feat: add movel,can set tcp speed/jerk and joint max speed
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@ -1,13 +1,11 @@
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//
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// Created by lgv on 11/28/25.
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// Created by lgv on 11/28/25.
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//
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#pragma once
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#pragma once
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#include "ik_solver/include/ik_solver.h"
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#include "ik_solver/include/ik_solver.h"
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#include <pinocchio/multibody/model.hpp>
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#include <pinocchio/multibody/model.hpp>
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#include <pinocchio/multibody/data.hpp>
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#include <pinocchio/multibody/data.hpp>
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#include <pinocchio/spatial/se3.hpp>
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#include <Eigen/Core>
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#include <Eigen/Core>
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#include <memory>
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#include <memory>
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@ -18,49 +16,45 @@ namespace cmvr {
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class PinocchioDlsIKSolver : public IKSolver {
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class PinocchioDlsIKSolver : public IKSolver {
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public:
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public:
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/// urdf_path : 机械臂/整机 URDF 路径（可为双臂共基座整机）
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/// base_frame_name : 本 IK 链的基坐标系 frame 名（例如 "BASE" 或 "L_ARM_BASE"）
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/// flange_frame_name : 末端法兰 frame 名
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/// tcp_frame_name : 末端 TCP frame 名（可为空；为空则仅用法兰）
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PinocchioDlsIKSolver(const std::string &urdf_path,
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PinocchioDlsIKSolver(const std::string &urdf_path,
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const std::string &base_frame_name,
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const std::string &base_frame_name,
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const std::string &flange_frame_name,
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const std::string &flange_frame_name,
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const std::string &tcp_frame_name = std::string(),
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const std::string &tcp_frame_name = std::string(),
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int max_iters = 100,
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int max_iters = 100,
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double pos_eps = 1e-6,
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double pos_eps = 1e-6,
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double rot_eps = 1e-6,
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double rot_eps = 1e-6,
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double damping = 1e-6);
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double damping = 1e-4); // 建议默认比 1e-6 大点更稳
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~PinocchioDlsIKSolver() override = default;
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~PinocchioDlsIKSolver() override = default;
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/// 加载 URDF，查找 base / flange / tcp frame，计算本链关节范围和限位
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bool init() override;
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bool init() override;
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/// target_pose: URDF base 下的目标位姿
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// target_pose: base 坐标系下的目标位姿
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/// is_tcp = true : 目标是 TCP 位姿
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/// is_tcp = false : 目标是法兰位姿
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///
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/// joints_angle:
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/// - 输出：长度 = 本链 DOF（chain_dof_）
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bool ik(const Eigen::Matrix4d &target_pose,
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bool ik(const Eigen::Matrix4d &target_pose,
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std::vector<double> &joints_angle,
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std::vector<double> &joints_angle,
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bool is_tcp = true) override;
