**IRBCAM CSV Import Format:**

```
x, y, z, rz1, ry, rz2, motion_type, velocity, tool_number, spindle_speed
10, 12.2, -2, -4.4, -0.1, 0, 0, 0.45, 4, 100.0
9.5, 13, -3.4, -4.2, 0.1, 0, 1, -1, 3, 150.0
10.5, 12.25, -2.5, -4.45, -0.15, 0.5, 0, 1, 4, 0.0
```

motion_type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rz1) * RotY(ry) * RotZ(rz2). velocity is in mm/sec.x,y,z are in mm. A velocity of -1 means a rapid move (no contact with the material), and it can be defined inside IRBCAM. rz1,ry,rz2 are in degrees. The spindle speed is in RPM (rotations per minute)

**IRBCAM JSON Import Format:**

```
{
"targets": {
"pX": [-100.0,-99.5472,-98.1929],
"pY": [0.0,9.5056,18.9251],
"pZ": [0.0,2.0202,4.0404],
"rZ": [0.0,0.0,0.0],
"rY": [3.141592653589793,3.141592653589793,3.141592653589793],
"rz2": [0.0,0.0,0.0],
"type": [0,0,0]
},
"velocity": {"i": [0],"value": [100.0]},
"tool": {"i": [0],"value": [1]},
"spindle": {"i": [0],"value": [796]}
}
```

type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rZ) * RotY(rY) * RotZ(rz2). velocity, tool and spindle are imported as sparse data vectors. velocity is in mm/sec. pX, pY, pZ are in mm. rz1,ry,rz2 are in radians. The spindle speed is in RPM (revolutions per minute)