811
+      - -1.6694849095612558
+      - -1.5708503152282078
+      - 0.075043060348055746
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 530000000
   - positions:
-      - 0.67957949272047902
-      - 0.07399535638072724
-      - -0.89474428963871411
-      - 1.0212553393658663
-      - -1.6794058190647574
-      - -1.570880784191063
-      - 0.073873628371860331
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.6862781133907957
+      - 0.074152824878744847
+      - -0.900202150604684
+      - 1.0217333402158544
+      - -1.6745968604451131
+      - -1.5708508320791803
+      - 0.073992029764396131
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 540000000
   - positions:
-      - 0.67320575808227612
-      - 0.072929839627196888
-      - -0.88950830188273078
-      - 1.0213690459560669
-      - -1.6845258266242704
-      - -1.5708818675469418
-      - 0.072807785710007691
-    velocities:
-      - -0.63737346382027626
-      - -0.10655167535303434
-      - 0.52359877559830414
-      - 0.011370659020069137
-      - -0.51200075595127514
-      - -0.00010833558788725456
-      - -0.10658426618526201
-    accelerations:
-      - -6.4360755050736298e-12
-      - -1.0819264857666879e-12
-      - 5.3264073145436937e-12
-      - 1.1443453214839967e-13
-      - -5.1044736764377066e-12
-      - -1.1107518508722506e-15
-      - -1.0819264857666879e-12
+      - 0.67990438308568768
+      - 0.073102258881398624
+      - -0.89496616284870045
+      - 1.0218392725127279
+      - -1.67970881132897
+      - -1.570851348930153
+      - 0.072940999180736515
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 550000000
   - positions:
-      - 0.66683202344407388
-      - 0.07186432287366662
-      - -0.88427231412674823
-      - 1.0214827525462677
-      - -1.6896458341837828
-      - -1.5708829509028208
-      - 0.071741943048155135
-    velocities:
-      - -0.63737346382062743
-      - -0.10655167535309298
-      - 0.52359877559859058
-      - 0.011370659020075381
-      - -0.51200075595155858
-      - -0.00010833558788731402
-      - -0.10658426618532041
-    accelerations:
-      - -3.7622602444018683e-10
-      - -6.2840608863340737e-11
-      - 3.0696118976367933e-10
-      - 6.688860115129641e-12
-      - -3.03573870698555e-10
-      - -6.3734662164541053e-14
-      - -6.2577799625529367e-11
+      - 0.67353065278058022
+      - 0.072051692884052485
+      - -0.88973017509271735
+      - 1.0219452048096012
+      - -1.6848207622128264
+      - -1.5708518657811252
+      - 0.071889968597077011
+    velocities:
+      - -0.63737303051089678
+      - -0.10505659973463836
+      - 0.5235987755984377
+      - 0.010593229687334954
+      - -0.51119508838577599
+      - -5.1685097248745363e-05
+      - -0.10510305836597691
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3701530453137579e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 560000000
   - positions:
-      - 0.66045828880587099
-      - 0.070798806120136254
-      - -0.87903632637076512
-      - 1.0215964591364683
-      - -1.6947658417432956
-      - -1.5708840342586996
-      - 0.070676100386302496
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.66715692247547198
+      - 0.071001126886706234
+      - -0.88449418733673357
+      - 1.0220511371064742
+      - -1.6899327130966837
+      - -1.5708523826320979
+      - 0.070838938013417355
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 570000000
   - positions:
-      - 0.65408455416766864
-      - 0.069733289366605986
-      - -0.87380033861478235
-      - 1.021710165726669
-      - -1.6998858493028079
-      - -1.5708851176145784
-      - 0.069610257724449953
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.66078319217036396
+      - 0.069950560889360011
+      - -0.87925819958075002
+      - 1.0221570694033477
+      - -1.6950446639805408
+      - -1.5708528994830704
+      - 0.069787907429757753
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 580000000
   - positions:
-      - 0.64771081952946585
-      - 0.06866777261307562
-      - -0.86856435085879935
-      - 1.0218238723168698
-      - -1.705005856862321
-      - -1.5708862009704574
-      - 0.068544415062597328
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.65440946186525606
+      - 0.068899994892013788
+      - -0.87402221182476636
+      - 1.0222630017002212
+      - -1.7001566148643976
+      - -1.5708534163340429
+      - 0.068736876846098138
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 590000000
   - positions:
-      - 0.6413370848912634
-      - 0.067602255859545352
-      - -0.86332836310281669
-      - 1.0219375789070704
-      - -1.7101258644218333
-      - -1.5708872843263362
-      - 0.067478572400744785
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.64803573156014793
+      - 0.067849428894667552
+      - -0.8687862240687827
+      - 1.0223689339970945
+      - -1.7052685657482547
+      - -1.5708539331850153
+      - 0.067685846262438523
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 600000000
   - positions:
-      - 0.6349633502530605
-      - 0.066536739106014986
-      - -0.85809237534683347
-      - 1.022051285497271
-      - -1.7152458719813461
-      - -1.5708883676822152
-      - 0.066412729738892146
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.64166200125504047
+      - 0.066798862897321426
+      - -0.86355023631279959
+      - 1.0224748662939678
+      - -1.7103805166321111
+      - -1.5708544500359878
+      - 0.066634815678779005
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 610000000
   - positions:
-      - 0.62858961561485704
-      - 0.065471222352484509
-      - -0.85285638759084992
-      - 1.0221649920874718
-      - -1.7203658795408594
-      - -1.570889451038094
-      - 0.065346887077039409
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.63528827094993134
+      - 0.065748296899975023
+      - -0.85831424855681515
+      - 1.0225807985908411
+      - -1.7154924675159691
+      - -1.5708549668869605
+      - 0.06558378509511921
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 620000000
   - positions:
-      - 0.62221588097665415
-      - 0.064405705598954144
-      - -0.84762039983486681
-      - 1.0222786986776726
-      - -1.7254858871003724
-      - -1.570890534393973
-      - 0.064281044415186755
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.62891454064482333
+      - 0.064697730902628786
+      - -0.8530782608008316
+      - 1.0226867308877146
+      - -1.7206044183998261
+      - -1.5708554837379329
+      - 0.064532754511459609
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 630000000
   - positions:
-      - 0.6158421463384518
-      - 0.063340188845423889
-      - -0.84238441207888404
-      - 1.0223924052678732
-      - -1.7306058946598848
-      - -1.5708916177498518
-      - 0.063215201753334213
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.62254081033971531
+      - 0.063647164905282577
+      - -0.84784227304484783
+      - 1.0227926631845878
+      - -1.725716369283683
+      - -1.5708560005889054
+      - 0.063481723927799993
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 640000000
   - positions:
-      - 0.60946841170024901
-      - 0.062274672091893517
-      - -0.83714842432290093
-      - 1.0225061118580738
-      - -1.7357259022193976
-      - -1.5708927011057305
-      - 0.062149359091481574
-    velocities:
-      - -0.63737346382027427
-      - -0.10655167535303393
-      - 0.52359877559830037
-      - 0.01137065902006908
-      - -0.51200075595127481
-      - -0.000108335587887254
-      - -0.10658426618526134
-    accelerations:
-      - -1.9974027429538852e-12
-      - -3.1902960477735666e-13
-      - 1.5535354667419107e-12
-      - 3.4677130954060505e-14
-      - -1.5535354667419107e-12
-      - -3.2509810269431724e-16
-      - -3.1902960477735666e-13
+      - 0.6161670800346073
+      - 0.062596598907936354
+      - -0.84260628528886428
+      - 1.0228985954814611
+      - -1.7308283201675398
+      - -1.5708565174398779
+      - 0.062430693344140392
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 650000000
   - positions:
-      - 0.60309467706204656
-      - 0.061209155338363241
-      - -0.83191243656691838
-      - 1.0226198184482747
-      - -1.74084590977891
-      - -1.5708937844616095
-      - 0.061083516429629031
-    velocities:
-      - -0.63737346382062499
-      - -0.10655167535309246
-      - 0.52359877559858947
-      - 0.011370659020077728
-      - -0.51200075595155659
-      - -0.00010833558788896747
-      - -0.1065842661853201
-    accelerations:
-      - -3.7108664378965341e-10
-      - -6.1906176017789203e-11
-      - 3.0579314870673988e-10
-      - 9.1344460780965493e-12
-      - -2.9808407773093971e-10
-      - -1.8030493151407613e-12
-      - -6.2154384742388833e-11
+      - 0.60979334972949928
+      - 0.061546032910590125
+      - -0.83737029753288073
+      - 1.0230045277783346
+      - -1.7359402710513969
+      - -1.5708570342908506
+      - 0.061379662760480784
+    velocities:
+      - -0.63737303051089855
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.010593229687337167
+      - -0.51119508838577565
+      - -5.1685097250965768e-05
+      - -0.10510305836597697
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3748788880665909e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 660000000
   - positions:
-      - 0.59672094242384366
-      - 0.060143638584832876
-      - -0.82667644881093516
-      - 1.0227335250384753
-      - -1.745965917338423
-      - -1.5708948678174885
-      - 0.060017673767776385
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.60341961942439148
+      - 0.060495466913243937
+      - -0.83213430977689729
+      - 1.0231104600752079
+      - -1.7410522219352538
+      - -1.5708575511418228
+      - 0.060328632176821197
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 670000000
   - positions:
-      - 0.59034720778564131
-      - 0.059078121831302607
-      - -0.82144046105495239
-      - 1.0228472316286761
-      - -1.7510859248979356
-      - -1.5708959511733673
-      - 0.058951831105923842
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.59704588911928347
+      - 0.059444900915897707
+      - -0.82689832202091373
+      - 1.0232163923720812
+      - -1.7461641728191106
+      - -1.5708580679927953
+      - 0.059277601593161589
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 680000000
   - positions:
-      - 0.58397347314743842
-      - 0.058012605077772242
-      - -0.81620447329896939
-      - 1.0229609382188767
-      - -1.7562059324574486
-      - -1.5708970345292461
-      - 0.05788598844407121
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.59067215881417545
+      - 0.058394334918551484
+      - -0.82166233426493007
+      - 1.0233223246689547
+      - -1.7512761237029677
+      - -1.5708585848437679
+      - 0.058226571009501973
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 690000000
   - positions:
-      - 0.57759973850923485
-      - 0.056947088324241779
-      - -0.81096848554298573
-      - 1.0230746448090775
-      - -1.7613259400169616
-      - -1.5708981178851249
-      - 0.056820145782218459
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.58429842850906621
+      - 0.057343768921205067
+      - -0.81642634650894563
+      - 1.023428256965828
+      - -1.7563880745868254
+      - -1.5708591016947402
+      - 0.057175540425842178
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 700000000
   - positions:
-      - 0.57122600387103206
-      - 0.055881571570711414
-      - -0.80573249778700262
-      - 1.0231883513992783
-      - -1.7664459475764747
-      - -1.5708992012410039
-      - 0.05575430312036582
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.5779246982039582
+      - 0.056293202923858837
+      - -0.81119035875296186
+      - 1.0235341892627012
+      - -1.7615000254706825
+      - -1.5708596185457129
+      - 0.056124509842182563
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 710000000
   - positions:
-      - 0.56485226923282972
-      - 0.054816054817181145
-      - -0.80049651003101996
-      - 1.0233020579894789
-      - -1.771565955135987
-      - -1.5709002845968829
-      - 0.054688460458513277
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.57155096789885018
+      - 0.055242636926512614
+      - -0.80595437099697842
+      - 1.0236401215595745
+      - -1.7666119763545396
+      - -1.5708601353966853
+      - 0.055073479258522955
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 720000000
   - positions:
-      - 0.55847853459462682
-      - 0.053750538063650787
-      - -0.79526052227503674
-      - 1.0234157645796795
-      - -1.7766859626954998
-      - -1.5709013679527617
-      - 0.053622617796660638
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.56517723759374217
+      - 0.054192070929166392
+      - -0.80071838324099476
+      - 1.0237460538564478
+      - -1.7717239272383964
+      - -1.5708606522476578
+      - 0.054022448674863346
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 730000000
   - positions:
-      - 0.55210479995642447
-      - 0.052685021310120518
-      - -0.79002453451905419
-      - 1.0235294711698804
-      - -1.7818059702550122
-      - -1.5709024513086407
-      - 0.052556775134808095
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.55880350728863415
+      - 0.053141504931820162
+      - -0.79548239548501121
+      - 1.0238519861533211
+      - -1.7768358781222533
+      - -1.5708611690986303
+      - 0.052971418091203731
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 740000000
   - positions:
-      - 0.54573106531822158
-      - 0.051619504556590153
-      - -0.78478854676307097
-      - 1.023643177760081
-      - -1.786925977814525
-      - -1.5709035346645195
-      - 0.051490932472955456
-    velocities:
-      - -0.63737346382027493
-      - -0.10655167535303393
-      - 0.52359877559830181
-      - 0.011370659020071483
-      - -0.51200075595127537
-      - -0.00010833558788890796
-      - -0.10658426618526155
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.5886548812714961e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.55242977698352613
+      - 0.052090938934473939
+      - -0.79024640772902766
+      - 1.0239579184501943
+      - -1.7819478290061104
+      - -1.5708616859496027
+      - 0.051920387507544123
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 750000000
   - positions:
-      - 0.5393573306800199
-      - 0.050553987803059981
-      - -0.77955255900708875
-      - 1.0237568843502816
-      - -1.7920459853740369
-      - -1.5709046180203983
-      - 0.050425089811103004
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.54605604667841812
+      - 0.051040372937127709
+      - -0.7850104199730441
+      - 1.0240638507470676
+      - -1.7870597798899674
+      - -1.5708622028005752
+      - 0.050869356923884508
+    velocities:
+      - -0.63737303051089789
+      - -0.1050565997346383
+      - 0.52359877559843615
+      - 0.010593229687332374
+      - -0.51119508838577354
+      - -5.1685097247195801e-05
+      - -0.10510305836597682
+    accelerations:
+      - -1.670050626747554e-10
+      - -2.7533641977524042e-11
+      - 1.372659551685531e-10
+      - 2.7776381894202465e-12
+      - -1.340479174160163e-10
+      - -1.3545754278929885e-14
+      - -2.7547512829905668e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 760000000
   - positions:
-      - 0.532983596041817
-      - 0.049488471049529616
-      - -0.77431657125110553
-      - 1.0238705909404824
-      - -1.7971659929335499
-      - -1.5709057013762773
-      - 0.049359247149250364
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.5396823163733101
+      - 0.049989806939781486
+      - -0.77977443221706055
+      - 1.0241697830439411
+      - -1.7921717307738245
+      - -1.5708627196515477
+      - 0.0498183263402249
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 770000000
   - positions:
-      - 0.52660986140361354
-      - 0.04842295429599916
-      - -0.76908058349512198
-      - 1.0239842975306832
-      - -1.8022860004930632
-      - -1.5709067847321561
-      - 0.04829340448739762
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.53330858606820153
+      - 0.048939240942435167
+      - -0.77453844446107656
+      - 1.0242757153408144
+      - -1.7972836816576818
+      - -1.5708632365025201
+      - 0.048767295756565195
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 780000000
   - positions:
-      - 0.52023612676541064
-      - 0.047357437542468794
-      - -0.76384459573913888
-      - 1.0240980041208838
-      - -1.8074060080525762
-      - -1.5709078680880351
-      - 0.047227561825544995
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.52693485576309351
+      - 0.047888674945088951
+      - -0.76930245670509279
+      - 1.0243816476376877
+      - -1.8023956325415389
+      - -1.5708637533534928
+      - 0.047716265172905593
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 790000000
   - positions:
-      - 0.5138623921272083
-      - 0.046291920788938526
-      - -0.75860860798315621
-      - 1.0242117107110846
-      - -1.8125260156120886
-      - -1.5709089514439138
-      - 0.046161719163692438
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.5205611254579855
+      - 0.046838108947742721
+      - -0.76406646894910923
+      - 1.024487579934561
+      - -1.8075075834253957
+      - -1.5708642702044653
+      - 0.046665234589245985
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 800000000
   - positions:
-      - 0.5074886574890054
-      - 0.04522640403540816
-      - -0.753372620227173
-      - 1.0243254173012852
-      - -1.8176460231716014
-      - -1.5709100347997926
-      - 0.045095876501839799
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.51418739515287748
+      - 0.045787542950396498
+      - -0.75883048119312568
+      - 1.0245935122314342
+      - -1.812619534309253
+      - -1.570864787055438
+      - 0.045614204005586377
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 810000000
   - positions:
-      - 0.50111492285080306
-      - 0.044160887281877892
-      - -0.74813663247119022
-      - 1.0244391238914861
-      - -1.8227660307311138
-      - -1.5709111181556716
-      - 0.044030033839987257
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.50781366484776946
+      - 0.044736976953050275
+      - -0.75359449343714213
+      - 1.0246994445283075
+      - -1.8177314851931097
+      - -1.5708653039064102
+      - 0.044563173421926769
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 820000000
   - positions:
-      - 0.49474118821260082
-      - 0.043095370528347623
-      - -0.74290064471520756
-      - 1.0245528304816867
-      - -1.8278860382906261
-      - -1.5709122015115504
-      - 0.042964191178134707
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.50143993454266145
+      - 0.043686410955704053
+      - -0.74835850568115847
+      - 1.024805376825181
+      - -1.8228434360769667
+      - -1.5708658207573827
+      - 0.043512142838267154
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 830000000
   - positions:
-      - 0.48836745357439793
-      - 0.042029853774817258
-      - -0.73766465695922445
-      - 1.0246665370718873
-      - -1.8330060458501392
-      - -1.5709132848674292
-      - 0.041898348516282068
-    velocities:
-      - -0.63737346382027615
-      - -0.10655167535303425
-      - 0.52359877559830525
-      - 0.01137065902007039
-      - -0.51200075595127614
-      - -0.00010833558788629992
-      - -0.10658426618526201
-    accelerations:
-      - -7.767677333709553e-12
-      - -1.3038601238726751e-12
-      - 6.4360755050736298e-12
-      - 1.3870852381624202e-13
-      - -6.3251086860206367e-12
-      - -1.3274839193351288e-15
-      - -1.3038601238726751e-12
+      - 0.49506620423755343
+      - 0.04263584495835783
+      - -0.74312251792517492
+      - 1.0249113091220541
+      - -1.8279553869608238
+      - -1.5708663376083554
+      - 0.042461112254607553
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 840000000
   - positions:
-      - 0.48199371893619569
-      - 0.04096433702128701
-      - -0.73242866920324179
-      - 1.0247802436620879
-      - -1.8381260534096513
-      - -1.5709143682233082
-      - 0.040832505854429539
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.48869247393244536
+      - 0.041585278961011607
+      - -0.73788653016919137
+      - 1.0250172414189276
+      - -1.8330673378446807
+      - -1.5708668544593278
+      - 0.041410081670947944
+    velocities:
+      - -0.63737303051089733
+      - -0.10505659973463809
+      - 0.5235987755984377
+      - 0.0105932296873326
+      - -0.51119508838577554
+      - -5.1685097251838145e-05
+      - -0.1051030583659766
+    accelerations:
+      - -1.6900246541770928e-10
+      - -2.7852671582301398e-11
+      - 1.3881949063529502e-10
+      - 2.8088476072789009e-12
+      - -1.3560145288275822e-10
+      - -1.3708303330277045e-14
+      - -2.7866542434683025e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 850000000
   - positions:
-      - 0.4756199842979934
-      - 0.039898820267756742
-      - -0.72719268144725913
-      - 1.0248939502522889
-      - -1.8432460609691637
-      - -1.570915451579187
-      - 0.039766663192577004
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.48231874362733712
+      - 0.040534712963665349
+      - -0.73265054241320748
+      - 1.0251231737158009
+      - -1.8381792887285378
+      - -1.5708673713103003
+      - 0.040359051087288295
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 860000000
   - positions:
-      - 0.46924624965978934
-      - 0.038833303514226189
-      - -0.72195669369127513
-      - 1.0250076568424895
-      - -1.8483660685286776
-      - -1.570916534935066
-      - 0.038700820530724163
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.47594501332222794
+      - 0.039484146966318932
+      - -0.72741455465722304
+      - 1.0252291060126741
+      - -1.8432912396123959
+      - -1.570867888161273
+      - 0.039308020503628492
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 870000000
   - positions:
-      - 0.46287251502158699
-      - 0.037767786760695921
-      - -0.71672070593529247
-      - 1.0251213634326901
-      - -1.8534860760881899
-      - -1.5709176182909448
-      - 0.03763497786887162
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.46957128301711992
+      - 0.03843358096897271
+      - -0.72217856690123949
+      - 1.0253350383095476
+      - -1.8484031904962528
+      - -1.5708684050122455
+      - 0.038256989919968884
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 880000000
   - positions:
-      - 0.4564987803833841
-      - 0.036702270007165555
-      - -0.71148471817930936
-      - 1.0252350700228909
-      - -1.8586060836477027
-      - -1.5709187016468236
-      - 0.036569135207018974
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.46319755271201191
+      - 0.03738301497162648
+      - -0.71694257914525583
+      - 1.0254409706064209
+      - -1.8535151413801096
+      - -1.5708689218632177
+      - 0.037205959336309269
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 890000000
   - positions:
-      - 0.45012504574518175
-      - 0.035636753253635287
-      - -0.70624873042332659
-      - 1.0253487766130918
-      - -1.8637260912072151
-      - -1.5709197850027024
-      - 0.035503292545166432
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.45682382240690389
+      - 0.036332448974280257
+      - -0.71170659138927228
+      - 1.0255469029032942
+      - -1.8586270922639667
+      - -1.5708694387141904
+      - 0.036154928752649661
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 900000000
   - positions:
-      - 0.44375131110697946
-      - 0.034571236500105018
-      - -0.70101274266734404
-      - 1.0254624832032924
-      - -1.8688460987667277
-      - -1.5709208683585816
-      - 0.034437449883313889
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.45045009210179587
+      - 0.035281882976934034
+      - -0.70647060363328873
+      - 1.0256528352001677
+      - -1.8637390431478238
+      - -1.5708699555651626
+      - 0.035103898168990046
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 910000000
   - positions:
-      - 0.43737757646877651
-      - 0.033505719746574653
-      - -0.69577675491136071
-      - 1.0255761897934932
-      - -1.8739661063262405
-      - -1.5709219517144604
-      - 0.03337160722146125
-    velocities:
-      - -0.63737346382027571
-      - -0.10655167535303407
-      - 0.52359877559830181
-      - 0.011370659020071644
-      - -0.51200075595127426
-      - -0.00010833558788729515
-      - -0.10658426618526159
-    accelerations:
-      - -3.6619050287487895e-12
-      - -6.1031750479146494e-13
-      - 2.9961041144308278e-12
-      - 6.4152692265011944e-14
-      - -2.8851372953778343e-12
-      - -6.2310469683077473e-16
-      - -6.1031750479146494e-13
+      - 0.44407636179668786
+      - 0.034231316979587811
+      - -0.70123461587730507
+      - 1.025758767497041
+      - -1.8688509940316809
+      - -1.5708704724161353
+      - 0.034052867585330437
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 920000000
   - positions:
-      - 0.43100384183057366
-      - 0.032440202993044287
-      - -0.69054076715537771
-      - 1.0256898963836938
-      - -1.8790861138857533
-      - -1.5709230350703391
-      - 0.03230576455960861
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.43770263149157979
+      - 0.033180750982241582
+      - -0.69599862812132152
+      - 1.0258646997939143
+      - -1.8739629449155377
+      - -1.5708709892671078
+      - 0.033001837001670829
+    velocities:
+      - -0.63737303051089711
+      - -0.10505659973463807
+      - 0.52359877559843537
+      - 0.010593229687335767
+      - -0.51119508838577432
+      - -5.1685097249722514e-05
+      - -0.10510305836597673
+    accelerations:
+      - -1.6622829494138444e-10
+      - -2.73949334537078e-11
+      - 1.3648918743518216e-10
+      - 2.7620334804909195e-12
+      - -1.3327114968264533e-10
+      - -1.3478025507535236e-14
+      - -2.73949334537078e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 930000000
   - positions:
-      - 0.42463010719237071
-      - 0.031374686239513921
-      - -0.68530477939939449
-      - 1.0258036029738944
-      - -1.8842061214452659
-      - -1.5709241184262179
-      - 0.031239921897755971
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.4313289011864716
+      - 0.032130184984895331
+      - -0.69076264036533785
+      - 1.0259706320907875
+      - -1.8790748957993948
+      - -1.5708715061180802
+      - 0.031950806418011186
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 940000000
   - positions:
-      - 0.41825637255416726
-      - 0.030309169485983462
-      - -0.68006879164341094
-      - 1.0259173095640952
-      - -1.8893261290047794
-      - -1.5709252017820969
-      - 0.030174079235903234
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.42495517088136248
+      - 0.031079618987548917
+      - -0.6855266526093533
+      - 1.026076564387661
+      - -1.8841868466832528
+      - -1.5708720229690529
+      - 0.030899775834351391
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 950000000
   - positions:
-      - 0.41188263791596436
-      - 0.029243652732453097
-      - -0.67483280388742783
-      - 1.0260310161542958
-      - -1.8944461365642924
-      - -1.5709262851379759
-      - 0.029108236574050594
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.41858144057625446
+      - 0.030029052990202695
+      - -0.68029066485336975
+      - 1.0261824966845343
+      - -1.8892987975671098
+      - -1.5708725398200252
+      - 0.029848745250691783
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 960000000
   - positions:
-      - 0.40550890327776201
-      - 0.028178135978922828
-      - -0.66959681613144517
-      - 1.0261447227444966
-      - -1.8995661441238048
-      - -1.5709273684938547
-      - 0.028042393912198052
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.41220771027114644
+      - 0.028978486992856468
+      - -0.6750546770973862
+      - 1.0262884289814076
+      - -1.8944107484509667
+      - -1.5708730566709979
+      - 0.028797714667032175
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 970000000
   - positions:
-      - 0.39913516863955967
-      - 0.02711261922539256
-      - -0.66436082837546251
-      - 1.0262584293346972
-      - -1.9046861516833171
-      - -1.5709284518497335
-      - 0.026976551250345503
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.40583397996603843
+      - 0.027927920995510246
+      - -0.66981868934140265
+      - 1.0263943612782809
+      - -1.8995226993348235
+      - -1.5708735735219703
+      - 0.027746684083372566
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 980000000
   - positions:
-      - 0.39276143400135682
-      - 0.026047102471862191
-      - -0.65912484061947929
-      - 1.0263721359248981
-      - -1.9098061592428299
-      - -1.5709295352056125
-      - 0.025910708588492863
-    velocities:
-      - -0.63737346382027671
-      - -0.10655167535303425
-      - 0.5235987755983037
-      - 0.011370659020070272
-      - -0.51200075595127459
-      - -0.00010833558788857811
-      - -0.1065842661852618