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bool is_tcp = true) override;
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/// joints_angle:
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// cur_pose: base 坐标系下当前位姿
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/// - 若 size == chain_dof_ : 认为只传本臂关节
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/// - 若 size == model_.nq : 认为传整机关节
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/// cur_pose : URDF base 下当前 TCP/法兰位姿
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bool fk(const std::vector<double> &joints_angle,
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bool fk(const std::vector<double> &joints_angle,
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Eigen::Matrix4d &cur_pose,
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Eigen::Matrix4d &cur_pose,
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bool is_tcp = true) override;
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bool is_tcp = true) override;
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// MoveL：S 曲线（限 jerk）速度规划 + 微分IK（LOCAL）生成 q(t)
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// target_pose_base: base 下目标位姿（只用平移；姿态保持起点姿态）
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bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base,
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const std::vector<double>& q_start,
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std::vector<std::vector<double>>& q_traj,
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std::vector<double>& t_traj,
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double dt,
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double v_tcp_max, // m/s
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double a_tcp_max, // m/s^2
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double j_tcp_max, // m/s^3
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const std::vector<double>& qd_max, // rad/s, size=chain_dof
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bool is_tcp = true);
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void setMaxIters(int iters) { max_iters_ = iters; }
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void setMaxIters(int iters) { max_iters_ = iters; }
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void setDamping(double d) { damping_ = d; }
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void setDamping(double d) { damping_ = d; }
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void setEps(double pos_eps, double rot_eps)
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void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; }
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{
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pos_eps_ = pos_eps;
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rot_eps_ = rot_eps;
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}
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using IKSolver::setTcpTransform;
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using IKSolver::setTcpTransform;
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using IKSolver::setArmBaseTransform;
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using IKSolver::setArmBaseTransform;
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@ -71,13 +65,11 @@ private:
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Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda);
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Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda);
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private:
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private:
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// 配置
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std::string urdf_path_;
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std::string urdf_path_;
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std::string base_frame_name_;
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std::string base_frame_name_;
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std::string flange_frame_name_;
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std::string flange_frame_name_;
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std::string tcp_frame_name_;
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std::string tcp_frame_name_;
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// Pinocchio 模型
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pinocchio::Model model_;
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pinocchio::Model model_;
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std::unique_ptr<pinocchio::Data> data_;
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std::unique_ptr<pinocchio::Data> data_;
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@ -86,14 +78,19 @@ private:
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pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)};
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pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)};
