Instruction,X (mm),Y (mm),Z (mm),Rx (deg),Ry (deg),Rz (deg),J1 (deg),J2 (deg),J3 (deg),J4 (deg),J5 (deg),J6 (deg) Program Start,data_downsampled_rollcomp Comment,Program generated by RoboDK v5.1.0 for KUKA KR 6 R900 sixx on 04/11/2020 17:32:25 Comment,Using nominal kinematics. Set Reference,10.000,50.000,30.000,-0.000,0.000,-0.000 Set Tool,0.000,0.000,0.000,-0.000,0.000,-0.000 Set Speed (mm/s),5.000 Set Joint Speed (deg/s),50.000 Move Joints,,,,,,,20.719500,-16.501400,-64.601500,-20.826600,78.666900,-16.251500 Move Linear,530.810,-224.520,925.600,-2.266,87.372,21.740,20.755200,-16.828100,-64.004100,-21.259000,78.815600,-16.156700 Move Linear,531.960,-223.850,927.840,-17.230,87.695,36.562,20.723700,-17.222400,-63.333900,-21.809500,79.016000,-15.821600 Move Linear,532.970,-222.320,930.510,-36.572,87.747,55.649,20.616500,-17.666700,-62.645900,-22.363600,79.215900,-15.383300 Move Linear,534.160,-220.140,933.460,-58.462,87.445,77.154,20.457500,-18.168000,-61.871800,-23.037900,79.480900,-14.783800 Move Linear,534.830,-217.120,936.760,-69.590,87.027,87.820,20.194100,-18.675900,-61.203400,-23.379100,79.656000,-14.204900 Move Linear,534.800,-212.770,940.310,-71.437,86.901,89.129,19.744300,-19.155400,-60.751100,-23.070600,79.710600,-13.728400 Move Linear,534.470,-207.830,943.770,-72.199,86.688,89.315,19.248200,-19.604200,-60.392400,-22.782200,79.748700,-13.230600 Move Linear,533.760,-203.010,946.450,-72.269,86.770,88.825,18.731700,-19.952000,-60.228400,-22.166100,79.908200,-12.840200 Move Linear,532.840,-198.560,948.180,-70.624,86.774,86.650,18.266100,-20.147300,-60.274400,-21.650300,80.014200,-12.476800 Move Linear,532.440,-193.790,949.090,-75.246,86.515,90.685,17.796800,-20.289200,-60.310700,-21.482600,80.354000,-11.982500 Move Linear,532.040,-188.540,949.430,-79.674,86.274,94.412,17.265300,-20.358700,-60.463100,-21.217800,80.765800,-11.407400 Move Linear,531.240,-182.890,949.480,-82.666,85.949,96.581,16.706500,-20.371600,-60.751100,-20.982900,81.185400,-10.729100 Move Linear,530.160,-177.320,949.580,-86.786,85.363,99.985,16.201500,-20.412700,-61.009500,-21.060600,81.727500,-10.115500 Move Linear,528.910,-171.380,949.790,-90.031,84.881,102.415,15.634600,-20.469400,-61.284300,-20.951500,82.294900,-9.444160 Move Linear,527.680,-165.830,949.950,-92.794,84.022,104.323,15.163300,-20.528700,-61.506600,-21.307000,82.864700,-8.657970 Move Linear,526.280,-160.250,949.790,-94.863,83.327,105.467,14.661000,-20.541400,-61.821800,-21.455700,83.451900,-7.849610 Move Linear,525.070,-155.380,949.320,-96.168,82.116,105.919,14.312000,-20.518900,-62.093700,-22.276800,84.004000,-7.014920 Move Linear,524.070,-149.870,948.610,-97.535,81.622,106.280,13.762700,-20.457500,-62.457900,-22.171700,84.530600,-6.156270 Move Linear,523.020,-144.720,947.980,-97.571,80.884,105.329,13.294800,-20.381400,-62.812800,-22.421100,84.901700,-5.261030 Move Linear,522.130,-139.360,947.410,-97.431,80.584,104.213,12.724300,-20.298400,-63.187500,-22.138600,85.176000,-4.430360 