-    accelerations:
-      - -5.8812414098086618e-12
-      - -9.8483051909531847e-13
-      - 4.8825400383317195e-12
-      - 1.0576524940988454e-13
-      - -4.7715732192787256e-12
-      - -1.0159315709197414e-15
-      - -9.8483051909531847e-13
+      - 0.39946024966093041
+      - 0.026877354998164023
+      - -0.66458270158541899
+      - 1.0265002935751542
+      - -1.9046346502186806
+      - -1.5708740903729428
+      - 0.026695653499712958
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 12
       nanosec: 990000000
   - positions:
-      - 0.38638769936315442
-      - 0.024981585718331908
-      - -0.65388885286349652
-      - 1.0264858425150987
-      - -1.9149261668023425
-      - -1.5709306185614913
-      - 0.024844865926640303
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.39308651935582245
+      - 0.0258267890008178
+      - -0.65934671382943533
+      - 1.0266062258720277
+      - -1.9097466011025379
+      - -1.5708746072239155
+      - 0.02564462291605335
+    velocities:
+      - -0.63737303051089633
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687333236
+      - -0.51119508838577665
+      - -5.1685097250180006e-05
+      - -0.10510305836597665
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7824929877538153e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 0
   - positions:
-      - 0.38001396472495208
-      - 0.02391606896480164
-      - -0.64865286510751385
-      - 1.0265995491052993
-      - -1.9200461743618549
-      - -1.5709317019173703
-      - 0.023779023264787754
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.38671278905071432
+      - 0.024776223003471549
+      - -0.65411072607345178
+      - 1.0267121581689009
+      - -1.914858551986395
+      - -1.5708751240748879
+      - 0.024593592332393714
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 10000000
   - positions:
-      - 0.37364023008674918
-      - 0.022850552211271274
-      - -0.64341687735153075
-      - 1.0267132556955001
-      - -1.9251661819213677
-      - -1.5709327852732491
-      - 0.022713180602935115
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.38033905874560631
+      - 0.023725657006125327
+      - -0.648874738317468
+      - 1.0268180904657742
+      - -1.9199705028702518
+      - -1.5708756409258604
+      - 0.023542561748734106
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 20000000
   - positions:
-      - 0.36726649544854573
-      - 0.021785035457740812
-      - -0.63818088959554709
-      - 1.0268269622857007
-      - -1.9302861894808809
-      - -1.5709338686291279
-      - 0.021647337941082374
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.37396532844049712
+      - 0.02267509100877891
+      - -0.64363875056148356
+      - 1.0269240227626475
+      - -1.9250824537541096
+      - -1.5708761577768326
+      - 0.022491531165074304
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 30000000
   - positions:
-      - 0.36089276081034338
-      - 0.020719518704210543
-      - -0.63294490183956442
-      - 1.0269406688759015
-      - -1.9354061970403935
-      - -1.5709349519850067
-      - 0.020581495279229828
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.36759159813538911
+      - 0.021624525011432687
+      - -0.63840276280550001
+      - 1.027029955059521
+      - -1.9301944046379669
+      - -1.5708766746278053
+      - 0.021440500581414695
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 40000000
   - positions:
-      - 0.35451902617214048
-      - 0.019654001950680178
-      - -0.6277089140835812
-      - 1.0270543754661021
-      - -1.9405262045999063
-      - -1.5709360353408857
-      - 0.019515652617377185
-    velocities:
-      - -0.63737346382027504
-      - -0.10655167535303417
-      - 0.52359877559830292
-      - 0.011370659020068131
-      - -0.51200075595127614
-      - -0.00010833558788656521
-      - -0.10658426618526187
-    accelerations:
-      - -5.1044736764377066e-12
-      - -8.3225114289745221e-13
-      - 4.1057723049607644e-12
-      - 9.0160540480557322e-14
-      - -4.1057723049607644e-12
-      - -8.5338251957258275e-16
-      - -8.4612199527907635e-13
+      - 0.36121786783028109
+      - 0.020573959014086464
+      - -0.63316677504951635
+      - 1.0271358873563943
+      - -1.9353063555218237
+      - -1.570877191478778
+      - 0.020389469997755087
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 50000000
   - positions:
-      - 0.34814529153393814
-      - 0.018588485197149906
-      - -0.62247292632759854
-      - 1.0271680820563027
-      - -1.9456462121594187
-      - -1.5709371186967644
-      - 0.018449809955524636
-    velocities:
-      - -0.63737346382027182
-      - -0.10655167535303349
-      - 0.52359877559829859
-      - 0.011370659020074243
-      - -0.51200075595127692
-      - -0.00010833558788821612
-      - -0.10658426618526107
-    accelerations:
-      - 2.2193363810598724e-13
-      - 4.1612557144872607e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 4.0637262836789655e-17
-      - 4.1612557144872607e-14
+      - 0.35484413752517308
+      - 0.019523393016740241
+      - -0.62793078729353269
+      - 1.0272418196532678
+      - -1.9404183064056806
+      - -1.5708777083297505
+      - 0.019338439414095479
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463821
+      - 0.52359877559843759
+      - 0.010593229687337337
+      - -0.51119508838577499
+      - -5.1685097250790731e-05
+      - -0.1051030583659768
+    accelerations:
+      - -1.6878053177960329e-10
+      - -2.7811059025156526e-11
+      - 1.3870852381624204e-10
+      - 2.8053798941834952e-12
+      - -1.3537951924465223e-10
+      - -1.3687984698858649e-14
+      - -2.7838800729919776e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 60000000
   - positions:
-      - 0.3417715568957353
-      - 0.017522968443619544
-      - -0.61723693857161543
-      - 1.0272817886465035
-      - -1.9507662197189317
-      - -1.5709382020526435
-      - 0.017383967293672
-    velocities:
-      - -0.63737346382027182
-      - -0.10655167535303349
-      - 0.52359877559829859
-      - 0.011370659020074243
-      - -0.51200075595127692
-      - -0.00010833558788821612
-      - -0.10658426618526107
-    accelerations:
-      - 2.2193363810598724e-13
-      - 4.1612557144872607e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 4.0637262836789655e-17
-      - 4.1612557144872607e-14
+      - 0.34847040722006523
+      - 0.018472827019394043
+      - -0.62269479953754936
+      - 1.0273477519501411
+      - -1.9455302572895377
+      - -1.570878225180723
+      - 0.018287408830435892
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463814
+      - 0.52359877559843659
+      - 0.010593229687334196
+      - -0.5111950883857741
+      - -5.1685097247189553e-05
+      - -0.10510305836597666
+    accelerations:
+      - -1.6767086358907335e-10
+      - -2.7630737944195412e-11
+      - 1.3770982244476509e-10
+      - 2.7863074721587616e-12
+      - -1.3449178469222828e-10
+      - -1.359316441890614e-14
+      - -2.7630737944195412e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 70000000
   - positions:
-      - 0.33539782225753301
-      - 0.016457451690089275
-      - -0.61200095081563277
-      - 1.0273954952367044
-      - -1.9558862272784441
-      - -1.5709392854085222
-      - 0.016318124631819458
-    velocities:
-      - -0.63737346382027182
-      - -0.10655167535303349
-      - 0.52359877559829859
-      - 0.011370659020074243
-      - -0.51200075595127692
-      - -0.00010833558788821612
-      - -0.10658426618526107
-    accelerations:
-      - 2.2193363810598724e-13
-      - 4.1612557144872607e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 4.0637262836789655e-17
-      - 4.1612557144872607e-14
+      - 0.34209667691495721
+      - 0.017422261022047816
+      - -0.61745881178156581
+      - 1.0274536842470143
+      - -1.9506422081733945
+      - -1.5708787420316954
+      - 0.017236378246776284
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463814
+      - 0.52359877559843659
+      - 0.010593229687334196
+      - -0.5111950883857741
+      - -5.1685097247189553e-05
+      - -0.10510305836597666
+    accelerations:
+      - -1.6767086358907335e-10
+      - -2.7630737944195412e-11
+      - 1.3770982244476509e-10
+      - 2.7863074721587616e-12
+      - -1.3449178469222828e-10
+      - -1.359316441890614e-14
+      - -2.7630737944195412e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 80000000
   - positions:
-      - 0.32902408761933066
-      - 0.01539193493655901
-      - -0.60676496305965022
-      - 1.027509201826905
-      - -1.9610062348379567
-      - -1.570940368764401
-      - 0.015252281969966915
-    velocities:
-      - -0.63737346382027182
-      - -0.10655167535303349
-      - 0.52359877559829859
-      - 0.011370659020074243
-      - -0.51200075595127692
-      - -0.00010833558788821612
-      - -0.10658426618526107
-    accelerations:
-      - 2.2193363810598724e-13
-      - 4.1612557144872607e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 4.0637262836789655e-17
-      - 4.1612557144872607e-14
+      - 0.33572294660984914
+      - 0.016371695024701594
+      - -0.61222282402558215
+      - 1.0275596165438876
+      - -1.9557541590572516
+      - -1.5708792588826679
+      - 0.016185347663116675
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463814
+      - 0.52359877559843659
+      - 0.010593229687334196
+      - -0.5111950883857741
+      - -5.1685097247189553e-05
+      - -0.10510305836597666
+    accelerations:
+      - -1.6767086358907335e-10
+      - -2.7630737944195412e-11
+      - 1.3770982244476509e-10
+      - 2.7863074721587616e-12
+      - -1.3449178469222828e-10
+      - -1.359316441890614e-14
+      - -2.7630737944195412e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 90000000
   - positions:
-      - 0.32265035298112782
-      - 0.014326418183028648
-      - -0.601528975303667
-      - 1.0276229084171058
-      - -1.9661262423974695
-      - -1.57094145212028
-      - 0.014186439308114277
-    velocities:
-      - -0.63737346382027182
-      - -0.10655167535303349
-      - 0.52359877559829859
-      - 0.011370659020074243
-      - -0.51200075595127692
-      - -0.00010833558788821612
-      - -0.10658426618526107
-    accelerations:
-      - 2.2193363810598724e-13
-      - 4.1612557144872607e-14
-      - -2.2193363810598724e-13
-      - -5.2015696431090759e-15
-      - 2.2193363810598724e-13
-      - 4.0637262836789655e-17
-      - 4.1612557144872607e-14
+      - 0.32934921630474112
+      - 0.015321129027355367
+      - -0.6069868362695986
+      - 1.0276655488407611
+      - -1.9608661099411084
+      - -1.5708797757336403
+      - 0.015134317079457064
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463814
+      - 0.52359877559843659
+      - 0.010593229687334196
+      - -0.5111950883857741
+      - -5.1685097247189553e-05
+      - -0.10510305836597666
+    accelerations:
+      - -1.6767086358907335e-10
+      - -2.7630737944195412e-11
+      - 1.3770982244476509e-10
+      - 2.7863074721587616e-12
+      - -1.3449178469222828e-10
+      - -1.359316441890614e-14
+      - -2.7630737944195412e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 100000000
   - positions:
-      - 0.31627661834292559
-      - 0.013260901429498394
-      - -0.59629298754768445
-      - 1.0277366150073064
-      - -1.9712462499569821
-      - -1.570942535476159
-      - 0.013120596646261747
-    velocities:
-      - -0.63737346382027793
-      - -0.10655167535303471
-      - 0.5235987755983057
-      - 0.01137065902007253
-      - -0.51200075595127448
-      - -0.00010833558789070282
-      - -0.10658426618526234
-    accelerations:
-      - -8.4334782480275151e-12
-      - -1.4009560905440445e-12
-      - 6.8799427812856048e-12
-      - 1.4911166310246018e-13
-      - -6.7689759622326108e-12
-      - -1.422304199287638e-15
-      - -1.4009560905440445e-12
+      - 0.32297548599963311
+      - 0.014270563030009143
+      - -0.60175084851361504
+      - 1.0277714811376344
+      - -1.9659780608249653
+      - -1.5708802925846126
+      - 0.014083286495797454
+    velocities:
+      - -0.63737303051089766
+      - -0.10505659973463814
+      - 0.52359877559843659
+      - 0.010593229687334196
+      - -0.5111950883857741
+      - -5.1685097247189553e-05
+      - -0.10510305836597666
+    accelerations:
+      - -1.6767086358907335e-10
+      - -2.7630737944195412e-11
+      - 1.3770982244476509e-10
+      - 2.7863074721587616e-12
+      - -1.3449178469222828e-10
+      - -1.359316441890614e-14
+      - -2.7630737944195412e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 110000000
   - positions:
-      - 0.30990288370472208
-      - 0.012195384675967931
-      - -0.59105699979170079
-      - 1.0278503215975072
-      - -1.9763662575164953
-      - -1.5709436188320378
-      - 0.012054753984409009
-    velocities:
-      - -0.63737346382027793
-      - -0.10655167535303471
-      - 0.5235987755983057
-      - 0.01137065902007253
-      - -0.51200075595127448
-      - -0.00010833558789070282
-      - -0.10658426618526234
-    accelerations:
-      - -8.4334782480275151e-12
-      - -1.4009560905440445e-12
-      - 6.8799427812856048e-12
-      - 1.4911166310246018e-13
-      - -6.7689759622326108e-12
-      - -1.422304199287638e-15
-      - -1.4009560905440445e-12
+      - 0.31660175569452448
+      - 0.013219997032662823
+      - -0.59651486075763094
+      - 1.0278774134345077
+      - -1.971090011708823
+      - -1.5708808094355853
+      - 0.013032255912137747
+    velocities:
+      - -0.63737303051089866
+      - -0.10505659973463835
+      - 0.52359877559843848
+      - 0.010593229687330558
+      - -0.51119508838577443
+      - -5.1685097252938047e-05
+      - -0.10510305836597689
+    accelerations:
+      - -1.6989019997013323e-10
+      - -2.7991380106117641e-11
+      - 1.3959625836866598e-10
+      - 2.8227184596605255e-12
+      - -1.3615628697802319e-10
+      - -1.3776032101671694e-14
+      - -2.8005250958499267e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 120000000
   - positions:
-      - 0.30352914906651973
-      - 0.011129867922437659
-      - -0.58582101203571812
-      - 1.027964028187708
-      - -1.9814862650760074
-      - -1.5709447021879166
-      - 0.010988911322556459
-    velocities:
-      - -0.63737346382027793
-      - -0.10655167535303471
-      - 0.5235987755983057
-      - 0.01137065902007253
-      - -0.51200075595127448
-      - -0.00010833558789070282
-      - -0.10658426618526234
-    accelerations:
-      - -8.4334782480275151e-12
-      - -1.4009560905440445e-12
-      - 6.8799427812856048e-12
-      - 1.4911166310246018e-13
-      - -6.7689759622326108e-12
-      - -1.422304199287638e-15
-      - -1.4009560905440445e-12
+      - 0.31022802538941646
+      - 0.012169431035316598
+      - -0.59127887300164739
+      - 1.0279833457313809
+      - -1.9762019625926799
+      - -1.5708813262865577
+      - 0.011981225328478135
+    velocities:
+      - -0.63737303051089866
+      - -0.10505659973463835
+      - 0.52359877559843848
+      - 0.010593229687330558
+      - -0.51119508838577443
+      - -5.1685097252938047e-05
+      - -0.10510305836597689
+    accelerations:
+      - -1.6989019997013323e-10
+      - -2.7991380106117641e-11
+      - 1.3959625836866598e-10
+      - 2.8227184596605255e-12
+      - -1.3615628697802319e-10
+      - -1.3776032101671694e-14
+      - -2.8005250958499267e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 130000000
   - positions:
-      - 0.29715541442831683
-      - 0.01006435116890729
-      - -0.58058502427973502
-      - 1.0280777347779086
-      - -1.9866062726355203
-      - -1.5709457855437956
-      - 0.0099230686607038147
-    velocities:
-      - -0.63737346382027793
-      - -0.10655167535303471
-      - 0.5235987755983057
-      - 0.01137065902007253
-      - -0.51200075595127448
-      - -0.00010833558789070282
-      - -0.10658426618526234
-    accelerations:
-      - -8.4334782480275151e-12
-      - -1.4009560905440445e-12
-      - 6.8799427812856048e-12
-      - 1.4911166310246018e-13
-      - -6.7689759622326108e-12
-      - -1.422304199287638e-15
-      - -1.4009560905440445e-12
+      - 0.30385429508430845
+      - 0.011118865037970372
+      - -0.58604288524566384
+      - 1.0280892780282542
+      - -1.9813139134765367
+      - -1.5708818431375304
+      - 0.010930194744818529
+    velocities:
+      - -0.63737303051089866
+      - -0.10505659973463835
+      - 0.52359877559843848
+      - 0.010593229687330558
+      - -0.51119508838577443
+      - -5.1685097252938047e-05
+      - -0.10510305836597689
+    accelerations:
+      - -1.6989019997013323e-10
+      - -2.7991380106117641e-11
+      - 1.3959625836866598e-10
+      - 2.8227184596605255e-12
+      - -1.3615628697802319e-10
+      - -1.3776032101671694e-14
+      - -2.8005250958499267e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 140000000
   - positions:
-      - 0.29078167979011449
-      - 0.0089988344153770078
-      - -0.57534903652375224
-      - 1.0281914413681092
-      - -1.9917262801950328
-      - -1.5709468688996744
-      - 0.008857225998851255
-    velocities:
-      - -0.63737346382027549
-      - -0.10655167535303414
-      - 0.52359877559830226
-      - 0.011370659020068598
-      - -0.51200075595127492
-      - -0.00010833558788736567
-      - -0.1065842661852618
-    accelerations:
-      - -4.3277059430667515e-12
-      - -7.0741347146283434e-13
-      - 3.4399713906428024e-12
-      - 7.6289688098933118e-14
-      - -3.3290045715898089e-12
-      - -7.1792497678328391e-16
-      - -7.0741347146283434e-13
+      - 0.29748056477920043
+      - 0.010068299040624149
+      - -0.58080689748968017
+      - 1.0281952103251275
+      - -1.9864258643603938
+      - -1.5708823599885027
+      - 0.0098791641611589188
+    velocities:
+      - -0.63737303051089866
+      - -0.10505659973463835
+      - 0.52359877559843848
+      - 0.010593229687330558
+      - -0.51119508838577443
+      - -5.1685097252938047e-05
+      - -0.10510305836597689
+    accelerations:
+      - -1.6989019997013323e-10
+      - -2.7991380106117641e-11
+      - 1.3959625836866598e-10
+      - 2.8227184596605255e-12
+      - -1.3615628697802319e-10
+      - -1.3776032101671694e-14
+      - -2.8005250958499267e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 150000000
   - positions:
-      - 0.28440794515191214
-      - 0.0079333176618467376
-      - -0.57011304876776958
-      - 1.0283051479583101
-      - -1.9968462877545452
-      - -1.5709479522555534
-      - 0.0077913833369987091
-    velocities:
-      - -0.63737346382027549
-      - -0.10655167535303414
-      - 0.52359877559830226
-      - 0.011370659020068598
-      - -0.51200075595127492
-      - -0.00010833558788736567
-      - -0.1065842661852618
-    accelerations:
-      - -4.3277059430667515e-12
-      - -7.0741347146283434e-13
-      - 3.4399713906428024e-12
-      - 7.6289688098933118e-14
-      - -3.3290045715898089e-12
-      - -7.1792497678328391e-16
-      - -7.0741347146283434e-13
+      - 0.29110683447409241
+      - 0.0090177330432779264
+      - -0.57557090973369662
+      - 1.0283011426220008
+      - -1.9915378152442509
+      - -1.5708828768394754
+      - 0.0088281335774993107
+    velocities:
+      - -0.63737303051089955
+      - -0.10505659973463867
+      - 0.52359877559843959
+      - 0.010593229687335491
+      - -0.51119508838577421
+      - -5.1685097240182734e-05
+      - -0.10510305836597722
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8227184596605253e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3737692198760611e-10
+      - -1.3891171013042597e-14
+      - -2.8241055448986876e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 160000000
   - positions:
-      - 0.27803421051370919
-      - 0.0068678009083163721
-      - -0.56487706101178636
-      - 1.0284188545485107
-      - -2.001966295314058
-      - -1.5709490356114322
-      - 0.0067255406751460661
-    velocities:
-      - -0.63737346382027549
-      - -0.10655167535303414
-      - 0.52359877559830226
-      - 0.011370659020068598
-      - -0.51200075595127492
-      - -0.00010833558788736567
-      - -0.1065842661852618
-    accelerations:
-      - -4.3277059430667515e-12
-      - -7.0741347146283434e-13
-      - 3.4399713906428024e-12
-      - 7.6289688098933118e-14
-      - -3.3290045715898089e-12
-      - -7.1792497678328391e-16
-      - -7.0741347146283434e-13
+      - 0.2847331041689844
+      - 0.0079671670459317001
+      - -0.57033492197771307
+      - 1.0284070749188743
+      - -1.9966497661281077
+      - -1.5708833936904478
+      - 0.0077771029938396991
+    velocities:
+      - -0.63737303051089955
+      - -0.10505659973463867
+      - 0.52359877559843959
+      - 0.010593229687335491
+      - -0.51119508838577421
+      - -5.1685097240182734e-05
+      - -0.10510305836597722
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8227184596605253e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3737692198760611e-10
+      - -1.3891171013042597e-14
+      - -2.8241055448986876e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 170000000
   - positions:
-      - 0.2716604758755069
-      - 0.0058022841547861019
-      - -0.5596410732558037
-      - 1.0285325611387113
-      - -2.0070863028735704
-      - -1.5709501189673112
-      - 0.0056596980132935211
-    velocities:
-      - -0.63737346382028159
-      - -0.10655167535303531
-      - 0.52359877559830859
-      - 0.011370659020072621
-      - -0.51200075595127148
-      - -0.00010833558789194275
-      - -0.10658426618526287
-    accelerations:
-      - -1.1762482819617324e-11
-      - -1.9835318905722611e-12
-      - 9.7650800766634391e-12
-      - 2.1153049881976909e-13
-      - -9.5431464385574512e-12
-      - -2.0047716332816232e-15
-      - -1.9696610381906369e-12
+      - 0.27835937386387638
+      - 0.0069166010485854738
+      - -0.56509893422172941
+      - 1.0285130072157476
+      - -2.0017617170119646
+      - -1.5708839105414201
+      - 0.0067260724101800874
+    velocities:
+      - -0.63737303051089955
+      - -0.10505659973463867
+      - 0.52359877559843959
+      - 0.010593229687335491
+      - -0.51119508838577421
+      - -5.1685097240182734e-05
+      - -0.10510305836597722
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8227184596605253e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3737692198760611e-10
+      - -1.3891171013042597e-14
+      - -2.8241055448986876e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 180000000
   - positions:
-      - 0.26528674123730456
-      - 0.0047367674012558274
-      - -0.55440508549982104
-      - 1.0286462677289121
-      - -2.0122063104330827
-      - -1.5709512023231902
-      - 0.0045938553514409701
-    velocities:
-      - -0.63737346382028159
-      - -0.10655167535303531
-      - 0.52359877559830859
-      - 0.011370659020072621
-      - -0.51200075595127148
-      - -0.00010833558789194275
-      - -0.10658426618526287
-    accelerations:
-      - -1.1762482819617324e-11
-      - -1.9835318905722611e-12
-      - 9.7650800766634391e-12
-      - 2.1153049881976909e-13
-      - -9.5431464385574512e-12
-      - -2.0047716332816232e-15
-      - -1.9696610381906369e-12
+      - 0.27198564355876897
+      - 0.005866035051239349
+      - -0.5598629464657463
+      - 1.0286189395126208
+      - -2.006873667895821
+      - -1.5708844273923925
+      - 0.0056750418265205773
+    velocities:
+      - -0.637373030510897
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.01059322968733846
+      - -0.51119508838577732
+      - -5.1685097259394051e-05
+      - -0.10510305836597694
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3737692198760611e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 190000000
   - positions:
-      - 0.25891300659910116
-      - 0.0036712506477253833
-      - -0.54916909774383749
-      - 1.0287599743191129
-      - -2.017326317992596
-      - -1.570952285679069
-      - 0.0035280126895882499
-    velocities:
-      - -0.6373734638202555
-      - -0.10655167535303033
-      - 0.52359877559828727
-      - 0.011370659020062077
-      - -0.51200075595128935
-      - -0.00010833558785994414
-      - -0.10658426618525803
-    accelerations:
-      - 1.4092786019730191e-11
-      - 2.3441740524944904e-12
-      - -1.1540549181511337e-11
-      - -2.4967534286923565e-13
-      - 1.1318615543405349e-11
-      - 2.3975985073705898e-15
-      - 2.3441740524944904e-12
+      - 0.26561191325365979
+      - 0.0048154690538929363
+      - -0.55462695870976175
+      - 1.0287248718094941
+      - -2.0119856187796792
+      - -1.5708849442433652
+      - 0.0046240112428607783
+    velocities:
+      - -0.637373030510897
+      - -0.10505659973463835
+      - 0.52359877559843959
+      - 0.01059322968733846
+      - -0.51119508838577732
+      - -5.1685097259394051e-05
+      - -0.10510305836597694
+    accelerations:
+      - -1.7133276861782214e-10
+      - -2.8241055448986876e-11
+      - 1.4070592655919592e-10
+      - 2.8469924513283676e-12
+      - -1.3737692198760611e-10
+      - -1.3891171013042597e-14
+      - -2.8254926301368502e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 200000000
   - positions:
-      - 0.25331846669381919
-      - 0.0044978805552787935
-      - -0.54589840369141829
-      - 1.0296138863720714
-      - -2.0212974664290204
-      - -1.5709517872769003
-      - 0.0043552960453426695
-    velocities:
-      - -0.37860900367169753
-      - 0.52359877559770263
-      - -0.13040120951970546
-      - 0.25795039555443233
-      - -0.12994433674312508
-      - 0.00041842085540131171
-      - 0.52389237236367858
-    accelerations:
-      - 4.3088427905883122e-10
-      - -5.9589198520368883e-10
-      - 1.4841816205026699e-10
-      - -2.9361828544673381e-10
-      - 1.4789106951214457e-10
-      - -4.7621467080161968e-13
-      - -5.9622488575408192e-10
+      - 0.25923818294855172
+      - 0.0037649030565467031
+      - -0.54939097095377809
+      - 1.0288308041063674
+      - -2.017097569663536
+      - -1.5708854610943375
+      - 0.0035729806592011601
+    velocities:
+      - -0.63737303051091565
+      - -0.1050565997346401
+      - 0.52359877559843937
+      - 0.010593229687324167
+      - -0.51119508838575367
+      - -5.1685097249885876e-05
+      - -0.10510305836597858
+    accelerations:
+      - -1.7111083497971618e-10
+      - -2.8185572039460381e-11
+      - 1.4048399292108993e-10
+      - 2.8417908816852586e-12
+      - -1.3715498834950012e-10
+      - -1.3870852381624203e-14
+      - -2.8199442891842004e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 210000000
   - positions:
-      - 0.24953237665709954
-      - 0.0097338683112594051
-      - -0.54720241578661621
-      - 1.0321933903276179
-      - -2.0225969097964525
-      - -1.5709476030683462
-      - 0.0095942197689830415
-    velocities:
-      - -0.37860900367169925
-      - 0.52359877559769563
-      - -0.13040120951969611
-      - 0.25795039555445815
-      - -0.12994433674309355
-      - 0.00041842085541611671
-      - 0.52389237236367159
-    accelerations:
-      - 4.3593327073979358e-10
-      - -6.028828967619444e-10
-      - 1.5013814822729812e-10
-      - -2.9694729095066505e-10
-      - 1.496110556891757e-10
-      - -4.8179552312754609e-13
-      - -6.0310483046220642e-10
+      - 0.25355163511102086
+      - 0.0043738449967155174
+      - -0.54588470975843117
+      - 1.0295885899781616
+      - -2.0211994599559402
+      - -1.5708853315896572
+      - 0.0041824176688481877
+    velocities:
+      - -0.37881336772939367
+      - 0.52359877559833423
+      - -0.13043029130986641
+      - 0.25768223524011802
+      - -0.12988834078412062
+      - 0.00019313568482480566
+      - 0.5239158964448617
+    accelerations:
+      - -2.5633342955168159e-11
+      - 3.5398425985708411e-11
+      - -8.821864783272158e-12
+      - 1.7477279287614654e-11
+      - -8.7941230701172149e-12
+      - 1.3085202591638576e-14
+      - 3.5398425985708411e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 220000000
   - positions:
-      - 0.24574628662038026
-      - 0.014969856067239542
-      - -0.54850642788181392
-      - 1.034772894283164
-      - -2.0238963531638841
-      - -1.5709434188597919
-      - 0.014833143492622937
-    velocities:
-      - -0.37860900367170097
-      - 0.52359877559770107
-      - -0.13040120951970072
-      - 0.25795039555445837
-      - -0.12994433674307146
-      - 0.00041842085542797089
-      - 0.52389237236367692
-    accelerations:
-      - 4.3204943098520713e-10
-      - -5.9744552110552341e-10
-      - 1.4880654602572564e-10
-      - -2.9433956997258557e-10
-      - 1.4827945348760319e-10
-      - -4.7751506357659278e-13
-      - -5.977784216559165e-10
+      - 0.24976350143372716
+      - 0.0096098327526984058
+      - -0.54718901267152997
+      - 1.0321654123305626
+      - -2.0224983433637811
+      - -1.5708834002328094
+      - 0.0094215766332963503
+    velocities:
+      - -0.37881336772939711
+      - 0.52359877559832357
+      - -0.13043029130989342
+      - 0.2576822352401128
+      - -0.12988834078411798
+      - 0.00019313568478036594
+      - 0.52391589644485104
+    accelerations:
+      - -1.7921146698093757e-11