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bool has_tcp_{false};
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bool has_tcp_{false};
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// 本链在整机 q 向量中的起始 index 和 DOF 数
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// chain range in q and v
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int chain_q_start_{0};
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int chain_q_start_{0};
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int chain_dof_{0};
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int chain_dof_{0};
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int chain_v_start_{0};
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int chain_v_dof_{0};
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// 本链的关节限位（从 Pinocchio 模型中截取）
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Eigen::VectorXd q_lower_chain_;
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Eigen::VectorXd q_lower_chain_;
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Eigen::VectorXd q_upper_chain_;
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Eigen::VectorXd q_upper_chain_;
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// base pose cache (PELVIS_S fixed)
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bool base_pose_cached_{false};
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pinocchio::SE3 oM_base_cached_;
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bool initialized_{false};
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bool initialized_{false};
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int max_iters_;
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int max_iters_;
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File diff suppressed because it is too large
Load Diff
@ -84,109 +84,157 @@ public:
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explicit DualArmViewer(const char *model_path)
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explicit DualArmViewer(const char *model_path)
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: MuJocoViewer(model_path),
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: MuJocoViewer(model_path),
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q_cmd_(7, 0.0) { // 初始 7 维全 0
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q_cmd_(7, 0.0) {}
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}
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// 更新右臂 7 关节的目标角度（rad）
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// 顺序：
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// [R_SHOULDER_P, R_SHOULDER_R, R_SHOULDER_Y,
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// R_ELBOW_R, R_WRIST_P, R_WRIST_Y, R_WRIST_R]
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void moveJ(const Vec7 &q_target) {
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void moveJ(const Vec7 &q_target) {
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std::lock_guard<std::mutex> lk(mtx_);
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std::lock_guard<std::mutex> lk(mtx_);
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q_cmd_ = q_target; // 只更新目标，不直接改 d->ctrl
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q_cmd_ = q_target;
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traj_active_ = false;
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}
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// 设置整条轨迹（t 单调递增，q.size == t.size）
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void setTrajectory(std::vector<double> t, std::vector<Vec7> q) {
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std::lock_guard<std::mutex> lk(mtx_);
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traj_t_ = std::move(t);
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traj_q_ = std::move(q);
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traj_active_ = false;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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}
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void startTrajectory() {
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std::lock_guard<std::mutex> lk(mtx_);
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traj_active_ = true;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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}
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bool trajDone() const {
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std::lock_guard<std::mutex> lk(mtx_);
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return traj_done_;
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}
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}
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protected:
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protected:
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// 只在第一次进控制循环时调用
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void initOnce(mjModel *m, mjData *d) override {
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void initOnce(mjModel *m, mjData *d) override {
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UNUSED_VARIABLE(d);
