658 lines
16 KiB
JSON
658 lines
16 KiB
JSON
{
|
|
"report_id": "trt-rtcp-jog-browser-v1",
|
|
"status": "verified",
|
|
"machines": [
|
|
{
|
|
"coordinates": "XYZAC",
|
|
"rows": [
|
|
{
|
|
"axis": "a",
|
|
"before": {
|
|
"joints": [
|
|
4.266649999999998,
|
|
3.8666500000000035,
|
|
0,
|
|
0,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 59,
|
|
"rendered_tick": 59,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
4.266649999999998,
|
|
5.373074052273088,
|
|
-2.0970252352474255,
|
|
7.800000000000022,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 95,
|
|
"rendered_tick": 95,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 2.2247786310271853e-16
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
4.266649999999998,
|
|
5.760268302489592,
|
|
-2.550498930537275,
|
|
9.599999999999989,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 106,
|
|
"rendered_tick": 106,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 6.938893903907228e-18
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
4.266649999999998,
|
|
5.760268302489592,
|
|
-2.550498930537275,
|
|
9.599999999999989,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 106,
|
|
"rendered_tick": 106,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
3.6792686907248924,
|
|
6.314990873253862,
|
|
-2.456674630617826,
|
|
9.599999999999989,
|
|
8.100000000000021
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 143,
|
|
"rendered_tick": 142,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 3.1031676915590914e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
3.5383270508428857,
|
|
6.426786115491513,
|
|
-2.4377658807488203,
|
|
9.599999999999989,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 154,
|
|
"rendered_tick": 154,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 4.449557262054371e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "a",
|
|
"before": {
|
|
"joints": [
|
|
3.5383270508428857,
|
|
6.426786115491513,
|
|
-2.4377658807488203,
|
|
9.599999999999989,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 154,
|
|
"rendered_tick": 154,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
3.5383270508428857,
|
|
8.7673143138403,
|
|
-4.586189616718839,
|
|
19.49999999999997,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 197,
|
|
"rendered_tick": 192,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 3.469446951953614e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
3.5383270508428857,
|
|
8.843841049987784,
|
|
-4.644803608823022,
|
|
19.799999999999965,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 203,
|
|
"rendered_tick": 203,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 4.449557262054371e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
3.5383270508428857,
|
|
8.843841049987784,
|
|
-4.644803608823022,
|
|
19.799999999999965,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 203,
|
|
"rendered_tick": 203,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
2.5165393432010794,
|
|
9.442610140256845,
|
|
-4.429233471737167,
|
|
19.799999999999965,
|
|
21.89999999999992
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 253,
|
|
"rendered_tick": 253,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 4.220764384040162e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
2.352620433265477,
|
|
9.514578932735887,
|
|
-4.403323112113162,
|
|
19.799999999999965,
|
|
23.699999999999882
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 264,
|
|
"rendered_tick": 264,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 4.4565853017185e-16
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"coordinates": "XYZBC",
|
|
"rows": [
|
|
{
|
|
"axis": "b",
|
|
"before": {
|
|
"joints": [
|
|
4.66664999999999,
|
|
3.466650000000003,
|
|
0,
|
|
0,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 323,
|
|
"rendered_tick": 323,
|
|
"tool_tip": [
|
|
0,
|
|
1.5,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
7.440193096216049,
|
|
3.466650000000003,
|
|
-6.028967447117559,
|
|
13.199999999999912,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 377,
|
|
"rendered_tick": 377,
|
|
"tool_tip": [
|
|
0,
|
|
1.4397103255288244,
|
|
0
|
|
],
|
|
"tcp_error": 2.0816681711721685e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
7.708439959571031,
|
|
3.466650000000003,
|
|
-6.8953114045420065,
|
|
14.999999999999874,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 388,
|
|
"rendered_tick": 388,
|
|
"tool_tip": [
|
|
0,
|
|
1.43104688595458,
|
|
0
|
|
],
|
|
"tcp_error": 2.7755575615628914e-17
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
7.708439959571031,
|
|
3.466650000000003,
|
|
-6.8953114045420065,
|
|
14.999999999999874,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 388,
|
|
"rendered_tick": 388,
|
|
"tool_tip": [
|
|
0,
|
|
1.43104688595458,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
7.065609001826186,
|
|
4.217362181333353,
|
|
-6.72306536854455,
|
|
14.999999999999874,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 431,
|
|
"rendered_tick": 431,
|
|
"tool_tip": [
|
|
0,
|
|
1.4327693463145545,
|
|
0
|
|
],
|
|
"tcp_error": 1.3877787807814457e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
6.935745229993923,
|
|
4.340960088317411,
|
|
-6.688268475756038,
|
|
14.999999999999874,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 442,
|
|
"rendered_tick": 442,
|
|
"tool_tip": [
|
|
0,
|
|
1.4331173152424395,
|
|
0
|
|
],
|
|
"tcp_error": 2.2484586062492886e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "b",
|
|
"before": {
|
|
"joints": [
|
|
6.935745229993923,
|
|
4.340960088317411,
|
|
-6.688268475756038,
|
|
14.999999999999874,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 442,
|
|
"rendered_tick": 442,
|
|
"tool_tip": [
|
|
0,
|
|
1.4331173152424395,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
7.5048422561251655,
|
|
4.340960088317411,
|
|
-8.827244983646052,
|
|
19.49999999999987,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 467,
|
|
"rendered_tick": 461,
|
|
"tool_tip": [
|
|
0,
|
|
1.4203008382911364,
|
|
0
|
|
],
|
|
"tcp_error": 1.5515838457795457e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
7.685161197488696,
|
|
4.340960088317411,
|
|
-9.694238839212831,
|
|
21.299999999999883,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 478,
|
|
"rendered_tick": 478,
|
|
"tool_tip": [
|
|
0,
|
|
1.4030576116078717,
|
|
0
|
|
],
|
|
"tcp_error": 2.1942709178604383e-17
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
7.685161197488696,
|
|
4.340960088317411,
|
|
-9.694238839212831,
|
|
21.299999999999883,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 478,
|
|
"rendered_tick": 478,
|
|
"tool_tip": [
|
|
0,
|
|
1.4030576116078717,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
6.765551237557826,
|
|
5.050031321132119,
|
|
-9.335697898169764,
|
|
21.299999999999883,
|
|
23.699999999999882
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 528,
|
|
"rendered_tick": 522,
|
|
"tool_tip": [
|
|
0,
|
|
1.4060719741862095,
|
|
0
|
|
],
|
|
"tcp_error": 2.237726045655905e-16
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
6.641467483723151,
|
|
5.123681632413464,
|
|
-9.287319664128686,
|
|
21.299999999999883,
|
|
25.19999999999985
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 538,
|
|
"rendered_tick": 538,
|
|
"tool_tip": [
|
|
0,
|
|
1.4071268033587132,
|
|
0
|
|
],
|
|
"tcp_error": 4.163336342344337e-17
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"browser_errors": []
|
|
}
|