-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathpoints.txt
92 lines (91 loc) · 14.1 KB
/
points.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
# y_2x2
CONST robtarget p_23_00 := [[236.2055, 386.3836, 158.0], [0.001828832, 0.9999607, -0.008420654, 0.00210054], [-1.0, -1.0, 0.0, 5.0], [149.2488, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_22_00 := [[233.5375, 355.6167, 158.0], [0.008479636, 0.999869, 0.00620866, 0.01230414], [-1.0, -1.0, 0.0, 5.0], [150.5728, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_21_00 := [[235.858, 319.6979, 158.0], [0.006762601, -0.9999652, 0.003439943, -0.003464191], [-1.0, 0.0, 0.0, 5.0], [152.1098, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_20_00 := [[234.7203, 290.3712, 157.5], [0.004936248, 0.999948, -0.002607651, 0.008541266], [-1.0, 0.0, 0.0, 5.0], [153.1014, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# y_2x4
CONST robtarget p_23_02 := [[299.0, 386.6247, 158.0], [0.002535236, -0.9999642, 0.005235176, -0.006141874], [-1.0, -1.0, 0.0, 5.0], [147.448, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_22_02 := [[299.0, 353.9537, 157.0], [0.002234567, 0.9999706, -0.003507685, 0.006453679], [-1.0, -1.0, 0.0, 5.0], [150.4004, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_21_02 := [[299.0, 323.0676, 158.0], [0.003629135, 0.9997652, 0.0003881606, 0.02135731], [-1.0, -1.0, 0.0, 5.0], [151.7568, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_20_02 := [[299.2198, 291.7996, 158.0], [0.008677416, 0.9998829, -0.01184253, 0.004328684], [-1.0, 0.0, 0.0, 5.0], [152.5143, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# y_2x4
CONST robtarget p_23_04 := [[362.585, 385.2904, 158.0], [0.003445484, -0.9998419, 0.01538234, -0.008226112], [-1.0, -1.0, 0.0, 5.0], [168.2998, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_22_04 := [[364.0, 356.9567, 158.0], [0.01335641, 0.9998205, -0.01325006, 0.002235995], [-1.0, -1.0, 0.0, 5.0], [168.7027, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_21_04 := [[365.8525, 322.52, 158.0], [0.005052871, 0.9999661, -0.004581597, -0.004612213], [-1.0, -1.0, 0.0, 5.0], [-176.1009, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_20_04 := [[367.5547, 293.2803, 158.0], [0.01289123, 0.9998466, -0.009833766, -0.006632358], [-1.0, -1.0, 0.0, 5.0], [-176.4856, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# b_2x2
CONST robtarget p_23_06 := [[422.6128, 388.3622, 158.9134], [0.008748814, 0.999541, -0.01733644, 0.02325168], [-1.0, -1.0, 0.0, 5.0], [-179.9368, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_22_06 := [[426.8729, 353.8271, 158.7995], [0.002883578, 0.9999639, 0.00364833, 0.007107628], [-1.0, -1.0, 0.0, 5.0], [-170.2998, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_21_06 := [[427.8383, 319.9186, 158.2088], [0.004761648, -0.9999425, 0.008850104, -0.003725488], [-1.0, -1.0, 0.0, 5.0], [-171.2104, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_20_06 := [[426.5632, 291.9595, 158.7921], [0.008786192, 0.999919, 0.007907253, 0.004714954], [-1.0, -1.0, 0.0, 5.0], [-171.7393, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# b_2x4