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UNUSED_VARIABLE(d);
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// actuator 名（已经有）
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const char *act_names[7] = {
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const char *act_names[7] = {
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"R_SHOULDER_P_pos",
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"R_SHOULDER_P_pos","R_SHOULDER_R_pos","R_SHOULDER_Y_pos",
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"R_SHOULDER_R_pos",
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"R_ELBOW_R_pos","R_WRIST_P_pos","R_WRIST_Y_pos","R_WRIST_R_pos"
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"R_SHOULDER_Y_pos",
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"R_ELBOW_R_pos",
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"R_WRIST_P_pos",
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"R_WRIST_Y_pos",
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"R_WRIST_R_pos"
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};
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// 对应的 joint 名
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const char *jnt_names[7] = {
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"R_SHOULDER_P",
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"R_SHOULDER_R",
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"R_SHOULDER_Y",
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"R_ELBOW_R",
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"R_WRIST_P",
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"R_WRIST_Y",
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"R_WRIST_R"
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};
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};
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for (int i = 0; i < 7; ++i) {
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for (int i = 0; i < 7; ++i) {
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// 1. 保存 actuator id
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int act_id = mj_name2id(m, mjOBJ_ACTUATOR, act_names[i]);
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int act_id = mj_name2id(m, mjOBJ_ACTUATOR, act_names[i]);
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right_act_ids_[i] = act_id;
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right_act_ids_[i] = act_id;
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if (act_id < 0) {
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if (act_id < 0) {
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std::cerr << "[DualArmViewer] actuator not found: "
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std::cerr << "[DualArmViewer] actuator not found: " << act_names[i] << "\n";
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<< act_names[i] << std::endl;
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}
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// 2. 保存 joint id
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int jnt_id = mj_name2id(m, mjOBJ_JOINT, jnt_names[i]);
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right_jnt_ids_[i] = jnt_id;
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if (jnt_id < 0) {
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std::cerr << "[DualArmViewer] joint not found: "
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<< jnt_names[i] << std::endl;
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}
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}
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}
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}
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act_ids_inited_ = true;
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act_ids_inited_ = true;
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}
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}
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// 每个 mj_step 前会被 physics 线程调用
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static inline double clamp(double x, double lo, double hi) {
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return std::max(lo, std::min(hi, x));
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}
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// 线性插值采样（调用前已持锁）
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Vec7 sampleTrajUnlocked(double t) {
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Vec7 out = q_cmd_;
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if (traj_t_.empty() || traj_q_.empty()) return out;
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if (traj_t_.size() != traj_q_.size()) return out;
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const double T = traj_t_.back();
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if (t <= 0.0) return traj_q_.front();
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if (t >= T) return traj_q_.back();
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// 利用 traj_idx_ 单调推进，O(1) 均摊
