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simResult.xml
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<?xml version='1.0' encoding='UTF-8' ?>
<OLPData xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="D:\Apps\DassaultSystemes\B19\win_b64\startup\Olp\XSchemas\Upload.xsd">
<Resource ResourceType="Robot" id="_969752288">
<GeneralInfo>
<ResourceName>irb6700_270_270_MH.1</ResourceName>
<MaxSpeed Units="m/s">1.5</MaxSpeed>
<NumberOfRobotAxes>6</NumberOfRobotAxes>
<NumberOfAuxiliaryAxes>0</NumberOfAuxiliaryAxes>
<NumberOfExternalAxes>0</NumberOfExternalAxes>
<NumberOfPositionerAxes>0</NumberOfPositionerAxes>
<DownloadCoordinates>RobotBase</DownloadCoordinates>
<SelectPartsOnUpload>false</SelectPartsOnUpload>
<Platform>Windows</Platform>
</GeneralInfo>
<Controller>
<ToolProfileList>
<CurrentToolProfile>Default</CurrentToolProfile>
<ToolProfile>
<Name>Default</Name>
<ToolType>OnRobot</ToolType>
<TCPOffset>
<TCPPosition Units="m" X="0" Y="0" Z="0"/>
<TCPOrientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</TCPOffset>
<Mass MassValue="0" Units="kg"/>
<Centroid>
<CentroidPosition Cx="0" Cy="0" Cz="0" Units="m"/>
</Centroid>
<Inertia Ixx="0" Ixy="0" Iyy="0" Iyz="0" Izx="0" Izz="0" Units="kg-m^2"/>
</ToolProfile>
</ToolProfileList>
<MotionProfileList>
<CurrentMotionProfile>Default</CurrentMotionProfile>
<MotionProfile>
<Name>Default</Name>
<MotionBasis>Percent</MotionBasis>
<Speed Units="%" Value="50"/>
<Accel Units="%" Value="100"/>
<AngularSpeedValue Units="%" Value="100"/>
<AngularAccelValue Units="%" Value="100"/>
</MotionProfile>
</MotionProfileList>
<AccuracyProfileList>
<CurrentAccuracyProfile>Default</CurrentAccuracyProfile>
<AccuracyProfile>
<Name>Default</Name>
<FlyByMode>Off</FlyByMode>
<AccuracyType>Speed</AccuracyType>
<AccuracyValue Units="%" Value="0"/>
</AccuracyProfile>
</AccuracyProfileList>
<ObjectFrameProfileList>
<CurrentObjectFrameProfile>Default</CurrentObjectFrameProfile>
<ObjectFrameProfile ApplyOffsetToTags="Off">
<Name>Default</Name>
<ObjectFrame ReferenceFrame="World">
<ObjectFramePosition Units="m" X="0" Y="0" Z="0"/>
<ObjectFrameOrientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</ObjectFrame>
</ObjectFrameProfile>
<ObjectFrameProfile ApplyOffsetToTags="Off">
<Name>W4711_uframe</Name>
<ObjectFrame ReferenceFrame="World">
<ObjectFramePosition Units="m" X="0.6262457733" Y="-1.005811539" Z="0"/>
<ObjectFrameOrientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</ObjectFrame>
</ObjectFrameProfile>
<ObjectFrameProfile ApplyOffsetToTags="Off">
<Name>W4711</Name>
<ObjectFrame ReferenceFrame="World">
<ObjectFramePosition Units="m" X="1.059099276" Y="-0.6319290237" Z="0"/>
<ObjectFrameOrientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</ObjectFrame>
</ObjectFrameProfile>
</ObjectFrameProfileList>
</Controller>
<ParameterList/>
<ActivityList Task="Schedule_A">
<AttributeList/>
<Activity ActivityType="DNBIgpCallRobotTask" id="_963664064">
<ActivityName>CallTask.1</ActivityName>
<CallName>Seg1_2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969757568">
<ActivityName>CallTask.2</ActivityName>
<CallName>Seg2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969758688">
<ActivityName>CallTask.3</ActivityName>
<CallName>Seg3</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969793536">
<ActivityName>CallTask.4</ActivityName>
<CallName>Seg4</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969759808">
<ActivityName>CallTask.5</ActivityName>
<CallName>Seg5</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969760256">
<ActivityName>CallTask.6</ActivityName>
<CallName>Seg6</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Schedule_B">
<AttributeList/>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969854240">
<ActivityName>CallTask.1</ActivityName>
<CallName>Seg1_2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969770080">
<ActivityName>CallTask.2</ActivityName>
<CallName>Seg2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969770976">
<ActivityName>CallTask.3</ActivityName>
<CallName>Seg3</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Schedule_C">
<AttributeList/>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969774624">
<ActivityName>CallTask.1</ActivityName>
<CallName>Seg1_2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_969776416">
<ActivityName>CallTask.2</ActivityName>
<CallName>Seg2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_962412256">
<ActivityName>CallTask.8</ActivityName>
<CallName>VIA_Seg02_Seg04</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_962123296">
<ActivityName>CallTask.4</ActivityName>
<CallName>Seg4</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_962121728">
<ActivityName>CallTask.6</ActivityName>
<CallName>Seg6</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Schedule_D">
<AttributeList/>
<Activity ActivityType="DNBIgpCallRobotTask" id="_962344032">
<ActivityName>CallTask.1</ActivityName>
<CallName>Seg1_2</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBIgpCallRobotTask" id="_962345824">
<ActivityName>CallTask.5</ActivityName>
<CallName>Seg5</CallName>
<DownloadStyle>Subroutine</DownloadStyle>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg1_2">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP2" id="_962127616">
<OperationAttributeList/>
<ActivityName>RobotMotion.1</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.9239836" Y="-0.3978797912" Z="1.991069963"/>