+      - 2.4745608134209954e-11
+      - -6.1586603203975446e-12
+      - 1.2150870361865426e-11
+      - -6.1309186072426007e-12
+      - 9.1298411457188407e-15
+      - 2.4745608134209954e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 230000000
   - positions:
-      - 0.24196019658366119
-      - 0.020205843823219397
-      - -0.54981043997701162
-      - 1.0373523982387098
-      - -2.0251957965313157
-      - -1.5709392346512376
-      - 0.020072067216262555
-    velocities:
-      - -0.37860900367170097
-      - 0.52359877559770107
-      - -0.13040120951970072
-      - 0.25795039555445837
-      - -0.12994433674307146
-      - 0.00041842085542797089
-      - 0.52389237236367692
-    accelerations:
-      - 4.3204943098520713e-10
-      - -5.9744552110552341e-10
-      - 1.4880654602572564e-10
-      - -2.9433956997258557e-10
-      - 1.4827945348760319e-10
-      - -4.7751506357659278e-13
-      - -5.977784216559165e-10
+      - 0.24597536775643317
+      - 0.014845820508681691
+      - -0.54849331558462877
+      - 1.0347422346829638
+      - -2.0237972267716224
+      - -1.5708814688759614
+      - 0.01466073559774491
+    velocities:
+      - -0.37881336772939772
+      - 0.52359877559833057
+      - -0.13043029130988332
+      - 0.2576822352401163
+      - -0.12988834078410197
+      - 0.00019313568479814285
+      - 0.52391589644485825
+    accelerations:
+      - -2.2914655065983658e-11
+      - 3.1736519849255813e-11
+      - -7.9063882491590102e-12
+      - 1.5646326219388355e-11
+      - -7.8786465360040654e-12
+      - 1.1703535237241955e-14
+      - 3.1736519849255813e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 240000000
   - positions:
-      - 0.23817410654694213
-      - 0.025441831579199253
-      - -0.55111445207220944
-      - 1.0399319021942559
-      - -2.0264952398987468
-      - -1.5709350504426836
-      - 0.025310990939902172
-    velocities:
-      - -0.37860900367170097
-      - 0.52359877559770107
-      - -0.13040120951970072
-      - 0.25795039555445837
-      - -0.12994433674307146
-      - 0.00041842085542797089
-      - 0.52389237236367692
-    accelerations:
-      - 4.3204943098520713e-10
-      - -5.9744552110552341e-10
-      - 1.4880654602572564e-10
-      - -2.9433956997258557e-10
-      - 1.4827945348760319e-10
-      - -4.7751506357659278e-13
-      - -5.977784216559165e-10
+      - 0.24218723407913961
+      - 0.020081808264664443
+      - -0.54979761849772757
+      - 1.0373190570353645
+      - -2.0250961101794633
+      - -1.5708795375191134
+      - 0.019899894562192939
+    velocities:
+      - -0.37881336772939772
+      - 0.52359877559833057
+      - -0.13043029130988332
+      - 0.2576822352401163
+      - -0.12988834078410197
+      - 0.00019313568479814285
+      - 0.52391589644485825
+    accelerations:
+      - -2.2914655065983658e-11
+      - 3.1736519849255813e-11
+      - -7.9063882491590102e-12
+      - 1.5646326219388355e-11
+      - -7.8786465360040654e-12
+      - 1.1703535237241955e-14
+      - 3.1736519849255813e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 250000000
   - positions:
-      - 0.23438801651022292
-      - 0.030677819335179303
-      - -0.55241846416740714
-      - 1.0425114061498022
-      - -2.0277946832661788
-      - -1.5709308662341293
-      - 0.030549914663541986
-    velocities:
-      - -0.37860900367169548
-      - 0.52359877559769286
-      - -0.1304012095196965
-      - 0.25795039555445887
-      - -0.12994433674310979
-      - 0.00041842085541399866
-      - 0.52389237236366881
-    accelerations:
-      - 4.3793067404215232e-10
-      - -6.0565706801522037e-10
-      - 1.508594327531499e-10
-      - -2.9838986000236857e-10
-      - 1.5030459850249469e-10
-      - -4.8396284441916793e-13
-      - -6.0598996856561357e-10
+      - 0.23839910040184564
+      - 0.025317796020647716
+      - -0.55110192141082637
+      - 1.0398958793877657
+      - -2.0263949935873042
+      - -1.5708776061622653
+      - 0.025139053526641489
+    velocities:
+      - -0.37881336772939772
+      - 0.52359877559833057
+      - -0.13043029130988332
+      - 0.2576822352401163
+      - -0.12988834078410197
+      - 0.00019313568479814285
+      - 0.52391589644485825
+    accelerations:
+      - -2.2914655065983658e-11
+      - 3.1736519849255813e-11
+      - -7.9063882491590102e-12
+      - 1.5646326219388355e-11
+      - -7.8786465360040654e-12
+      - 1.1703535237241955e-14
+      - 3.1736519849255813e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 260000000
   - positions:
-      - 0.2306019264735035
-      - 0.035913807091159641
-      - -0.55372247626260496
-      - 1.0450909101053485
-      - -2.0290941266336109
-      - -1.5709266820255752
-      - 0.035788838387182081
-    velocities:
-      - -0.37860900367169548
-      - 0.52359877559769286
-      - -0.1304012095196965
-      - 0.25795039555445887
-      - -0.12994433674310979
-      - 0.00041842085541399866
-      - 0.52389237236366881
-    accelerations:
-      - 4.3793067404215232e-10
-      - -6.0565706801522037e-10
-      - 1.508594327531499e-10
-      - -2.9838986000236857e-10
-      - 1.5030459850249469e-10
-      - -4.8396284441916793e-13
-      - -6.0598996856561357e-10
+      - 0.23461096672455184
+      - 0.030553783776630771
+      - -0.55240622432392517
+      - 1.0424727017401667
+      - -2.0276938769951451
+      - -1.5708756748054173
+      - 0.03037821249108982
+    velocities:
+      - -0.37881336772939495
+      - 0.52359877559832546
+      - -0.13043029130988262
+      - 0.2576822352401188
+      - -0.12988834078411779
+      - 0.00019313568480575752
+      - 0.52391589644485292
+    accelerations:
+      - -1.9252748929531064e-11
+      - 2.6632044628746139e-11
+      - -6.6302694440315908e-12
+      - 1.3094088609133518e-11
+      - -6.6025277308766469e-12
+      - 9.8071290645407124e-15
+      - 2.6632044628746139e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 270000000
   - positions:
-      - 0.2268158364367841
-      - 0.04114979484713998
-      - -0.55502648835780277
-      - 1.0476704140608946
-      - -2.0303935700010425
-      - -1.5709224978170209
-      - 0.04102776211082218
-    velocities:
-      - -0.37860900367169548
-      - 0.52359877559769286
-      - -0.1304012095196965
-      - 0.25795039555445887
-      - -0.12994433674310979
-      - 0.00041842085541399866
-      - 0.52389237236366881
-    accelerations:
-      - 4.3793067404215232e-10
-      - -6.0565706801522037e-10
-      - 1.508594327531499e-10
-      - -2.9838986000236857e-10
-      - 1.5030459850249469e-10
-      - -4.8396284441916793e-13
-      - -6.0598996856561357e-10
+      - 0.23082283304725754
+      - 0.035789771532614541
+      - -0.55371052723702407
+      - 1.0450495240925681
+      - -2.0289927604029865
+      - -1.5708737434485691
+      - 0.035617371455538865
+    velocities:
+      - -0.37881336772939495
+      - 0.52359877559832546
+      - -0.13043029130988262
+      - 0.2576822352401188
+      - -0.12988834078411779
+      - 0.00019313568480575752
+      - 0.52391589644485292
+    accelerations:
+      - -1.9252748929531064e-11
+      - 2.6632044628746139e-11
+      - -6.6302694440315908e-12
+      - 1.3094088609133518e-11
+      - -6.6025277308766469e-12
+      - 9.8071290645407124e-15
+      - 2.6632044628746139e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 280000000
   - positions:
-      - 0.22302974640006476
-      - 0.0463857826031202
-      - -0.55633050045300059
-      - 1.0502499180164409
-      - -2.0316930133684745
-      - -1.570918313608467
-      - 0.046266685834462168
-    velocities:
-      - -0.37860900367170125
-      - 0.52359877559769996
-      - -0.13040120951969908
-      - 0.25795039555445415
-      - -0.12994433674308414
-      - 0.00041842085541611828
-      - 0.52389237236367592
-    accelerations:
-      - 4.3288168236118995e-10
-      - -5.9855518960683374e-10
-      - 1.4908396315105325e-10
-      - -2.9489440422324078e-10
-      - 1.485568706129308e-10
-      - -4.7832780906095106e-13
-      - -5.9888809015722693e-10
+      - 0.22703469936996359
+      - 0.041025759288597786
+      - -0.55501483015012298
+      - 1.0476263464449693
+      - -2.0302916438108278
+      - -1.5708718120917213
+      - 0.040856530419987387
+    velocities:
+      - -0.37881336772939495
+      - 0.52359877559832546
+      - -0.13043029130988262
+      - 0.2576822352401188
+      - -0.12988834078411779
+      - 0.00019313568480575752
+      - 0.52391589644485292
+    accelerations:
+      - -1.9252748929531064e-11
+      - 2.6632044628746139e-11
+      - -6.6302694440315908e-12
+      - 1.3094088609133518e-11
+      - -6.6025277308766469e-12
+      - 9.8071290645407124e-15
+      - 2.6632044628746139e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 290000000
   - positions:
-      - 0.21924365636334567
-      - 0.051621770359100053
-      - -0.55763451254819829
-      - 1.0528294219719867
-      - -2.0329924567359061
-      - -1.5709141293999127
-      - 0.051505609558101774
-    velocities:
-      - -0.37860900367170125
-      - 0.52359877559769996
-      - -0.13040120951969908
-      - 0.25795039555445415
-      - -0.12994433674308414
-      - 0.00041842085541611828
-      - 0.52389237236367592
-    accelerations:
-      - 4.3288168236118995e-10
-      - -5.9855518960683374e-10
-      - 1.4908396315105325e-10
-      - -2.9489440422324078e-10
-      - 1.485568706129308e-10
-      - -4.7832780906095106e-13
-      - -5.9888809015722693e-10
+      - 0.22324656569266979
+      - 0.046261747044580838
+      - -0.55631913306322167
+      - 1.0502031687973705
+      - -2.0315905272186692
+      - -1.5708698807348731
+      - 0.046095689384435715
+    velocities:
+      - -0.37881336772939617
+      - 0.52359877559832835
+      - -0.13043029130988568
+      - 0.25768223524011219
+      - -0.12988834078411768
+      - 0.00019313568479024007
+      - 0.52391589644485592
+    accelerations:
+      - -2.13611191293068e-11
+      - 2.9517182796860301e-11
+      - -7.3792956992150753e-12
+      - 1.4536657693190601e-11
+      - -7.3515539860601322e-12
+      - 1.0890789734655708e-14
+      - 2.9517182796860301e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 300000000
   - positions:
-      - 0.2154575663266266
-      - 0.056857758115079898
-      - -0.558938524643396
-      - 1.0554089259275328
-      - -2.0342919001033373
-      - -1.5709099451913584
-      - 0.056744533281741394
-    velocities:
-      - -0.37860900367170125
-      - 0.52359877559769996
-      - -0.13040120951969908
-      - 0.25795039555445415
-      - -0.12994433674308414
-      - 0.00041842085541611828
-      - 0.52389237236367592
-    accelerations:
-      - 4.3288168236118995e-10
-      - -5.9855518960683374e-10
-      - 1.4908396315105325e-10
-      - -2.9489440422324078e-10
-      - 1.485568706129308e-10
-      - -4.7832780906095106e-13
-      - -5.9888809015722693e-10
+      - 0.21945843201537624
+      - 0.051497734800563584
+      - -0.55762343597632047
+      - 1.0527799911497713
+      - -2.0328894106265101
+      - -1.5708679493780255
+      - 0.05133484834888373
+    velocities:
+      - -0.37881336772939617
+      - 0.52359877559832835
+      - -0.13043029130988568
+      - 0.25768223524011219
+      - -0.12988834078411768
+      - 0.00019313568479024007
+      - 0.52391589644485592
+    accelerations:
+      - -2.13611191293068e-11
+      - 2.9517182796860301e-11
+      - -7.3792956992150753e-12
+      - 1.4536657693190601e-11
+      - -7.3515539860601322e-12
+      - 1.0890789734655708e-14
+      - 2.9517182796860301e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 310000000
   - positions:
-      - 0.21167147628990751
-      - 0.062093745871059751
-      - -0.56024253673859359
-      - 1.0579884298830786
-      - -2.0355913434707693
-      - -1.5709057609828043
-      - 0.061983457005381007
-    velocities:
-      - -0.37860900367170125
-      - 0.52359877559769996
-      - -0.13040120951969908
-      - 0.25795039555445415
-      - -0.12994433674308414
-      - 0.00041842085541611828
-      - 0.52389237236367592
-    accelerations:
-      - 4.3288168236118995e-10
-      - -5.9855518960683374e-10
-      - 1.4908396315105325e-10
-      - -2.9489440422324078e-10
-      - 1.485568706129308e-10
-      - -4.7832780906095106e-13
-      - -5.9888809015722693e-10
+      - 0.21567029833808227
+      - 0.056733722556546844
+      - -0.55892773888941927
+      - 1.0553568135021725
+      - -2.034188294034351
+      - -1.5708660180211775
+      - 0.056574007313332272
+    velocities:
+      - -0.37881336772939617
+      - 0.52359877559832835
+      - -0.13043029130988568
+      - 0.25768223524011219
+      - -0.12988834078411768
+      - 0.00019313568479024007
+      - 0.52391589644485592
+    accelerations:
+      - -2.13611191293068e-11
+      - 2.9517182796860301e-11
+      - -7.3792956992150753e-12
+      - 1.4536657693190601e-11
+      - -7.3515539860601322e-12
+      - 1.0890789734655708e-14
+      - 2.9517182796860301e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 320000000
   - positions:
-      - 0.20788538625318845
-      - 0.06732973362703959
-      - -0.5615465488337914
-      - 1.0605679338386245
-      - -2.0368907868382005
-      - -1.57090157677425
-      - 0.067222380729020606
-    velocities:
-      - -0.37860900367170125
-      - 0.52359877559769996
-      - -0.13040120951969908
-      - 0.25795039555445415
-      - -0.12994433674308414
-      - 0.00041842085541611828
-      - 0.52389237236367592
-    accelerations:
-      - 4.3288168236118995e-10
-      - -5.9855518960683374e-10
-      - 1.4908396315105325e-10
-      - -2.9489440422324078e-10
-      - 1.485568706129308e-10
-      - -4.7832780906095106e-13
-      - -5.9888809015722693e-10
+      - 0.21188216466078869
+      - 0.061969710312529583
+      - -0.56023204180251795
+      - 1.0579336358545732
+      - -2.0354871774421923
+      - -1.5708640866643295
+      - 0.061813166277780288
+    velocities:
+      - -0.37881336772939617
+      - 0.52359877559832835
+      - -0.13043029130988568
+      - 0.25768223524011219
+      - -0.12988834078411768
+      - 0.00019313568479024007
+      - 0.52391589644485592
+    accelerations:
+      - -2.13611191293068e-11
+      - 2.9517182796860301e-11
+      - -7.3792956992150753e-12
+      - 1.4536657693190601e-11
+      - -7.3515539860601322e-12
+      - 1.0890789734655708e-14
+      - 2.9517182796860301e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 330000000
   - positions:
-      - 0.20409929621646911
-      - 0.072565721383019824
-      - -0.56285056092898911
-      - 1.0631474377941708
-      - -2.0381902302056325
-      - -1.5708973925656959
-      - 0.072461304452660594
-    velocities:
-      - -0.37860900367169914
-      - 0.52359877559769796
-      - -0.13040120951969905
-      - 0.25795039555445587
-      - -0.12994433674309039
-      - 0.00041842085541746177
-      - 0.52389237236367403
-    accelerations:
-      - 4.3421328456276246e-10
-      - -6.0055259290919247e-10
-      - 1.495278305515774e-10
-      - -2.9583762244935462e-10
-      - 1.4902847972598771e-10
-      - -4.7984493396508639e-13
-      - -6.007745266094546e-10
+      - 0.20809403098349474
+      - 0.067205698068512856
+      - -0.56153634471561675
+      - 1.0605104582069744
+      - -2.0367860608500332
+      - -1.5708621553074815
+      - 0.06705232524222883
+    velocities:
+      - -0.37881336772939617
+      - 0.52359877559832835
+      - -0.13043029130988568
+      - 0.25768223524011219
+      - -0.12988834078411768
+      - 0.00019313568479024007
+      - 0.52391589644485592
+    accelerations:
+      - -2.13611191293068e-11
+      - 2.9517182796860301e-11
+      - -7.3792956992150753e-12
+      - 1.4536657693190601e-11
+      - -7.3515539860601322e-12
+      - 1.0890789734655708e-14
+      - 2.9517182796860301e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 340000000
   - positions:
-      - 0.20031320617975007
-      - 0.07780170913899967
-      - -0.56415457302418681
-      - 1.0657269417497168
-      - -2.0394896735730641
-      - -1.5708932083571419
-      - 0.077700228176300207
-    velocities:
-      - -0.37860900367169914
-      - 0.52359877559769796
-      - -0.13040120951969905
-      - 0.25795039555445587
-      - -0.12994433674309039
-      - 0.00041842085541746177
-      - 0.52389237236367403
-    accelerations:
-      - 4.3421328456276246e-10
-      - -6.0055259290919247e-10
-      - 1.495278305515774e-10
-      - -2.9583762244935462e-10
-      - 1.4902847972598771e-10
-      - -4.7984493396508639e-13
-      - -6.007745266094546e-10
+      - 0.20430589730620136
+      - 0.072441685824495339
+      - -0.56284064762871555
+      - 1.0630872805593752
+      - -2.0380849442578741
+      - -1.5708602239506337
+      - 0.072291484206676582
+    velocities:
+      - -0.37881336772939594
+      - 0.52359877559832779
+      - -0.1304302913098849
+      - 0.25768223524011874
+      - -0.12988834078410882
+      - 0.0001931356847965228
+      - 0.52391589644485503
+    accelerations:
+      - -2.0917251718827698e-11
+      - 2.8962348533761426e-11
+      - -7.2128454202854127e-12
+      - 1.4203757135331274e-11
+      - -7.1851037071304688e-12
+      - 1.0674057600632709e-14
+      - 2.8962348533761426e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 350000000
   - positions:
-      - 0.19652711614303098
-      - 0.083037696894979501
-      - -0.56545858511938452
-      - 1.0683064457052627
-      - -2.0407891169404957
-      - -1.5708890241485878
-      - 0.082939151899939806
-    velocities:
-      - -0.37860900367169914
-      - 0.52359877559769796
-      - -0.13040120951969905
-      - 0.25795039555445587
-      - -0.12994433674309039
-      - 0.00041842085541746177
-      - 0.52389237236367403
-    accelerations:
-      - 4.3421328456276246e-10
-      - -6.0055259290919247e-10
-      - 1.495278305515774e-10
-      - -2.9583762244935462e-10
-      - 1.4902847972598771e-10
-      - -4.7984493396508639e-13
-      - -6.007745266094546e-10
+      - 0.2005177636289078
+      - 0.077677673580478085
+      - -0.56414495054181424
+      - 1.0656641029117762
+      - -2.039383827665715
+      - -1.5708582925937857
+      - 0.077530643171124597
+    velocities:
+      - -0.37881336772939594
+      - 0.52359877559832779
+      - -0.1304302913098849
+      - 0.25768223524011874
+      - -0.12988834078410882
+      - 0.0001931356847965228
+      - 0.52391589644485503
+    accelerations:
+      - -2.0917251718827698e-11
+      - 2.8962348533761426e-11
+      - -7.2128454202854127e-12
+      - 1.4203757135331274e-11
+      - -7.1851037071304688e-12
+      - 1.0674057600632709e-14
+      - 2.8962348533761426e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 360000000
   - positions:
-      - 0.19274102610631116
-      - 0.088273684650960402
-      - -0.56676259721458244
-      - 1.0708859496608092
-      - -2.0420885603079277
-      - -1.5708848399400335
-      - 0.08817807562358046
-    velocities:
-      - -0.37860900367169914
-      - 0.52359877559769796
-      - -0.13040120951969905
-      - 0.25795039555445587
-      - -0.12994433674309039
-      - 0.00041842085541746177
-      - 0.52389237236367403
-    accelerations:
-      - 4.3421328456276246e-10
-      - -6.0055259290919247e-10
-      - 1.495278305515774e-10
-      - -2.9583762244935462e-10
-      - 1.4902847972598771e-10
-      - -4.7984493396508639e-13
-      - -6.007745266094546e-10
+      - 0.19672962995161308
+      - 0.082913661336462385
+      - -0.56544925345491337
+      - 1.0682409252641778
+      - -2.0406827110735568
+      - -1.5708563612369377
+      - 0.08276980213557418
+    velocities:
+      - -0.37881336772939594
+      - 0.52359877559832779
+      - -0.1304302913098849
+      - 0.25768223524011874
+      - -0.12988834078410882
+      - 0.0001931356847965228
+      - 0.52391589644485503
+    accelerations:
+      - -2.0917251718827698e-11
+      - 2.8962348533761426e-11
+      - -7.2128454202854127e-12
+      - 1.4203757135331274e-11
+      - -7.1851037071304688e-12
+      - 1.0674057600632709e-14
+      - 2.8962348533761426e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 370000000
   - positions:
-      - 0.1889549360695921
-      - 0.093509672406940247
-      - -0.56806660930978015
-      - 1.073465453616355
-      - -2.0433880036753589
-      - -1.5708806557314792
-      - 0.093416999347220045
-    velocities:
-      - -0.37860900367169914
-      - 0.52359877559769796
-      - -0.13040120951969905
-      - 0.25795039555445587
-      - -0.12994433674309039
-      - 0.00041842085541746177
-      - 0.52389237236367403
-    accelerations:
-      - 4.3421328456276246e-10
-      - -6.0055259290919247e-10
-      - 1.495278305515774e-10
-      - -2.9583762244935462e-10
-      - 1.4902847972598771e-10
-      - -4.7984493396508639e-13
-      - -6.007745266094546e-10
+      - 0.1929414962743195
+      - 0.088149649092445118
+      - -0.56675355636801206
+      - 1.0708177476165788
+      - -2.0419815944813977
+      - -1.5708544298800899
+      - 0.088008961100022182
+    velocities:
+      - -0.37881336772939594
+      - 0.52359877559832779
+      - -0.1304302913098849
+      - 0.25768223524011874
+      - -0.12988834078410882
+      - 0.0001931356847965228
+      - 0.52391589644485503
+    accelerations:
+      - -2.0917251718827698e-11
+      - 2.8962348533761426e-11
+      - -7.2128454202854127e-12
+      - 1.4203757135331274e-11
+      - -7.1851037071304688e-12
+      - 1.0674057600632709e-14
+      - 2.8962348533761426e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 380000000
   - positions:
-      - 0.18516884603287265
-      - 0.098745660162920648
-      - -0.56937062140497807
-      - 1.0760449575719013
-      - -2.0446874470427909
-      - -1.5708764715229251
-      - 0.098655923070860227
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.18915336259702559
+      - 0.093385636848428377
+      - -0.56805785928111086
+      - 1.07339456996898
+      - -2.0432804778892386
+      - -1.5708524985232417
+      - 0.09324812006447071
+    velocities:
+      - -0.37881336772939594
+      - 0.52359877559832779
+      - -0.1304302913098849
+      - 0.25768223524011874
+      - -0.12988834078410882
+      - 0.0001931356847965228
+      - 0.52391589644485503
+    accelerations:
+      - -2.0917251718827698e-11
+      - 2.8962348533761426e-11
+      - -7.2128454202854127e-12
+      - 1.4203757135331274e-11
+      - -7.1851037071304688e-12
+      - 1.0674057600632709e-14
+      - 2.8962348533761426e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 390000000
   - positions:
-      - 0.18138275599615358
-      - 0.10398164791890049
-      - -0.57067463350017578
-      - 1.0786244615274474
-      - -2.0459868904102225
-      - -1.570872287314371
-      - 0.10389484679449983
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.18536522891973214
+      - 0.098621624604410915
+      - -0.56936216219420954
+      - 1.0759713923213807
+      - -2.0445793612970795
+      - -1.5708505671663937
+      - 0.098487279028918517
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 400000000
   - positions:
-      - 0.17759666595943452
-      - 0.10921763567488033
-      - -0.57197864559537348
-      - 1.0812039654829932
-      - -2.0472863337776541
-      - -1.5708681031058167
-      - 0.10913377051813941
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.18157709524243856
+      - 0.10385761236039365
+      - -0.57066646510730823
+      - 1.0785482146737815
+      - -2.0458782447049204
+      - -1.5708486358095457
+      - 0.10372643799336655
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 410000000
   - positions:
-      - 0.17381057592271543
-      - 0.11445362343086019
-      - -0.57328265769057118
-      - 1.0837834694385393
-      - -2.0485857771450857
-      - -1.5708639188972624
-      - 0.11437269424177902
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.17778896156514462
+      - 0.10909360011637692
+      - -0.57197076802040703
+      - 1.0811250370261827
+      - -2.0471771281127613
+      - -1.5708467044526979
+      - 0.10896559695781509
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 420000000
   - positions:
-      - 0.17002448588599639
-      - 0.11968961118684002
-      - -0.57458666978576889
-      - 1.0863629733940852
-      - -2.0498852205125173
-      - -1.5708597346887083
-      - 0.11961161796541862
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.17400082788785104
+      - 0.11432958787235967
+      - -0.57327507093350571
+      - 1.0837018593785837
+      - -2.0484760115206022
+      - -1.5708447730958499
+      - 0.11420475592226312
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 430000000
   - positions:
-      - 0.1662383958492773
-      - 0.12492559894281985
-      - -0.57589068188096659
-      - 1.0889424773496312
-      - -2.0511846638799489
-      - -1.5708555504801542
-      - 0.12485054168905822
-    velocities:
-      - -0.37860900367169981
-      - 0.5235987755976983
-      - -0.13040120951969889
-      - 0.25795039555445681
-      - -0.12994433674308772
-      - 0.00041842085541839142
-      - 0.52389237236367392
-    accelerations:
-      - 4.3399135086250038e-10
-      - -6.0021969235879939e-10
-      - 1.4947234712651189e-10
-      - -2.9567117217415807e-10
-      - 1.4894525458838944e-10
-      - -4.795740188036336e-13
-      - -6.0055259290919247e-10
+      - 0.17021269421055707
+      - 0.11956557562834294
+      - -0.57457937384660462
+      - 1.0862786817309849
+      - -2.0497748949284436
+      - -1.5708428417390019
+      - 0.11944391488671165
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 440000000
   - positions:
-      - 0.1624529884404341
-      - 0.13016064265595731
-      - -0.57719445886421561
-      - 1.0915215162234468
-      - -2.0524838729591681
-      - -1.5708513670260082
-      - 0.13008852084050371
-    velocities:
-      - -0.37764003212932551
-      - 0.52225873268203604
-      - -0.13006747455859016
-      - 0.25729022479725738
-      - -0.12961177105348268
-      - 0.00041734999366469709
-      - 0.52255157804773222
-    accelerations:
-      - 0.37839682532924013
-      - -0.52330534274420826
-      - 0.13032813066470311
-      - -0.2578058361625043
-      - 0.12987151392664356
-      - -0.00041818636589839082
-      - -0.52359877497405605
+      - 0.16642456053326277
+      - 0.12480156338432671
+      - -0.57588367675970353
+      - 1.088855504083386
+      - -2.0510737783362849
+      - -1.5708409103821541
+      - 0.1246830738511607
+    velocities:
+      - -0.37881336772939728
+      - 0.52359877559832901
+      - -0.13043029130988362
+      - 0.25768223524011491
+      - -0.12988834078411049
+      - 0.00019313568479403749
+      - 0.52391589644485659
+    accelerations:
+      - -2.1860469966095788e-11
+      - 3.0182983912578955e-11
+      - -7.5180042649897956e-12
+      - 1.4869558251049926e-11
+      - -7.5180042649897956e-12
+      - 1.1134613385431583e-14
+      - 3.0293950765198734e-11
     effort: []
     time_from_start:
       sec: 13
       nanosec: 450000000
   - positions:
-      - 0.1586930057241043
-      - 0.135360525192945
-      - -0.57848947902809866
-      - 1.0940832329801782
-      - -2.0537743558993538
-      - -1.5708472116700358
-      - 0.13529131909992517
-    velocities:
-      - -0.37385606387154735
-      - 0.51702567924839182
-      - -0.12876419325040042
-      - 0.25471216643257583
-      - -0.12831305591267875
-      - 0.00041316812999643988
-      - 0.51731559029178653
-    accelerations:
-      - 0.37839682530231722
-      - -0.52330534270690476
-      - 0.13032813065540499
-      - -0.25780583614418562
-      - 0.12987151391740095
-      - -0.00041818636586429266
-      - -0.52359877493675255
+      - 0.16263684979113197
+      - 0.13003696655604646
+      - -0.57718783405081209
+      - 1.0914320387403482
+      - -2.0523725167272091
+      - -1.5708389792409372
+      - 0.12992164787728863
+    velocities:
+      - -0.37820549185879943
+      - 0.52275856485426642
+      - -0.13022099186684241
+      - 0.25726873659822941
+      - -0.12967991100057905
+      - 0.00019282576298942591
+      - 0.5230751768219446
+    accelerations:
+      - 0.37858407649158737
+      - -0.52328184747066242
+      - 0.13035134340178722
+      - -0.25752626323984507
+      - 0.12980972091223519
+      - -0.00019301878205510526
+      - -0.52359877636767704
     effort: []
     time_from_start:
       sec: 13
       nanosec: 460000000
   - positions:
-      - 0.15497086269035187
-      - 0.14050807719559683
-      - -0.57977146637890009
-      - 1.096619169153263
-      - -2.0550518516881313
-      - -1.5708430981327004
-      - 0.14044175748178778
-    velocities:
-      - -0.37007209561376991
-      - 0.51179262581474749
-      - -0.1274609119422089
-      - 0.25213410806789527
-      - -0.12701434077187304
-      - 0.00040898626633254344
-      - 0.51207960253584073
-    accelerations:
-      - 0.37839682527539431
-      - -0.52330534266971229
-      - 0.13032813064613463
-      - -0.25780583612581143
-      - 0.12987151390815835
-      - -0.00041818636583442289
-      - -0.52359877489944906
+      - 0.15887330413970779
+      - 0.13523896855192583
+      - -0.57848367099187803
+      - 1.0939921354489202
+      - -2.0536629693399528