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while (traj_idx_ + 1 < traj_t_.size() && traj_t_[traj_idx_ + 1] < t) {
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traj_idx_++;
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}
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size_t i = traj_idx_;
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size_t j = i + 1;
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if (j >= traj_t_.size()) return traj_q_.back();
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double t0 = traj_t_[i], t1 = traj_t_[j];
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double u = (t - t0) / std::max(1e-12, (t1 - t0));
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out.resize(7);
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for (int k = 0; k < 7; ++k) {
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out[k] = (1.0 - u) * traj_q_[i][k] + u * traj_q_[j][k];
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}
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return out;
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}
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void controlCallback(mjModel *m, mjData *d) override {
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void controlCallback(mjModel *m, mjData *d) override {
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if (!act_ids_inited_) return;
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if (!act_ids_inited_) return;
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Vec7 q_local(7, 0.0);
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Vec7 q_local(7, 0.0);
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{
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{
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std::lock_guard<std::mutex> lk(mtx_);
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std::lock_guard<std::mutex> lk(mtx_);
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q_local = q_cmd_; // 拷贝一份当前目标，避免长时间持锁
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if (traj_active_ && !traj_t_.empty()) {
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if (traj_t0_sim_ < 0.0) traj_t0_sim_ = d->time; // 用仿真时间对齐
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const double t = d->time - traj_t0_sim_;
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q_local = sampleTrajUnlocked(t);
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if (t >= traj_t_.back()) {
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traj_active_ = false;
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traj_done_ = true;
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q_cmd_ = traj_q_.back(); // 结束后保持终点
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}
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} else {
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q_local = q_cmd_;
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}
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}
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}
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// 写 ctrl（同时按 ctrlrange clamp 一下更稳）
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for (int i = 0; i < 7; ++i) {
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for (int i = 0; i < 7; ++i) {
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int act_id = right_act_ids_[i];
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int act_id = right_act_ids_[i];
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if (act_id < 0) continue;
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if (act_id < 0) continue;
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d->ctrl[act_id] = q_local[i];
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}
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// // 示例：读取第 5 个关节（R_WRIST_P）的实际角度并打印
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double lo = m->actuator_ctrlrange[2*act_id + 0];
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// int jnt_id = right_jnt_ids_[4];
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double hi = m->actuator_ctrlrange[2*act_id + 1];
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// if (jnt_id >= 0) {
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d->ctrl[act_id] = clamp(q_local[i], lo, hi);
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// int qpos_adr = m->jnt_qposadr[jnt_id];
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}
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// double q_actual = d->qpos[qpos_adr];
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// std::cout << "cmd: " << q_local[4]
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// << " act: " << q_actual << std::endl;
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// }
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}
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}
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void onReset(mjModel *m, mjData *d) override {
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void onReset(mjModel *m, mjData *d) override {
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UNUSED_VARIABLE(m);