CONST robtarget p_19_06 := [[425.5587, 260.5233, 158.8229], [0.006738084, 0.9998723, -0.007863774, 0.012169], [-1.0, -1.0, 0.0, 5.0], [-172.2218, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_18_06 := [[425.8549, 233.383, 158], [0.03101924, 0.9994729, 0.004232541, 0.008597434], [-1.0, -1.0, 0.0, 5.0], [-172.9094, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_23_08 := [[490.1203, 390.2894, 158.4963], [0.01855635, 0.9994435, -0.02560823, 0.0106142], [-1.0, -1.0, 0.0, 5.0], [-179.3322, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_22_08 := [[490.3113, 354.8676, 158.4501], [0.008441729, 0.9999098, -0.002559415, 0.0101336], [-1.0, -1.0, 0.0, 5.0], [-144.1124, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_21_08 := [[488.6351, 323.9817, 158.4512], [0.004883158, 0.9996963, -0.01836519, 0.01569262], [-1.0, -1.0, 0.0, 5.0], [-146.0028, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_20_08 := [[489.9705, 295, 158.4508], [0.01988634, 0.9997638, -0.0003755952, 0.008757057], [-1.0, -1.0, 0.0, 5.0], [173.4663, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_19_08 := [[496.0182, 261.2659, 158.4261], [0.0173979, 0.9992201, 0.03256519, -0.01399668], [-1.0, -1.0, 0.0, 5.0], [172.5088, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_18_08 := [[494.2501, 226.8789, 158.4514], [0.005724305, 0.9999027, 0.01234785, -0.003060752], [-1.0, -1.0, 0.0, 5.0], [173.2904, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# Workspace V
CONST robtarget p_10_04VS := [[383.828, -30.70732, 158.0], [0.001639337, -0.9998538, 0.01238065, 0.01168194], [-1.0, 2.0, 1.0, 4.0], [172.7283, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_05VS := [[416.9568, -28.82011, 158.0], [0.004481555, 0.9998802, -0.005352592, -0.01381391], [-1.0, 2.0, 1.0, 4.0], [168.124, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_06VS := [[448.9644, -26.3937, 158.0], [0.0158419, 0.9997261, 0.001555723, -0.01715376], [-1.0, 1.0, 1.0, 4.0], [165.9558, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_07VS := [[480.5218, -21.70601, 158.0], [0.02889924, 0.9995135, 0.004407914, -0.01087196], [-1.0, 1.0, 1.0, 4.0], [162.7301, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_04VS := [[382.9271, 1, 158.0], [0.003038199, -0.9999777, 0.004349842, 0.004048015], [-1.0, 2.0, 1.0, 4.0], [-177.1001, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_05VS := [[411.6698, 3.757037, 158.0], [0.005974856, 0.9999475, -0.007467962, 0.003678458], [-1.0, 2.0, 1.0, 4.0], [169.5464, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_06VS := [[447.4478, 5.313061, 158.0], [0.01330368, 0.9998788, 0.002927237, -0.007532438], [-1.0, 1.0, 1.0, 4.0], [166.0087, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_07VS := [[474.3574, 1.34598, 158.0], [0.0008263097, -0.9997013, 0.02139133, -0.01178976], [-1.0, 2.0, 1.0, 4.0], [163.4032, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_04VS := [[380.3438, 36.05061, 158.0], [0.009462965, 0.9998688, -0.01311908, 0.0008651066], [-1.0, 2.0, 1.0, 4.0], [172.2885, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_05VS := [[412.0412, 34.07267, 158.0], [0.0001519844, -0.9999423, 0.009992004, -0.003945677], [-1.0, 2.0, 1.0, 4.0], [168.7616, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_06VS := [[444.7922, 34.38894, 158.0], [0.005205439, 0.999953, -0.007475229, 0.003335254], [-1.0, 2.0, 1.0, 4.0], [166.0325, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_07VS := [[477.3695, 36.49685, 158.0], [0.005975787, 0.9999481, -0.008231789, -0.00048295], [-1.0, 1.0, 1.0, 4.0], [162.6478, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_04VS := [[379.8223, 66.10421, 158.0], [0.003762332, 0.9999722, 0.002479265, 0.005948752], [-1.0, 2.0, 1.0, 4.0], [171.881, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_05VS := [[409.8278, 68.48347, 158.0], [0.008353882, 0.999894, 0.00302022, 0.01153869], [-1.0, 2.0, 1.0, 4.0], [169.6161, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_06VS := [[447.0389, 65.26023, 158.0], [0.003382697, -0.9998928, 0.01180291, 0.00797241], [-1.0, 1.0, 1.0, 4.0], [165.7622, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_07VS := [[476.6544, 71.09028, 158.0], [0.02029943, 0.9997925, 0.0005786984, -0.001630297], [-1.0, 1.0, 1.0, 4.0], [162.799, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# Workspace HA Down
