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r1.xml
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r1.xml
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<?xml version="1.0"?>
<SimulationResults>
<KR30-3>
<MainProg>
<TimeStamp time="0.0">
<Joints values="j1=0.000 j2=-90.000 j3=90.000 j4=0.000 j5=0.000 j6=0.000"/>
<Position values="tcpX=1340.000 tcpY=0.000 tcpz=1810.000 tcpYaw=0.000 tcpPitch=90.000 tcpRoll=0.000 "/>
<Speed values="tcpSpeed=0.000"/>
<Collisions value="False"/>
</TimeStamp>
</MainProg>
<Sequence1>
<TimeStamp time="0.1">
<Joints values="j1=0.000 j2=-90.000 j3=90.000 j4=0.000 j5=0.000 j6=0.000"/>
<Position values="tcpX=1340.000 tcpY=0.000 tcpz=1810.000 tcpYaw=0.000 tcpPitch=90.000 tcpRoll=0.000 "/>
<Speed values="tcpSpeed=0.000"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.2">
<Joints values="j1=-0.900 j2=-90.900 j3=90.900 j4=0.000 j5=0.129 j6=0.000"/>
<Position values="tcpX=1326.485 tcpY=20.838 tcpz=1809.513 tcpYaw=-0.000 tcpPitch=90.129 tcpRoll=0.900 "/>
<Speed values="tcpSpeed=248.420"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.3">
<Joints values="j1=-2.812 j2=-93.600 j3=93.399 j4=0.000 j5=0.262 j6=0.000"/>
<Position values="tcpX=1284.564 tcpY=63.096 tcpz=1811.024 tcpYaw=-0.000 tcpPitch=90.061 tcpRoll=2.812 "/>
<Speed values="tcpSpeed=595.427"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.4">
<Joints values="j1=-4.728 j2=-96.568 j3=96.022 j4=0.000 j5=0.396 j6=0.000"/>
<Position values="tcpX=1237.134 tcpY=102.315 tcpz=1812.665 tcpYaw=0.000 tcpPitch=89.851 tcpRoll=4.728 "/>
<Speed values="tcpSpeed=615.671"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.5">
<Joints values="j1=-5.899 j2=-97.747 j3=97.201 j4=0.000 j5=0.530 j6=0.000"/>
<Position values="tcpX=1217.525 tcpY=125.801 tcpz=1810.090 tcpYaw=0.000 tcpPitch=89.984 tcpRoll=5.899 "/>
<Speed values="tcpSpeed=307.038"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.6">
<Joints values="j1=-5.921 j2=-97.768 j3=97.223 j4=0.000 j5=0.546 j6=0.000"/>
<Position values="tcpX=1217.162 tcpY=126.227 tcpz=1810.000 tcpYaw=-5.921 tcpPitch=90.000 tcpRoll=0.000 "/>
<Speed values="tcpSpeed=5.669"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.7">
<Joints values="j1=-5.921 j2=-97.768 j3=97.223 j4=0.000 j5=0.546 j6=0.000"/>
<Position values="tcpX=1217.162 tcpY=126.227 tcpz=1810.000 tcpYaw=-5.921 tcpPitch=90.000 tcpRoll=0.000 "/>
<Speed values="tcpSpeed=0.000"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.8">
<Joints values="j1=-6.391 j2=-97.125 j3=96.680 j4=0.000 j5=1.188 j6=0.643"/>
<Position values="tcpX=1225.730 tcpY=137.303 tcpz=1807.610 tcpYaw=40.885 tcpPitch=90.982 tcpRoll=47.280 "/>
<Speed values="tcpSpeed=142.055"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="0.9">
<Joints values="j1=-7.126 j2=-94.704 j3=95.757 j4=0.000 j5=3.513 j6=3.064"/>
<Position values="tcpX=1262.450 tcpY=157.819 tcpz=1778.511 tcpYaw=33.797 tcpPitch=95.497 tcpRoll=41.045 "/>
<Speed values="tcpSpeed=511.467"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.0">
<Joints values="j1=-7.860 j2=-91.200 j3=94.835 j4=0.000 j5=6.243 j6=7.285"/>
<Position values="tcpX=1314.755 tcpY=181.495 tcpz=1728.371 tcpYaw=36.063 tcpPitch=102.253 tcpRoll=44.553 "/>
<Speed values="tcpSpeed=762.264"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.1">
<Joints values="j1=-8.594 j2=-87.685 j3=93.912 j4=0.000 j5=8.974 j6=13.307"/>
<Position values="tcpX=1363.788 tcpY=206.103 tcpz=1674.928 tcpYaw=40.267 tcpPitch=110.099 tcpRoll=50.644 "/>
<Speed values="tcpSpeed=765.896"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.2">
<Joints values="j1=-9.328 j2=-84.170 j3=92.990 j4=0.000 j5=11.705 j6=21.128"/>
<Position values="tcpX=1409.196 tcpY=231.470 tcpz=1618.561 tcpYaw=43.915 tcpPitch=119.124 tcpRoll=57.110 "/>