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UNUSED_VARIABLE(m);
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UNUSED_VARIABLE(d);
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UNUSED_VARIABLE(d);
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std::lock_guard<std::mutex> lk(mtx_);
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std::lock_guard<std::mutex> lk(mtx_);
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q_cmd_.assign(7, 0.0); // reset 时把目标清零，保持 7 维
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q_cmd_.assign(7, 0.0);
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traj_active_ = false;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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traj_t_.clear();
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traj_q_.clear();
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}
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}
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private:
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private:
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std::array<int, 7> right_act_ids_{}; // 右臂 7 个 actuator id
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std::array<int, 7> right_act_ids_{};
|
||||||
std::array<int, 7> right_jnt_ids_{}; // 右臂 7 个 joint id（新加）
|
|
||||||
bool act_ids_inited_{false};
|
bool act_ids_inited_{false};
|
||||||
|
|
||||||
Vec7 q_cmd_; // 当前命令目标角（始终 7 维）
|
mutable std::mutex mtx_;
|
||||||
mutable std::mutex mtx_; // 保护 q_cmd_
|
Vec7 q_cmd_;
|
||||||
|
|
||||||
|
// trajectory
|
||||||
|
std::vector<double> traj_t_;
|
||||||
|
std::vector<Vec7> traj_q_;
|
||||||
|
bool traj_active_{false};
|
||||||
|
bool traj_done_{false};
|
||||||
|
size_t traj_idx_{0};
|
||||||
|
double traj_t0_sim_{-1.0};
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// TEST(SRS_IK_TEST, SRS_IK_SLOVER_TEST) {
|
// TEST(SRS_IK_TEST, SRS_IK_SLOVER_TEST) {
|
||||||
// using std::cout;
|
// using std::cout;
|
||||||
// using std::endl;
|
// using std::endl;
|
||||||
@ -878,3 +926,239 @@ TEST(SRS_IK_TEST, TR_TEST) {
|
|||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#include <fstream>
|
||||||
|
#include <iomanip>
|
||||||
|
|
||||||
|
// 计算 TCP 位置/速度/加速度（用中心差分，端点用前向/后向差分）
|
||||||
|
static bool build_tcp_pva(cmvr::PinocchioDlsIKSolver& solver,
|
||||||
|
const std::vector<double>& t,
|
||||||
|
const std::vector<std::vector<double>>& q,
|
||||||
|
std::vector<Eigen::Vector3d>& p,
|
||||||
|
std::vector<Eigen::Vector3d>& v,
|
||||||
|
std::vector<Eigen::Vector3d>& a,
|
||||||
|
bool is_tcp=true)
|
||||||
|
{
|
||||||
|
const size_t N = std::min(t.size(), q.size());
|
||||||
|
if (N < 3) return false;
|
||||||
|
|
||||||
|
p.assign(N, Eigen::Vector3d::Zero());
|
||||||
|
v.assign(N, Eigen::Vector3d::Zero());
|
||||||
|
a.assign(N, Eigen::Vector3d::Zero());
|
||||||
|
|
||||||
|
// p(t)
|
||||||
|
for (size_t i = 0; i < N; ++i) {
|
||||||
|
Eigen::Matrix4d T;
|
||||||
|
if (!solver.fk(q[i], T, is_tcp)) return false;
|
||||||
|
p[i] = T.block<3,1>(0,3);
|
||||||
|
}
|
||||||
|
|
||||||
|
auto safe_dt = [&](double dt) { return (dt > 1e-9) ? dt : 1e-9; };
|
||||||
|
|
||||||
|
// v(t) : 中心差分
|
||||||
|
{
|
||||||
|
double dt0 = safe_dt(t[1] - t[0]);
|
||||||
|
v[0] = (p[1] - p[0]) / dt0;
|
||||||
|
|
||||||
|
for (size_t i = 1; i + 1 < N; ++i) {
|
||||||
|
double dt = safe_dt(t[i+1] - t[i-1]);
|
||||||
|
v[i] = (p[i+1] - p[i-1]) / dt;
|
||||||
|
}
|
||||||
|
|
||||||
|
double dtn = safe_dt(t[N-1] - t[N-2]);
|
||||||
|
v[N-1] = (p[N-1] - p[N-2]) / dtn;
|
||||||
|
}
|
||||||
|
|
||||||
|
// a(t) : 对 v 再中心差分
|
||||||
|
{
|
||||||
|
double dt0 = safe_dt(t[1] - t[0]);
|
||||||
|
a[0] = (v[1] - v[0]) / dt0;
|
||||||
|
|
||||||
|
for (size_t i = 1; i + 1 < N; ++i) {
|
||||||
|
double dt = safe_dt(t[i+1] - t[i-1]);
|
||||||
|
a[i] = (v[i+1] - v[i-1]) / dt;
|
||||||
|
}
|
||||||
|
|
||||||
|
double dtn = safe_dt(t[N-1] - t[N-2]);
|
||||||
|
a[N-1] = (v[N-1] - v[N-2]) / dtn;
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void write_tcp_pva_csv(const std::string& path,
|
||||||
|
const std::vector<double>& t,
|
||||||
|
const std::vector<Eigen::Vector3d>& p,
|
||||||
|
const std::vector<Eigen::Vector3d>& v,
|
||||||
|
const std::vector<Eigen::Vector3d>& a)
|
||||||
|
{
|
||||||
|
const size_t N = std::min({t.size(), p.size(), v.size(), a.size()});
|
||||||
|
std::ofstream os(path);
|
||||||
|
os << "t,px,py,pz,vx,vy,vz,ax,ay,az,speed,acc\n";
|
||||||
|
for (size_t i = 0; i < N; ++i) {
|
||||||
|
os << std::setprecision(15) << t[i] << ","
|
||||||
|
<< p[i].x() << "," << p[i].y() << "," << p[i].z() << ","
|
||||||
|
<< v[i].x() << "," << v[i].y() << "," << v[i].z() << ","
|
||||||
|
<< a[i].x() << "," << a[i].y() << "," << a[i].z() << ","
|
||||||
|
<< v[i].norm() << "," << a[i].norm()
|
||||||
|
<< "\n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
static void write_qtraj_csv(const std::string& path,
|
||||||
|
const std::vector<double>& t,
|
||||||
|
const std::vector<std::vector<double>>& q) {
|
||||||
|
std::ofstream os(path);
|
||||||
|
os << "t,q1,q2,q3,q4,q5,q6,q7\n";
|
||||||
|
for (size_t i = 0; i < t.size() && i < q.size(); ++i) {