<Orientation Pitch="121.2650479" Roll="18.0299194" Units="deg" Yaw="15.54795328"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP2</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-14.00771364
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">4.642496381
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-7.482430091
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">21.1792316
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">35.46561559
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-217.8430344" Status="WithinReach"
UpperTravelLimit="218.893048">-33.86818053
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg2">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP3" id="_963441536">
<OperationAttributeList/>
<ActivityName>RobotMotion.7</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.93086049" Y="-0.4823883637" Z="2.002981023"/>
<Orientation Pitch="121.2650427" Roll="18.02990643" Units="deg" Yaw="15.54793811"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP3</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-16.76016827
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">6.271352733
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-9.82812392
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">24.40179176
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">37.19174671
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-217.4495057" Status="WithinReach"
UpperTravelLimit="218.4880483">-37.67662821
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP3.1" id="_962363616">
<OperationAttributeList/>
<ActivityName>RobotMotion.9</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="true">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.943328805" Y="-0.5057023577" Z="2.024576566"/>
<Orientation Pitch="121.2650415" Roll="18.02990356" Units="deg" Yaw="15.54793475"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">VIA1</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-17.39451952
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">7.514937514
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-12.25029093
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">24.56014273
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">38.52654913
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-217.1271183" Status="WithinReach"
UpperTravelLimit="218.1661769">-37.81908803
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg3">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP4" id="_963395072">
<OperationAttributeList/>
<ActivityName>RobotMotion.8</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.939120908" Y="-0.5838990496" Z="2.01728844"/>
<Orientation Pitch="121.2650362" Roll="18.02989201" Units="deg" Yaw="15.54792124"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP4</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-19.93384156
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">8.521908564
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-13.04194126
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">27.69048697
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">39.44819942
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-216.8950764" Status="WithinReach"
UpperTravelLimit="217.9397819">-41.58208134
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP5" id="_963354336">
<OperationAttributeList/>
<ActivityName>RobotMotion.9</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.947116258" Y="-0.6821525803" Z="2.031136775"/>
<Orientation Pitch="121.2650299" Roll="18.02987926" Units="deg" Yaw="15.54790633"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP5</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-22.86006137
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">11.01197479
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-16.60506095
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">30.31468028
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">41.80050434
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-216.2668367" Status="WithinReach"
UpperTravelLimit="217.3477711">-44.69864666
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg4">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP6" id="_963295872">
<OperationAttributeList/>
<ActivityName>RobotMotion.10</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.953542492" Y="-0.7611236335" Z="2.042267345"/>
<Orientation Pitch="121.2650248" Roll="18.02986986" Units="deg" Yaw="15.54789533"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP6</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-25.10503788
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">13.24614956
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-19.83144365
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">32.06049099
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">43.80547481
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-215.6891433" Status="WithinReach"
UpperTravelLimit="216.8286319">-46.75307083
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP7" id="_963287904">
<OperationAttributeList/>
<ActivityName>RobotMotion.11</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="2.020719418" Y="-0.7392575038" Z="2.158620074"/>
<Orientation Pitch="121.2650284" Roll="18.02987646" Units="deg" Yaw="15.54790312"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP7</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-23.60575956
