export const getMotionGroupKinematicModel = {
  method: "GET",
  path: "/motion-group-models/:motionGroupModel/kinematic",
  handle() {
    return {
      dh_parameters: [
        {
          alpha: 1.5707963267948966,
          theta: 0.0,
          a: 0.0,
          d: 162.25,
          reverse_rotation_direction: false,
        },
        {
          alpha: 0.0,
          theta: 0.0,
          a: -425.0,
          d: 0.0,
          reverse_rotation_direction: false,
        },
        {
          alpha: 0.0,
          theta: 0.0,
          a: -392.2,
          d: 0.0,
          reverse_rotation_direction: false,
        },
        {
          alpha: 1.5707963267948966,
          theta: 0.0,
          a: 0.0,
          d: 133.3,
          reverse_rotation_direction: false,
        },
        {
          alpha: -1.5707963267948966,
          theta: 0.0,
          a: 0.0,
          d: 99.7,
          reverse_rotation_direction: false,
        },
        {
          alpha: 0.0,
          theta: 0.0,
          a: 0.0,
          d: 99.6,
          reverse_rotation_direction: false,
        },
      ],
      inverse_solver: "Universalrobots",
    }
  },
}