+      - -1.570837060420144
+      - 0.13512680049794684
+    velocities:
+      - -0.37441965110051811
+      - 0.51752574638873017
+      - -0.12891747843511017
+      - 0.25469347397034486
+      - -0.12838181379373223
+      - 0.00019089557517813167
+      - 0.5178391890674432
+    accelerations:
+      - 0.37858407542050609
+      - -0.52328184599011029
+      - 0.13035134303298065
+      - -0.25752626251127458
+      - 0.12980972054498197
+      - -0.00019301878151494625
+      - -0.52359877488623741
     effort: []
     time_from_start:
       sec: 13
       nanosec: 470000000
   - positions:
-      - 0.15128655933917809
-      - 0.14560329866391103
-      - -0.58104042091661934
-      - 1.0991293247427005
-      - -2.0563163603255004
-      - -1.5708390264140015
-      - 0.14553983598608972
-    velocities:
-      - -0.36628812735599253
-      - 0.50655957238110327
-      - -0.12615763063401744
-      - 0.24955604970321477
-      - -0.12571562563106739
-      - 0.000404804402668647
-      - 0.50684361477989504
-    accelerations:
-      - 0.37839682524836038
-      - -0.5233053426324088
-      - 0.13032813063680876
-      - -0.25780583610740948
-      - 0.12987151389886023
-      - -0.00041818636580460733
-      - -0.52359877486203454
+      - 0.15514761689587636
+      - 0.14038864236313614
+      - -0.57976647279862303
+      - 1.0965264795312071
+      - -2.0549404409806251
+      - -1.5708351609012294
+      - 0.14027959324104636
+    velocities:
+      - -0.3706338103408926
+      - 0.51229292792133596
+      - -0.12761396500291383
+      - 0.25211821134154472
+      - -0.12708371658642384
+      - 0.00018896538736021848
+      - 0.51260320131108295
+    accelerations:
+      - 0.37858407569306585
+      - -0.52328184636691999
+      - 0.13035134312687777
+      - -0.25752626269668183
+      - 0.12980972063843499
+      - -0.00019301878165394097
+      - -0.52359877526338017
     effort: []
     time_from_start:
       sec: 13
       nanosec: 480000000
   - positions:
-      - 0.14764009567058223
-      - 0.15064618959788861
-      - -0.58229634264125663
-      - 1.1016136997484911
-      - -2.0575678818114618
-      - -1.5708349965139397
-      - 0.15058555461283202
-    velocities:
-      - -0.36250415909821504
-      - 0.50132651894745905
-      - -0.12485434932582593
-      - 0.24697799133853421
-      - -0.12441691049026167
-      - 0.00040062253900475045
-      - 0.50160762702394912
-    accelerations:
-      - 0.37839682522149298
-      - -0.52330534259510531
-      - 0.13032813062755227
-      - -0.25780583608903529
-      - 0.12987151388964538
-      - -0.00041818636577490019
-      - -0.52359877482484207
+      - 0.15145978805963978
+      - 0.14548598798967444
+      - -0.58103623947104655
+      - 1.0990350709872065
+      - -2.0562049316492246
+      - -1.5708332806841927
+      - 0.14538002610658413
+    velocities:
+      - -0.36684796958071908
+      - 0.50706010945318436
+      - -0.12631045157052886
+      - 0.24954294871237181
+      - -0.12578561937892754
+      - 0.00018703519954202589
+      - 0.50736721355396497
+    accelerations:
+      - 0.37858407651295917
+      - -0.52328184750019435
+      - 0.13035134340914245
+      - -0.25752626325441674
+      - 0.12980972091959042
+      - -0.0001930187820719646
+      - -0.52359877639732
     effort: []
     time_from_start:
       sec: 13
       nanosec: 490000000
   - positions:
-      - 0.14403147168456384
-      - 0.1556367499975301
-      - -0.58353923155281195
-      - 1.1040722941706353
-      - -2.0588064161460147
-      - -1.5708310084325139
-      - 0.15557891336201526
-    velocities:
-      - -0.35872019084043766
-      - 0.49609346551381484
-      - -0.12355106801763445
-      - 0.24439993297385368
-      - -0.12311819534945601
-      - 0.00039644067534085401
-      - 0.49637163926800343
-    accelerations:
-      - 0.37839682519445905
-      - -0.5233053425577463
-      - 0.13032813061825416
-      - -0.2578058360706611
-      - 0.12987151388037502
-      - -0.00041818636574503042
-      - -0.52359877478748307
+      - 0.1478098176309954
+      - 0.15053100543154435
+      - -0.58229297100914967
+      - 1.1015179098169208
+      - -2.0574564413457526
+      - -1.5708314197690341
+      - 0.15042809909456392
+    velocities:
+      - -0.36306212882239758
+      - 0.5018272909875926
+      - -0.12500693813878153
+      - 0.24696768608445868
+      - -0.12448752217206628
+      - 0.00018510501172477753
+      - 0.50213122579940828
+    accelerations:
+      - 0.37858407548223449
+      - -0.52328184607548645
+      - 0.13035134305424143
+      - -0.25752626255329653
+      - 0.12980972056614559
+      - -0.00019301878154644232
+      - -0.52359877497172458
     effort: []
     time_from_start:
       sec: 13
       nanosec: 500000000
   - positions:
-      - 0.14046068738112411
-      - 0.16057497986283398
-      - -0.58476908765128521
-      - 1.1065051080091319
-      - -2.0600319633291595
-      - -1.5708270621697251
-      - 0.16051991223363782
-    velocities:
-      - -0.35493622258266028
-      - 0.49086041208017056
-      - -0.12224778670944296
-      - 0.24182187460917312
-      - -0.12181948020865031
-      - 0.00039225881167695756
-      - 0.49113565151205762
-    accelerations:
-      - 0.37839682516748063
-      - -0.52330534252049832
-      - 0.13032813060895604
-      - -0.25780583605228691
-      - 0.12987151387113241
-      - -0.00041818636571521486
-      - -0.52359877475017957
+      - 0.14419770560994444
+      - 0.1555236946887443
+      - -0.58353666741293175
+      - 1.1039749960203493
+      - -2.0586949700702082
+      - -1.5708295781557537
+      - 0.15542381220498411
+    velocities:
+      - -0.35927628806277206
+      - 0.49659447252019845
+      - -0.12370342470658521
+      - 0.24439242345565856
+      - -0.12318942496475789
+      - 0.00018317482390686437
+      - 0.49689523804304819
+    accelerations:
+      - 0.37858407575479425
+      - -0.52328184645224063
+      - 0.1303513431480969
+      - -0.25752626273870377
+      - 0.12980972065961249
+      - -0.00019301878168538283
+      - -0.52359877534870081
     effort: []
     time_from_start:
       sec: 13
       nanosec: 510000000
   - positions:
-      - 0.13692774276026229
-      - 0.16546087919380123
-      - -0.5859859109366764
-      - 1.1089121412639815
-      - -2.0612445233608963
-      - -1.5708231577255729
-      - 0.16540855122770076
-    velocities:
-      - -0.35115225432363462
-      - 0.48562735864480006
-      - -0.12094450540082154
-      - 0.23924381624364216
-      - -0.12052076506741623
-      - 0.00038807694801168158
-      - 0.48589966375438465
-    accelerations:
-      - 0.37839682638805378
-      - -0.5233053442084955
-      - 0.13032813102937416
-      - -0.25780583688388559
-      - 0.12987151429003865
-      - -0.00041818636706419531
-      - -0.5235987764391199
+      - 0.14062345199648946
+      - 0.16046405576127068
+      - -0.5847673286823919
+      - 1.1064063295974895
+      - -2.059920517822591
+      - -1.5708277558443517
+      - 0.16036716543784102
+    velocities:
+      - -0.3554904473026389
+      - 0.49136165405210258
+      - -0.1223999112742141
+      - 0.24181716082651308
+      - -0.12189132775727543
+      - 0.00018124463608869233
+      - 0.49165925028598595
+    accelerations:
+      - 0.37858407653438647
+      - -0.5232818475297818
+      - 0.13035134341652543
+      - -0.25752626326898842
+      - 0.12980972092690402
+      - -0.00019301878208286084
+      - -0.52359877642685193
     effort: []
     time_from_start:
       sec: 13
       nanosec: 520000000
   - positions:
-      - 0.13343263782197795
-      - 0.17029444799043242
-      - -0.58718970140898585
-      - 1.1112933939351846
-      - -2.0624440962412249
-      - -1.570819295100057
-      - 0.17024483034420465
-    velocities:
-      - -0.34736828606587061
-      - 0.48039430521117399
-      - -0.11964122409263228
-      - 0.23666575787897109
-      - -0.11922204992661976
-      - 0.00038389508435239501
-      - 0.480663675998457
-    accelerations:
-      - 0.37839682634769717
-      - -0.52330534415303986
-      - 0.13032813101784171
-      - -0.25780583685601899
-      - 0.12987151427156732
-      - -0.00041818636242446053
-      - -0.52359877638366426
+      - 0.13708705679062441
+      - 0.16535208864913184
+      - -0.58598495481753232
+      - 1.1088119105483465
+      - -2.0611330846029023
+      - -1.5708259528348278
+      - 0.16525815879314307
+    velocities:
+      - -0.3517046065442771
+      - 0.48612883558645509
+      - -0.12109639784245289
+      - 0.23924189819857256
+      - -0.12059323055040035
+      - 0.00017931444827142342
+      - 0.48642326253137352
+    accelerations:
+      - 0.37858407554390738
+      - -0.52328184616080708
+      - 0.13035134307548832
+      - -0.25752626259526296
+      - 0.12980972058729534
+      - -0.00019301878157791129
+      - -0.52359877505704522
     effort: []
     time_from_start:
       sec: 13
       nanosec: 530000000
   - positions:
-      - 0.12997537256627309
-      - 0.17507568625272477
-      - -0.58838045906821268
-      - 1.1136488660227397
-      - -2.0636306819701451
-      - -1.5708154742931779
-      - 0.17502874958314665
-    velocities:
-      - -0.34358431780810672
-      - 0.47516125177754842
-      - -0.11833794278444547
-      - 0.23408769951429975
-      - -0.11792333478581865
-      - 0.00037971322068846338
-      - 0.4754276882425299
-    accelerations:
-      - 0.37839682630717403
-      - -0.52330534409658502
-      - 0.13032813100149368
-      - -0.25780583682876301
-      - 0.12987151426229696
-      - -0.00041818636697979017
-      - -0.52359877632720941
+      - 0.13358851999235463
+      - 0.17018779335232043
+      - -0.58718954581835103
+      - 1.1111917388729158
+      - -2.0623326704111418
+      - -1.5708241691271823
+      - 0.1700967922708829
+    velocities:
+      - -0.34791876578465164
+      - 0.48089601711906105
+      - -0.11979288441025659
+      - 0.23666663556977247
+      - -0.11929513334309197
+      - 0.00017738426045351029
+      - 0.4811872747750135
+    accelerations:
+      - 0.37858407581641162
+      - -0.52328184653745025
+      - 0.13035134316932992
+      - -0.25752626278064245
+      - 0.12980972068074836
+      - -0.0001930187817168247
+      - -0.52359877543396594
     effort: []
     time_from_start:
       sec: 13
       nanosec: 540000000
   - positions:
-      - 0.12655594699314568
-      - 0.17980459398068116
-      - -0.58955818391435788
-      - 1.1159785575266483
-      - -2.0648042805476572
-      - -1.5708116953049354
-      - 0.17976030894452971
-    velocities:
-      - -0.33980034955034272
-      - 0.46992819834392269
-      - -0.11703466147625861
-      - 0.23150964114962833
-      - -0.11662461964501752
-      - 0.0003755313570245317
-      - 0.47019170048660264
-    accelerations:
-      - 0.37839682626681742
-      - -0.52330534404079632
-      - 0.13032813098758814
-      - -0.25780583680128499
-      - 0.12987151424843305
-      - -0.00041818636693512104
-      - -0.5235987762713652
+      - 0.13012784160168006
+      - 0.17497116987083647
+      - -0.58838110168484814
+      - 1.1135458145711978
+      - -2.0635192752473079
+      - -1.5708224047214145
+      - 0.17488306587106053
+    velocities:
+      - -0.34413292502578152
+      - 0.47566319865271128
+      - -0.11848937097832192
+      - 0.23409137294148885
+      - -0.11799703613604122
+      - 0.00017545407263151665
+      - 0.47595128701969869
+    accelerations:
+      - 0.37858407533307603
+      - -0.52328184586937354
+      - 0.13035134300289361
+      - -0.25752626245182214
+      - 0.12980972051499207
+      - -0.00019301878146547953
+      - -0.52359877476544514
     effort: []
     time_from_start:
       sec: 13
       nanosec: 550000000
   - positions:
-      - 0.12317436110259616
-      - 0.18448117117430099
-      - -0.59072287594742101
-      - 1.1182824684469101
-      - -2.0659648919737617
-      - -1.57080795813533
-      - 0.18443950842835316
-    velocities:
-      - -0.33601638129257871
-      - 0.46469514491029706
-      - -0.11573138016807177
-      - 0.22893158278495696
-      - -0.1153259045042164
-      - 0.00037134949336060003
-      - 0.46495571273067549
-    accelerations:
-      - 0.3783968262264053
-      - -0.52330534398489659
-      - 0.13032813097368259
-      - -0.25780583677372371
-      - 0.12987151423456914
-      - -0.00041818636689050612
-      - -0.52359877621540996
+      - 0.12670502161859629
+      - 0.17970221820468621
+      - -0.5895596224170252
+      - 1.1158741376431958
+      - -2.0646928991114031
+      - -1.5708206596175254
+      - 0.1796169795936822
+    velocities:
+      - -0.34034708426615601
+      - 0.47043038018531708
+      - -0.11718585754612558
+      - 0.23151611031268868
+      - -0.11669893892873283
+      - 0.00017352388481365257
+      - 0.47071529926333849
+    accelerations:
+      - 0.37858407560569129
+      - -0.52328184624618324
+      - 0.13035134309676297
+      - -0.25752626263725714
+      - 0.12980972060847284
+      - -0.00019301878160444714
+      - -0.52359877514247688
     effort: []
     time_from_start:
       sec: 13
       nanosec: 560000000
   - positions:
-      - 0.11983061489462526
-      - 0.18910541783358314
-      - -0.59187453516740196
-      - 1.1205605987835243
-      - -2.0671125162484572
-      - -1.5708042627843608
-      - 0.18906634803461592
-    velocities:
-      - -0.33223241303524026
-      - 0.45946209147725986
-      - -0.1144280988600315
-      - 0.22635352442057546
-      - -0.11402718936356132
-      - 0.00036716762969713862
-      - 0.45971972497533709
-    accelerations:
-      - 0.3783968257611724
-      - -0.52330534334145273
-      - 0.13032813081343136
-      - -0.25780583645674116
-      - 0.12987151407488609
-      - -0.00041818636637630714
-      - -0.52359877557163359
+      - 0.12332006004310733
+      - 0.18438093835386393
+      - -0.59072510801488087
+      - 1.1181767080889067
+      - -2.0658535420034259
+      - -1.5708189338155139
+      - 0.1842985334387422
+    velocities:
+      - -0.33656124350653061
+      - 0.46519756171792309
+      - -0.11588234411392928
+      - 0.22894084768388859
+      - -0.11540084172142451
+      - 0.00017159369699578858
+      - 0.46547931150697852
+    accelerations:
+      - 0.37858407587814003
+      - -0.52328184662277089
+      - 0.13035134319057681
+      - -0.25752626282260888
+      - 0.12980972070189811
+      - -0.00019301878174336054
+      - -0.52359877551928657
     effort: []
     time_from_start:
       sec: 13
       nanosec: 570000000
   - positions:
-      - 0.11652470836923187
-      - 0.19367733395852924
-      - -0.59301316157430106
-      - 1.1228129485364919
-      - -2.068247153371745
-      - -1.5708006092520281
-      - 0.19364082776331965
-    velocities:
-      - -0.32844844477746282
-      - 0.45422903804361553
-      - -0.11312481755184001
-      - 0.22377546605589488
-      - -0.11272847422275557
-      - 0.00036298576603319203
-      - 0.45448373721939123
-    accelerations:
-      - 0.37839682573419398
-      - -0.52330534330426026
-      - 0.130328130804161
-      - -0.25780583643842248
-      - 0.12987151406564348
-      - -0.00041818636634654579
-      - -0.52359877553438561
+      - 0.11997295687521328
+      - 0.18900733031836964
+      - -0.59187755847841506
+      - 1.1204535259083306
+      - -2.0670012039233754
+      - -1.5708172273153811
+      - 0.1889277274062405
+    velocities:
+      - -0.33277540274766099
+      - 0.45996474325157377
+      - -0.11457883068199322
+      - 0.22636558505560261
+      - -0.11410274451437531
+      - 0.00016966350917830991
+      - 0.46024332375166382
+    accelerations:
+      - 0.37858407539485994
+      - -0.52328184595469418
+      - 0.13035134302416826
+      - -0.25752626249381633
+      - 0.12980972053618345
+      - -0.00019301878149694849
+      - -0.52359877485082129
     effort: []
     time_from_start:
       sec: 13
       nanosec: 580000000
   - positions:
-      - 0.11325664152641676
-      - 0.19819691954913821
-      - -0.59413875516811809
-      - 1.1250395177058126
-      - -2.0693688033436244
-      - -1.5707969975383322
-      - 0.19816294761446318
-    velocities:
-      - -0.32466447651968544
-      - 0.44899598460997137
-      - -0.11182153624364856
-      - 0.22119740769121438
-      - -0.11142975908194985
-      - 0.00035880390236924556
-      - 0.44924774946344553
-    accelerations:
-      - 0.37839682570721556
-      - -0.52330534326690126
-      - 0.13032813079486288
-      - -0.25780583641999277
-      - 0.12987151405637312
-      - -0.00041818636631673023
-      - -0.52359877549697109
+      - 0.11666371211491067
+      - 0.19358139409820802
+      - -0.59301697380762874
+      - 1.1227045911014697
+      - -2.0681358848712539
+      - -1.5708155401171262
+      - 0.19350456149618184
+    velocities:
+      - -0.32898956198803547
+      - 0.45473192478417956
+      - -0.11327531724979689
+      - 0.22379032242680244
+      - -0.11280464730706694
+      - 0.00016773332136044584
+      - 0.45500733599530369
+    accelerations:
+      - 0.37858407566741969
+      - -0.52328184633150387
+      - 0.13035134311800986
+      - -0.25752626267925133
+      - 0.12980972062965035
+      - -0.00019301878163594321
+      - -0.52359877522785303
     effort: []
     time_from_start:
       sec: 13
       nanosec: 590000000
   - positions:
-      - 0.11002641436617953
-      - 0.20266417460541056
-      - -0.59525131594885305
-      - 1.127240306291486
-      - -2.0704774661640961
-      - -1.5707934276432729
-      - 0.20263270758804713
-    velocities:
-      - -0.32088050826190795
-      - 0.44376293117632704
-      - -0.11051825493545707
-      - 0.21861934932653379
-      - -0.11013104394114411
-      - 0.00035462203870529897
-      - 0.44401176170749967
-    accelerations:
-      - 0.37839682568029265
-      - -0.52330534322970879
-      - 0.13032813078559252
-      - -0.25780583640167409
-      - 0.12987151404713052
-      - -0.00041818636628696888
-      - -0.52359877545972311
+      - 0.11339232576220218
+      - 0.1981031296933754
+      - -0.59414335400252138
+      - 1.1249299036683222
+      - -2.06925758484706
+      - -1.5708138722207496
+      - 0.19802903570856248
+    velocities:
+      - -0.32520372122841007
+      - 0.44949910631678558
+      - -0.11197180381760059
+      - 0.22121505979800235
+      - -0.1115065500997586
+      - 0.00016580313354258182
+      - 0.44977134823894371
+    accelerations:
+      - 0.37858407593992394
+      - -0.52328184670809152
+      - 0.13035134321183758
+      - -0.25752626286460306
+      - 0.12980972072307562
+      - -0.00019301878177485662
+      - -0.52359877560466273
     effort: []
     time_from_start:
       sec: 13
       nanosec: 600000000
   - positions:
-      - 0.10683402688852095
-      - 0.20707909912734529
-      - -0.59635084391650606
-      - 1.1294153142935124
-      - -2.0715731418331593
-      - -1.5707898995668506
-      - 0.20705010768407037
-    velocities:
-      - -0.31709654000413062
-      - 0.43852987774268293
-      - -0.10921497362726564
-      - 0.21604129096185329
-      - -0.1088323288003384
-      - 0.00035044017504135255
-      - 0.43877577395155398
-    accelerations:
-      - 0.37839682565325872
-      - -0.52330534319223876
-      - 0.13032813077626665
-      - -0.25780583638324439
-      - 0.12987151403784628
-      - -0.0004181863662570449
-      - -0.52359877542230859
+      - 0.11015879781708857
+      - 0.20257253710387074
+      - -0.59525669906309253
+      - 1.1271294636088873
+      - -2.0703663038507933
+      - -1.5708122236262512
+      - 0.20250115004338148
+    velocities:
+      - -0.32141788046954045
+      - 0.4442662878504362
+      - -0.11066829038566453
+      - 0.21863979716971638
+      - -0.11020845289270942
+      - 0.00016387294572510315
+      - 0.44453536048362902
+    accelerations:
+      - 0.37858407545658834
+      - -0.52328184604007033
+      - 0.13035134304542903
+      - -0.25752626253583827
+      - 0.12980972055734707
+      - -0.00019301878152844457
+      - -0.52359877493619744
     effort: []
     time_from_start:
       sec: 13
       nanosec: 610000000
   - positions:
-      - 0.1036794790934395
-      - 0.21144169311494448
-      - -0.59743733907107721
-      - 1.1315645417118922
-      - -2.0726558303508145
-      - -1.5707864133090648
-      - 0.2114151479025351
-    velocities:
-      - -0.31331257174635313
-      - 0.4332968243090386
-      - -0.10791169231907416
-      - 0.2134632325971727
-      - -0.10753361365953265
-      - 0.00034625831137740596
-      - 0.43353978619560812
-    accelerations:
-      - 0.37839682562633581
-      - -0.52330534315504629
-      - 0.13032813076699629
-      - -0.25780583636489796
-      - 0.12987151402860367
-      - -0.00041818636622728355
-      - -0.52359877538506061
+      - 0.10696312827956606
+      - 0.20698961632969928
+      - -0.59635700898934341
+      - 1.1293032709231685
+      - -2.0714620418824556
+      - -1.570810594333631
+      - 0.20692090450064402
+    velocities:
+      - -0.31763203970991499
+      - 0.43903346938304211
+      - -0.10936477695346822
+      - 0.21606453454091623
+      - -0.10891035568540104
+      - 0.0001619427579072391
+      - 0.43929937272726888
+    accelerations:
+      - 0.3785840757291481
+      - -0.523281846416769
+      - 0.13035134313925675
+      - -0.25752626272121776
+      - 0.12980972065081398
+      - -0.00019301878166741218
+      - -0.52359877531322918
     effort: []
     time_from_start:
       sec: 13
       nanosec: 620000000
   - positions:
-      - 0.10056277098093619
-      - 0.2157519565682067
-      - -0.5985108014125663
-      - 1.1336879885466251
-      - -2.0737255317170615
-      - -1.5707829688699153
-      - 0.21572782824343983
-    velocities:
-      - -0.30952860348857553
-      - 0.42806377087539432
-      - -0.10660841101088446
-      - 0.21088517423249181
-      - -0.1062348985187247
-      - 0.00034207644770980962
-      - 0.42830379843966254
-    accelerations:
-      - 0.37839682559946841
-      - -0.52330534311779831
-      - 0.1303281307577398
-      - -0.25780583634655152
-      - 0.12987151401936106
-      - -0.00041818636619307697
-      - -0.52359877534781263
+      - 0.10380531714963878
+      - 0.21135436737085531
+      - -0.59744428378127279
+      - 1.131451325611162
+      - -2.0725447989420451
+      - -1.5708089843428887
+      - 0.21128829908034436
+    velocities:
+      - -0.31384619894992982
+      - 0.43380065091515085
+      - -0.10806126352114805
+      - 0.21348927191187142
+      - -0.10761225847796936
+      - 0.00016001257008919169
+      - 0.43406338497041136
+    accelerations:
+      - 0.37858407636069208
+      - -0.52328184728969607
+      - 0.13035134335672605
+      - -0.25752626315083293
+      - 0.12980972086735443
+      - -0.00019301878198940261
+      - -0.52359877618665518
     effort: []
     time_from_start:
       sec: 13
       nanosec: 630000000
   - positions:
-      - 0.09748390255101165
-      - 0.22000988948713107
-      - -0.5995712309409732
-      - 1.1357856547977103
-      - -2.0747822459319001
-      - -1.5707795662494026
-      - 0.21998814870678374
-    velocities:
-      - -0.3057446352307982
-      - 0.42283071744175016
-      - -0.10530512970269301
-      - 0.20830711586781134
-      - -0.10493618337791902
-      - 0.00033789458404590782
-      - 0.42306781068371685
-    accelerations:
-      - 0.37839682557237897
-      - -0.52330534308038379
-      - 0.13032813074840005
-      - -0.25780583632812182
-      - 0.12987151401007682
-      - -0.0004181863661632072
-      - -0.52359877531039811
+      - 0.10068536442730473
+      - 0.21566679022734156
+      - -0.59851852343888112
+      - 1.1335736276728698
+      - -2.0736145750295623
+      - -1.5708073936540248
+      - 0.21560333378248525
+    velocities:
+      - -0.31006035819142042
+      - 0.42856783244929925
+      - -0.10675775008933404
+      - 0.21091400928382673
+      - -0.10631416127104747
+      - 0.00015808238227281665
+      - 0.42882739721559471
+    accelerations:
+      - 0.37858407551826123
+      - -0.52328184612533546
+      - 0.13035134306666205
+      - -0.2575262625778047
+      - 0.1298097205785107
+      - -0.00019301878156102484
+      - -0.52359877502157359
     effort: []
     time_from_start:
       sec: 13
       nanosec: 640000000
   - positions:
-      - 0.094442873803664618
-      - 0.22421549187171941
-      - -0.60061862765629825
-      - 1.137857540465149
-      - -2.0758259729953306
-      - -1.5707762054475265
-      - 0.22419610929256856
-    velocities:
-      - -0.30196066697302076
-      - 0.41759766400810588
-      - -0.10400184839450149
-      - 0.20572905750313075
-      - -0.10363746823711328
-      - 0.00033371272038200584
-      - 0.41783182292777099
-    accelerations:
-      - 0.37839682554545606
-      - -0.52330534304313581
-      - 0.13032813073914357
-      - -0.25780583630977538
-      - 0.12987151400084809
-      - -0.00041818636613344585
-      - -0.52359877527315013
+      - 0.097603270112563395
+      - 0.21992688489915868
+      - -0.59957972796216863
+      - 1.1356701771082918
+      - -2.0746713701450079
+      - -1.5708058222670389
+      - 0.2198660086070674
+    velocities:
+      - -0.30627451743179496
+      - 0.42333501398190521
+      - -0.10545423665713775
+      - 0.20833874665502666
+      - -0.10501606406373908
+      - 0.00015615219445494138
+      - 0.42359140945923468
+    accelerations:
+      - 0.37858407579082098
+      - -0.52328184650197862
+      - 0.13035134316048977
+      - -0.25752626276315643
+      - 0.12980972067194985
+      - -0.00019301878169996535
+      - -0.5235987753984388
     effort: []
     time_from_start:
       sec: 13
       nanosec: 650000000
   - positions:
-      - 0.091439684738896229
-      - 0.22836876372197007
-      - -0.60165299155854102
-      - 1.1399036455489402
-      - -2.076856712907353
-      - -1.5707728864642874
-      - 0.22835171000079268
-    velocities:
-      - -0.29817669871524338
-      - 0.41236461057446167
-      - -0.10269856708631003
-      - 0.20315099913845022
-      - -0.10233875309630759
-      - 0.00032953085671810398
-      - 0.41259583517182524
-    accelerations:
-      - 0.37839682551842213
-      - -0.52330534300583231
-      - 0.13032813072983157
-      - -0.25780583629140119
-      - 0.12987151399157773
-      - -0.00041818636610357608
-      - -0.52359877523579113
+      - 0.094559034205417725
+      - 0.22413465138630281
+      - -0.60062789735113453
+      - 1.1377409739174262
+      - -2.0757151842883808
+      - -1.5708042701819314
+      - 0.22407632355408685
+    velocities:
+      - -0.30248867667185003
+      - 0.41810219551406946
+      - -0.10415072322483146
+      - 0.20576348402600922
+      - -0.10371796685632112
+      - 0.00015422200663690324
+      - 0.41835542170243273
+    accelerations:
+      - 0.37858407638211938
+      - -0.52328184731939453
+      - 0.13035134336410903
+      - -0.25752626316546012
+      - 0.12980972087470966
+      - -0.00019301878200143725
+      - -0.52359877621629813
     effort: []
     time_from_start:
       sec: 13
       nanosec: 660000000
   - positions:
-      - 0.088474335356705736
-      - 0.23246970503788417
-      - -0.60267432264770204
-      - 1.1419239700490849
-      - -2.0778744656679673
-      - -1.5707696092996848
-      - 0.23245495083145723
-    velocities:
-      - -0.29439273045746589
-      - 0.40713155714081739
-      - -0.10139528577811852
-      - 0.20057294077376966
-      - -0.10104003795550187
-      - 0.00032534899305420201
-      - 0.40735984741587938
-    accelerations:
-      - 0.37839682549155473
-      - -0.52330534296858433
-      - 0.13032813072057509
-      - -0.257805836273027
-      - 0.12987151398233512
-      - -0.00041818636607386894
-      - -0.52359877519854314
+      - 0.091552656705863877
+      - 0.22829008968877906
+      - -0.60166303160577994
+      - 1.1397860181002757
+      - -2.0767460174596817
+      - -1.5708027373987017
+      - 0.22823427862354878
+    velocities:
+      - -0.29870283591329988
+      - 0.41286937704816168
+      - -0.10284720979300542
+      - 0.20318822139794063
+      - -0.10241986964938142
+      - 0.0001522918188195762
+      - 0.41311943394755984
+    accelerations:
+      - 0.37858407557998963
+      - -0.52328184621071161
+      - 0.13035134308792282
+      - -0.25752626261979888
+      - 0.12980972059968821
+      - -0.00019301878159252092
+      - -0.52359877510700525
     effort: []
     time_from_start:
       sec: 13
       nanosec: 670000000
   - positions:
-      - 0.085546825657093498
-      - 0.23651831581946114
-      - -0.60368262092378078
-      - 1.1439185139655819
-      - -2.0788792312771731
-      - -1.5707663739537185
-      - 0.23650583178456164
-    velocities:
-      - -0.29060876219968856
-      - 0.40189850370717323
-      - -0.10009200446992707
-      - 0.19799488240908916
-      - -0.099741322814696193
-      - 0.0003211671293903002
-      - 0.40212385965993375
-    accelerations:
-      - 0.37839682546446529
-      - -0.52330534293116981
-      - 0.13032813071123533
-      - -0.25780583625462505
-      - 0.12987151397305088
-      - -0.00041818636604394496