Move Linear,521.300,-133.820,946.950,-97.433,80.509,103.297,12.089700,-20.230400,-63.547700,-21.568400,85.434000,-3.681240 Move Linear,520.690,-128.170,946.360,-97.877,80.725,102.845,11.382500,-20.153000,-63.906500,-20.626800,85.704400,-2.979060 Move Linear,520.250,-122.320,945.800,-98.298,80.980,102.455,10.634800,-20.079000,-64.235500,-19.607800,85.939500,-2.352460 Move Linear,519.550,-116.420,945.290,-97.435,80.965,100.790,9.930200,-19.982300,-64.603300,-18.933000,86.041800,-1.692110 Move Linear,519.090,-110.400,944.700,-97.523,80.934,100.168,9.199960,-19.904500,-64.905600,-18.226300,86.251600,-1.116290 Move Linear,518.510,-104.230,944.090,-97.436,80.917,99.329,8.446920,-19.819400,-65.227300,-17.486900,86.445700,-0.498692 Move Linear,517.810,-97.827,943.540,-97.743,81.143,99.024,7.619440,-19.748900,-65.552200,-16.422100,86.681000,-0.044252 Move Linear,517.510,-91.473,942.980,-97.753,80.963,98.375,6.855690,-19.679200,-65.787200,-15.831600,86.852100,0.518339 Move Linear,517.110,-84.737,942.330,-98.163,81.074,98.150,5.991010,-19.602300,-66.054100,-14.844300,87.063600,1.028230 Move Linear,516.860,-78.072,941.680,-98.049,80.954,97.462,5.170710,-19.516600,-66.287100,-14.143500,87.192100,1.513040 Move Linear,516.340,-71.169,941.010,-97.314,80.870,96.145,4.315680,-19.409700,-66.576400,-13.385600,87.252400,2.005590 Move Linear,516.210,-64.040,940.120,-98.336,81.046,96.627,3.373470,-19.317900,-66.791400,-12.243200,87.490700,2.434070 Move Linear,515.760,-56.912,939.350,-97.603,80.971,95.348,2.480920,-19.198400,-67.061000,-11.440200,87.523300,2.903780 Move Linear,515.630,-49.514,938.520,-97.916,80.883,95.203,1.547790,-19.100600,-67.243300,-10.585200,87.656500,3.285530 Move Linear,515.450,-41.851,937.820,-97.900,80.930,94.828,0.557413,-19.007200,-67.414800,-9.548830,87.713100,3.567410 Move Linear,515.330,-33.695,937.330,-97.126,80.771,93.712,-0.458692,-18.924000,-67.539700,-8.705990,87.644500,3.858450 Move Linear,515.210,-25.299,936.960,-96.586,80.841,93.067,-1.547080,-18.857700,-67.627400,-7.557540,87.561700,3.897980 Move Linear,515.130,-16.631,936.660,-95.710,80.750,91.991,-2.640080,-18.793500,-67.679800,-6.570800,87.412800,4.048270 Move Linear,515.280,-7.656,936.370,-96.066,80.866,92.288,-3.809300,-18.761700,-67.635800,-5.279520,87.374000,4.033210 Move Linear,515.400,1.538,936.210,-95.430,80.872,91.603,-4.980660,-18.719800,-67.580500,-4.110900,87.169800,4.023770 Move Linear,515.790,11.118,935.890,-96.193,81.132,92.297,-6.241220,-18.691700,-67.440900,-2.578760,87.089300,3.996600 Move Linear,515.680,20.608,935.950,-94.348,80.896,90.443,-7.396470,-18.648600,-67.359400,-1.684210,86.697100,3.968340 Move Linear,515.890,30.217,935.820,-94.250,81.013,90.341,-8.621440,-18.624500,-67.181900,-0.342187,86.469800,3.881720 Move Linear,516.310,39.828,935.740,-94.629,81.084,90.719,-9.826370,-18.621800,-66.919500,0.941300,86.258500,3.780820 Move Linear,516.240,49.326,935.810,-92.942,81.035,89.010,-10.993400,-18.582500,-66.749300,2.045810,85.792900,3.729930 