CONST robtarget p_10_04HA := [[380.8522, -31.48909, 159.0], [0.0003972002, -0.717725, -0.6963182, -0.003410386], [-1.0, 2.0, 0.0, 4.0], [173.3891, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_05HA := [[411.161, -30.33636, 159.0], [0.004833447, 0.7079028, 0.7062107, 0.01079923], [-1.0, 2.0, 0.0, 4.0], [170.0475, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_06HA := [[444.5053, -30.97982, 159.0], [0.001824652, 0.7062466, 0.7079594, 0.002441539], [-1.0, 2.0, 0.0, 4.0], [166.5276, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_07HA := [[479.9416, -29.40249, 159.0], [0.008067051, -0.7192306, -0.6946622, 0.009313437], [-1.0, 1.0, 0.0, 4.0], [162.5481, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_04HA := [[381.9373, 2.50532, 159.3725], [0.001509457, -0.7210619, -0.6928647, 0.002432019], [-1.0, 2.0, 0.0, 4.0], [172.1649, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_05HA := [[414.0463, 5.514188, 159.0], [0.006665506, 0.7185459, 0.6953177, -0.01344167], [-1.0, 2.0, 0.0, 4.0], [169.2157, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_06HA := [[444.4259, 1.99534, 159.0], [0.002753468, 0.7073283, 0.7068781, 0.001593657], [-1.0, 2.0, 0.0, 4.0], [165.8997, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_07HA := [[475.9904, 4.807899, 159.0], [0.006138808, 0.706156, 0.7079834, -0.008096904], [-1.0, 1.0, 0.0, 4.0], [162.8912, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_04HA := [[382.6024, 32.75146, 159.0], [0.008144254, -0.7083551, -0.7058092, 0.000300356], [-1.0, 2.0, 0.0, 4.0], [171.6731, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_05HA := [[412.3022, 35.01145, 159.0], [0.009243107, 0.7292261, 0.6841974, 0.004220274], [-1.0, 2.0, 0.0, 4.0], [169.05, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_06HA := [[443.7384, 34.40822, 159.0], [0.005563784, 0.7078429, 0.7063479, 2.627141e-05], [-1.0, 2.0, 0.0, 4.0], [166.0768, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_07HA := [[475.2947, 33.40758, 159.0], [0.001094618, -0.7083511, -0.7058566, -0.002011312], [-1.0, 1.0, 0.0, 4.0], [162.6371, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_04HA := [[381.9237, 63.28724, 159.0], [0.008304344, -0.7226609, -0.6910875, -0.009503016], [-1.0, 2.0, 0.0, 4.0], [171.7341, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_05HA := [[416.3815, 65.48679, 159.0], [0.008586437, -0.7181666, -0.6957995, 0.005092813], [-1.0, 1.0, 0.0, 4.0], [168.493, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_06HA := [[444.0826, 66.26752, 159.0], [0.005150389, -0.693174, -0.7207454, 0.003057539], [-1.0, 1.0, 0.0, 4.0], [166.0925, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_07HA := [[476.7223, 65.24365, 159.0], [0.008769472, -0.6966912, -0.7173176, 0.0001477272], [-1.0, 1.0, 0.0, 4.0], [162.65, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# Workspace HC Up
CONST robtarget p_10_04HC := [[377.5907, -30.38506, 158.0], [0.008346433, -0.6947662, 0.7191862, -0.001187231], [-1.0, 2.0, -2.0, 4.0], [170.5495, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_05HC := [[412.4651, -27.68709, 158.0], [0.005605181, 0.7100453, -0.7041069, 0.006149115], [-1.0, 2.0, -2.0, 4.0], [166.3427, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_06HC := [[443.0915, -26.01492, 158.0], [0.006361612, 0.7080786, -0.7059941, 0.0125081], [-1.0, 2.0, -2.0, 4.0], [163.6543, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_10_07HC := [[476.5486, -24.36394, 