ahome:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: Homing trajectory.
  reparametrized: false
  t_waypoints: [0, 1.0]
  waypoints:
  - [0, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
  - [0, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
aroundhome:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: Homing trajectory.
  reparametrized: false
  t_waypoints: [0, 1, 2, 3]
  waypoints:
  - [0, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
  - [-0.1, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
  - [0.1, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
  - [0, 0.7853981633974483, 0.7853981633974483, 0, 0, 0]
suctioncup_traj1:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: Very simple trajectory
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.2]
  - [-0.2, 0.78, 0.78, 0, 0.2, -0.3]
  - [0.2, 0.78, 0.8, 0, 0.0, 0.4]
  - [0.5, 0.78, 0.78, 0, 0, 0]
suctioncup_traj1_40638e25f7: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1_40638e25f7, reparam_contact: suctioncup_kindlebox_467795874a,
  reparam_object: kindlebox, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1,
  reparametrized: true, waypoints_npz: suctioncup_traj1_40638e25f7.npz}
suctioncup_traj1_f6a8ba9dd1: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1_f6a8ba9dd1, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1, reparametrized: true,
  waypoints_npz: suctioncup_traj1_f6a8ba9dd1.npz}
suctioncup_traj1b:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: An even simpler trajectory, with very little angle
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.1]
  - [-0.2, 0.78, 0.78, 0, 0.0, -0.0]
  - [0.2, 0.78, 0.8, 0, 0.0, 0.1]
  - [0.5, 0.78, 0.78, 0, 0, 0]
suctioncup_traj1b_117979176b: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1b_117979176b, reparam_contact: suctioncup_skirt_kindlebox_467795874a,
  reparam_object: kindlebox_light, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1b,
  reparametrized: true, waypoints_npz: suctioncup_traj1b_117979176b.npz}
suctioncup_traj1b_40638e25f7: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1b_40638e25f7, reparam_contact: suctioncup_kindlebox_467795874a,
  reparam_object: kindlebox, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1b,
  reparametrized: true, waypoints_npz: suctioncup_traj1b_40638e25f7.npz}
suctioncup_traj1b_54fc21ecb6: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1b_54fc21ecb6, reparam_contact: suctioncup_skirt_kindlebox_467795874a,
  reparam_object: kindlebox, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1b,
  reparametrized: true, waypoints_npz: suctioncup_traj1b_54fc21ecb6.npz}
suctioncup_traj1b_84c63682db: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1b_84c63682db, reparam_contact: suctioncup_kindlebox2_467795874a,
  reparam_object: kindlebox, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1b,
  reparametrized: true, waypoints_npz: suctioncup_traj1b_84c63682db.npz}
suctioncup_traj1b_d17aa6856b: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj1b_d17aa6856b, reparam_contact: suctioncup_kindlebox_467795874a_safe,
  reparam_object: kindlebox, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj1b,
  reparametrized: true, waypoints_npz: suctioncup_traj1b_d17aa6856b.npz}
suctioncup_traj2:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: Very simple trajectory
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.55, 0.88, 1]
  waypoints:
  - [-0.0, 0.98, 0.98, 0, -0.2, 0.0]
  - [-0.0, 0.78, 0.68, 0.0, 0.2, 0.0]
  - [0.1, 0.8, 0.7, -1, 0.0, -0.4]
  - [0.0, 0.85, 0.89, -1.2, 0.2, -2.0]
  - [0.0, 0.9, 0.95, -1.2, 0.2, -2.0]
suctioncup_traj2_f6a8ba9dd1: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj2_f6a8ba9dd1, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj2, reparametrized: true,
  waypoints_npz: suctioncup_traj2_f6a8ba9dd1.npz}
suctioncup_traj2b:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: Flipping trajectory. For tall aluminium block.
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0, 1.3]
  waypoints:
  - [-0.0, 0.98, 0.98, 0, -0.2, 0.0]
  - [0.0, 0.78, 0.68, 0.0, 0.2, 0.0]
  - [0.1, 0.8, 0.7, -1, 0.0, -0.4]
  - [0.0, 0.85, 0.89, -1.2, 0.2, -2.2]
  - [0.0, 0.9, 0.95, -0.2, -0.4, -3.0]
suctioncup_traj3:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: simulate pick-and-place
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 1.38, 0, -0.8, -0.0]
  - [-0.2, 0.48, 0.78, 0, 0.2, -0.3]
  - [0.2, 0.48, 0.8, 0, 0.0, 0.4]
  - [0.8, 0.98, 0.98, 0, -0.5, 0]
suctioncup_traj3_eb837036c0: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj3_eb837036c0, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1_slow, reparam_trajectory: suctioncup_traj3, reparametrized: true,
  waypoints_npz: suctioncup_traj3_eb837036c0.npz}
suctioncup_traj3_f6a8ba9dd1: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj3_f6a8ba9dd1, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj3, reparametrized: true,
  waypoints_npz: suctioncup_traj3_f6a8ba9dd1.npz}
suctioncup_traj4:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: flipping pick-and-place
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 1.38, 0, -0.8, -0.0]
  - [-0.2, 0.48, 0.78, 0, 0.2, 1.0]
  - [0.2, 0.48, 0.8, 0, 0.0, 0.4]
  - [0.8, 0.98, 0.98, 0, -0.5, 0]
suctioncup_traj4_270fd431f1: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj4_270fd431f1, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1_slow, reparam_trajectory: suctioncup_traj4, reparametrized: true,
  waypoints_npz: suctioncup_traj4_270fd431f1.npz}
suctioncup_traj4_f1918e634c: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj4_f1918e634c, reparam_contact: suctioncup_804cb332f3, reparam_object: heavy_alum_1,
  reparam_robot: suctioncup1_slow, reparam_trajectory: suctioncup_traj4, reparametrized: true,
  waypoints_npz: suctioncup_traj4_f1918e634c.npz}
suctioncup_traj5a:
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  description: An simple trajectory, move from right to left.
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [0.5, 0.78, 0.78, 0, 0, 0]
  - [0.2, 0.78, 0.8, 0, 0.0, 0.1]
  - [-0.2, 0.78, 0.78, 0, 0.0, -0.0]
  - [-0.5, 0.78, 0.78, 0, 0, -0.1]
suctioncup_traj5a_0df1384bd3: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj5a_0df1384bd3, reparam_attach: denso_suction_cup, reparam_contact: suctioncup_skirt_kindlebox_467795874a,
  reparam_object: kindlebox_light, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj5a,
  reparam_transform: '[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 9.080e-3], [0, 0, 0,
    1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_0df1384bd3.npz}
suctioncup_traj5a_14ca6c4b6c: {id: suctioncup_traj5a_14ca6c4b6c, reparam_contact: bigskirt_squarewood2_a2e54d1ae4,
  reparam_object: squarewood2, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj5a,
  reparam_transform: '[[1, 0, 0, 0e-3], [0, -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0,
    0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_14ca6c4b6c.npz}
suctioncup_traj5a_1f5924366b: {id: suctioncup_traj5a_1f5924366b, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood_145df2bcae, reparam_object: squarewood2, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_1f5924366b.npz}
suctioncup_traj5a_2765258cb0: {id: suctioncup_traj5a_2765258cb0, reparam_attach: denso_suction_cup,
  reparam_contact: bigskirt_bluenb_a53d963616, reparam_object: bluenb, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0], [0, 1,
    0, 0], [0, 0, 1, 9.080e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_2765258cb0.npz}
suctioncup_traj5a_4c738f2901: {id: suctioncup_traj5a_4c738f2901, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood2_a2e54d1ae4, reparam_object: bluenb, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 12.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_4c738f2901.npz}
suctioncup_traj5a_4e0101cd89: {id: suctioncup_traj5a_4e0101cd89, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_bluenb_a53d963616, reparam_object: bluenb, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 30e-3], [0,
    -1, 0, 0], [0, 0, -1, 12.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_4e0101cd89.npz}
suctioncup_traj5a_57c22f0413: {id: suctioncup_traj5a_57c22f0413, reparam_contact: bigcup_bluenb_1608823082,
  reparam_object: bluenb, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj5a,
  reparam_transform: '[[1, 0, 0, 0e-3], [0, -1, 0, 0], [0, 0, -1, 12.5e-3], [0, 0,
    0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_57c22f0413.npz}
suctioncup_traj5a_9e7c94e36e: {id: suctioncup_traj5a_9e7c94e36e, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood_177f83d2fb, reparam_object: squarewood, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_9e7c94e36e.npz}
suctioncup_traj5a_c697a333df: {id: suctioncup_traj5a_c697a333df, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood2_145df2bcae, reparam_object: squarewood2, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_c697a333df.npz}
suctioncup_traj5a_d0bd601b11: {id: suctioncup_traj5a_d0bd601b11, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_bluenb_a53d963616, reparam_object: bluenb, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0], [0, -1,
    0, 0], [0, 0, -1, 12.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_d0bd601b11.npz}
suctioncup_traj5a_d72c8983db: {attached_to_robot: denso_ft_sensor_suction.robot.xml,
  id: suctioncup_traj5a_d72c8983db, reparam_attach: denso_suction_cup, reparam_contact: suctioncup_skirt_kindlebox_467795874a,
  reparam_object: kindlebox_light, reparam_robot: suctioncup1, reparam_trajectory: suctioncup_traj5a,
  reparam_transform: '[[1, 0, 0, 32e-3], [0, 1, 0, 0], [0, 0, 1, 9.080e-3], [0, 0,
    0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_d72c8983db.npz}
suctioncup_traj5a_de3a590502: {id: suctioncup_traj5a_de3a590502, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood_9a9ce68dfa, reparam_object: squarewood2, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_de3a590502.npz}
suctioncup_traj5a_edfca90feb: {id: suctioncup_traj5a_edfca90feb, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood_177f83d2fb, reparam_object: squarewood2, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_edfca90feb.npz}
suctioncup_traj5a_feae61b9ce: {id: suctioncup_traj5a_feae61b9ce, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood2_a2e54d1ae4, reparam_object: squarewood2, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_feae61b9ce.npz}
suctioncup_traj5a_fec10b325e: {id: suctioncup_traj5a_fec10b325e, reparam_attach: denso_suction_cup2,
  reparam_contact: bigskirt_squarewood2_a2e54d1ae4, reparam_object: bluenb, reparam_robot: suctioncup1,
  reparam_trajectory: suctioncup_traj5a, reparam_transform: '[[1, 0, 0, 0e-3], [0,
    -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]', reparametrized: true, waypoints_npz: suctioncup_traj5a_fec10b325e.npz}
traj1:
  attached_to_robot: denso_ft_sensor_gripper.robot.xml
  description: Simple experiment I did sometime ago.
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.2]
  - [-0.2, 0.78, 0.78, 0, 0.2, -0.3]
  - [0.2, 0.78, 0.8, 0, 0.0, 0.4]
  - [0.5, 0.78, 0.78, 0, 0, 0]
traj1_easy:
  attached_to_robot: denso_ft_sensor_gripper.robot.xml
  description: Simple experiment I did sometime ago.
  reparametrized: false
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.2]
  - [-0.2, 0.78, 0.78, 0, 0.2, -0.3]
  - [0.2, 0.78, 0.8, 0, 0.0, 0.2]
  - [0.5, 0.78, 0.78, 0, 0, 0]
traj2:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.2]
  - [-0.2, 0.98, 0.78, 0, 0.2, -0.9]
  - [0.2, 0.58, 0.8, 0, 0.0, 0.45]
  - [0.5, 0.78, 0.78, 0, 0, 0]
traj3:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.98, 1.28, 0, -1.0, 0.]
  - [-0.2, 1.2, 0.48, 0, -1.2, -0.4]
  - [0.2, 0.38, 0.6, 0, 0.0, 0.45]
  - [0.5, 0.98, 0.78, 0, -0.2, 0]