-      - -0.52359877516107312
+      - 0.088584137613903768
+      - 0.23239319980658485
+      - -0.6026851307261043
+      - 1.1418053096568388
+      - -2.0777638696589102
+      - -1.5708012239173508
+      - 0.23233987381545063
+    velocities:
+      - -0.29491699515367442
+      - 0.40763655858076764
+      - -0.10154369636080914
+      - 0.20061295876914054
+      - -0.10112177244207303
+      - 0.00015036163100170093
+      - 0.40788344619119982
+    accelerations:
+      - 0.37858407585254938
+      - -0.52328184658735477
+      - 0.13035134318175054
+      - -0.25752626280517837
+      - 0.12980972069312735
+      - -0.00019301878173146142
+      - -0.52359877548387046
     effort: []
     time_from_start:
       sec: 13
       nanosec: 680000000
   - positions:
-      - 0.08265715564005878
-      - 0.240514596066702
-      - -0.60467788638677777
-      - 1.1458872772984325
-      - -2.0798710097349717
-      - -1.5707631804263891
-      - 0.24050435286010696
-    velocities:
-      - -0.28682479394191113
-      - 0.39666545027352895
-      - -0.09878872316173555
-      - 0.1954168240444086
-      - -0.098442607673890459
-      - 0.00031698526572639823
-      - 0.39688787190398789
-    accelerations:
-      - 0.37839682543754238
-      - -0.52330534289392183
-      - 0.13032813070197885
-      - -0.25780583623625086
-      - 0.12987151396382215
-      - -0.00041818636601418361
-      - -0.52359877512382513
+      - 0.085653476929538924
+      - 0.23644398173971809
+      - -0.60369419471210695
+      - 1.1437988485871147
+      - -2.0787687408860664
+      - -1.5707997297378777
+      - 0.23639310912979022
+    velocities:
+      - -0.2911311543937698
+      - 0.40240374011298768
+      - -0.10024018292851673
+      - 0.19803769614015057
+      - -0.09982367523466891
+      - 0.00014843144318368336
+      - 0.40264745843445365
+    accelerations:
+      - 0.37858407640354669
+      - -0.52328184734898198
+      - 0.13035134337146426
+      - -0.25752626317997629
+      - 0.12980972088205101
+      - -0.00019301878201236059
+      - -0.52359877624594109
     effort: []
     time_from_start:
       sec: 13
       nanosec: 690000000
   - positions:
-      - 0.079805325305601568
-      - 0.2444585457796068
-      - -0.60566011903669292
-      - 1.1478302600476367
-      - -2.0808498010413619
-      - -1.5707600287176962
-      - 0.24445051405809315
-    velocities:
-      - -0.28304082568413375
-      - 0.39143239683988473
-      - -0.097485441853544075
-      - 0.19283876567972807
-      - -0.097143892533084766
-      - 0.00031280340206249637
-      - 0.39165188414804214
-    accelerations:
-      - 0.37839682541050845
-      - -0.52330534285661834
-      - 0.13032813069268073
-      - -0.25780583621787667
-      - 0.12987151395453791
-      - -0.00041818636598436805
-      - -0.52359877508646613
+      - 0.082760674652764765
+      - 0.24044243548818506
+      - -0.60469022356378965
+      - 1.1457666348911064
+      - -2.0797606311411516
+      - -1.570798254860283
+      - 0.2403939845665739
+    velocities:
+      - -0.28734531363517934
+      - 0.39717092164702417
+      - -0.098936669496676788
+      - 0.1954624335120545
+      - -0.098525578027715374
+      - 0.00014650125536633574
+      - 0.39741147067952498
+    accelerations:
+      - 0.37858407564177354
+      - -0.52328184629603225
+      - 0.13035134310918359
+      - -0.25752626266182083
+      - 0.12980972062086571
+      - -0.00019301878162398988
+      - -0.5235987751923814
     effort: []
     time_from_start:
       sec: 13
       nanosec: 700000000
   - positions:
-      - 0.076991334653723376
-      - 0.24835016495817341
-      - -0.60662931887352567
-      - 1.1497474622131931
-      - -2.0818156051963435
-      - -1.5707569188276402
-      - 0.2483443153785182
-    velocities:
-      - -0.27925685742635631
-      - 0.38619934340624051
-      - -0.096182160545352585
-      - 0.19026070731504754
-      - -0.09584517739227906
-      - 0.00030862153839859445
-      - 0.38641589639209634
-    accelerations:
-      - 0.37839682538358554
-      - -0.52330534281925933
-      - 0.13032813068339649
-      - -0.25780583619950248
-      - 0.12987151394528143
-      - -0.00041818636595455249
-      - -0.52359877504916263
+      - 0.079905730783585122
+      - 0.24438856105198048
+      - -0.60567321728115087
+      - 1.1477086685688112
+      - -2.080739540424164
+      - -1.5707967992845662
+      - 0.24434250012579645
+    velocities:
+      - -0.28355947287555394
+      - 0.39193810317963013
+      - -0.097633156064480531
+      - 0.19288717088325447
+      - -0.097227480820406997
+      - 0.00014457106754846053
+      - 0.39217548292316501
+    accelerations:
+      - 0.37858407591422227
+      - -0.52328184667267541
+      - 0.13035134320299743
+      - -0.2575262628471448
+      - 0.1298097207142771
+      - -0.00019301878176287618
+      - -0.5235987755691911
     effort: []
     time_from_start:
       sec: 13
       nanosec: 710000000
   - positions:
-      - 0.074215183684423078
-      - 0.25218945360240347
-      - -0.60758548589727657
-      - 1.1516388837951026
-      - -2.0827684221999165
-      - -1.5707538507562206
-      - 0.25218575682138361
-    velocities:
-      - -0.27547288916857882
-      - 0.38096628997259618
-      - -0.094878879237161082
-      - 0.18768264895036696
-      - -0.09454646225147334
-      - 0.00030443967473469248
-      - 0.38117990863615048
-    accelerations:
-      - 0.37839682535666264
-      - -0.52330534278206686
-      - 0.13032813067411225
-      - -0.25780583618115605
-      - 0.12987151393603882
-      - -0.00041818636592479114
-      - -0.52359877501191465
+      - 0.077088645322001478
+      - 0.24828235843110236
+      - -0.60664317586419025
+      - 1.1496249496202282
+      - -2.0817054687351035
+      - -1.5707953630107276
+      - 0.24823865580745566
+    velocities:
+      - -0.27977363211568973
+      - 0.38670528471190607
+      - -0.096329642632202034
+      - 0.19031190825429198
+      - -0.095929383613016728
+      - 0.00014264087973046353
+      - 0.38693949516647475
+    accelerations:
+      - 0.37858407642486297
+      - -0.52328184737840289
+      - 0.13035134337880561
+      - -0.2575262631944647
+      - 0.1298097208893646
+      - -0.00019301878202322972
+      - -0.523598776275362
     effort: []
     time_from_start:
       sec: 13
       nanosec: 720000000
   - positions:
-      - 0.071476872397701119
-      - 0.25597641171229624
-      - -0.60852862010794528
-      - 1.1535045247933648
-      - -2.0837082520520815
-      - -1.5707508245034376
-      - 0.25597483838668877
-    velocities:
-      - -0.27168892091080238
-      - 0.3757332365389528
-      - -0.09357559792896851
-      - 0.1851045905856854
-      - -0.093247747110663526
-      - 0.00030025781107458852
-      - 0.37594392088020534
-    accelerations:
-      - 0.37839682532962871
-      - -0.52330534274470786
-      - 0.13032813066481413
-      - -0.25780583616278185
-      - 0.12987151392676846
-      - -0.00041818636590028817
-      - -0.52359877497450014
+      - 0.074309418268008187
+      - 0.25212382762555846
+      - -0.60760009931290981
+      - 1.1515154780453611
+      - -2.0826584160739721
+      - -1.5707939460387674
+      - 0.25208245161155951
+    velocities:
+      - -0.27598779135705881
+      - 0.38147246624588665
+      - -0.095026129200348183
+      - 0.18773664562616843
+      - -0.094631286406049356
+      - 0.00014071069191309531
+      - 0.38170350741149023
+    accelerations:
+      - 0.37858407570350194
+      - -0.52328184638135289
+      - 0.13035134313043048
+      - -0.25752626270378726
+      - 0.12980972064200158
+      - -0.00019301878165545885
+      - -0.52359877527770204
     effort: []
     time_from_start:
       sec: 13
       nanosec: 730000000
   - positions:
-      - 0.068776400793556958
-      - 0.25971103928785261
-      - -0.60945872150553226
-      - 1.1553443852079803
-      - -2.0846350947528389
-      - -1.5707478400692914
-      - 0.25971156007443441
-    velocities:
-      - -0.26790495265207248
-      - 0.37050018310399135
-      - -0.092272316620448991
-      - 0.18252653222035597
-      - -0.091949031969530984
-      - 0.0002960759474095811
-      - 0.37070793312294159
-    accelerations:
-      - 0.37839682625449395
-      - -0.52330534402364337
-      - 0.13032813098334153
-      - -0.2578058367928473
-      - 0.12987151424418644
-      - -0.00041818636692232745
-      - -0.52359877625421225
+      - 0.071568049621609467
+      - 0.25591296863534285
+      - -0.60854398762730788
+      - 1.1533802538442073
+      - -2.0835983824407682
+      - -1.5707925483686851
+      - 0.25587388753810203
+    velocities:
+      - -0.27220195059743313
+      - 0.37623964777849261
+      - -0.093722615768152467
+      - 0.18516138299737006
+      - -0.093333189198740119
+      - 0.00013878050409453632
+      - 0.37646751965512942
+    accelerations:
+      - 0.37858407597600618
+      - -0.52328184675799605
+      - 0.1303513432242582
+      - -0.25752626288913899
+      - 0.1298097207354546
+      - -0.00019301878179345068
+      - -0.52359877565462276
     effort: []
     time_from_start:
       sec: 13
       nanosec: 740000000
   - positions:
-      - 0.066113768871991066
-      - 0.26339333632907175
-      - -0.61037579009003695
-      - 1.1571584650389486
-      - -2.0855489503021882
-      - -1.5707448974537819
-      - 0.26339592188461997
-    velocities:
-      - -0.26412098439430853
-      - 0.36526712967036568
-      - -0.09096903531226215
-      - 0.1799484738556846
-      - -0.090650316828729954
-      - 0.00029189408374564118
-      - 0.36547194536701444
-    accelerations:
-      - 0.37839682621402632
-      - -0.52330534396779915
-      - 0.13032813096940823
-      - -0.25780583676531377
-      - 0.12987151423030865
-      - -0.00041818636687765832
-      - -0.52359877619825701
+      - 0.0688645393828059
+      - 0.25964978146045492
+      - -0.60947484080738445
+      - 1.1552192770167662
+      - -2.0845253678354911
+      - -1.5707911700004811
+      - 0.25961296358708252
+    velocities:
+      - -0.26841610983856357
+      - 0.37100682931214329
+      - -0.092419102336216433
+      - 0.18258612036908414
+      - -0.092035091991690909
+      - 0.00013685031627705594
+      - 0.37123153189981484
+    accelerations:
+      - 0.37858407549267059
+      - -0.52328184608991934
+      - 0.13035134305783577
+      - -0.25752626256034644
+      - 0.12980972056971218
+      - -0.00019301878154701153
+      - -0.52359877498604646
     effort: []
     time_from_start:
       sec: 13
       nanosec: 750000000
   - positions:
-      - 0.063488976633003069
-      - 0.26702330283595438
-      - -0.61127982586145968
-      - 1.1589467642862701
-      - -2.086449818700129
-      - -1.5707419966569089
-      - 0.26702792381724588
-    velocities:
-      - -0.26033701613654453
-      - 0.36003407623673994
-      - -0.089665754004075296
-      - 0.17737041549101321
-      - -0.089351601687928897
-      - 0.00028771222008170121
-      - 0.36023595761108718
-    accelerations:
-      - 0.3783968261736142
-      - -0.52330534391195493
-      - 0.13032813095550269
-      - -0.25780583673780799
-      - 0.12987151421645862
-      - -0.00041818636683298919
-      - -0.52359877614241279
+      - 0.066198887551593436
+      - 0.26333426610090016
+      - -0.61039265885314076
+      - 1.1570325475630407
+      - -2.085439372258143
+      - -1.5707898109341554
+      - 0.26329967975850649
+    velocities:
+      - -0.26463026907893805
+      - 0.36577401084474909
+      - -0.091115588904020106
+      - 0.18001085774028397
+      - -0.090736994784382491
+      - 0.00013492012845919016
+      - 0.36599554414345464
+    accelerations:
+      - 0.37858407576523034
+      - -0.52328184646672904
+      - 0.13035134315169125
+      - -0.25752626274578144
+      - 0.12980972066319296
+      - -0.00019301878168597914
+      - -0.52359877536313371
     effort: []
     time_from_start:
       sec: 13
       nanosec: 760000000
   - positions:
-      - 0.060902024076593328
-      - 0.27060093880849984
-      - -0.61217082881980045
-      - 1.1607092829499444
-      - -2.0873376999466613
-      - -1.5707391376786726
-      - 0.27060756587231161
-    velocities:
-      - -0.25655304787878053
-      - 0.35480102280311432
-      - -0.088362472695888455
-      - 0.17479235712634186
-      - -0.088052886547127868
-      - 0.00028353035641776124
-      - 0.35499996985516002
-    accelerations:
-      - 0.37839682613325759
-      - -0.52330534385605521
-      - 0.13032813094158327
-      - -0.25780583671024671
-      - 0.12987151420258083
-      - -0.00041818636678837427
-      - -0.52359877608645755
+      - 0.063571094127975847
+      - 0.26696642255667336
+      - -0.61129744176457568
+      - 1.1588200654830283
+      - -2.0863403957087225
+      - -1.5707884711697078
+      - 0.26693403605236882
+    velocities:
+      - -0.26084442831914112
+      - 0.36054119237711801
+      - -0.089812075471764771
+      - 0.17743559511136722
+      - -0.0894388975770153
+      - 0.00013298994064123696
+      - 0.36075955638685742
+    accelerations:
+      - 0.37858407620853601
+      - -0.52328184707947534
+      - 0.1303513433043374
+      - -0.25752626304736015
+      - 0.1298097208152017
+      - -0.00019301878191201768
+      - -0.52359877597626792
     effort: []
     time_from_start:
       sec: 13
       nanosec: 770000000
   - positions:
-      - 0.058352911202760725
-      - 0.27412624424670973
-      - -0.61304879896505926
-      - 1.1624460210299721
-      - -2.0882125940417859
-      - -1.5707363205190727
-      - 0.27413484804981886
-    velocities:
-      - -0.25276907962101658
-      - 0.34956796936948875
-      - -0.087059191387701629
-      - 0.17221429876167052
-      - -0.086754171406326852
-      - 0.00027934849275382137
-      - 0.34976398209923287
-    accelerations:
-      - 0.37839682609278996
-      - -0.52330534380009996
-      - 0.13032813092764997
-      - -0.25780583668268542
-      - 0.12987151418868917
-      - -0.00041818636674359672
-      - -0.52359877603050231
+      - 0.060981159111951969
+      - 0.27054625082777606
+      - -0.61218918954168933
+      - 1.1605818307767293
+      - -2.0872284381872293
+      - -1.5707871507071383
+      - 0.27051603246867095
+    velocities:
+      - -0.25705858756044303
+      - 0.35530837391100578
+      - -0.088508562039887786
+      - 0.17486033248319793
+      - -0.088140800370024905
+      - 0.00013105975282384403
+      - 0.35552356863177997
+    accelerations:
+      - 0.37858407555439899
+      - -0.52328184617523998
+      - 0.13035134307909654
+      - -0.25752626260236838
+      - 0.12980972059087581
+      - -0.0001930187815784805
+      - -0.52359877507147812
     effort: []
     time_from_start:
       sec: 13
       nanosec: 780000000
   - positions:
-      - 0.055841638011507141
-      - 0.2775992191505815
-      - -0.613913736297236
-      - 1.1641569785263524
-      - -2.0890745009855025
-      - -1.5707335451781099
-      - 0.27760977034976486
-    velocities:
-      - -0.24898511136325258
-      - 0.34433491593586302
-      - -0.085755910079514774
-      - 0.16963624039699912
-      - -0.085455456265525809
-      - 0.00027516662908988134
-      - 0.34452799434330567
-    accelerations:
-      - 0.37839682605237784
-      - -0.52330534374425575
-      - 0.13032813091374443
-      - -0.25780583665517964
-      - 0.12987151417482526
-      - -0.00041818636669903602
-      - -0.52359877597460258
+      - 0.05842908250352033
+      - 0.27407375091421049
+      - -0.61306790218448248
+      - 1.162317843444145
+      - -2.0881034996936645
+      - -1.5707858495464468
+      - 0.27404566900741517
+    velocities:
+      - -0.25327274680081763
+      - 0.35007555544361169
+      - -0.087205048607691502
+      - 0.17228506985439784
+      - -0.086842703162716514
+      - 0.00012912956500597827
+      - 0.35028758087541995
+    accelerations:
+      - 0.37858407582684772
+      - -0.52328184655188315
+      - 0.13035134317291039
+      - -0.25752626278774787
+      - 0.12980972068432883
+      - -0.00019301878171742101
+      - -0.52359877544839883
     effort: []
     time_from_start:
       sec: 13
       nanosec: 790000000
   - positions:
-      - 0.053368204502831446
-      - 0.28101986352011665
-      - -0.61476564081633067
-      - 1.1658421554390859
-      - -2.0899234207778106
-      - -1.5707308116557834
-      - 0.28103233277215128
-    velocities:
-      - -0.2452011431054886
-      - 0.33910186250223739
-      - -0.084452628771327934
-      - 0.16705818203232775
-      - -0.084156741124724765
-      - 0.00027098476542594143
-      - 0.33929200658737846
-    accelerations:
-      - 0.37839682601196573
-      - -0.52330534368835602
-      - 0.13032813089982501
-      - -0.25780583662764611
-      - 0.12987151416096135
-      - -0.00041818636665436689
-      - -0.52359877591870285
+      - 0.055914864302683567
+      - 0.27754892281597282
+      - -0.61393357969295426
+      - 1.1640281034852737
+      - -2.0889655802280274
+      - -1.570784567687634
+      - 0.27752294566859764
+    velocities:
+      - -0.24948690604106102
+      - 0.34484273697603635
+      - -0.085901535175450044
+      - 0.16970980722550855
+      - -0.085544605955363159
+      - 0.00012719937718804568
+      - 0.34505159311887851
+    accelerations:
+      - 0.37858407622988005
+      - -0.52328184710889625
+      - 0.13035134331167875
+      - -0.25752626306184856
+      - 0.12980972082250142
+      - -0.0001930187819228597
+      - -0.52359877600574434
     effort: []
     time_from_start:
       sec: 13
       nanosec: 800000000
   - positions:
-      - 0.050932610676734012
-      - 0.28438817735531469
-      - -0.61560451252234327
-      - 1.1675015517681722
-      - -2.0907593534187106
-      - -1.5707281199520935
-      - 0.28440253531697757
-    velocities:
-      - -0.2414171748478274
-      - 0.33386880906875388
-      - -0.083149347463176496
-      - 0.16448012366772644
-      - -0.082858025983959013
-      - 0.00026680290176211508
-      - 0.33405601883159353
-    accelerations:
-      - 0.37839682586941914
-      - -0.52330534349122182
-      - 0.13032813085073486
-      - -0.25780583653051548
-      - 0.12987151411203693
-      - -0.00041818636649681621
-      - -0.52359877572145819
+      - 0.053438504509440155
+      - 0.28097176653306521
+      - -0.61478622206710498
+      - 1.1657126109001166
+      - -2.0898146797903179
+      - -1.570783305130699
+      - 0.28094786245222053
+    velocities:
+      - -0.24570106528232252
+      - 0.33960991850986821
+      - -0.08459802174355914
+      - 0.16713454459731175
+      - -0.084246508748358886
+      - 0.00012526918937063211
+      - 0.33981560536374517
+    accelerations:
+      - 0.37858407561612739
+      - -0.52328184626056062
+      - 0.13035134310035731
+      - -0.25752626264436257
+      - 0.12980972061206719
+      - -0.00019301878160994947
+      - -0.52359877515690978
     effort: []
     time_from_start:
       sec: 13
       nanosec: 810000000
   - positions:
-      - 0.048534856533214474
-      - 0.28770416065617616
-      - -0.61643035141527402
-      - 1.1691351675136115
-      - -2.0915822989082025
-      - -1.5707254700670406
-      - 0.28772037798424421
-    velocities:
-      - -0.23763320659005002
-      - 0.32863575563510972
-      - -0.081846066154985048
-      - 0.16190206530304593
-      - -0.081559310843153376
-      - 0.00026262103809816036
-      - 0.32882003107564778
-    accelerations:
-      - 0.37839682584241296
-      - -0.52330534345386281
-      - 0.13032813084140898
-      - -0.25780583651211353
-      - 0.12987151410276657
-      - -0.00041818636646694644
-      - -0.52359877568409918
+      - 0.051000003123789731
+      - 0.28434228206548817
+      - -0.61562582930693477
+      - 1.1673713656886735
+      - -2.0906507983805365
+      - -1.5707820618756423
+      - 0.28432041935828434
+    velocities:
+      - -0.24191522452269715
+      - 0.33437710004247423
+      - -0.083294508311362869
+      - 0.16455928196851169
+      - -0.082948411541050523
+      - 0.00012333900155276639
+      - 0.33457961760738519
+    accelerations:
+      - 0.37858407588857612
+      - -0.52328184663714827
+      - 0.13035134319415728
+      - -0.2575262628297143
+      - 0.12980972070547858
+      - -0.00019301878174886287
+      - -0.52359877553371947
     effort: []
     time_from_start:
       sec: 13
       nanosec: 820000000
   - positions:
-      - 0.046174942072272886
-      - 0.29096781342270084
-      - -0.61724315749512271
-      - 1.170743002675404
-      - -2.0923922572462859
-      - -1.5707228620006239
-      - 0.29098586077395117
-    velocities:
-      - -0.23384923833227159
-      - 0.32340270220146478
-      - -0.080542784846794266
-      - 0.15932400693836596
-      - -0.080260595702354567
-      - 0.0002584391744314019
-      - 0.32358404331970109
-    accelerations:
-      - 0.37839682581549006
-      - -0.52330534341661483
-      - 0.1303281308321525
-      - -0.25780583649376709
-      - 0.12987151409353784
-      - -0.00041818636643268565
-      - -0.52359877564679569
+      - 0.048599360145733794
+      - 0.28766046941323964
+      - -0.6164524014124434
+      - 1.1690043678509436
+      - -2.0914739359986831
+      - -1.5707808379224637
+      - 0.28764061638678701
+    velocities:
+      - -0.23812938376298085
+      - 0.32914428157495457
+      - -0.08199099487913529
+      - 0.16198401933964982
+      - -0.081650314333710991
+      - 0.00012140881373485431
+      - 0.32934362985089949
+    accelerations:
+      - 0.3785840762512796
+      - -0.52328184713848369
+      - 0.13035134331904785
+      - -0.25752626307639248
+      - 0.12980972082982889
+      - -0.00019301878193378304
+      - -0.52359877603533178
     effort: []
     time_from_start:
       sec: 13
       nanosec: 830000000
   - positions:
-      - 0.043852867293909518
-      - 0.29417913565488857
-      - -0.61804293076188932
-      - 1.1723250572535493
-      - -2.0931892284329621
-      - -1.5707202957528441
-      - 0.29419898368609804
-    velocities:
-      - -0.2300652700744942
-      - 0.31816964876782056
-      - -0.07923950353860279
-      - 0.15674594857368543
-      - -0.07896188056154882
-      - 0.0002542573107674925
-      - 0.31834805556375534
-    accelerations:
-      - 0.37839682578851164
-      - -0.52330534337931134
-      - 0.13032813082285438
-      - -0.2578058364753929
-      - 0.12987151408426748
-      - -0.00041818636640281588
-      - -0.52359877560943668
+      - 0.046236575575271124
+      - 0.29092632857632134
+      - -0.61726593838363097
+      - 1.1706116173869279
+      - -2.0922840926447575
+      - -1.5707796332711632
+      - 0.29090845353773015
+    velocities:
+      - -0.23434354300420224
+      - 0.32391146310873031
+      - -0.080687481447230452
+      - 0.15940875671142613
+      - -0.080352217126688816
+      - 0.00011947862591902857
+      - 0.32410764209571152
+    accelerations:
+      - 0.37858407567782804
+      - -0.52328184634582575
+      - 0.13035134312159033
+      - -0.25752626268635675
+      - 0.12980972063320306
+      - -0.00019301878164400697
+      - -0.52359877524223042
     effort: []
     time_from_start:
       sec: 13
       nanosec: 840000000
   - positions:
-      - 0.041568632198124018
-      - 0.29733812735273962
-      - -0.61882967121557397
-      - 1.1738813312480476
-      - -2.0939732124682293
-      - -1.5707177713237006
-      - 0.29735974672068527
-    velocities:
-      - -0.2262813018167168
-      - 0.31293659533417634
-      - -0.077936222230411314
-      - 0.1541678902090049
-      - -0.077663165420743058
-      - 0.00025007544710358305
-      - 0.31311206780780954
-    accelerations:
-      - 0.37839682576153322
-      - -0.52330534334195233
-      - 0.13032813081355626
-      - -0.25780583645701871
-      - 0.12987151407501099
-      - -0.00041818636637300032
-      - -0.52359877557213319
+      - 0.043911649412401159
+      - 0.29413985955473398
+      - -0.61806644022049795
+      - 1.1721931142966264
+      - -2.0930812683187594
+      - -1.570778447921741
+      - 0.29412393081111465
+    velocities:
+      - -0.23055770224457678
+      - 0.31867864464133622
+      - -0.079383968015034154
+      - 0.15683349408262603
+      - -0.079054119919380494
+      - 0.00011754843810113684
+      - 0.31887165433935144
+    accelerations:
+      - 0.37858407595033228
+      - -0.52328184672257994
+      - 0.13035134321543193
+      - -0.25752626287170849
+      - 0.12980972072664221
+      - -0.00019301878178294748
+      - -0.52359877561915114
     effort: []
     time_from_start:
       sec: 13
       nanosec: 850000000
   - positions:
-      - 0.039322236784916802
-      - 0.30044478851625367
-      - -0.61960337885617656
-      - 1.1754118246588992
-      - -2.0947442093520889
-      - -1.5707152887131943
-      - 0.30046814987771248
-    velocities:
-      - -0.22249733355893941
-      - 0.30770354190053212
-      - -0.076632940922219839
-      - 0.1515898318443244
-      - -0.07636445027993731
-      - 0.00024589358343967365
-      - 0.30787608005186384
-    accelerations:
-      - 0.37839682573452704
-      - -0.52330534330464884
-      - 0.13032813080425815
-      - -0.25780583643858901
-      - 0.12987151406574063
-      - -0.00041818636634318476
-      - -0.52359877553477419
+      - 0.041624581657126049
+      - 0.29730106234847459
+      - -0.61885390692304321
+      - 1.173748858580038
+      - -2.0938654630206885
+      - -1.570777281874197
+      - 0.29728704820693747
+    velocities:
+      - -0.22677186148490094
+      - 0.31344582617387251
+      - -0.078080454582820508
+      - 0.15425823145379164
+      - -0.077756022712054895
+      - 0.00011561825028321941
+      - 0.31363566658292169
+    accelerations:
+      - 0.37858407627256813
+      - -0.52328184716796011
+      - 0.1303513433263892
+      - -0.25752626309090865
+      - 0.12980972083712861
+      - -0.0001930187819472407
+      - -0.5235987760648082
     effort: []
     time_from_start:
       sec: 13
       nanosec: 860000000
   - positions:
-      - 0.037113681054287077
-      - 0.30349911914543148
-      - -0.62036405368369729
-      - 1.1769165374861037
-      - -2.0955022190845396
-      - -1.5707128479213242
-      - 0.30352419315718049
-    velocities:
-      - -0.21871336530116195
-      - 0.30247048846688784
-      - -0.075329659614028335
-      - 0.14901177347964381
-      - -0.075065735139131534
-      - 0.00024171171977576414
-      - 0.30264009229591798
-    accelerations:
-      - 0.37839682570760413
-      - -0.52330534326740086
-      - 0.13032813079498778
-      - -0.25780583642027033
-      - 0.12987151405649802
-      - -0.00041818636631342341
-      - -0.5235987754975262
+      - 0.039375372309442797
+      - 0.30040993695754736
+      - -0.61962833849126819
+      - 1.1752788502371645
+      - -2.0946366767505471
+      - -1.5707761351285312
+      - 0.3003978057252028
+    velocities:
+      - -0.22298602072608167
+      - 0.30821300770759275
+      - -0.076776941150901806
+      - 0.15168296882553992
+      - -0.076457925505023006
+      - 0.00011368806246573869
+      - 0.3083996788276766
+    accelerations:
+      - 0.37858407573958419
+      - -0.52328184643125741
+      - 0.1303513431428511
+      - -0.25752626272835094
+      - 0.12980972065438057
+      - -0.00019301878167550304
+      - -0.52359877532766208
     effort: []
     time_from_start:
       sec: 13
       nanosec: 870000000
   - positions:
-      - 0.034942965006235636
-      - 0.30650111924027235
-      - -0.62111169569813596
-      - 1.1783954697296612
-      - -2.0962472416655831
-      - -1.570710448948091
-      - 0.30652787655908842
-    velocities:
-      - -0.21492939704338462
-      - 0.29723743503324368
-      - -0.074026378305836874
-      - 0.14643371511496334
-      - -0.0737670199983258
-      - 0.0002375298561118548
-      - 0.29740410453997229
-    accelerations:
-      - 0.37839682568054245
-      - -0.52330534323004185
-      - 0.13032813078567579
-      - -0.25780583640184063
-      - 0.12987151404721378
-      - -0.00041818636628352654
-      - -0.52359877546011169
+      - 0.037164021369354039
+      - 0.30346648338194865
+      - -0.62038973492517169
+      - 1.1767830892680042
+      - -2.0953949095083328
+      - -1.5707750076847435
+      - 0.30345620336590695
+    velocities:
+      - -0.2192001799664563
+      - 0.30298018924019876
+      - -0.075473427718705535
+      - 0.14910770619673985
+      - -0.075159828297714698
+      - 0.00011175787464784698
+      - 0.30316369107131663
+    accelerations:
+      - 0.37858407601203292
+      - -0.52328184680784506
+      - 0.13035134323666495
+      - -0.25752626291367492
+      - 0.12980972074780583
+      - -0.00019301878181441644
+      - -0.52359877570447177
     effort: []
     time_from_start:
       sec: 13
       nanosec: 880000000
   - positions:
-      - 0.032810088640762458
-      - 0.30945078880077598
-      - -0.62184630489949266
-      - 1.1798486213895716
-      - -2.096979277095218
-      - -1.5707080917934944
-      - 0.30947920008343616
-    velocities:
-      - -0.21114542878560716
-      - 0.29200438159959941
-      - -0.07272309699764537