Move Linear,516.590,58.765,935.680,-93.032,81.096,88.984,-12.155400,-18.567500,-66.464700,3.273300,85.509400,3.728690 Move Linear,516.800,67.930,935.700,-92.449,81.182,88.334,-13.280000,-18.554600,-66.179000,4.486170,85.125000,3.674940 Move Linear,517.000,76.900,935.680,-91.659,81.154,87.330,-14.350700,-18.533100,-65.890900,5.532290,84.704900,3.772370 Move Linear,517.280,85.456,935.630,-90.531,81.083,85.958,-15.351000,-18.499700,-65.602300,6.467030,84.221600,3.903160 Move Linear,517.730,93.782,935.420,-90.116,80.928,85.145,-16.294100,-18.467900,-65.281000,7.264590,83.816900,4.180480 Move Linear,518.100,101.760,935.220,-89.620,80.948,84.272,-17.218000,-18.436800,-64.961100,8.220800,83.405400,4.411130 Move Linear,518.280,109.490,935.000,-88.799,80.999,83.007,-18.115500,-18.395100,-64.673000,9.186100,82.968300,4.702410 Move Linear,518.500,116.830,934.730,-87.857,80.916,81.532,-18.935200,-18.344400,-64.397700,9.942660,82.511600,5.101360 Move Linear,518.820,123.920,934.320,-86.847,80.715,79.956,-19.695000,-18.273400,-64.138700,10.526400,82.029800,5.550240 Move Linear,519.140,130.930,933.860,-86.125,80.670,78.674,-20.462900,-18.207900,-63.858900,11.276000,81.590100,5.955460 Move Linear,519.360,137.840,933.320,-85.472,80.721,77.372,-21.230800,-18.137000,-63.588500,12.124400,81.177900,6.426590 Move Linear,519.480,144.530,932.740,-84.017,80.635,75.244,-21.950800,-18.034900,-63.376300,12.807000,80.649300,6.954530 Move Linear,519.670,150.980,932.040,-83.747,80.678,74.368,-22.651800,-17.957600,-63.119700,13.579000,80.311200,7.373450 Move Linear,520.140,157.380,931.140,-83.694,80.614,73.557,-23.309700,-17.862600,-62.849400,14.199100,79.964000,7.951740 Move Linear,520.070,163.630,930.310,-82.608,80.547,71.733,-23.971600,-17.741900,-62.678500,14.845300,79.522600,8.529740 Move Linear,519.930,169.820,929.230,-81.776,80.589,70.146,-24.640500,-17.599400,-62.534200,15.606200,79.148900,9.097120 Move Linear,519.760,175.840,927.990,-81.306,80.802,68.945,-25.311700,-17.453200,-62.390400,16.532500,78.869000,9.593960 Move Linear,519.500,181.650,926.670,-79.754,80.802,66.551,-25.931000,-17.257400,-62.335000,17.231400,78.418300,10.263200 Move Linear,519.380,187.230,925.110,-79.626,80.870,65.692,-26.518900,-17.076500,-62.247600,17.920300,78.190900,10.793000 Move Linear,519.230,192.730,923.620,-78.685,80.915,63.984,-27.094700,-16.881900,-62.178100,18.606900,77.840500,11.365700 Move Linear,519.150,197.910,922.030,-77.610,80.799,62.080,-27.606800,-16.663700,-62.152600,19.078600,77.446300,12.047000 Move Linear,519.250,202.880,920.350,-76.837,80.622,60.450,-28.074100,-16.441400,-62.121900,19.436600,77.068100,12.771200 Move Linear,519.320,207.570,918.500,-76.323,80.840,59.110,-28.566900,-16.222900,-62.079300,20.201000,76.841400,13.363400 Move Linear,519.330,211.740,916.630,-74.922,80.713,56.774,-28.963400,-15.955000,-62.154500,20.570700,76.435700,14.181800 Move Linear,519.390,215.460,914.600,-73.988,80.745,54.971,-29.331200,-15.686400,-62.241700,21.046700,76.162100,14.903300 