158.0], [0.01298276, 0.7025017, -0.711334, 0.0180761], [-1.0, 2.0, -2.0, 4.0], [159.9386, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_04HC := [[380.9192, 7.064799, 158.0], [0.01287659, 0.6981645, -0.7157553, 0.009734798], [-1.0, 2.0, -2.0, 4.0], [169.6092, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_05HC := [[413.2232, 5.956659, 158.0], [0.01254743, 0.7103081, -0.7037596, 0.005234212], [-1.0, 2.0, -2.0, 4.0], [165.9776, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_06HC := [[444.5663, 5, 158.0], [0.004405268, 0.7068006, -0.7073405, 0.009109681], [-1.0, 2.0, -2.0, 4.0], [163.1991, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_11_07HC := [[476.7439, 4.609863, 158.0], [0.01101811, 0.7143306, -0.6997152, 0.003010331], [-1.0, 2.0, -2.0, 4.0], [159.3816, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_04HC := [[380.878, 31.31336, 158.0], [0.005066043, -0.7093068, 0.7048617, 0.00531366], [-1.0, 2.0, -2.0, 4.0], [169.3382, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_05HC := [[412.742, 35.19288, 158.0], [0.002559695, 0.713234, -0.7009212, -0.0004674728], [-1.0, 2.0, -2.0, 4.0], [166.2136, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_06HC := [[444.187, 38.26608, 158.0], [0.01152515, 0.7117735, -0.7022609, 0.008681263], [-1.0, 2.0, -2.0, 4.0], [163.1114, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_12_07HC := [[479.4333, 33.19146, 158.0], [0.01047505, 0.7106248, -0.7034252, -0.009784367], [-1.0, 1.0, -2.0, 4.0], [158.9625, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_04HC := [[378.6313, 66.85074, 158.0], [0.002672465, -0.710202, 0.703981, -0.004090294], [-1.0, 2.0, -2.0, 4.0], [169.4, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_05HC := [[410.0957, 65.54204, 158.0], [0.008327086, -0.7029756, 0.7111169, -0.008285017], [-1.0, 2.0, -2.0, 4.0], [166.6844, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_06HC := [[444.0, 67.84246, 158.0], [0.004254924, 0.7082378, -0.7059382, 0.005694117], [-1.0, 1.0, -2.0, 4.0], [163.2459, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_13_07HC := [[475.8578, 67.57345, 158.0], [0.0005538643, 0.706878, -0.7073303, 0.002639163], [-1.0, 1.0, -2.0, 4.0], [159.9847, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# Swap HA
CONST robtarget p_07_06HA := [[444.8137, -128.8091, 158.9416], [0.01034592, -0.7130362, -0.7009462, -0.01211846], [-2.0, 1.0, 0.0, 4.0], [-161.6254, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_07_07HA := [[475.4459, -127.0807, 161.808], [0.0001727288, -0.7048855, -0.7092966, -0.005891288], [-2.0, 1.0, 0.0, 4.0], [-164.3433, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
# Swap HC
CONST robtarget p_07_06HC := [[445.4337, -123.3024, 159.0], [0.003882614, 0.7108538, -0.7033248, 0.002452049], [-2.0, 1.0, -2.0, 4.0], [-160.1467, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget p_07_07HC := [[474.6759, -126.7102, 159.0], [0.005443198, -0.7231225, 0.6906966, -0.001587039], [-2.0, 1.0, -2.0, 4.0], [-164.0183, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
#
CONST robtarget appoint := [[390.1832, 421.7, 550.0425], [0.004916467, 0.7328104, 0.6796039, 0.0332149], [0.0, 1.0, 1.0, 4.0], [-162.8405, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
#
CONST robtarget placeap := [[429.4088, 43.17268, 392.192], [0.001483749, -0.6896544, 0.7241371, 0.0002948535], [0.0, 1.0, -2.0, 4.0], [-148.5723, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];
CONST robtarget pickap := [[375.9644, 270.074, 371.3876], [0.02350171, -0.9992896, 0.02860069, -0.007074669], [0.0, 1.0, 2.0, 4.0], [-141.3491, 9E+09, 9E+09, 9E+09, 9E+09, 9E+09]];