| SI.Position[3] | P1 | {0.06, 0.16, -0.605} | Start of the pick and place |
| SI.Position[3] | P2 | {-0.06, -0.16, -0.605} | End of the pick and place |
| SI.Position | delta_z1 | 0.035 | Up movement form P1 along z-axis |
| SI.Position | delta_z2 | delta_z1 | Down movement to P2 along z-axis |
| SI.Velocity | maxSpeedVertical | 5 | Max platform speed along the two vertical trajectories |
| SI.Acceleration | maxAccelerationVertical | 2 | Max platform acceleration along the two vertical trajectories |
| SI.Velocity | maxSpeedHorizontal | maxSpeedVertical | Max platform speed along the horizontal trajectory |
| SI.Acceleration | maxAccelerationHorizontal | maxAccelerationVertical | Max platform acceleration along the horizontal trajectory |
| SI.Time | startTime | 0 | |
| SI.Time | anticipation | 0.15 | |
| SI.Velocity | verticalHorizontalInitialSpeed | 0 | Speed of a trajectory that ends in the elbow |
| SI.Velocity | verticalHorizontalFinalSpeed | verticalHorizontalInitialSpeed | Speed of a trajectory that ends in the elbow |
| SI.Velocity | horizontalVerticalInitialSpeed | 0 | Speed of a trajectory that ends in the elbow |
| SI.Velocity | horizontalVerticalFinalSpeed | horizontalVerticalInitialSpeed | Speed of a trajectory that ends in the elbow |
| SI.Position[3] | P1_up | P1 + {0, 0, 1}*delta_z1 | Elbow point over P1 |
| SI.Position[3] | P2_up | P2 + {0, 0, 1}*delta_z2 | Elbow point over P2 |
| SI.Time | startTime1 | startTime | |
| SI.Time | startTime2 | trapezoidalTrajectory1.stopTime - anticipation | |
| SI.Time | startTime3 | trapezoidalTrajectory2.stopTime - anticipation | |
| SI.Time | startTime4 | trapezoidalTrajectory3.stopTime | |
| SI.Time | startTime5 | trapezoidalTrajectory4.stopTime - anticipation | |
| SI.Time | startTime6 | trapezoidalTrajectory5.stopTime - anticipation | |
| SI.Time | totTime | trapezoidalTrajectory6.stopTime | |