<Speed values="tcpSpeed=766.979"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.3">
<Joints values="j1=-10.062 j2=-80.656 j3=92.068 j4=0.000 j5=14.435 j6=30.749"/>
<Position values="tcpX=1450.821 tcpY=257.439 tcpz=1559.492 tcpYaw=46.544 tcpPitch=129.336 tcpRoll=63.827 "/>
<Speed values="tcpSpeed=767.866"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.4">
<Joints values="j1=-10.796 j2=-77.141 j3=91.145 j4=0.000 j5=17.166 j6=42.170"/>
<Position values="tcpX=1488.523 tcpY=283.848 tcpz=1497.947 tcpYaw=47.979 tcpPitch=140.643 tcpRoll=71.052 "/>
<Speed values="tcpSpeed=768.546"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.5">
<Joints values="j1=-11.530 j2=-73.626 j3=90.223 j4=0.000 j5=19.897 j6=55.391"/>
<Position values="tcpX=1522.189 tcpY=310.530 tcpz=1434.163 tcpYaw=-131.950 tcpPitch=27.168 tcpRoll=-100.783 "/>
<Speed values="tcpSpeed=769.012"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.6">
<Joints values="j1=-12.264 j2=-70.111 j3=89.300 j4=0.000 j5=22.627 j6=70.413"/>
<Position values="tcpX=1551.721 tcpY=337.320 tcpz=1368.377 tcpYaw=-133.518 tcpPitch=14.469 tcpRoll=-91.082 "/>
<Speed values="tcpSpeed=769.257"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.7">
<Joints values="j1=-12.998 j2=-66.597 j3=88.378 j4=0.000 j5=25.358 j6=86.943"/>
<Position values="tcpX=1577.047 tcpY=364.046 tcpz=1300.834 tcpYaw=-137.180 tcpPitch=2.079 tcpRoll=-79.243 "/>
<Speed values="tcpSpeed=769.276"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.8">
<Joints values="j1=-13.733 j2=-63.082 j3=87.456 j4=0.000 j5=28.089 j6=102.318"/>
<Position values="tcpX=1598.114 tcpY=390.542 tcpz=1231.778 tcpYaw=-143.105 tcpPitch=-7.468 tcpRoll=-66.444 "/>
<Speed values="tcpSpeed=769.064"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="1.9">
<Joints values="j1=-14.467 j2=-59.567 j3=86.533 j4=0.000 j5=30.819 j6=115.892"/>
<Position values="tcpX=1614.892 tcpY=416.639 tcpz=1161.455 tcpYaw=-150.454 tcpPitch=-13.461 tcpRoll=-53.207 "/>
<Speed values="tcpSpeed=768.619"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.0">
<Joints values="j1=-15.201 j2=-56.052 j3=85.611 j4=0.000 j5=33.550 j6=127.666"/>
<Position values="tcpX=1627.369 tcpY=442.172 tcpz=1090.113 tcpYaw=-158.127 tcpPitch=-16.045 tcpRoll=-40.253 "/>
<Speed values="tcpSpeed=767.940"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.1">
<Joints values="j1=-15.935 j2=-52.538 j3=84.688 j4=0.000 j5=36.281 j6=137.641"/>
<Position values="tcpX=1635.554 tcpY=466.978 tcpz=1017.996 tcpYaw=-165.086 tcpPitch=-15.762 tcpRoll=-28.500 "/>
<Speed values="tcpSpeed=767.026"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.2">
<Joints values="j1=-16.669 j2=-49.023 j3=83.766 j4=0.000 j5=39.011 j6=145.815"/>
<Position values="tcpX=1639.476 tcpY=490.902 tcpz=945.346 tcpYaw=-170.702 tcpPitch=-13.381 tcpRoll=-18.609 "/>
<Speed values="tcpSpeed=765.880"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.3">
<Joints values="j1=-17.403 j2=-45.508 j3=82.844 j4=0.000 j5=41.742 j6=152.189"/>
<Position values="tcpX=1639.183 tcpY=513.788 tcpz=872.402 tcpYaw=-174.855 tcpPitch=-9.648 tcpRoll=-10.842 "/>
<Speed values="tcpSpeed=764.506"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.4">
<Joints values="j1=-18.137 j2=-41.993 j3=81.921 j4=0.000 j5=44.473 j6=156.764"/>
<Position values="tcpX=1634.738 tcpY=535.493 tcpz=799.399 tcpYaw=-177.785 tcpPitch=-5.144 tcpRoll=-5.199 "/>
<Speed values="tcpSpeed=762.908"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.5">
<Joints values="j1=-18.871 j2=-39.226 j3=80.999 j4=0.000 j5=47.000 j6=159.538"/>
<Position values="tcpX=1627.777 tcpY=556.405 tcpz=744.438 tcpYaw=-179.571 tcpPitch=-1.150 tcpRoll=-1.595 "/>
<Speed values="tcpSpeed=592.148"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.6">