-      - 0.14385565675028278
-      - -0.072468304857520024
-      - 0.00023334799244794532
-      - 0.29216811678402649
-    accelerations:
-      - 0.37839682565361954
-      - -0.52330534319273836
-      - 0.13032813077640543
-      - -0.25780583638346644
-      - 0.12987151403797118
-      - -0.00041818636625376519
-      - -0.52359877542280819
+      - 0.034990528836859769
+      - 0.30647070162167833
+      - -0.62113809622475391
+      - 1.1782615756725572
+      - -2.0961401612940458
+      - -1.570773899542834
+      - 0.30646224112904996
+    velocities:
+      - -0.21541433920682074
+      - 0.29774737077279073
+      - -0.074169914286505753
+      - 0.14653244356793288
+      - -0.073861731090402907
+      - 0.0001098276868299501
+      - 0.29792770331494262
+    accelerations:
+      - 0.37858407629399543
+      - -0.52328184719754756
+      - 0.13035134333375831
+      - -0.25752626310545257
+      - 0.12980972084448383
+      - -0.00019301878195816403
+      - -0.52359877609439565
     effort: []
     time_from_start:
       sec: 13
       nanosec: 890000000
   - positions:
-      - 0.030715051957867154
-      - 0.31234812782694299
-      - -0.6225678812877673
-      - 1.1812759924658351
-      - -2.0976983253734449
-      - -1.5707057764575343
-      - 0.31237816373022431
-    velocities:
-      - -0.20736146052782969
-      - 0.28677132816595508
-      - -0.071419815689453867
-      - 0.14127759838560219
-      - -0.071169589716714235
-      - 0.00022916612878403581
-      - 0.28693212902808063
-    accelerations:
-      - 0.37839682562669663
-      - -0.52330534315554589
-      - 0.13032813076713506
-      - -0.25780583636514776
-      - 0.12987151402874245
-      - -0.00041818636622403094
-      - -0.52359877538556021
+      - 0.032854894711956968
+      - 0.3094225916767408
+      - -0.62187342239001586
+      - 1.1797143094508253
+      - -2.0968724321076873
+      - -1.5707728107028025
+      - 0.30941591901463594
+    velocities:
+      - -0.21162849844796122
+      - 0.29251455230645534
+      - -0.072866400854573188
+      - 0.14395718093965376
+      - -0.072563633883357209
+      - 0.00010789749901244886
+      - 0.29269171555964185
+    accelerations:
+      - 0.37858407580131259
+      - -0.52328184651652254
+      - 0.13035134316411187
+      - -0.25752626277034513
+      - 0.12980972067554419
+      - -0.00019301878170695846
+      - -0.52359877541298272
     effort: []
     time_from_start:
       sec: 13
       nanosec: 900000000
   - positions:
-      - 0.028657854957550126
-      - 0.31519313631877294
-      - -0.62327642486295975
-      - 1.1826775829584517
-      - -2.0984043865002633
-      - -1.5707035029402112
-      - 0.31522476749945233
-    velocities:
-      - -0.20357749227005234
-      - 0.28153827473231091
-      - -0.070116534381262405
-      - 0.13869954002092169
-      - -0.069870874575908501
-      - 0.00022498426512012644
-      - 0.28169614127213494
-    accelerations:
-      - 0.37839682559969046
-      - -0.52330534311818688
-      - 0.13032813075782307
-      - -0.25780583634674581
-      - 0.12987151401945821
-      - -0.00041818636619416117
-      - -0.5235987753481457
+      - 0.030757118994648662
+      - 0.31232215354713172
+      - -0.62259571342095632
+      - 1.1811412906028069
+      - -2.0975917219492564
+      - -1.5707717411646493
+      - 0.31231723702266079
+    velocities:
+      - -0.20784265768833549
+      - 0.28728173383906086
+      - -0.071562887422376792
+      - 0.14138191831085345
+      - -0.071265536676048791
+      - 0.00010596731119455696
+      - 0.28745572780328138
+    accelerations:
+      - 0.37858407607434419
+      - -0.52328184689394286
+      - 0.13035134325812001
+      - -0.25752626295605768
+      - 0.12980972076916375
+      - -0.00019301878184618357
+      - -0.52359877579062508
     effort: []
     time_from_start:
       sec: 13
       nanosec: 910000000
   - positions:
-      - 0.026638497639810986
-      - 0.31798581427626627
-      - -0.62397193562507047
-      - 1.1840533928674211
-      - -2.0990974604756736
-      - -1.5707012712415243
-      - 0.31801901139112071
-    velocities:
-      - -0.19979352401227493
-      - 0.27630522129866669
-      - -0.068813253073070929
-      - 0.13612148165624116
-      - -0.068572159435102739
-      - 0.00022080240145621702
-      - 0.27646015351618913
-    accelerations:
-      - 0.37839682557271204
-      - -0.52330534308082788
-      - 0.13032813074852495
-      - -0.25780583632837162
-      - 0.12987151401020172
-      - -0.00041818636616434561
-      - -0.5235987753108422
+      - 0.028697201684935225
+      - 0.3151693872328506
+      - -0.6233049693175754
+      - 1.1825425191285013
+      - -2.0982980308187531
+      - -1.5707706909283743
+      - 0.31516619515312388
+    velocities:
+      - -0.20405681692946567
+      - 0.28204891537271126
+      - -0.070259373990440674
+      - 0.13880665568256736
+      - -0.069967439468999568
+      - 0.00010403712337705049
+      - 0.28221974004796641
+    accelerations:
+      - 0.37858407559145268
+      - -0.52328184622647678
+      - 0.13035134309186411
+      - -0.25752626262757045
+      - 0.12980972060358786
+      - -0.00019301878159998836
+      - -0.52359877512277042
     effort: []
     time_from_start:
       sec: 13
       nanosec: 920000000
   - positions:
-      - 0.02465698000465039
-      - 0.32072616169942209
-      - -0.6246544135740989
-      - 1.1854034221927434
-      - -2.0997775472996758
-      - -1.5706990813614743
-      - 0.32076089540522862
-    velocities:
-      - -0.19600955575449769
-      - 0.2710721678650222
-      - -0.067509971764878884
-      - 0.1335434232915608
-      - -0.067273444294293966
-      - 0.00021662053779140811
-      - 0.27122416576024405
-    accelerations:
-      - 0.37839682554576137
-      - -0.5233053430435799
-      - 0.13032813073924071
-      - -0.25780583631002518
-      - 0.12987151400094524
-      - -0.00041818636613284954
-      - -0.52359877527359422
+      - 0.026675142782813261
+      - 0.31796429273390214
+      - -0.62400119007987409
+      - 1.1839179950279108
+      - -2.0989913587161784
+      - -1.5707696599939776
+      - 0.31796279340603006
+    velocities:
+      - -0.20027097616983996
+      - 0.27681609690531683
+      - -0.068955860558244292
+      - 0.13623139305376708
+      - -0.068669342261691149
+      - 0.00010210693555915863
+      - 0.27698375229160599
+    accelerations:
+      - 0.37858407586448428
+      - -0.52328184660384158
+      - 0.13035134318585836
+      - -0.257526262813283
+      - 0.12980972069720742
+      - -0.00019301878173917281
+      - -0.52359877550035727
     effort: []
     time_from_start:
       sec: 13
       nanosec: 930000000
   - positions:
-      - 0.0227133020520674
-      - 0.32341417858824173
-      - -0.62532385871004537
-      - 1.1867276709344188
-      - -2.10044464697227
-      - -1.5706969333000609
-      - 0.32345041954177728
-    velocities:
-      - -0.19222558749672028
-      - 0.26583911443137798
-      - -0.066206690456687409
-      - 0.13096536492688027
-      - -0.06597472915348826
-      - 0.00021243867412751603
-      - 0.2659881780042983
-    accelerations:
-      - 0.37839682551878295
-      - -0.5233053430062764
-      - 0.13032813072995647
-      - -0.25780583629162324
-      - 0.12987151399170263
-      - -0.00041818636610303398
-      - -0.52359877523623521
+      - 0.024690942288285948
+      - 0.32070687005028203
+      - -0.62468437570785151
+      - 1.1852677183010334
+      - -2.0996717056415308
+      - -1.5707686483614589
+      - 0.32070703178137488
+    velocities:
+      - -0.19648513541027107
+      - 0.27158327843800134
+      - -0.067652347126067477
+      - 0.13365613042500379
+      - -0.067371245054410847
+      - 0.00010017674774077506
+      - 0.2717477645353239
+    accelerations:
+      - 0.3785840760795281
+      - -0.5232818469010625
+      - 0.13035134325990072
+      - -0.25752626295956926
+      - 0.12980972077095931
+      - -0.0001930187818478058
+      - -0.52359877579779956
     effort: []
     time_from_start:
       sec: 13
       nanosec: 940000000
   - positions:
-      - 0.02080746378206192
-      - 0.32604986494272525
-      - -0.6259802710329101
-      - 1.1880261390924476
-      - -2.101098759493456
-      - -1.570694827057284
-      - 0.3260875838007668
-    velocities:
-      - -0.18844161923894284
-      - 0.2606060609977337
-      - -0.064903409148495933
-      - 0.12838730656219974
-      - -0.064676014012682553
-      - 0.00020825681046362395
-      - 0.2607521902483525
-    accelerations:
-      - 0.37839682549183229
-      - -0.52330534296902842
-      - 0.13032813072067223
-      - -0.25780583627324904
-      - 0.12987151398244615
-      - -0.00041818636607321842
-      - -0.52359877519893172
+      - 0.022744600201352216
+      - 0.3233971191819916
+      - -0.62535452620150767
+      - 1.1865916889478698
+      - -2.1003390715948114
+      - -1.5707676560308184
+      - 0.32339891027915973
+    velocities:
+      - -0.19269929465134436
+      - 0.26635045997157303
+      - -0.066348833694111764
+      - 0.13108086779667902
+      - -0.066073147847341945
+      - 9.8246559923249578e-05
+      - 0.26651177677993021
+    accelerations:
+      - 0.378584075653986
+      - -0.52328184631296315
+      - 0.13035134311338856
+      - -0.25752626267011974
+      - 0.12980972062504292
+      - -0.00019301878163086102
+      - -0.52359877520925679
     effort: []
     time_from_start:
       sec: 13
       nanosec: 950000000
   - positions:
-      - 0.018939465194635081
-      - 0.3286332207628711
-      - -0.62662365054269265
-      - 1.189298826666829
-      - -2.1017398848632336
-      - -1.5706927626331439
-      - 0.32867238818219568
-    velocities:
-      - -0.18465765098116546
-      - 0.25537300756408948
-      - -0.063600127840304471
-      - 0.12580924819751921
-      - -0.063377298871876861
-      - 0.0002040749467997319
-      - 0.25551620249240675
-    accelerations:
-      - 0.37839682546482611
-      - -0.52330534293172493
-      - 0.13032813071137411
-      - -0.2578058362548471
-      - 0.12987151397317578
-      - -0.00041818636604340286
-      - -0.52359877516157272
+      - 0.020836116522011092
+      - 0.32603504012903234
+      - -0.62601164156084343
+      - 1.1878899069684208
+      - -2.10099345657602
+      - -1.5707666830020561
+      - 0.32603842889938606
+    velocities:
+      - -0.1889134538917189
+      - 0.26111764150417893
+      - -0.065045320261915465
+      - 0.12850560516787893
+      - -0.064775050640033457
+      - 9.6316372105367871e-05
+      - 0.26127578902357013
+    accelerations:
+      - 0.37858407592651799
+      - -0.52328184668966182
+      - 0.13035134320723016
+      - -0.25752626285549923
+      - 0.12980972071849595
+      - -0.00019301878176981508
+      - -0.52359877558623302
     effort: []
     time_from_start:
       sec: 13
       nanosec: 960000000
   - positions:
-      - 0.017109306289786137
-      - 0.33116424604868044
-      - -0.62725399723939335
-      - 1.1905457336575638
-      - -2.1023680230816035
-      - -1.5706907400276402
-      - 0.33120483268606504
-    velocities:
-      - -0.18087368272274476
-      - 0.25013995412955564
-      - -0.062296846531891437
-      - 0.12323118983240039
-      - -0.06207858373085038
-      - 0.00019989308313512891
-      - 0.25028021473557083
-    accelerations:
-      - 0.37839682608046649
-      - -0.52330534378305804
-      - 0.13032813092341031
-      - -0.25780583667430323
-      - 0.12987151418447032
-      - -0.00041818636672375582
-      - -0.52359877601346039
+      - 0.018965491250264456
+      - 0.32862063289140153
+      - -0.6266557217858576
+      - 1.189162372362685
+      - -2.1016348605851563
+      - -1.5707657292751724
+      - 0.32862558764205124
+    velocities:
+      - -0.18512761313219095
+      - 0.25588482303691967
+      - -0.063741806829752751
+      - 0.12593034253914517
+      - -0.063476953432758401
+      - 9.4386184287535889e-05
+      - 0.25603980126734494
+    accelerations:
+      - 0.37858407610087214
+      - -0.52328184693059443
+      - 0.13035134326725595
+      - -0.25752626297411318
+      - 0.12980972077827291
+      - -0.00019301878185868848
+      - -0.5235987758273315
     effort: []
     time_from_start:
       sec: 13
       nanosec: 970000000
   - positions:
-      - 0.015316987067515456
-      - 0.33364294080015255
-      - -0.62787131112301175
-      - 1.1917668600646512
-      - -2.1029831741485649
-      - -1.5706887592407734
-      - 0.33368491731237415
-    velocities:
-      - -0.17708971446498079
-      - 0.24490690069592996
-      - -0.060993565223704589
-      - 0.12065313146772901
-      - -0.060779868590049288
-      - 0.00019571121947125169
-      - 0.24504422697964359
-    accelerations:
-      - 0.37839682604005437
-      - -0.52330534372721382
-      - 0.13032813090949782
-      - -0.2578058366467697
-      - 0.12987151417059947
-      - -0.0004181863666791138
-      - -0.52359877595758841
+      - 0.017132724386111554
+      - 0.33115389746910023
+      - -0.62728676687655072
+      - 1.1904090851306628
+      - -2.1022632836222201
+      - -1.5707647948501662
+      - 0.33116038650715629
+    velocities:
+      - -0.18134177237322385
+      - 0.25065200457043557
+      - -0.062438293397783132
+      - 0.12335507991079292
+      - -0.062178856225675649
+      - 9.2455996469989837e-05
+      - 0.2508038135118954
+    accelerations:
+      - 0.3785840757157144
+      - -0.52328184639822828
+      - 0.13035134313464933
+      - -0.25752626271211393
+      - 0.12980972064621349
+      - -0.00019301878166232998
+      - -0.52359877529463295
     effort: []
     time_from_start:
       sec: 13
       nanosec: 980000000
   - positions:
-      - 0.01356250752782304
-      - 0.33606930501728766
-      - -0.6284755921935482
-      - 1.1929622058880913
-      - -2.1035853380641178
-      - -1.5706868202725432
-      - 0.33611264206112312
-    velocities:
-      - -0.17330574620721684
-      - 0.23967384726230437
-      - -0.059690283915517756
-      - 0.11807507310305763
-      - -0.059481153449248203
-      - 0.00019152935580737449
-      - 0.23980823922371647
-    accelerations:
-      - 0.37839682599961449
-      - -0.52330534367128634
-      - 0.13032813089556453
-      - -0.25780583661922229
-      - 0.12987151415672862
-      - -0.00041818636663441757
-      - -0.52359877590157766
+      - 0.015337815929551264
+      - 0.33363483386213011
+      - -0.62790477683292312
+      - 1.1916300452723552
+      - -2.1028787256872121
+      - -1.5707638797270385
+      - 0.33364282549470275
+    velocities:
+      - -0.17755593161359839
+      - 0.24541918610304148
+      - -0.06113477996558684
+      - 0.12077981728199284
+      - -0.060880759018367155
+      - 9.052580865210813e-05
+      - 0.24556782575553535
+    accelerations:
+      - 0.37858407598827415
+      - -0.52328184677492695
+      - 0.13035134322847705
+      - -0.25752626289749342
+      - 0.12980972073966651
+      - -0.00019301878180127049
+      - -0.52359877567155366
     effort: []
     time_from_start:
       sec: 13
       nanosec: 990000000
   - positions:
-      - 0.011845867670708513
-      - 0.33844333870008608
-      - -0.62906684045100258
-      - 1.1941317711278847
-      - -2.1041745148282631
-      - -1.5706849231229496
-      - 0.33848800693231251
-    velocities:
-      - -0.16952177794945283
-      - 0.23444079382867872
-      - -0.058387002607330901
-      - 0.11549701473838625
-      - -0.058182438308447111
-      - 0.00018734749214349727
-      - 0.23457225146778923
-    accelerations:
-      - 0.37839682595923013
-      - -0.52330534361538661
-      - 0.13032813088165898
-      - -0.25780583659170264
-      - 0.12987151414285777
-      - -0.00041818636658974844
-      - -0.52359877584570569
+      - 0.013580765880585084
+      - 0.33606344207048894
+      - -0.62850975165497425
+      - 1.192825252787761
+      - -2.1034811867801322
+      - -1.5707629839057891
+      - 0.33607290460468858
+    velocities:
+      - -0.17377009085411083
+      - 0.24018636763583798
+      - -0.059831266533438017
+      - 0.11820455465328655
+      - -0.059582661811105941
+      - 8.859562083429672e-05
+      - 0.24033183799936597
+    accelerations:
+      - 0.37858407612224393
+      - -0.52328184696009861
+      - 0.13035134327461118
+      - -0.25752626298862935
+      - 0.12980972078560038
+      - -0.00019301878186957116
+      - -0.52359877585686343
     effort: []
     time_from_start:
       sec: 14
       nanosec: 0
   - positions:
-      - 0.010167067496171875
-      - 0.34076504184854789
-      - -0.62964505589537512
-      - 1.1952755557840313
-      - -2.1047507044410003
-      - -1.5706830677919927
-      - 0.34081101192594232
-    velocities:
-      - -0.16573780969168889
-      - 0.22920774039505309
-      - -0.057083721299144068
-      - 0.11291895637371488
-      - -0.056883723167646033
-      - 0.00018316562847962007
-      - 0.22933626371186208
-    accelerations:
-      - 0.37839682591879026
-      - -0.52330534355948688
-      - 0.13032813086772568
-      - -0.25780583656415523
-      - 0.12987151412897999
-      - -0.00041818636654507931
-      - -0.52359877578975045
+      - 0.011861574239212261
+      - 0.33843972209417783
+      - -0.62910169134270455
+      - 1.1939947076768809
+      - -2.1040706669009799
+      - -1.5707621073864177
+      - 0.33845062383711488
+    velocities:
+      - -0.16998425009510337
+      - 0.23495354916929806
+      - -0.058527753101454506
+      - 0.11562929202490685
+      - -0.058284564604009353
+      - 8.6665433016730082e-05
+      - 0.23509585024386062
+    accelerations:
+      - 0.3785840757774428
+      - -0.52328184648357667
+      - 0.13035134315589622
+      - -0.25752626275409424
+      - 0.12980972066737712
+      - -0.00019301878169379895
+      - -0.52359877537998134
     effort: []
     time_from_start:
       sec: 14
       nanosec: 10000000
   - positions:
-      - 0.0085261070042131227
-      - 0.34303441446267319
-      - -0.63021023852666569
-      - 1.196393559856531
-      - -2.105313906902329
-      - -1.5706812542796722
-      - 0.34308165704201249
-    velocities:
-      - -0.16195384143392491
-      - 0.22397468696142744
-      - -0.05578043999095722
-      - 0.11034089800904349
-      - -0.055585008026844941
-      - 0.00017898376481574285
-      - 0.22410027595593487
-    accelerations:
-      - 0.37839682587837814
-      - -0.52330534350358715
-      - 0.1303281308538132
-      - -0.2578058365366217
-      - 0.12987151411510914
-      - -0.00041818636650041018
-      - -0.52359877573385072
+      - 0.010180241005432801
+      - 0.34076367393319684
+      - -0.6296805958961138
+      - 1.1951384099397144
+      - -2.1046471660497557
+      - -1.5707612501689243
+      - 0.34077598319198155
+    velocities:
+      - -0.16619840933547791
+      - 0.22972073070190399
+      - -0.057224239669258208
+      - 0.11305402939610676
+      - -0.056986467396700859
+      - 8.4735245198848375e-05
+      - 0.22985986248750054
+    accelerations:
+      - 0.37858407604997479
+      - -0.52328184686024759
+      - 0.13035134324973782
+      - -0.2575262629394876
+      - 0.12980972076083014
+      - -0.00019301878183273946
+      - -0.52359877575692981
     effort: []
     time_from_start:
       sec: 14
       nanosec: 20000000
   - positions:
-      - 0.006922986194832146
-      - 0.34525145654246192
-      - -0.63076238834487419
-      - 1.1974857833453838
-      - -2.1058641222122496
-      - -1.5706794825859884
-      - 0.34529994228052319
-    velocities:
-      - -0.15816987317616121
-      - 0.21874163352780218
-      - -0.054477158682770616
-      - 0.10776283964437421
-      - -0.054286292886041067
-      - 0.00017480190115573579
-      - 0.21886428820000672
-    accelerations:
-      - 0.37839682583799378
-      - -0.52330534344774293
-      - 0.13032813083990072
-      - -0.25780583650910205
-      - 0.12987151410124523
-      - -0.00041818636646503808
-      - -0.52359877567792323
+      - 0.0085367661792474549
+      - 0.34303529758754486
+      - -0.63024646531520179
+      - 1.1962563595762616
+      - -2.1052106842264586
+      - -1.5707604122533092
+      - 0.34304898266928757
+    velocities:
+      - -0.16241256857603067
+      - 0.22448791223475623
+      - -0.055920726237123276
+      - 0.11047876676742791
+      - -0.055688370189453475
+      - 8.2805057381057524e-05
+      - 0.22462387473138695
+    accelerations:
+      - 0.37858407614361572
+      - -0.52328184698968605
+      - 0.13035134328197334
+      - -0.25752626300318715
+      - 0.12980972079294173
+      - -0.0001930187818804945
+      - -0.52359877588645087
     effort: []
     time_from_start:
       sec: 14
       nanosec: 30000000
   - positions:
-      - 0.0053577050680299228
-      - 0.34741616808791292
-      - -0.63130150535000062
-      - 1.1985522262505892
-      - -2.1064013503707621
-      - -1.5706777527109415
-      - 0.34746586764147303
-    velocities:
-      - -0.15438590491839727
-      - 0.21350858009417656
-      - -0.053173877374583782
-      - 0.10518478127970279
-      - -0.052987577745240058
-      - 0.000170620037491766
-      - 0.2136283004440796
-    accelerations:
-      - 0.3783968257975539
-      - -0.52330534339181545
-      - 0.13032813082596742
-      - -0.25780583648155464
-      - 0.1298715140873605
-      - -0.00041818636642036895
-      - -0.52359877562196799
+      - 0.0069311497606551571
+      - 0.34525459305722328
+      - -0.63079929959996905
+      - 1.1973485565865229
+      - -2.1057612214310901
+      - -1.5707595936395726
+      - 0.34526962226903435
+    velocities:
+      - -0.1586267278169832
+      - 0.21925509376816099
+      - -0.054617212805126179
+      - 0.10790350413902181
+      - -0.054390272982339075
+      - 8.0874869562824847e-05
+      - 0.21938788697582554
+    accelerations:
+      - 0.3785840758391712
+      - -0.52328184656892507
+      - 0.13035134317715699
+      - -0.2575262627961023
+      - 0.12980972068854074
+      - -0.00019301878172373648
+      - -0.52359877546538525
     effort: []
     time_from_start:
       sec: 14
       nanosec: 40000000
   - positions:
-      - 0.0038302636238055888
-      - 0.34952854909902736
-      - -0.6318275895420451
-      - 1.1995928885721479
-      - -2.1069255913778666
-      - -1.570676064654531
-      - 0.34957943312486328
-    velocities:
-      - -0.15060193666041347
-      - 0.2082755266602469
-      - -0.051870596066321217
-      - 0.10260672291488158
-      - -0.051688862604363589
-      - 0.00016643817382755327
-      - 0.20839231268784825
-    accelerations:
-      - 0.37839682597763813
-      - -0.52330534364085213
-      - 0.13032813088798978
-      - -0.25780583660424816
-      - 0.12987151414916695
-      - -0.00041818636661935816
-      - -0.52359877587114401
+      - 0.0053633917496565264
+      - 0.34742156034223143
+      - -0.63133909875041516
+      - 1.1984150009704984
+      - -2.1062987776636493
+      - -1.5707587943277139
+      - 0.34743790199122121
+    velocities:
+      - -0.15484088705735771
+      - 0.2140222753007669
+      - -0.053313699372929874
+      - 0.10532824151022169
+      - -0.053092175775030677
+      - 7.8944681744958536e-05
+      - 0.21415189921946545
+    accelerations:
+      - 0.37858407611173095
+      - -0.52328184694562374
+      - 0.13035134327099859
+      - -0.25752626298149567
+      - 0.12980972078199376
+      - -0.00019301878186269055
+      - -0.52359877584233372
     effort: []
     time_from_start:
       sec: 14
       nanosec: 50000000
   - positions:
-      - 0.0023406618621591418
-      - 0.35158859957580518
-      - -0.6323406409210075
-      - 1.2006077703100593
-      - -2.107436845233563
-      - -1.5706744184167571
-      - 0.35164063873069396
-    velocities:
-      - -0.14681796840263606
-      - 0.20304247322660268
-      - -0.050567314758129742
-      - 0.10002866455020101
-      - -0.050390147463557959
-      - 0.00016225631016356863
-      - 0.2031563249319025
-    accelerations:
-      - 0.37839682595063195
-      - -0.52330534360352088
-      - 0.1303281308786986
-      - -0.25780583658586009
-      - 0.12987151413990353
-      - -0.0004181863665895426
-      - -0.52359877583381276
+      - 0.0038334921462516314
+      - 0.34953619944256908
+      - -0.63186586276654011
+      - 1.1994556927281872
+      - -2.1068233529241356
+      - -1.5707580143177333
+      - 0.34955382183584788
+    velocities:
+      - -0.15105504629795083
+      - 0.20878945683367492
+      - -0.052010185940808834
+      - 0.10275297888157027
+      - -0.051794078567797233
+      - 7.7014493927203681e-05
+      - 0.20891591146340771
+    accelerations:
+      - 0.37858407616501527
+      - -0.52328184701927349
+      - 0.13035134328934245
+      - -0.25752626301773107
+      - 0.12980972080025532
+      - -0.00019301878188984574
+      - -0.52359877591601056
     effort: []
     time_from_start:
       sec: 14
       nanosec: 60000000
   - positions:
-      - 0.00088889978309096042
-      - 0.35359631951824583
-      - -0.63284065948688784
-      - 1.2015968714643237
-      - -2.1079351119378509
-      - -1.57067281399762
-      - 0.35364948445896449
-    velocities:
-      - -0.14303400014485862
-      - 0.19780941979295841
-      - -0.049264033449938259
-      - 0.097450606185520414
-      - -0.049091432322752315
-      - 0.00015807444649958393
-      - 0.1979203371759567
-    accelerations:
-      - 0.37839682592368129
-      - -0.52330534356624514
-      - 0.13032813086941436
-      - -0.2578058365674859
-      - 0.12987151413065398
-      - -0.00041818636655975415
-      - -0.52359877579653702
+      - 0.0023414509504397188
+      - 0.35159851035823736
+      - -0.63237959164834434
+      - 1.2004706318595901
+      - -2.1073349472125504
+      - -1.570757253609631
+      - 0.35161738180291557
+    velocities:
+      - -0.14726920553886272
+      - 0.20355663836702356
+      - -0.050706672508797547
+      - 0.10017771625313568
+      - -0.050495981360673077
+      - 7.5084306109611334e-05
+      - 0.20367992370779081
+    accelerations:
+      - 0.37858407590087184
+      - -0.52328184665416244
+      - 0.13035134319839001
+      - -0.25752626283805485
+      - 0.12980972070969743
+      - -0.00019301878175517835
+      - -0.52359877555070589
     effort: []
     time_from_start:
       sec: 14
       nanosec: 70000000
   - positions:
-      - -0.00052502261339933175
-      - 0.35555170892634991
-      - -0.63332764523968632
-      - 1.2025601920349414
-      - -2.1084203914907311
-      - -1.5706712513971195
-      - 0.35560597030967533
-    velocities:
-      - -0.13925003188708121
-      - 0.19257636635931419
-      - -0.047960752141746783
-      - 0.094872547820839842
-      - -0.047792717181946685
-      - 0.00015389258283559929
-      - 0.19268434942001095
-    accelerations:
-      - 0.37839682589670287
-      - -0.52330534352894165
-      - 0.13032813086012318
-      - -0.25780583654909783
-      - 0.12987151412139056
-      - -0.00041818636652993859
-      - -0.52359877575917801
+      - 0.00088726816222192131
+      - 0.35360849308923459
+      - -0.6328802853958273
+      - 1.2014598183647067
+      - -2.1078335605288934
+      - -1.5707565122034071
+      - 0.35362858189242252
+    velocities:
+      - -0.14348336477948273
+      - 0.19832381989996875
+      - -0.049403159076685764
+      - 0.097602453624502553
+      - -0.049197884153448855
+      - 7.315411829187018e-05
+      - 0.19844393595177026
+    accelerations:
+      - 0.37858407592726101
+      - -0.52328184669061972
+      - 0.13035134320747738
+      - -0.25752626285599933
+      - 0.1298097207187372
+      - -0.00019301878176863194
+      - -0.52359877558719026
     effort: []
     time_from_start:
       sec: 14
       nanosec: 80000000
   - positions:
-      - -0.0019011053273113583
-      - 0.35745476780011687
-      - -0.63380159817940274
-      - 1.203497732021912
-      - -2.1088926838922029
-      - -1.5706697306152555
-      - 0.3575100962828261
-    velocities:
-      - -0.13546606362930377
-      - 0.18734331292566994
-      - -0.046657470833555301
-      - 0.092294489456159243
-      - -0.046494002041141048
-      - 0.00014971071917161462
-      - 0.18744836166406517
-    accelerations:
-      - 0.37839682586975221
-      - -0.52330534349163815
-      - 0.130328130850832
-      - -0.25780583653072364
-      - 0.12987151411213407
-      - -0.00041818636650012303
-      - -0.52359877572187452
+      - -0.00052905621840213836
+      - 0.35556614763556138
+      - -0.63336794400898921
+      - 1.2024232522435367
+      - -2.1083191928731635
+      - -1.570755790099061
+      - 0.35558742210436939
+    velocities:
+      - -0.13969752402036767
+      - 0.19309100143328012
+      - -0.0480996456446652
+      - 0.095027190996049629
+      - -0.047899786946315463
+      - 7.1223930474264104e-05
+      - 0.19320794819611609
+    accelerations:
+      - 0.37858407569006824
+      - -0.52328184636278441
+      - 0.13035134312580918
+      - -0.25752626269465567
+      - 0.12980972063741497
+      - -0.00019301878164770681
+      - -0.52359877525916132
     effort: []
     time_from_start:
       sec: 14
       nanosec: 90000000
   - positions:
-      - -0.0032393483586458756