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">18.66774552
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-32.48860508
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">27.18912794
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">49.3727873
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-213.8685594" Status="WithinReach"
UpperTravelLimit="215.3312809">-40.0637813
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg5">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="VIA_.1" id="_967740256">
<OperationAttributeList/>
<ActivityName>RobotMotion.13.1.1</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="true">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="2.010737352" Y="-0.6164898022" Z="2.141311489"/>
<Orientation Pitch="121.2651941" Roll="18.02970047" Units="deg" Yaw="15.54769434"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">ViaPoint1</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-20.13286662
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">14.9646161
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-26.83572512
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">24.41786735
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">46.14335969
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-214.9644045" Status="WithinReach"
UpperTravelLimit="216.2087091">-37.09212802
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP8" id="_963229440">
<OperationAttributeList/>
<ActivityName>RobotMotion.12</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="2.006857065" Y="-0.5689049943" Z="2.134609708"/>
<Orientation Pitch="121.2650389" Roll="18.02989777" Units="deg" Yaw="15.54792803"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP8</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-18.73100171
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">13.70230825
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-24.92715397
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">23.16073934
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">44.99775259
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-215.3265511" Status="WithinReach"
UpperTravelLimit="216.5142943">-35.69733539
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
</ActivityList>
<ActivityList Task="Seg6">
<AttributeList/>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP9" id="_963252672">
<OperationAttributeList/>
<ActivityName>RobotMotion.13</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.997057999" Y="-0.448486105" Z="2.117637252"/>
<Orientation Pitch="121.2650461" Roll="18.02991481" Units="deg" Yaw="15.54794795"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP9</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-15.04983589
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">10.89322866
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-20.68387749
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">19.50224063
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">42.34418681
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-216.1140936" Status="WithinReach"
UpperTravelLimit="217.2082422">-31.56987088
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
</Activity>
<Activity ActivityType="DNBRobotMotionActivity" Operation="SWP10" id="_963588768">
<OperationAttributeList/>
<ActivityName>RobotMotion.14</ActivityName>
<MotionAttributes>
<MotionProfile>Default</MotionProfile>
<ToolProfile>Default</ToolProfile>
<AccuracyProfile>Default</AccuracyProfile>
<ObjectFrameProfile>Default</ObjectFrameProfile>
<MotionType>Joint</MotionType>
</MotionAttributes>
<Target Default="Cartesian" ViaPoint="false">
<BaseWRTWorld>
<Position Units="m" X="0" Y="0" Z="0"/>
<Orientation Pitch="0" Roll="0" Units="deg" Yaw="0"/>
</BaseWRTWorld>
<CartesianTarget Status="WithinReach">
<Position Units="m" X="1.986176798" Y="-0.3147695838" Z="2.098790553"/>
<Orientation Pitch="121.2650536" Roll="18.02993561" Units="deg" Yaw="15.54797227"/>
<Config Name="Config_1"/>
<Tag TagGroup="TagGroup1.1">SWP10</Tag>
</CartesianTarget>
<JointTarget>
<Joint DOFNumber="1" JointName="Joint 1" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-170.0000156" Status="WithinReach"
UpperTravelLimit="170.0000156">-10.75539974
</JointValue>
</Joint>
<Joint DOFNumber="2" JointName="Joint 2" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-64.99977003" Status="WithinReach"
UpperTravelLimit="85.00000778">8.375036627
</JointValue>
</Joint>
<Joint DOFNumber="3" JointName="Joint 3" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-180.0000771" Status="WithinReach"
UpperTravelLimit="69.9999727">-16.82513099
</JointValue>
</Joint>
<Joint DOFNumber="4" JointName="Joint 4" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-300.0001286" Status="WithinReach"
UpperTravelLimit="300.0001286">14.61909384
</JointValue>
</Joint>
<Joint DOFNumber="5" JointName="Joint 5" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-120.0002806" Status="WithinReach"
UpperTravelLimit="120.0002806">39.81666254
</JointValue>
</Joint>
<Joint DOFNumber="6" JointName="Joint 6" JointType="Rotational" Units="deg">
<JointValue LowerTravelLimit="-216.8001147" Status="WithinReach"
UpperTravelLimit="217.848365">-25.99851987
</JointValue>
</Joint>
</JointTarget>
</Target>
<AttributeList/>
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</Resource>
</OLPData>