<Joints values="j1=-19.485 j2=-38.252 j3=80.276 j4=0.000 j5=47.974 j6=160.512"/>
<Position values="tcpX=1625.006 tcpY=574.953 tcpz=730.018 tcpYaw=-179.999 tcpPitch=-0.001 tcpRoll=-0.003 "/>
<Speed values="tcpSpeed=236.574"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.7">
<Joints values="j1=-19.486 j2=-38.250 j3=80.275 j4=0.000 j5=47.976 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=730.000 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=0.504"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.8">
<Joints values="j1=-19.486 j2=-37.847 j3=80.347 j4=0.000 j5=47.499 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=719.430 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=105.696"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="2.9">
<Joints values="j1=-19.486 j2=-36.746 j3=80.493 j4=0.000 j5=46.253 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=691.274 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=281.560"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.0">
<Joints values="j1=-19.486 j2=-36.296 j3=80.533 j4=0.000 j5=45.763 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=680.000 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=112.744"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.1">
<Joints values="j1=-19.486 j2=-36.764 j3=80.491 j4=0.000 j5=46.273 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=691.728 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=117.278"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.2">
<Joints values="j1=-19.486 j2=-37.863 j3=80.344 j4=0.000 j5=47.519 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=719.861 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=281.328"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.3">
<Joints values="j1=-19.486 j2=-38.250 j3=80.275 j4=-0.000 j5=47.976 j6=160.514"/>
<Position values="tcpX=1625.000 tcpY=575.000 tcpz=730.000 tcpYaw=-180.000 tcpPitch=-0.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=101.394"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.4">
<Joints values="j1=-19.483 j2=-38.254 j3=80.278 j4=-0.000 j5=47.972 j6=160.517"/>
<Position values="tcpX=1625.014 tcpY=574.898 tcpz=730.039 tcpYaw=-179.999 tcpPitch=-0.003 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=1.101"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.5">
<Joints values="j1=-18.473 j2=-39.263 j3=81.288 j4=-0.000 j5=46.962 j6=161.527"/>
<Position values="tcpX=1628.840 tcpY=544.147 tcpz=741.748 tcpYaw=-179.679 tcpPitch=-0.961 tcpRoll=-0.003 "/>
<Speed values="tcpSpeed=331.262"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.6">
<Joints values="j1=-15.663 j2=-41.395 j3=84.098 j4=-0.000 j5=45.049 j6=164.337"/>
<Position values="tcpX=1632.301 tcpY=457.686 tcpz=757.631 tcpYaw=-179.393 tcpPitch=-2.165 tcpRoll=-0.011 "/>
<Speed values="tcpSpeed=879.765"/>
<Collisions value="False"/>
</TimeStamp>
<TimeStamp time="3.7">
<Joints values="j1=-11.053 j2=-43.542 j3=88.641 j4=-0.000 j5=43.136 j6=168.947"/>
<Position values="tcpX=1622.246 tcpY=316.899 tcpz=752.170 tcpYaw=-179.661 tcpPitch=-1.733 tcpRoll=-0.005 "/>
<Speed values="tcpSpeed=1412.511"/>
<Collisions value="True">
<Collision component="KR 30-3_2" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="3.8">
<Joints values="j1=-4.643 j2=-45.690 j3=93.661 j4=-0.000 j5=41.223 j6=175.357"/>
<Position values="tcpX=1597.596 tcpY=129.759 tcpz=741.229 tcpYaw=-179.935 tcpPitch=-0.803 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=1890.730"/>
<Collisions value="True">
<Collision component="KR 30-3_2" node="Sweep_Sequence1"/>
<Collision component="KR 30-3_2" node="A3"/>
<Collision component="KR 30-3_2" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="3.9">