-      - 0.35930549613954776
-      - -0.63426251830603719
-      - 1.2044094914252357
-      - -2.1093519891422665
-      - -1.5706682516520285
-      - 0.35936186237841772
-    velocities:
-      - -0.13168209537152636
-      - 0.18211025949202572
-      - -0.045354189525363832
-      - 0.089716431091478657
-      - -0.045195286900335419
-      - 0.00014552885550762998
-      - 0.18221237390811942
-    accelerations:
-      - 0.37839682584274603
-      - -0.5233053434543069
-      - 0.13032813084153388
-      - -0.25780583651234945
-      - 0.12987151410287065
-      - -0.00041818636647030747
-      - -0.52359877568451552
+      - -0.0019075221914339729
+      - 0.35747147399721985
+      - -0.63384256748783041
+      - 1.2033609334960818
+      - -2.1087918442453621
+      - -1.5707550872965932
+      - 0.35749390243875823
+    velocities:
+      - -0.13591168326074221
+      - 0.18785818296588602
+      - -0.046796132212468894
+      - 0.092451928367249525
+      - -0.046601689739007073
+      - 6.9293742656397793e-05
+      - 0.18797196043975603
+    accelerations:
+      - 0.37858407596260024
+      - -0.52328184673948308
+      - 0.13035134321965078
+      - -0.25752626288004904
+      - 0.12980972073085412
+      - -0.00019301878178666087
+      - -0.52359877563605428
     effort: []
     time_from_start:
       sec: 14
       nanosec: 100000000
   - positions:
-      - -0.0045397517074017481
-      - 0.36110389394464104
-      - -0.63471040561958958
-      - 1.2052954702449121
-      - -2.1097983072409221
-      - -1.5706668145074376
-      - 0.36116126859644881
-    velocities:
-      - -0.12789812711374893
-      - 0.17687720605838142
-      - -0.044050908217172335
-      - 0.087138372726798044
-      - -0.043896571759529768
-      - 0.00014134699184364529
-      - 0.17697638615217362
-    accelerations:
-      - 0.37839682581579537
-      - -0.52330534341705892
-      - 0.13032813083226352
-      - -0.25780583649398914
-      - 0.12987151409362804
-      - -0.00041818636644051901
-      - -0.52359877564723978
+      - -0.0032481297568713154
+      - 0.35932447217420677
+      - -0.63430415583235034
+      - 1.2042728621223402
+      - -2.109251514645488
+      - -1.5707544037960035
+      - 0.35934802289558593
+    velocities:
+      - -0.13212584250140252
+      - 0.18262536449888694
+      - -0.045492618780370989
+      - 0.089876665738643821
+      - -0.045303592531796666
+      - 6.7363554838677198e-05
+      - 0.18273597268379121
+    accelerations:
+      - 0.37858407594868831
+      - -0.52328184672023492
+      - 0.13035134321485342
+      - -0.25752626287057101
+      - 0.12980972072607855
+      - -0.00019301878177955528
+      - -0.52359877561680546
     effort: []
     time_from_start:
       sec: 14
       nanosec: 110000000
   - positions:
-      - -0.005802315373580111
-      - 0.36284996121539814
-      - -0.63514526012006001
-      - 1.206155668480942
-      - -2.1102316381881696
-      - -1.5706654191814837
-      - 0.36290831493692066
-    velocities:
-      - -0.12411415885597149
-      - 0.17164415262473717
-      - -0.04274762690898086
-      - 0.084560314362117445
-      - -0.042597856618724131
-      - 0.00013716512817966062
-      - 0.17174039839622784
-    accelerations:
-      - 0.3783968257888447
-      - -0.52330534337975543
-      - 0.1303281308229654
-      - -0.25780583647562882
-      - 0.12987151408437156
-      - -0.00041818636641073056
-      - -0.52359877560990853
+      - -0.0045508789147149214
+      - 0.36112514216652325
+      - -0.63475270904254921
+      - 1.2051590381223118
+      - -2.1096982040735419
+      - -1.5707537395972921
+      - 0.36114978347485344
+    velocities:
+      - -0.12834000174224716
+      - 0.17739254603214261
+      - -0.044189105348336546
+      - 0.087301403110163475
+      - -0.044005495324649452
+      - 6.5433367021050564e-05
+      - 0.17749998492808131
+    accelerations:
+      - 0.37858407575176889
+      - -0.52328184644810505
+      - 0.13035134314706301
+      - -0.25752626273664986
+      - 0.1298097206585786
+      - -0.00019301878167917577
+      - -0.52359877534450971
     effort: []
     time_from_start:
       sec: 14
       nanosec: 120000000
   - positions:
-      - -0.0070270393571800873
-      - 0.36454369795181807
-      - -0.63556708180744836
-      - 1.2069900861333245
-      - -2.1106519819840086
-      - -1.5706640656741666
-      - 0.36460300139983226
-    velocities:
-      - -0.12033019059819378
-      - 0.16641109919109351
-      - -0.041444345600789405
-      - 0.081982255997433862
-      - -0.041299141477919701
-      - 0.00013298326451300778
-      - 0.16650441064028287
-    accelerations:
-      - 0.37839682576185241
-      - -0.52330534334245193
-      - 0.13032813081367423
-      - -0.25780583645722688
-      - 0.12987151407511507
-      - -0.00041818636637251243
-      - -0.52359877557257728
+      - -0.0058157696649659219
+      - 0.3628734839741708
+      - -0.63518822711842726
+      - 1.2060194614959983
+      - -2.1101319125295239
+      - -1.5707530947004589
+      - 0.36289918417656242
+    velocities:
+      - -0.12455416098262169
+      - 0.17215972756474851
+      - -0.042885591916140241
+      - 0.084726140481363371
+      - -0.042707398117341061
+      - 6.3503179203184252e-05
+      - 0.17226399717172122
+    accelerations:
+      - 0.37858407602432864
+      - -0.52328184682480372
+      - 0.13035134324090461
+      - -0.25752626292202935
+      - 0.12980972075201774
+      - -0.00019301878181812984
+      - -0.52359877572145819
     effort: []
     time_from_start:
       sec: 14
       nanosec: 130000000
   - positions:
-      - -0.0082139236582019146
-      - 0.36618510415390093
-      - -0.63597587068175465
-      - 1.2077987232020599
-      - -2.1110593386284395
-      - -1.5706627539854858
-      - 0.36624532798518394
-    velocities:
-      - -0.11654622234041635
-      - 0.16117804575744923
-      - -0.040141064292597922
-      - 0.079404197632753359
-      - -0.04000042633711403
-      - 0.000128801400849107
-      - 0.16126842288433707
-    accelerations:
-      - 0.37839682573490174
-      - -0.52330534330514844
-      - 0.13032813080438999
-      - -0.25780583643885269
-      - 0.12987151406585859
-      - -0.00041818636634272398
-      - -0.52359877553527379
+      - -0.0070428020076227045
+      - 0.36456949759714724
+      - -0.63561071005998415
+      - 1.2068541322433981
+      - -2.1105526400134336
+      - -1.5707524691055037
+      - 0.36459622500071071
+    velocities:
+      - -0.12076832022332229
+      - 0.16692690909780497
+      - -0.041582078484056269
+      - 0.08215087785278577
+      - -0.04140930091014406
+      - 6.1572991387229552e-05
+      - 0.16702800941581231
+    accelerations:
+      - 0.37858407597003235
+      - -0.52328184674976685
+      - 0.13035134322220865
+      - -0.25752626288510105
+      - 0.12980972073340602
+      - -0.00019301878179591318
+      - -0.52359877564636514
     effort: []
     time_from_start:
       sec: 14
       nanosec: 140000000
   - positions:
-      - -0.009362968276646233
-      - 0.36777417982164784
-      - -0.6363716267429792
-      - 1.2085815796871489
-      - -2.1114537081214628
-      - -1.5706614841154418
-      - 0.36783529469297649
-    velocities:
-      - -0.11276225408263896
-      - 0.15594499232380499
-      - -0.038837782984406446
-      - 0.076826139268072871
-      - -0.038701711196308358
-      - 0.00012461953718520628
-      - 0.15603243512839129
-    accelerations:
-      - 0.37839682570790945
-      - -0.52330534326784495
-      - 0.13032813079509881
-      - -0.25780583642046462
-      - 0.12987151405659517
-      - -0.00041818636631288131
-      - -0.52359877549794254
+      - -0.0082319759426862302
+      - 0.36621318303545386
+      - -0.63602015786721999
+      - 1.207663050364512
+      - -2.1109603865252713
+      - -1.5707518628124268
+      - 0.36624090594729941
+    velocities:
+      - -0.11698247946412653
+      - 0.16169409063100482
+      - -0.040278565052007921
+      - 0.079575615224277932
+      - -0.040111203702983017
+      - 5.9642803569527612e-05
+      - 0.16179202166004653
+    accelerations:
+      - 0.37858407581353892
+      - -0.52328184653345344
+      - 0.13035134316832378
+      - -0.25752626277864404
+      - 0.12980972067974222
+      - -0.00019301878171613352
+      - -0.52359877542994138
     effort: []
     time_from_start:
       sec: 14
       nanosec: 150000000
   - positions:
-      - -0.010474173212512284
-      - 0.36931092495505752
-      - -0.63675434999112157
-      - 1.2093386555885908
-      - -2.1118350904630772
-      - -1.5706602560640344
-      - 0.3693729015232089
-    velocities:
-      - -0.10897828582486156
-      - 0.15071193889016074
-      - -0.037534501676214971
-      - 0.074248080903392383
-      - -0.037402996055502687
-      - 0.00012043767352130553
-      - 0.15079644737244552
-    accelerations:
-      - 0.37839682568091715
-      - -0.52330534323054145
-      - 0.13032813078580069
-      - -0.25780583640209043
-      - 0.12987151404733868
-      - -0.0004181863662830793
-      - -0.52359877546061129
+      - -0.0093832914701560202
+      - 0.36780454028909004
+      - -0.63641657054013501
+      - 1.2084462158593396
+      - -2.1113551520650367
+      - -1.5707512758212283
+      - 0.36783322701632809
+    velocities:
+      - -0.11319663870450106
+      - 0.15646127216361072
+      - -0.038975051619811615
+      - 0.0770003525954778
+      - -0.038813106495674633
+      - 5.7712615751606596e-05
+      - 0.15655603390368647
+    accelerations:
+      - 0.3785840760860848
+      - -0.52328184691015212
+      - 0.13035134326215844
+      - -0.25752626296403741
+      - 0.12980972077319525
+      - -0.0001930187818550808
+      - -0.52359877580686209
     effort: []
     time_from_start:
       sec: 14
       nanosec: 160000000
   - positions:
-      - -0.011547538465800448
-      - 0.37079533955413063
-      - -0.63712404042618198
-      - 1.2100699509063855
-      - -2.1122034856532839
-      - -1.5706590698312637
-      - 0.37085814847588167
-    velocities:
-      - -0.10519431756708407
-      - 0.14547888545651638
-      - -0.036231220368023467
-      - 0.071670022538711839
-      - -0.036104280914696994
-      - 0.00011625580985740469
-      - 0.14556045961649963
-    accelerations:
-      - 0.37839682565404975
-      - -0.52330534319337674
-      - 0.13032813077655114
-      - -0.25780583638378562
-      - 0.12987151403810995
-      - -0.00041818636625338572
-      - -0.52359877542341882
+      - -0.010496748590032828
+      - 0.36934356935805679
+      - -0.63679994807872897
+      - 1.2092036287278811
+      - -2.1117369366327301
+      - -1.5707507081319076
+      - 0.36937318820779769
+    velocities:
+      - -0.10941079794524215
+      - 0.15122845369672328
+      - -0.037671538187741521
+      - 0.074425089966927011
+      - -0.037515009288491934
+      - 5.5782427933872463e-05
+      - 0.15132004614783337
+    accelerations:
+      - 0.37858407599139027
+      - -0.52328184677927103
+      - 0.13035134322955694
+      - -0.2575262628996311
+      - 0.12980972074072655
+      - -0.00019301878180680263
+      - -0.52359877567586932
     effort: []
     time_from_start:
       sec: 14
       nanosec: 170000000
   - positions:
-      - -0.012583064036510347
-      - 0.37222742361886663
-      - -0.63748069804816043
-      - 1.2107754656405332
-      - -2.1125588936920825
-      - -1.5706579254171296
-      - 0.37229103555099435
-    velocities:
-      - -0.10141034930930656
-      - 0.14024583202287197
-      - -0.03492793905983195
-      - 0.069091964174031281
-      - -0.034805565773891281
-      - 0.00011207394619350383
-      - 0.14032447186055369
-    accelerations:
-      - 0.37839682562729338
-      - -0.52330534315637856
-      - 0.13032813076733629
-      - -0.25780583636555021
-      - 0.12987151402893674
-      - -0.0004181863662238141
-      - -0.52359877538642063
+      - -0.01157234730231552
+      - 0.3708302702423526
+      - -0.63717029048300167
+      - 1.2099352889701365
+      - -2.1121057402283512
+      - -1.5707501597444653
+      - 0.37086078952170665
+    velocities:
+      - -0.10562495718600604
+      - 0.14599563522986736
+      - -0.036368024755679275
+      - 0.071849827338391722
+      - -0.036216912081317054
+      - 5.3852240116149951e-05
+      - 0.14608405839201177
+    accelerations:
+      - 0.37858407587526732
+      - -0.52328184661874633
+      - 0.13035134318957761
+      - -0.25752626282065211
+      - 0.12980972070091279
+      - -0.00019301878174760248
+      - -0.52359877551528977
     effort: []
     time_from_start:
       sec: 14
       nanosec: 180000000
   - positions:
-      - -0.013580749924642355
-      - 0.37360717714926606
-      - -0.63782432285705681
-      - 1.2114551997910339
-      - -2.1129013145794731
-      - -1.570656822821632
-      - 0.37367156274854735
-    velocities:
-      - -0.097626381051181502
-      - 0.13501277858874694
-      - -0.033624657751520737
-      - 0.066513905809113927
-      - -0.033506850632966295
-      - 0.00010789208252921887
-      - 0.13508848410412685
-    accelerations:
-      - 0.37839682594742013
-      - -0.52330534359909409
-      - 0.13032813087758585
-      - -0.25780583658365352
-      - 0.12987151413879852
-      - -0.00041818636657759182
-      - -0.52359877582935765
+      - -0.012610087607004855
+      - 0.37226464294197847
+      - -0.63752759775295353
+      - 1.2106411965861055
+      - -2.1124615628518999
+      - -1.5707496306589011
+      - 0.37229603095805597
+    velocities:
+      - -0.1018391164267429
+      - 0.14076281676297406
+      - -0.035064511323607724
+      - 0.06927456470983806
+      - -0.034918814874132904
+      - 5.1922052298413662e-05
+      - 0.14084807063615282
+    accelerations:
+      - 0.3785840757862754
+      - -0.52328184649574727
+      - 0.13035134315893107
+      - -0.25752626276010282
+      - 0.12980972067039714
+      - -0.00019301878170222589
+      - -0.52359877539220789
     effort: []
     time_from_start:
       sec: 14
       nanosec: 190000000
   - positions:
-      - -0.014540596130196476
-      - 0.37493460014532881
-      - -0.63815491485287124
-      - 1.2121091533578878
-      - -2.1132307483154551
-      - -1.5706557620447712
-      - 0.37499973006854082
-    velocities:
-      - -0.093842412793417429
-      - 0.12977972515512112
-      - -0.032321376443333855
-      - 0.063935847444442528
-      - -0.032208135492165196
-      - 0.00010371021886533286
-      - 0.12985249634819951
-    accelerations:
-      - 0.37839682590721618
-      - -0.52330534354349967
-      - 0.13032813086374276
-      - -0.25780583655625877
-      - 0.12987151412501094
-      - -0.00041818636653316664
-      - -0.52359877577376324
+      - -0.013609969504101206
+      - 0.37364668745693486
+      - -0.63787186988858435
+      - 1.2113213515757888
+      - -2.1128044045033771
+      - -1.5707491208752149
+      - 0.37367891251684621
+    velocities:
+      - -0.098053275667161738
+      - 0.13552999829564119
+      - -0.03376099789142667
+      - 0.066699302081068057
+      - -0.03362071766683971
+      - 4.9991864480515231e-05
+      - 0.13561208287985402
+    accelerations:
+      - 0.37858407601327554
+      - -0.52328184680952461
+      - 0.13035134323709952
+      - -0.25752626291453584
+      - 0.12980972074823444
+      - -0.00019301878181796992
+      - -0.52359877570617841
     effort: []
     time_from_start:
       sec: 14
       nanosec: 200000000
   - positions:
-      - -0.015462602653172333
-      - 0.3762096926070545
-      - -0.63847247403560359
-      - 1.2127373263410948
-      - -2.1135471949000291
-      - -1.5706547430865472
-      - 0.37627553751097409
-    velocities:
-      - -0.090058444535653343
-      - 0.12454667172149531
-      - -0.031018095135146962
-      - 0.061357789079771109
-      - -0.030909420351364101
-      - 9.9528355201446828e-05
-      - 0.12461650859227218
-    accelerations:
-      - 0.37839682586703999
-      - -0.52330534348790525
-      - 0.1303281308499066
-      - -0.25780583652889177
-      - 0.12987151411121642
-      - -0.00041818636648876856
-      - -0.52359877571812719
+      - -0.014571992993603443
+      - 0.37497640378722025
+      - -0.63820310688989412
+      - 1.2119757539391858
+      - -2.1131342651827816
+      - -1.5707486303934073
+      - 0.37500943419807586
+    velocities:
+      - -0.094267434907885167
+      - 0.13029717982872935
+      - -0.03245748445935049
+      - 0.064124039452505263
+      - -0.032322620459650959
+      - 4.8061676662772092e-05
+      - 0.13037609512397647
+    accelerations:
+      - 0.37858407593771737
+      - -0.52328184670506617
+      - 0.13035134321108124
+      - -0.25752626286311814
+      - 0.12980972072231928
+      - -0.00019301878177944415
+      - -0.52359877560166512
     effort: []
     time_from_start:
       sec: 14
       nanosec: 210000000
   - positions:
-      - -0.016346769493570303
-      - 0.37743245453444357
-      - -0.63877700040525409
-      - 1.2133397187406547
-      - -2.113850654333195
-      - -1.5706537659469597
-      - 0.37749898507584773
-    velocities:
-      - -0.086274476277889242
-      - 0.11931361828786945
-      - -0.029714813826960066
-      - 0.058779730715099683
-      - -0.029610705210562995
-      - 9.5346491537560781e-05
-      - 0.11938052083634479
-    accelerations:
-      - 0.37839682582687767
-      - -0.52330534343238022
-      - 0.13032813083607045
-      - -0.25780583650152478
-      - 0.12987151409743231
-      - -0.00041818636644438403
-      - -0.5235987756625744
+      - -0.015496158075512323
+      - 0.37625379193283576
+      - -0.63852130875688295
+      - 1.2126044036762966
+      - -2.1134511448901145
+      - -1.5707481592134775
+      - 0.37628759600174588
+    velocities:
+      - -0.090481594148581701
+      - 0.12506436136178031
+      - -0.031153971027265054
+      - 0.061548776823924158
+      - -0.03102452325245298
+      - 4.6131488845015238e-05
+      - 0.12514010736806172
+    accelerations:
+      - 0.37858407588904042
+      - -0.52328184663780031
+      - 0.13035134319432637
+      - -0.25752626283001911
+      - 0.12980972070563632
+      - -0.00019301878175463351
+      - -0.52359877553437195
     effort: []
     time_from_start:
       sec: 14
       nanosec: 220000000
   - positions:
-      - -0.017193096651390107
-      - 0.37860288592749564
-      - -0.63906849396182241
-      - 1.2139163305565677
-      - -2.1141411266149532
-      - -1.5706528306260088
-      - 0.37867007276316139
-    velocities:
-      - -0.082490508020125239
-      - 0.11408056485424273
-      - -0.028411532518772594
-      - 0.056201672350431012
-      - -0.028311990069763062
-      - 9.1164627878139302e-05
-      - 0.11414453308041683
-    accelerations:
-      - 0.3783968257866876
-      - -0.5233053433767858
-      - 0.13032813082222389
-      - -0.25780583647415084
-      - 0.12987151408364125
-      - -0.00041818636642043671
-      - -0.52359877560695223
+      - -0.016382464749827842
+      - 0.37747885189378139
+      - -0.63882647548955074
+      - 1.2132073007871214
+      - -2.1137550436253747
+      - -1.5707477073354261
+      - 0.37751339792785632
+    velocities:
+      - -0.086695753389081212
+      - 0.11983154289455895
+      - -0.02985045759511178
+      - 0.058973514195209041
+      - -0.029726426045187448
+      - 4.4201301027157939e-05
+      - 0.11990411961187451
+    accelerations:
+      - 0.37858407603538285
+      - -0.5232818468400835
+      - 0.13035134324470801
+      - -0.25752626292955855
+      - 0.12980972075581171
+      - -0.00019301878182923884
+      - -0.5235987757367373
     effort: []
     time_from_start:
       sec: 14
       nanosec: 230000000
   - positions:
-      - -0.018001584126631921
-      - 0.37972098678621097
-      - -0.63934695470530878
-      - 1.2144671617888334
-      - -2.114418611745303
-      - -1.5706519371236944
-      - 0.37978880057291531
-    velocities:
-      - -0.078706539762361125
-      - 0.10884751142061691
-      - -0.027108251210585726
-      - 0.053623613985759461
-      - -0.027013274928961904
-      - 8.6982764214048463e-05
-      - 0.10890854532448949
-    accelerations:
-      - 0.37839682574652528
-      - -0.5233053433212469
-      - 0.1303281308083912
-      - -0.25780583644679078
-      - 0.12987151406985714
-      - -0.00041818636637605219
-      - -0.52359877555137169
+      - -0.017230913016549578
+      - 0.37865158367005641
+      - -0.63911860708789747
+      - 1.21378444527166
+      - -2.1140459613885634
+      - -1.5707472747592528
+      - 0.37868683997640662
+    velocities:
+      - -0.082909912629764146
+      - 0.11459872442759149
+      - -0.028546944163021535
+      - 0.056398251566619324
+      - -0.028428328837984008
+      - 4.2271113206347429e-05
+      - 0.11466813185594113
+    accelerations:
+      - 0.37858407600015354
+      - -0.52328184679139988
+      - 0.13035134323257794
+      - -0.25752626290559805
+      - 0.12980972074372923
+      - -0.00019301878179736736
+      - -0.5235987756880266
     effort: []
     time_from_start:
       sec: 14
       nanosec: 240000000
   - positions:
-      - -0.018772231919295473
-      - 0.38078675711058924
-      - -0.63961238263571318
-      - 1.2149922124374521
-      - -2.1146831097242442
-      - -1.5706510854400169
-      - 0.38085516850510914
-    velocities:
-      - -0.074922571504597038
-      - 0.10361445798699112
-      - -0.025804969902398864
-      - 0.051045555621087917
-      - -0.025714559788160753
-      - 8.2800900549957637e-05
-      - 0.10367255756856217
-    accelerations:
-      - 0.3783968257063352
-      - -0.52330534326568023
-      - 0.13032813079455158
-      - -0.25780583641941685
-      - 0.12987151405606262
-      - -0.00041818636633164056
-      - -0.52359877549576339
+      - -0.018041502875677622
+      - 0.37977198726166106
+      - -0.63939770355192305
+      - 1.214335837129912
+      - -2.1143238981796788
+      - -1.5707468614849576
+      - 0.37980792214739678
+    velocities:
+      - -0.079124071870612711
+      - 0.10936590596085259
+      - -0.027243430730988453
+      - 0.053822988938141615
+      - -0.027130231630838199
+      - 4.0340925388807219e-05
+      - 0.10943214410023666
+    accelerations:
+      - 0.37858407579811432
+      - -0.52328184651213749
+      - 0.13035134316301294
+      - -0.25752626276816681
+      - 0.12980972067445318
+      - -0.00019301878169435054
+      - -0.52359877540859701
     effort: []
     time_from_start:
       sec: 14
       nanosec: 250000000
   - positions:
-      - -0.019505040029381131
-      - 0.38180019690063083
-      - -0.63986477775303541
-      - 1.2154914825024241
-      - -2.1149346205517774
-      - -1.5706502755749756
-      - 0.38186917655974328
-    velocities:
-      - -0.071138603246832952
-      - 0.098381404553365331
-      - -0.024501688594212
-      - 0.048467497256416373
-      - -0.024415844647359596
-      - 7.8619036885866812e-05
-      - 0.098436569812634836
-    accelerations:
-      - 0.37839682566615901
-      - -0.52330534321011357
-      - 0.13032813078071195
-      - -0.25780583639204291
-      - 0.12987151404227851
-      - -0.00041818636628724248
-      - -0.52359877544016897
+      - -0.018814234327212683
+      - 0.38084006266859627
+      - -0.63966376488162779
+      - 1.2148614763618784
+      - -2.1145888539987232
+      - -1.5707464675125407
+      - 0.38087664444082786
+    velocities:
+      - -0.075338231111000575
+      - 0.1041330874934769
+      - -0.025939917298796741
+      - 0.051247726309350518
+      - -0.025832134423534419
+      - 3.8410737571032109e-05
+      - 0.10419615634389501
+    accelerations:
+      - 0.37858407605744854
+      - -0.52328184687058688
+      - 0.1303513432523061
+      - -0.25752626294457431
+      - 0.12980972076337857
+      - -0.00019301878182657577
+      - -0.52359877576726843
     effort: []
     time_from_start:
       sec: 14
       nanosec: 260000000
   - positions:
-      - -0.020200008456888907
-      - 0.38276130615633586
-      - -0.64010414005727578
-      - 1.2159649719837491
-      - -2.1151731442279029
-      - -1.5706495075285714
-      - 0.38283082473681779
-    velocities:
-      - -0.06735463498882889
-      - 0.093148351119407669
-      - -0.023198407285942482
-      - 0.045889438891581334
-      - -0.023117129506476083
-      - 7.4437173221510777e-05
-      - 0.09320058205637545
-    accelerations:
-      - 0.37839682586527151
-      - -0.52330534348547697
-      - 0.13032813084929692
-      - -0.25780583652770522
-      - 0.12987151411061798
-      - -0.00041818636650729741
-      - -0.52359877571571223
+      - -0.019549107371153632
+      - 0.38185580989086054
+      - -0.63991679107701138
+      - 1.2153613629675584
+      - -2.1148408288456948
+      - -1.5707460928420018
+      - 0.38189300685669836
+    velocities:
+      - -0.071552390351643319
+      - 0.098900269026453505
+      - -0.024636403866692788
+      - 0.048672463680732803
+      - -0.024534037216318038
+      - 3.6480549753386955e-05
+      - 0.098960168587905878
+    accelerations:
+      - 0.37858407606257583
+      - -0.52328184687767809
+      - 0.13035134325407116
+      - -0.25752626294806408
+      - 0.12980972076513225
+      - -0.0001930187818291887
+      - -0.52359877577434644
     effort: []
     time_from_start:
       sec: 14
       nanosec: 270000000
   - positions:
-      - -0.020857137201818792
-      - 0.38367008487770426
-      - -0.6403304695484342
-      - 1.2164126808814273
-      - -2.1153986807526199
-      - -1.5706487813008034
-      - 0.38374011303633271
-    velocities:
-      - -0.063570666731078238
-      - 0.087915297685800475
-      - -0.021895125977760253
-      - 0.043311380526918963
-      - -0.021818414365679547
-      - 7.0255309557434818e-05
-      - 0.087964594300466742
-    accelerations:
-      - 0.37839682581166162
-      - -0.52330534341131407
-      - 0.13032813083082559
-      - -0.25780583649115807
-      - 0.12987151409220909
-      - -0.00041818636644803221
-      - -0.52359877564149382
+      - -0.020246122007501217
+      - 0.38281922892845482
+      - -0.64015678213807403
+      - 1.2158354969469523
+      - -2.1150798227205945
+      - -1.5707457374733413
+      - 0.38285700939500922
+    velocities:
+      - -0.067766549592532241
+      - 0.093667450559770368
+      - -0.023332890434673598
+      - 0.046097201052282544
+      - -0.023235940009186062
+      - 3.455036193586731e-05
+      - 0.093724180832257198
+    accelerations:
+      - 0.37858407582018
+      - -0.52328184654264087
+      - 0.1303513431706145
+      - -0.25752626278317564
+      - 0.12980972068202351
+      - -0.00019301878170561269
+      - -0.52359877543912814
     effort: []
     time_from_start:
       sec: 14
       nanosec: 280000000
   - positions:
-      - -0.021476426264170029
-      - 0.38452653306473505
-      - -0.64054376622651055
-      - 1.2168346091954581
-      - -2.1156112301259289
-      - -1.5706480968916723
-      - 0.38459704145828699
-    velocities:
-      - -0.059786698473211296
-      - 0.082682244252032439
-      - -0.020591844669537965
-      - 0.040733322162177343
-      - -0.020519699224843091
-      - 6.6073445893230327e-05
-      - 0.082728606544397093
-    accelerations:
-      - 0.37839682587634327
-      - -0.52330534350078339
-      - 0.13032813085310355
-      - -0.25780583653524086
-      - 0.12987151411441522
-      - -0.00041818636651952775
-      - -0.52359877573100633
+      - -0.020905278236255445
+      - 0.38373031978137917
+      - -0.64038373806481563
+      - 1.21628387830006
+      - -2.1153058356234222
+      - -1.5707454014065592
+      - 0.3837686520557605
+    velocities:
+      - -0.063980708833148048
+      - 0.088434632092709756
+      - -0.022029377002560371
+      - 0.04352193842364651
+      - -0.021937842801960445
+      - 3.2620174118208427e-05
+      - 0.08848819307623082
+    accelerations:
+      - 0.37858407585224407
+      - -0.52328184658695232
+      - 0.1303513431816534
+      - -0.25752626280498409
+      - 0.12980972069301633
+      - -0.00019301878172195433
+      - -0.52359877548345413
     effort: []
     time_from_start:
       sec: 14
       nanosec: 290000000
   - positions:
-      - -0.022057875643943386
-      - 0.38533065071742922
-      - -0.64074403009150482
-      - 1.2172307569258418
-      - -2.1158107923478293
-      - -1.5706474543011779
-      - 0.38540161000268169
-    velocities:
-      - -0.056002730215420335
-      - 0.077449190818369484
-      - -0.019288563361341843
-      - 0.038155263797487494
-      - -0.019220984084032715
-      - 6.1891582229109794e-05
-      - 0.077492618788432582
-    accelerations:
-      - 0.37839682586303447
-      - -0.52330534348238145
-      - 0.13032813084852388
-      - -0.25780583652617173
-      - 0.12987151410984596
-      - -0.00041818636650482326
-      - -0.5235987757125905
+      - -0.021526576057416313
+      - 0.38458908244963363
+      - -0.64059765885723619
+      - 1.2167065070268819
+      - -2.1155188675541776
+      - -1.5707450846416546
+      - 0.38462793483895219
+    velocities:
+      - -0.060194868073736994
+      - 0.083201813625612006
+      - -0.020725863570437899
+      - 0.040946675794992192
