{
  "robot": "AR2010",
  "tcp_mm": 525.2,
  "seed_joints": [
    0,
    -45,
    0,
    0,
    -90,
    0
  ],
  "note": "fk_flange_xyz + fk_R_so3 = Klampt 비교 기준 (플랜지, 공구 없음)",
  "total": 8,
  "ok": 8,
  "results": [
    {
      "name": "A_중앙",
      "target_tcp_xyz": [
        800,
        0,
        500
      ],
      "joints_deg": [
        0.0,
        -36.3309,
        -47.442,
        -0.0,
        -78.8889,
        -180.0
      ],
      "fk_tcp_xyz": [
        800.0,
        0.0,
        500.0
      ],
      "fk_flange_xyz": [
        800.0,
        0.0,
        500.0
      ],
      "fk_R_so3": [
        -1.0,
        -0.0,
        -0.0,
        -0.0,
        1.0,
        0.0,
        0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "B_우측",
      "target_tcp_xyz": [
        800,
        300,
        500
      ],
      "joints_deg": [
        20.556,
        -31.2987,
        -44.3443,
        0.0,
        -76.9544,
        159.444
      ],
      "fk_tcp_xyz": [
        800.0,
        300.0,
        500.0
      ],
      "fk_flange_xyz": [
        800.0,
        300.0,
        500.0
      ],
      "fk_R_so3": [
        -1.0,
        0.0,
        0.0,
        0.0,
        1.0,
        0.0,
        -0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "C_좌측",
      "target_tcp_xyz": [
        800,
        -300,
        500
      ],
      "joints_deg": [
        -20.556,
        -31.2987,
        -44.3443,
        -0.0,
        -76.9544,
        -159.444
      ],
      "fk_tcp_xyz": [
        800.0,
        -300.0,
        500.0
      ],
      "fk_flange_xyz": [
        800.0,
        -300.0,
        500.0
      ],
      "fk_R_so3": [
        -1.0,
        -0.0,
        0.0,
        -0.0,
        1.0,
        0.0,
        -0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "D_위쪽",
      "target_tcp_xyz": [
        700,
        0,
        700
      ],
      "joints_deg": [
        0.0,
        -43.3894,
        -40.852,
        -0.0,
        -92.5375,
        -180.0
      ],
      "fk_tcp_xyz": [
        700.0,
        0.0,
        700.0
      ],
      "fk_flange_xyz": [
        700.0,
        0.0,
        700.0
      ],
      "fk_R_so3": [
        -1.0,
        -0.0,
        0.0,
        -0.0,
        1.0,
        0.0,
        -0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "E_아래",
      "target_tcp_xyz": [
        900,
        0,
        300
      ],
      "joints_deg": [
        0.0,
        -24.1058,
        -50.0606,
        -0.0,
        -64.0452,
        -180.0
      ],
      "fk_tcp_xyz": [
        900.0,
        0.0,
        300.0
      ],
      "fk_flange_xyz": [
        900.0,
        0.0,
        300.0
      ],
      "fk_R_so3": [
        -1.0,
        -0.0,
        -0.0,
        -0.0,
        1.0,
        0.0,
        0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "F_전방",
      "target_tcp_xyz": [
        1000,
        0,
        400
      ],
      "joints_deg": [
        0.0,
        -17.3798,
        -39.6678,
        -0.0,
        -67.7121,
        -180.0
      ],
      "fk_tcp_xyz": [
        1000.0,
        0.0,
        400.0
      ],
      "fk_flange_xyz": [
        1000.0,
        0.0,
        400.0
      ],
      "fk_R_so3": [
        -1.0,
        -0.0,
        -0.0,
        -0.0,
        1.0,
        0.0,
        0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "G_대각1",
      "target_tcp_xyz": [
        800.0,
        200.0,
        600.0
      ],
      "joints_deg": [
        15.3674,
        -33.4405,
        -40.588,
        11.0715,
        -86.0029,
        163.5538
      ],
      "fk_tcp_xyz": [
        800.0,
        200.0,
        600.0
      ],
      "fk_flange_xyz": [
        800.0,
        200.0,
        600.0
      ],
      "fk_R_so3": [
        -1.0,
        0.0,
        -0.0,
        0.0,
        0.98006658,
        -0.19866933,
        0.0,
        -0.19866933,
        -0.98006658
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    },
    {
      "name": "H_대각2",
      "target_tcp_xyz": [
        750.0,
        -200.0,
        650.0
      ],
      "joints_deg": [
        -14.9314,
        -37.6371,
        -40.3712,
        -0.0,
        -87.2659,
        -173.6629
      ],
      "fk_tcp_xyz": [
        750.0,
        -200.0,
        650.0
      ],
      "fk_flange_xyz": [
        750.0,
        -200.0,
        650.0
      ],
      "fk_R_so3": [
        -0.98877108,
        0.14943813,
        0.0,
        0.14943813,
        0.98877108,
        0.0,
        -0.0,
        0.0,
        -1.0
      ],
      "tcp_err_mm": 0.0,
      "branch": "[0.0, 0.0, 0.0, 0.0]",
      "ok": true
    }
  ]
}