<Joints values="j1=3.520 j2=-47.837 j3=98.680 j4=-0.000 j5=39.310 j6=183.520"/>
<Position values="tcpX=1547.394 tcpY=-95.193 tcpz=730.769 tcpYaw=-179.991 tcpPitch=0.153 tcpRoll=0.000 "/>
<Speed values="tcpSpeed=2307.225"/>
<Collisions value="True">
<Collision component="KR 30-3_2" node="Sweep_Sequence1"/>
<Collision component="KR 30-3_2" node="A3"/>
<Collision component="KR 30-3_2" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.0">
<Joints values="j1=11.154 j2=-49.984 j3=103.700 j4=-0.000 j5=37.397 j6=191.154"/>
<Position values="tcpX=1467.151 tcpY=-289.281 tcpz=720.838 tcpYaw=-179.785 tcpPitch=1.092 tcpRoll=0.002 "/>
<Speed values="tcpSpeed=2102.570"/>
<Collisions value="True">
<Collision component="KR 30-3_2" node="Sweep_Sequence1"/>
<Collision component="KR 30-3_2" node="A3"/>
<Collision component="KR 30-3_2" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.1">
<Joints values="j1=16.988 j2=-52.132 j3=108.718 j4=-0.000 j5=35.484 j6=196.988"/>
<Position values="tcpX=1375.470 tcpY=-420.204 tcpz=711.507 tcpYaw=-179.395 tcpPitch=1.980 tcpRoll=0.010 "/>
<Speed values="tcpSpeed=1601.034"/>
<Collisions value="True">
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</TimeStamp>
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<Speed values="tcpSpeed=1095.747"/>
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</TimeStamp>
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</Sequence1>
</KR30-3>
<KR30-3_2>
<MainProg>
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</MainProg>
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</TimeStamp>
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<Speed values="tcpSpeed=266.054"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
<Collision component="KR 30-3" node="A5"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.4">
<Joints values="j1=16.858 j2=-36.300 j3=80.488 j4=0.000 j5=45.812 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=680.633 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=168.944"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.5">
<Joints values="j1=16.858 j2=-36.544 j3=80.468 j4=0.000 j5=46.077 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=686.738 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=61.056"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.6">
<Joints values="j1=16.858 j2=-37.611 j3=80.338 j4=0.000 j5=47.273 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=713.896 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=271.574"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.7">
<Joints values="j1=16.858 j2=-38.214 j3=80.235 j4=0.000 j5=47.979 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=729.613 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=157.177"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
</Sequence1>
<MainProg>
<TimeStamp time="4.8">
<Joints values="j1=16.858 j2=-38.228 j3=80.232 j4=0.000 j5=47.996 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=730.000 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=3.867"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="4.9">
<Joints values="j1=16.858 j2=-38.228 j3=80.232 j4=0.000 j5=47.996 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=730.000 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=0.000"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
<TimeStamp time="5.0">
<Joints values="j1=16.858 j2=-38.228 j3=80.232 j4=0.000 j5=47.996 j6=16.858"/>
<Position values="tcpX=1650.000 tcpY=-500.000 tcpz=730.000 tcpYaw=-0.000 tcpPitch=-180.000 tcpRoll=-0.000 "/>
<Speed values="tcpSpeed=0.000"/>
<Collisions value="True">
<Collision component="KR 30-3" node="Sweep_Sequence1"/>
<Collision component="KR 30-3" node="A4"/>
</Collisions>
</TimeStamp>
</MainProg>
</KR30-3_2>
</SimulationResults>