+      - -0.020639745594725617
+      - 3.0689986300535842e-05
+      - 0.083252205320167277
+    accelerations:
+      - 0.37858407591116855
+      - -0.52328184666838695
+      - 0.13035134320193834
+      - -0.25752626284506958
+      - 0.12980972071321706
+      - -0.00019301878175199754
+      - -0.5235987755649586
     effort: []
     time_from_start:
       sec: 14
       nanosec: 300000000
   - positions:
-      - -0.022601485341138851
-      - 0.38608243783578677
-      - -0.64093126114341703
-      - 1.2176011240725788
-      - -2.1159973674183221
-      - -1.5706468535293203
-      - 0.38615381866951665
-    velocities:
-      - -0.052218761957629353
-      - 0.072216137384706502
-      - -0.017985282053145722
-      - 0.035577205432797632
-      - -0.017922268943222335
-      - 5.7709718564989262e-05
-      - 0.072256631032468044
-    accelerations:
-      - 0.37839682584973955
-      - -0.52330534346399338
-      - 0.13032813084394074
-      - -0.25780583651711647
-      - 0.12987151410528017
-      - -0.00041818636649011877
-      - -0.52359877569420243
+      - -0.022110015470983072
+      - 0.38539551693321705
+      - -0.64079854451533569
+      - 1.2171033831274172
+      - -2.1157189185128606
+      - -1.5707447871786289
+      - 0.38543485774458319
+    velocities:
+      - -0.056409027314451729
+      - 0.077968995158688117
+      - -0.019422350138358732
+      - 0.038371413166423445
+      - -0.019341648387533918
+      - 2.8759798482927392e-05
+      - 0.078016217564277707
+    accelerations:
+      - 0.37858407584228732
+      - -0.52328184657318588
+      - 0.130351343178223
+      - -0.25752626279821222
+      - 0.12980972068960078
+      - -0.00019301878171687823
+      - -0.52359877546968703
     effort: []
     time_from_start:
       sec: 14
       nanosec: 310000000
   - positions:
-      - -0.023107255355756424
-      - 0.38678189441980781
-      - -0.6411054593822475
-      - 1.2179457106356688
-      - -2.1161709553374064
-      - -1.5706462945760991
-      - 0.38685366745879213
-    velocities:
-      - -0.04843479369983842
-      - 0.066983083951043604
-      - -0.016682000744949615
-      - 0.032999147068107804
-      - -0.016623553802411969
-      - 5.3527854900868776e-05
-      - 0.067020643276503589
-    accelerations:
-      - 0.37839682583634054
-      - -0.52330534344545265
-      - 0.13032813083932637
-      - -0.25780583650798489
-      - 0.12987151410068315
-      - -0.00041818636647531263
-      - -0.52359877567564783
+      - -0.022655596476956842
+      - 0.38614962323213109
+      - -0.64098639503911436
+      - 1.2174745066016666
+      - -2.1159059884994718
+      - -1.5707445090174808
+      - 0.38618942077265517
+    velocities:
+      - -0.052623186555027221
+      - 0.072736176691571772
+      - -0.018118836706231625
+      - 0.035796150537759981
+      - -0.018043551180294475
+      - 2.6829610665247949e-05
+      - 0.072780229808195568
+    accelerations:
+      - 0.37858407591466636
+      - -0.52328184667323052
+      - 0.13035134320314662
+      - -0.25752626284745012
+      - 0.12980972071441935
+      - -0.00019301878175377905
+      - -0.52359877556978784
     effort: []
     time_from_start:
       sec: 14
       nanosec: 320000000
   - positions:
-      - -0.023575185687795833
-      - 0.38742902046949179
-      - -0.64126662480799568
-      - 1.2182645166151118
-      - -2.1163315561050831
-      - -1.5706457774415146
-      - 0.38750115637050753
-    velocities:
-      - -0.044650825442047515
-      - 0.061750030517381517
-      - -0.015378719436753221
-      - 0.030421088703414527
-      - -0.015324838661603076
-      - 4.9345991231378427e-05
-      - 0.061784655520539633
-    accelerations:
-      - 0.3783968258229693
-      - -0.52330534342698132
-      - 0.1303281308347207
-      - -0.25780583649884981
-      - 0.1298715140961087
-      - -0.00041818636641503099
-      - -0.52359877565716262
+      - -0.023163319075336881
+      - 0.38685140134637458
+      - -0.64116121042857177
+      - 1.2178198774496296
+      - -2.1160800775140105
+      - -1.5707442501582112
+      - 0.38689162392316706
+    velocities:
+      - -0.048837345795575818
+      - 0.067503358224418233
+      - -0.016815323274095257
+      - 0.03322088790907822
+      - -0.016745453973045811
+      - 2.4899422847554792e-05
+      - 0.067544242052076209
+    accelerations:
+      - 0.37858407601394051
+      - -0.52328184681045387
+      - 0.13035134323732669
+      - -0.25752626291497893
+      - 0.12980972074845623
+      - -0.000193018781804395
+      - -0.5235987757070949
     effort: []
     time_from_start:
       sec: 14
       nanosec: 330000000
   - positions:
-      - -0.024005276337257256
-      - 0.38802381598483904
-      - -0.64141475742066212
-      - 1.2185575420109078
-      - -2.1164791697213512
-      - -1.5706453021255666
-      - 0.38809628540466318
-    velocities:
-      - -0.040866857184256533
-      - 0.056516977083718473
-      - -0.014075438128557121
-      - 0.027843030338724959
-      - -0.01402612352079257
-      - 4.5164127567712961e-05
-      - 0.05654866776457506
-    accelerations:
-      - 0.37839682580967438
-      - -0.52330534340859325
-      - 0.13032813083014275
-      - -0.25780583648979111
-      - 0.12987151409154638
-      - -0.00041818636640034005
-      - -0.52359877563876767
+      - -0.023633183266123244
+      - 0.38750085127594786
+      - -0.64132299068370813
+      - 1.2181394956713067
+      - -2.1162411855564773
+      - -1.5707440106008195
+      - 0.38754146719611893
+    velocities:
+      - -0.04505150503637189
+      - 0.062270539757605728
+      - -0.015511809842043627
+      - 0.030645625280562021
+      - -0.015447356765880143
+      - 2.2969235031047894e-05
+      - 0.062308254296299478
+    accelerations:
+      - 0.37858407586440851
+      - -0.52328184660375865
+      - 0.13035134318583497
+      - -0.25752626281323843
+      - 0.1298097206971694
+      - -0.00019301878173706472
+      - -0.52359877550028755
     effort: []
     time_from_start:
       sec: 14
       nanosec: 340000000
   - positions:
-      - -0.024397527304140413
-      - 0.38856628096584922
-      - -0.64154985722024627
-      - 1.2188247868230568
-      - -2.1166137961862113
-      - -1.5706448686282557
-      - 0.38863905456125875
-    velocities:
-      - -0.037082888926465538
-      - 0.051283923650055407
-      - -0.012772156820361017
-      - 0.025264971974035384
-      - -0.012727408379982061
-      - 4.0982263904047475e-05
-      - 0.051312680008610466
-    accelerations:
-      - 0.37839682579640027
-      - -0.52330534339022605
-      - 0.13032813082556829
-      - -0.25780583648074279
-      - 0.12987151408698752
-      - -0.00041818636638566944
-      - -0.52359877562039348
+      - -0.024065189049316191
+      - 0.38809797302085097
+      - -0.64147173580452366
+      - 1.2184333612666975
+      - -2.1163893126268718
+      - -1.5707437903453063
+      - 0.38813895059151104
+    velocities:
+      - -0.041265664276906922
+      - 0.057037721290433545
+      - -0.014208296409902628
+      - 0.028070362651871267
+      - -0.014149259558626982
+      - 2.103904721325874e-05
+      - 0.057072266540161343
+    accelerations:
+      - 0.37858407597725519
+      - -0.52328184675973077
+      - 0.13035134322469014
+      - -0.25752626288999941
+      - 0.12980972073586228
+      - -0.00019301878179459587
+      - -0.52359877565635049
     effort: []
     time_from_start:
       sec: 14
       nanosec: 350000000
   - positions:
-      - -0.024751938588445682
-      - 0.38905641541252273
-      - -0.64167192420674857
-      - 1.2190662510515589
-      - -2.1167354354996628
-      - -1.5706444769495809
-      - 0.38912946384029462
-    velocities:
-      - -0.033298920668674556
-      - 0.046050870216392363
-      - -0.011468875512164918
-      - 0.022686913609345816
-      - -0.011428693239171554
-      - 3.6800400240382009e-05
-      - 0.046076692252645893
-    accelerations:
-      - 0.37839682578310535
-      - -0.52330534337184487
-      - 0.13032813082098862
-      - -0.25780583647168404
-      - 0.1298715140824252
-      - -0.0004181863663709785
-      - -0.52359877560199841
+      - -0.024459336424915778
+      - 0.38864276658108421
+      - -0.64160744579101814
+      - 1.2187014742358024
+      - -2.1165244587251943
+      - -1.5707435893916712
+      - 0.38868407410934358
+    velocities:
+      - -0.037479823517548881
+      - 0.051804902823409153
+      - -0.012904782977798445
+      - 0.02549510002325325
+      - -0.012851162351410487
+      - 1.9108859395524102e-05
+      - 0.051836278784171089
+    accelerations:
+      - 0.37858407598383903
+      - -0.52328184676883405
+      - 0.1303513432269591
+      - -0.25752626289448094
+      - 0.12980972073812061
+      - -0.00019301878179795484
+      - -0.52359877566546187
     effort: []
     time_from_start:
       sec: 14
       nanosec: 360000000
   - positions:
-      - -0.025068510190172685
-      - 0.38949421932485917
-      - -0.6417809583801688
-      - 1.2192819346964137
-      - -2.1168440876617067
-      - -1.570644127089543
-      - 0.38956751324177041
-    velocities:
-      - -0.029514952410883578
-      - 0.040817816782729312
-      - -0.010165594203968818
-      - 0.020108855244656249
-      - -0.010129978098361048
-      - 3.2618536576716542e-05
-      - 0.04084070449668132
-    accelerations:
-      - 0.37839682576981043
-      - -0.52330534335346379
-      - 0.13032813081641068
-      - -0.25780583646262878
-      - 0.12987151407786288
-      - -0.00041818636635628756
-      - -0.52359877558361034
+      - -0.024815625392921627
+      - 0.38913523195664695
+      - -0.64173012064319146
+      - 1.2189438345786208
+      - -2.1166466238514445
+      - -1.5707434077399141
+      - 0.38917683774961609
+    velocities:
+      - -0.033693982758291066
+      - 0.046572084356523297
+      - -0.011601269545728772
+      - 0.022919837394703411
+      - -0.011553065144228358
+      - 1.7178671577840567e-05
+      - 0.04660029102831946
+    accelerations:
+      - 0.37858407588684195
+      - -0.52328184663476163
+      - 0.1303513431935597
+      - -0.25752626282849705
+      - 0.12980972070485941
+      - -0.00019301878174849966
+      - -0.52359877553130441
     effort: []
     time_from_start:
       sec: 14
       nanosec: 370000000
   - positions:
-      - -0.025347242109321801
-      - 0.38987969270285894
-      - -0.64187695974050696
-      - 1.2194718377576217
-      - -2.1169397526723421
-      - -1.5706438190481418
-      - 0.38995320276568657
-    velocities:
-      - -0.025730984153092596
-      - 0.035584763349066267
-      - -0.0088623128957727171
-      - 0.017530796879966681
-      - -0.0088312629575505418
-      - 2.8436672913051076e-05
-      - 0.035604716740716746
-    accelerations:
-      - 0.37839682575651895
-      - -0.52330534333507572
-      - 0.13032813081183275
-      - -0.25780583645357352
-      - 0.12987151407330055
-      - -0.00041818636634159321
-      - -0.52359877556521539
+      - -0.025134055953334115
+      - 0.38957536914753976
+      - -0.64183976036104384
+      - 1.2191604422951534
+      - -2.1167558080056228
+      - -1.5707432453900352
+      - 0.3896172415123289
+    velocities:
+      - -0.029908141998892666
+      - 0.041339265889443116
+      - -0.010297756113610694
+      - 0.02034457476605794
+      - -0.010254967936998023
+      - 1.5248483760085351e-05
+      - 0.041364303272273382
+    accelerations:
+      - 0.3785840759337859
+      - -0.52328184669965361
+      - 0.13035134320972377
+      - -0.25752626286043229
+      - 0.12980972072095739
+      - -0.00019301878177243646
+      - -0.52359877559623913
     effort: []
     time_from_start:
       sec: 14
       nanosec: 380000000
   - positions:
-      - -0.025588134345893028
-      - 0.39021283554652214
-      - -0.64195992828776327
-      - 1.2196359602351827
-      - -2.1170224305315695
-      - -1.570643552825377
-      - 0.39028653241204314
-    velocities:
-      - -0.021947015895301621
-      - 0.03035170991540323
-      - -0.0075590315875766192
-      - 0.014952738515277116
-      - -0.0075325478167400373
-      - 2.4254809249385617e-05
-      - 0.03036872898475218
-    accelerations:
-      - 0.37839682574321709
-      - -0.52330534331668765
-      - 0.13032813080725308
-      - -0.25780583644451305
-      - 0.12987151406873734
-      - -0.00041818636632689549
-      - -0.52359877554681
+      - -0.025414628106152869
+      - 0.38996317815376214
+      - -0.64193636494457507
+      - 1.2193512973853995
+      - -2.1168520111877287
+      - -1.5707431023420346
+      - 0.39000528539748164
+    velocities:
+      - -0.02612230123954205
+      - 0.036106447422428994
+      - -0.0089942426815090692
+      - 0.017769312137444974
+      - -0.0089568707297840739
+      - 1.33182959423545e-05
+      - 0.036128315516293405
+    accelerations:
+      - 0.37858407592824111
+      - -0.52328184669198752
+      - 0.13035134320781316
+      - -0.25752626285666008
+      - 0.12980972071905506
+      - -0.0001930187817696074
+      - -0.52359877558856327
     effort: []
     time_from_start:
       sec: 14
       nanosec: 390000000
   - positions:
-      - -0.025791186899885989
-      - 0.39049364785584828
-      - -0.64202986402193751
-      - 1.2197743021290965
-      - -2.1170921212393887
-      - -1.5706433284212491
-      - 0.39056750218083952
-    velocities:
-      - -0.018163047637445435
-      - 0.025118656481650011
-      - -0.0062557502793580619
-      - 0.012374680150543124
-      - -0.0062338326759071531
-      - 2.0072945585648092e-05
-      - 0.025132741228697381
-    accelerations:
-      - 0.37839682579445827
-      - -0.52330534338754442
-      - 0.1303281308249005
-      - -0.25780583647942268
-      - 0.12987151408632228
-      - -0.0004181863663835205
-      - -0.52359877561771129
+      - -0.02565734185137826
+      - 0.39029865897531457
+      - -0.64201993439378546
+      - 1.2195163998493597
+      - -2.1169352333977627
+      - -1.5707429785959122
+      - 0.39034096940507468
+    velocities:
+      - -0.022336460480210228
+      - 0.030873628955440845
+      - -0.0076907292494139134
+      - 0.015194049508844794
+      - -0.0076587735225765678
+      - 1.1388108124633231e-05
+      - 0.030892327760339421
+    accelerations:
+      - 0.37858407590928234
+      - -0.52328184666577848
+      - 0.13035134320128616
+      - -0.2575262628437609
+      - 0.12980972071255464
+      - -0.00019301878175994138
+      - -0.52359877556234213
     effort: []
     time_from_start:
       sec: 14
       nanosec: 400000000
   - positions:
-      - -0.025956399771301063
-      - 0.39072212963083774
-      - -0.6420867669430298
-      - 1.2198868634393638
-      - -2.1171488247957999
-      - -1.5706431458357575
-      - 0.39079611207207632
-    velocities:
-      - -0.014379079379667897
-      - 0.019885603048005556
-      - -0.0049524689711665923
-      - 0.0097966217858627153
-      - -0.0049351175351012603
-      - 1.589108192199748e-05
-      - 0.019896753472751407
-    accelerations:
-      - 0.37839682576772271
-      - -0.52330534335057044
-      - 0.13032813081569172
-      - -0.25780583646120631
-      - 0.12987151407714645
-      - -0.00041818636635397599
-      - -0.52359877558071655
+      - -0.02586219718901029
+      - 0.39058181161219707
+      - -0.64209046870867492
+      - 1.2196557496870337
+      - -2.1170054746357247
+      - -1.570742874151668
+      - 0.39062429353510825
+    velocities:
+      - -0.018550619720864289
+      - 0.025640810488433183
+      - -0.0063872158173138988
+      - 0.01261878688023501
+      - -0.0063606763153642209
+      - 9.4579203069047645e-06
+      - 0.025656340004365907
+    accelerations:
+      - 0.37858407590511323
+      - -0.52328184666001465
+      - 0.13035134319984967
+      - -0.25752626284092428
+      - 0.12980972071112559
+      - -0.00019301878175781461
+      - -0.52359877555657708
     effort: []
     time_from_start:
       sec: 14
       nanosec: 410000000
   - positions:
-      - -0.026083772960138248
-      - 0.39089828087149064
-      - -0.64213063705104001
-      - 1.2199736441659839
-      - -2.1171925412008026
-      - -1.5706430050689026
-      - 0.39097236208575348
-    velocities:
-      - -0.010595111121852057
-      - 0.014652549614308128
-      - -0.0036491876629619301
-      - 0.0072185634211562096
-      - -0.0036364023942822223
-      - 1.1709218258304539e-05
-      - 0.014660765716752434
-    accelerations:
-      - 0.37839682577860378
-      - -0.52330534336562118
-      - 0.13032813081943967
-      - -0.25780583646862054
-      - 0.12987151408088132
-      - -0.00041818636636600131
-      - -0.52359877559577372
+      - -0.026029194119048207
+      - 0.39081263606440858
+      - -0.642147967889243
+      - 1.2197693468984214
+      - -2.117062734901614
+      - -1.5707427890093018
+      - 0.39085525778758112
+    velocities:
+      - -0.014764778961476007
+      - 0.020407992021366991
+      - -0.0050837023851993037
+      - 0.010043524251596422
+      - -0.0050625791081373561
+      - 7.5277324891547084e-06
+      - 0.020420352248333832
+    accelerations:
+      - 0.37858407593454452
+      - -0.52328184670069633
+      - 0.13035134320998423
+      - -0.2575262628609441
+      - 0.12980972072121677
+      - -0.00019301878177282141
+      - -0.52359877559728152
     effort: []
     time_from_start:
       sec: 14
       nanosec: 420000000
   - positions:
-      - -0.026173306466397032
-      - 0.39102210157780626
-      - -0.64216147434596826
-      - 1.2200346443089571
-      - -2.1172232704543976
-      - -1.5706429061206846
-      - 0.39109625222187039
-    velocities:
-      - -0.006811142864038151
-      - 0.0094194961806109943
-      - -0.0023459063547614073
-      - 0.0046405050564566975
-      - -0.0023376872534514718
-      - 7.5273545983074145e-06
-      - 0.0094247779607573613
-    accelerations:
-      - 0.37839682578725842
-      - -0.52330534337745771
-      - 0.13032813082261308
-      - -0.25780583647483174
-      - 0.12987151408316383
-      - -0.00041818636658076907
-      - -0.52359877560781731
+      - -0.026158332641493146
+      - 0.3909911323319506
+      - -0.64219243193549025
+      - 1.2198571914835232
+      - -2.1171070141954313
+      - -1.5707427231688138
+      - 0.39103386216249497
+    velocities:
+      - -0.010978938202129387
+      - 0.015175173554358387
+      - -0.0037801889530990531
+      - 0.0074682616229861734
+      - -0.0037644819009247758
+      - 5.5975446714258942e-06
+      - 0.015184364492359374
+    accelerations:
+      - 0.37858407593173832
+      - -0.52328184669681788
+      - 0.13035134320901781
+      - -0.25752626285903513
+      - 0.1298097207202551
+      - -0.00019301878177138988
+      - -0.52359877559340062
     effort: []
     time_from_start:
       sec: 14
       nanosec: 430000000
   - positions:
-      - -0.026225000290078064
-      - 0.39109359174978536
-      - -0.64217927882781456
-      - 1.2200698638682832
-      - -2.1172410125565841
-      - -1.5706428489911031
-      - 0.39116778248042777
-    velocities:
-      - -0.0030271746062431721
-      - 0.0041864427469437433
-      - -0.0010426250465620009
-      - 0.0020624466917612532
-      - -0.0010389721126464694
-      - 3.3454909325854867e-06
-      - 0.0041887902047865761
-    accelerations:
-      - 0.37839682577507783
-      - -0.52330534336061296
-      - 0.13032813081841824
-      - -0.25780583646653332
-      - 0.12987151407898323
-      - -0.00041818636656730843
-      - -0.52359877559096213
+      - -0.026249612756344871
+      - 0.39111730041482295
+      - -0.64222386084741667
+      - 1.2199192834423391
+      - -2.1171383125171772
+      - -1.5707426766302039
+      - 0.39116010665984935
+    velocities:
+      - -0.0071930974427786903
+      - 0.0099423550873445881
+      - -0.0024766755209998793
+      - 0.0048929989943790686
+      - -0.0024663846937215263
+      - 3.667356858068831e-06
+      - 0.009948376736377159
+    accelerations:
+      - 0.37858407593476662
+      - -0.52328184670102695
+      - 0.13035134321019146
+      - -0.25752626286140745
+      - 0.1298097207218584
+      - -0.0001930187820031359
+      - -0.52359877559748003
     effort: []
     time_from_start:
       sec: 14
       nanosec: 440000000
+  - positions:
+      - -0.026303034463601944
+      - 0.39119114031302366
+      - -0.64224225462502171
+      - 1.2199556227748682
+      - -2.1171566298668498
+      - -1.5707426493934724
+      - 0.39123399127964237
+    velocities:
+      - -0.0034072566834192973
+      - 0.0047095366203180966
+      - -0.0011731620888939265
+      - 0.0023177363657570184
+      - -0.0011682874864989202
+      - 1.7371690380314889e-06
+      - 0.0047123889803861556
+    accelerations:
+      - 0.37858407592105986
+      - -0.52328184668208233
+      - 0.13035134320547206
+      - -0.25752626285208335
+      - 0.12980972071715868
+      - -0.00019301878199614773
+      - -0.52359877557852164
+    effort: []
+    time_from_start:
+      sec: 14
+      nanosec: 450000000
+  - positions:
+      - -0.026318597763266796
+      - 0.39121265202655586
+      - -0.64224761326830615
+      - 1.2199662094811119
+      - -2.1171619662444514
+      - -1.5707426414586192
+      - 0.39125551602187736
+    velocities:
+      - -5.5780502551881286e-17
+      - 7.7100243355955008e-17
+      - -1.9205941017524758e-17
+      - 3.794386841878788e-17
+      - -1.9126138467673659e-17
+      - 2.8439349001943125e-20
+      - 7.714693959660793e-17
+    accelerations:
+      - 0.37858407592206378
+      - -0.52328184668347022
+      - 0.13035134320581776
+      - -0.25752626285276636
+      - 0.12980972071750291
+      - -0.00019301878199665985
+      - -0.52359877557990986
+    effort: []
+    time_from_start:
+      sec: 14
+      nanosec: 460000000
diff --git a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
index a0aa6b63..aca165a2 100644
--- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
+++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Load and Execute Joint Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Load and Execute Joint Trajectory"
     _description=""
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree
diff --git a/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml b/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
index ba547d46..6a932157 100644
--- a/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
+++ b/src/lab_sim/objectives/pick_april_tag_object_with_approval.xml
@@ -10,7 +10,7 @@
     _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
diff --git a/src/lab_sim/objectives/pick_up_cube.xml b/src/lab_sim/objectives/pick_up_cube.xml
index 336abbae..859475dc 100644
--- a/src/lab_sim/objectives/pick_up_cube.xml
+++ b/src/lab_sim/objectives/pick_up_cube.xml
@@ -6,7 +6,7 @@
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Look at table" _collapsed="true" />
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/plan_and_save_trajectory.xml b/src/lab_sim/objectives/plan_and_save_trajectory.xml
index a3c28efd..91d1d9a6 100644
--- a/src/lab_sim/objectives/plan_and_save_trajectory.xml
+++ b/src/lab_sim/objectives/plan_and_save_trajectory.xml
@@ -1,10 +1,9 @@
-<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Plan and Save Trajectory">
   <!--//////////-->
   <BehaviorTree
     ID="Plan and Save Trajectory"
     _description=""
-    _favorite="true"
+    _favorite="false"
     _subtreeOnly="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
index b5072d77..d679fc51 100644
--- a/src/lab_sim/objectives/plan_move_to_pose.xml
+++ b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -1,6 +1,6 @@
 <root BTCPP_format="4" main_tree_to_execute="Plan Move To Pose">
   <!-- ////////// -->
-  <BehaviorTree ID="Plan Move To Pose">
+  <BehaviorTree ID="Plan Move To Pose" _subtreeOnly="true" _description="">
     <Control ID="Sequence">
       <Action
         ID="InitializeMTCTask"
diff --git a/src/lab_sim/objectives/plan_to_pose.xml b/src/lab_sim/objectives/plan_to_pose.xml
index d52b7e56..13d39ec9 100644
--- a/src/lab_sim/objectives/plan_to_pose.xml
+++ b/src/lab_sim/objectives/plan_to_pose.xml
@@ -1,11 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Poses to MTC Task">
   <!--//////////-->
   <BehaviorTree
     ID="Add Poses to MTC Task"
     _description=""
     _favorite="false"
-    _subtreeOnly="false"
+    _subtreeOnly="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
diff --git a/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml b/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
new file mode 100644
index 00000000..1857e8df
--- /dev/null
+++ b/src/lab_sim/objectives/save_and_execute_a_trajectory_from_disk.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Save and Execute a Trajectory from Disk"
+>
+  <!--//////////-->
+  <BehaviorTree
+    ID="Save and Execute a Trajectory from Disk"
+    _description=""
+    _favorite="true"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <SubTree ID="Plan and Save Trajectory" _collapsed="true" />
+      <SubTree ID="Load and Execute Joint Trajectory" _collapsed="true" />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Save and Execute a Trajectory from Disk" />
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/wrist_snap.xml b/src/lab_sim/objectives/wrist_snap.xml
index 7c04c0c4..324be61b 100644
--- a/src/lab_sim/objectives/wrist_snap.xml
+++ b/src/lab_sim/objectives/wrist_snap.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute=" Take wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
   <BehaviorTree
     ID="Take wrist camera snapshot"
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
index 2f4e297d..ad22362e 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml
@@ -7,7 +7,7 @@
     _favorite="true"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_up_cube.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_up_cube.xml
index 8bb2bea7..670e2cba 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_up_cube.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/pick_up_cube.xml
@@ -4,7 +4,7 @@
   <BehaviorTree ID="Pick up Cube" _description="" _favorite="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
index 80209f36..97c4f73b 100644
--- a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
+++ b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/objectives/wrist_snap.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take wrist camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
       <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
@@ -9,6 +13,6 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
+    <SubTree ID="Take wrist camera snapshot" />
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/apriltag_pick_object.xml b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/apriltag_pick_object.xml
index b9a35cc5..a586fca0 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/apriltag_pick_object.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/apriltag_pick_object.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <SubTree ID="Look at table" _collapsed="true" />
       <Action ID="ClearSnapshot" />
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_april_tag_object_with_approval.xml b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_april_tag_object_with_approval.xml
index ba547d46..6a932157 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_april_tag_object_with_approval.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_april_tag_object_with_approval.xml
@@ -10,7 +10,7 @@
     _favorite="false"
   >
     <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <Control ID="Sequence" name="Setup">
         <SubTree ID="Open Gripper" />
       </Control>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_up_cube.xml b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_up_cube.xml
index bf782d26..1777b5cd 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_up_cube.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/pick_up_cube.xml
@@ -5,7 +5,7 @@
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Look at table" _collapsed="true" />
       <!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
-      <SubTree ID="Wrist camera snapshot" _collapsed="true" />
+      <SubTree ID="Take wrist camera snapshot" _collapsed="true" />
       <SubTree ID="Pick object" _collapsed="false" />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/wrist_snap.xml b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/wrist_snap.xml
index 80209f36..97c4f73b 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/wrist_snap.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_sim_config/objectives/wrist_snap.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
+<root BTCPP_format="4" main_tree_to_execute="Take wrist camera snapshot">
   <!--//////////-->
-  <BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
+  <BehaviorTree
+    ID="Take wrist camera snapshot"
+    _description=""
+    _favorite="true"
+  >
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
       <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
@@ -9,6 +13,6 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Wrist camera snapshot" />
+    <SubTree ID="Take wrist camera snapshot" />
   </TreeNodesModel>
 </root>