Move Linear,519.280,218.690,912.570,-72.432,80.742,52.402,-29.657800,-15.392700,-62.409500,21.483200,75.835100,15.801800 Move Linear,519.400,221.450,910.340,-71.203,80.908,50.231,-29.946600,-15.093700,-62.575500,22.027300,75.616600,16.592100 Move Linear,519.340,223.570,908.000,-69.110,81.063,46.990,-30.187800,-14.750000,-62.856500,22.567300,75.343200,17.620200 Move Linear,519.310,224.560,905.650,-67.031,81.125,43.653,-30.307700,-14.391900,-63.232400,22.894700,75.109000,18.833500 Move Linear,519.330,224.080,903.100,-65.464,81.225,40.502,-30.287100,-14.013400,-63.727400,23.070400,75.050300,20.433500 Move Linear,519.260,221.910,900.430,-63.591,81.065,36.761,-30.080200,-13.574900,-64.435300,22.834600,74.951800,22.472800 Move Linear,519.480,217.910,897.350,-63.321,81.246,34.444,-29.711600,-13.143800,-65.209200,22.602900,75.295900,24.684500 Move Linear,519.560,212.220,894.160,-61.871,81.138,30.667,-29.158000,-12.633100,-66.213500,22.009300,75.465200,27.320900 Move Linear,520.160,204.790,891.330,-60.739,80.900,27.131,-28.381000,-12.166300,-67.211200,21.050700,75.628100,30.108100 Move Linear,520.270,195.790,888.580,-59.930,80.546,23.792,-27.445700,-11.699100,-68.357000,19.797700,75.904200,33.111500 Move Linear,520.390,185.530,885.570,-58.807,79.990,19.971,-26.344500,-11.173800,-69.630100,18.237000,76.087000,36.345500 Move Linear,520.410,174.410,882.030,-58.873,80.060,17.272,-25.207900,-10.677500,-70.882600,17.071600,76.802400,39.503600 Move Linear,520.050,162.050,878.610,-56.633,79.234,12.372,-23.848100,-10.054800,-72.381300,15.154800,76.796200,42.744400 Move Linear,519.860,148.760,874.480,-55.964,78.763,9.051,-22.377300,-9.429130,-73.862700,13.284900,77.206100,45.878600 Move Linear,519.310,134.680,870.110,-55.110,78.405,5.870,-20.821600,-8.789870,-75.386800,11.459800,77.689100,48.629200 Move Linear,519.050,119.850,865.460,-55.331,78.198,4.221,-19.135100,-8.175100,-76.826700,9.516340,78.388500,50.850000 Move Linear,518.730,104.720,860.750,-55.441,78.113,2.849,-17.398600,-7.573140,-78.205500,7.650130,79.105500,52.604700 Move Linear,518.370,89.443,855.710,-56.558,78.182,2.733,-15.613000,-6.984430,-79.518300,5.759540,80.039700,54.034000 Move Linear,517.960,73.962,851.060,-56.175,78.171,1.483,-13.787000,-6.399410,-80.763200,3.944210,80.617100,55.061600 Move Linear,517.610,58.005,847.410,-56.262,78.324,1.150,-11.883700,-5.975270,-81.766400,2.143910,81.289700,55.578000 Move Linear,517.240,39.521,843.340,-55.959,78.369,0.719,-9.629020,-5.481490,-82.831800,-0.050170,81.833500,55.790500 Move Linear,517.310,24.221,839.510,-57.262,78.679,2.133,-7.740340,-5.083450,-83.583000,-1.823680,82.572900,55.681700 Move Linear,517.360,9.375,836.600,-58.014,78.909,3.389,-5.892060,-4.774260,-84.160200,-3.555320,83.087900,55.174400 Move Linear,517.550,-5.460,834.260,-58.610,79.004,4.881,-4.014670,-4.515080,-84.593900,-5.412370,83.411100,54.283500 Move Linear,517.860,-19.922,832.320,-59.811,79.232,7.265,-2.187230,-4.330200,-84.866100,-7.157920,83.811700,53.086600 