traj4:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.98, 1.0, 0, -0.9, 0.]
  - [-0.2, 1.2, 0.48, 0, +0, +0.9]
  - [0.2, 0.98, 0.6, 0, 0.0, 0.15]
  - [0.5, 0.98, 0.78, 0, -0.2, 0]

traj5:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.98, 1.0, 0, -0.9, 0.]
  - [-0.2, 1.2, 0.48, 0, +0, +0.9]
  - [0.2, 0.98, 0.6, 0, 0.0, 0.15]
  - [-0.5, 0.48, 0.78, 0, 0.2, 0]

traj6:
  t_waypoints: [0, 0.3333, 0.66666, 0.8, 1.0]
  waypoints:
  - [-0.5, 0.98, 1.0, 0, -0.9, 0.]
  - [-0.2, 1.2, 0.48, 0, +0, +0.9]
  - [0.2, 0.98, 0.6, 0, 0.0, 0.15]
  - [-0.5, 0.48, 0.78, 0, 0.2, 0]
  - [-0.5, 0.98, 1.0, 0, -0.4, 0]

traj7:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.38, .9, 0, 0.2, 0.]
  - [-0.2, 1.2, 0.88, 0, +0, +0.9]
  - [0.2, 0.98, 0.9, 0, 0.0, 0.15]
  - [+0.5, 0.38, 0.98, 0, 0.2, 0]

traj8:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [0, 0.98, .4, 0, 0.2, 0.]
  - [0.2, 0.38, .9, 0, 0.2, 0.]
  - [0.35, 0.38, 0.9, 0, 0.0, 0.15]
  - [+0.5, 0.98, 0.98, 0, -0.6, 0]

traj9:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 0.78, 0.78, 0, 0, -0.2]
  - [-0.2, 0.78, 0.78, 0, -0.5, -0.3]
  - [0.2, 0.78, 0.8, 0, -0.8, 0.2]
  - [0.5, 0.78, 0.78, 0, 0, 0]

traj10:
  t_waypoints: [0, 0.3333, 0.66666, 1.0]
  waypoints:
  - [-0.5, 1.28, 0.38, 0, 0, -0.2]
  - [-0.2, 0.78, 0.78, 0, -0.5, -0.3]
  - [0.2, 0.78, 0.8, 0, -0.8, 0.2]
  - [0.5, 1.68, 0.68, 0, -1.0, 0]
