joint_trajectory: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "base_link" joint_names: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 points: - positions: [4.633183763362467e-06, -1.3872239738702769e-06, -3.933197935111821e-06, 6.94541878066957e-06, -9.77415167726577e-07, -4.0218759328126865e-07] velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] accelerations: [0.13209524757437166, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [] time_from_start: secs: 0 nsecs: 0 - positions: [0.007244395454889574, 0.001199593377177845, -0.00957051857594684, 0.05032791512188819, -0.05335340759886856, 0.03914900846169535] velocities: [0.0378212676034882, 0.006274046992387121, -0.04997683239909953, 0.2628819552264374, -0.2787186186101487, 0.20452057418941502] accelerations: [0.13703112590762984, 0.02273164750524897, -0.18107223916297044, 0.9524538067612389, -1.0098319950557517, 0.741003311847372] effort: [] time_from_start: secs: 0 nsecs: 331080463 - positions: [0.014484157726015785, 0.0024005739783295606, -0.019137103953958567, 0.1006488848249957, -0.1067058377825694, 0.07829841911098398] velocities: [0.06149435573634553, 0.010201098538030463, -0.08125833174989883, 0.42742503082761973, -0.4531741786881446, 0.3325340936866322] accelerations: [0.12906222264045938, 0.02140971207727289, -0.170542170547521, 0.8970648416465185, -0.9511062608009091, 0.697911031362535] effort: [] time_from_start: secs: 0 nsecs: 465709951 - 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