Move Linear,518.340,-34.149,831.000,-61.213,79.463,10.191,-0.385951,-4.222630,-84.968300,-8.884970,84.148400,51.556500 Move Linear,518.840,-48.017,830.300,-61.486,79.522,12.307,1.374350,-4.142070,-84.972800,-10.619800,84.149900,49.744700 Move Linear,519.470,-61.279,830.010,-63.247,80.032,16.264,3.003210,-4.186710,-84.789300,-11.940600,84.529200,47.544500 Move Linear,520.270,-74.103,830.430,-64.339,80.313,19.779,4.589500,-4.277820,-84.477700,-13.360500,84.610500,45.168300 Move Linear,520.860,-86.556,831.380,-65.435,80.668,23.265,6.107230,-4.439890,-84.079500,-14.637200,84.702100,42.831900 Move Linear,521.520,-98.359,833.180,-65.930,80.994,26.493,7.527300,-4.688800,-83.544900,-15.799200,84.639900,40.182800 Move Linear,522.210,-109.680,835.960,-66.039,81.164,29.638,8.893410,-5.039460,-82.858000,-17.027700,84.412700,37.269800 Move Linear,523.160,-120.510,839.350,-67.633,81.533,34.468,10.164500,-5.516440,-81.980100,-18.062100,84.407600,34.162200 Move Linear,524.030,-130.860,843.760,-68.953,82.054,39.284,11.336800,-6.125390,-80.953900,-18.828400,84.389300,30.797400 Move Linear,524.760,-140.520,848.950,-69.325,82.463,43.250,12.424100,-6.805600,-79.847600,-19.563800,84.191000,27.359300 Move Linear,525.640,-149.910,854.990,-69.023,82.698,46.767,13.483300,-7.571080,-78.591400,-20.409200,83.794000,23.750700 Move Linear,526.240,-158.490,861.550,-68.993,83.294,50.655,14.391500,-8.437140,-77.273700,-20.772500,83.588500,19.990300 Move Linear,526.900,-166.640,868.550,-68.335,83.899,54.003,15.232900,-9.354300,-75.874200,-21.039700,83.295600,16.156600 Move Linear,527.440,-174.470,876.040,-66.741,84.276,56.580,16.059900,-10.312200,-74.410000,-21.480800,82.828200,12.195800 Move Linear,527.780,-181.700,883.660,-63.870,84.866,57.922,16.779200,-11.294700,-72.951300,-21.573400,82.386300,8.152360 Move Linear,528.110,-188.430,891.220,-59.182,85.530,57.451,17.416600,-12.271500,-71.500200,-21.463800,81.910300,4.084960 Move Linear,528.290,-194.570,898.320,-53.025,86.117,55.522,17.992200,-13.192300,-70.133100,-21.326700,81.442200,-0.009591 Move Linear,528.370,-200.360,904.740,-43.990,86.616,50.499,18.525300,-14.020800,-68.887300,-21.133400,80.944100,-3.905960 Move Linear,528.250,-205.670,910.270,-32.640,86.834,42.820,19.024900,-14.712700,-67.834200,-21.020400,80.369200,-7.470270 Move Linear,528.110,-210.450,914.680,-18.468,86.969,31.751,19.447200,-15.264000,-66.980600,-20.719400,79.862500,-10.518100 Move Linear,527.940,-214.720,917.800,-5.785,86.878,21.586,19.827400,-15.642000,-66.360400,-20.476800,79.391700,-12.998100 Move Linear,527.920,-218.700,919.790,1.534,86.716,15.981,20.205200,-15.883200,-65.890100,-20.475400,78.999700,-14.643200 Move Linear,528.180,-221.350,921.090,9.370,86.626,9.128,20.415000,-16.055700,-65.537200,-20.233700,78.771600,-15.610700 Move Linear,528.790,-222.880,922.410,12.156,86.637,6.809,20.533500,-16.248800,-65.145900,-20.204100,78.624800,-16.019000 Program Finish,data_downsampled_rollcomp