|
||||||
|
os << std::setprecision(15) << t[i];
|
||||||
|
for (int k = 0; k < 7; ++k) os << "," << q[i][k];
|
||||||
|
os << "\n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_tcp_speed_stats(cmvr::PinocchioDlsIKSolver& solver,
|
||||||
|
const std::vector<double>& t,
|
||||||
|
const std::vector<std::vector<double>>& q,
|
||||||
|
bool is_tcp=true) {
|
||||||
|
if (t.size() < 3 || q.size() < 3) return;
|
||||||
|
|
||||||
|
bool has_prev = false;
|
||||||
|
Eigen::Vector3d p_prev = Eigen::Vector3d::Zero();
|
||||||
|
double t_prev = 0.0;
|
||||||
|
|
||||||
|
double vmin = 1e100, vmax = 0.0, vsum = 0.0;
|
||||||
|
size_t cnt = 0;
|
||||||
|
|
||||||
|
for (size_t i = 0; i < q.size(); ++i) {
|
||||||
|
Eigen::Matrix4d T;
|
||||||
|
if (!solver.fk(q[i], T, is_tcp)) continue;
|
||||||
|
|
||||||
|
Eigen::Vector3d p = T.block<3,1>(0,3);
|
||||||
|
|
||||||
|
if (has_prev) {
|
||||||
|
double dt = t[i] - t_prev;
|
||||||
|
if (dt > 1e-9) {
|
||||||
|
double v = (p - p_prev).norm() / dt;
|
||||||
|
vmin = std::min(vmin, v);
|
||||||
|
vmax = std::max(vmax, v);
|
||||||
|
vsum += v;
|
||||||
|
cnt++;
|
||||||
|
|
||||||
|
// 想看过程就降低频率打印
|
||||||
|
if ((cnt % 1) == 0) {
|
||||||
|
std::cerr << "[tcp] i=" << i << " v=" << v << " m/s\n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
p_prev = p;
|
||||||
|
t_prev = t[i];
|
||||||
|
has_prev = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (cnt) {
|
||||||
|
std::cerr << "TCP speed stats (from t_traj): "
|
||||||
|
<< "min=" << vmin
|
||||||
|
<< " avg=" << (vsum / (double)cnt)
|
||||||
|
<< " max=" << vmax
|
||||||
|
<< " [m/s]\n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) {
|
||||||
|
// 让输出不被缓冲（gtest/ctest 环境下更容易看到）
|
||||||
|
std::cerr.setf(std::ios::unitbuf);
|
||||||
|
|
||||||
|
const auto project_root = find_project_root();
|
||||||
|
const auto model_path = (project_root / "model/xiaoyan_description/dual_arm.xml").string();
|
||||||
|
const auto csv_path = (project_root / "data/ik_movel_scurve.csv").string();
|
||||||
|
const auto tcp_csv_path = (project_root / "data/ik_movel_scurve_tcp.csv").string();
|
||||||
|
|
||||||
|
|
||||||
|
DualArmViewer viewer(model_path.c_str());
|
||||||
|
|
||||||
|
std::thread ctrl_thread([&viewer, &csv_path,&tcp_csv_path]() {
|
||||||
|
using namespace std::chrono_literals;
|
||||||
|
std::this_thread::sleep_for(3s);
|
||||||
|
|
||||||
|
cmvr::PinocchioDlsIKSolver solver(
|
||||||
|
"/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
|
||||||
|
"PELVIS_S",
|
||||||
|
"R_WRIST_R_S",
|
||||||
|
"R_FINGER_TIP_FIXED"
|
||||||
|
);
|
||||||
|
|
||||||
|
LawbaIKSolver solver_1;
|
||||||
|
if (!solver.init()) return;
|
||||||
|
|
||||||
|
// 起点关节
|
||||||
|
// std::vector<double> q_start = {-0.424743, 0.759386, 1.80129, 2.03728, -1.34668, 0.0560845, -0.26};
|
||||||
|
std::vector<double> q_start = {0.25, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0};
|
||||||
|
// std::vector<double> q_start = {0, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0};
|
||||||
|
|
||||||
|
|
||||||
|
// 起点位姿（base下）
|
||||||
|
Eigen::Matrix4d T0;
|
||||||
|
if (!solver_1.fk(q_start, T0, true)) return;
|
||||||
|
|
||||||
|
std::cout << T0 << std::endl;
|
||||||
|
|
||||||
|
// 目标位姿：base X 方向走 0.25m，姿态保持起点
|
||||||
|
Eigen::Matrix4d Tg = T0;
|
||||||
|
Tg(2,3) += 0.3;
|
||||||
|
Eigen::Vector3d dp_check = Tg.block<3,1>(0,3) - T0.block<3,1>(0,3);
|
||||||
|
std::cerr << "dp(base)=" << dp_check.transpose() << "\n";
|
||||||
|
|
||||||
|
// 轨迹生成参数（生成 dt 不必极小，1ms~2ms 足够；真正平滑靠 S 曲线 + MuJoCo 伺服滤波）
|
||||||
|
const double dt_gen = 0.002;
|
||||||
|
const double v_tcp = 0.33;
|
||||||
|
const double a_tcp = 10.0;
|
||||||
|
const double j_tcp = 10.00;
|
||||||
|
std::vector<double> qd_max(7, 3.0);
|
||||||
|
|
||||||
|
std::vector<std::vector<double>> q_traj;
|
||||||
|
std::vector<double> t_traj;
|
||||||
|
|
||||||
|
|
||||||
|
if (!solver.moveL_SCurveLocal(Tg, q_start, q_traj, t_traj,
|
||||||
|
dt_gen, v_tcp, a_tcp, j_tcp, qd_max, true)) {
|
||||||
|
std::cerr << "moveL_SCurveLocal failed\n";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::cerr << "traj gen samples=" << q_traj.size()
|
||||||
|
<< " T=" << (t_traj.empty()?0.0:t_traj.back()) << "s\n";
|
||||||
|
|
||||||
|
write_qtraj_csv(csv_path, t_traj, q_traj);
|
||||||
|
|
||||||
|
std::vector<Eigen::Vector3d> p, v, a;
|
||||||
|
if (build_tcp_pva(solver, t_traj, q_traj, p, v, a, true)) {
|
||||||
|
write_tcp_pva_csv(tcp_csv_path, t_traj, p, v, a);
|
||||||
|
std::cerr << "saved tcp csv: " << tcp_csv_path << "\n";
|
||||||
|
} else {
|
||||||
|
std::cerr << "build_tcp_pva failed\n";
|
||||||
|
}
|
||||||
|
std::cerr << "saved csv: " << csv_path << "\n";
|
||||||
|
|
||||||
|
// 正确的 TCP 速度统计（用 t_traj）
|
||||||
|
print_tcp_speed_stats(solver, t_traj, q_traj, true);
|
||||||
|
|
||||||
|
// 把轨迹交给 viewer：在 controlCallback 内用 d->time 插值执行（不会线程抖）
|
||||||
|
std::vector<DualArmViewer::Vec7> q7;
|
||||||
|
q7.reserve(q_traj.size());
|
||||||
|
for (auto& qi : q_traj) q7.push_back(qi);
|
||||||
|
|
||||||
|
viewer.setTrajectory(t_traj, std::move(q7));
|
||||||
|
viewer.startTrajectory();
|
||||||
|
|
||||||
|
// 可选：等轨迹跑完再退出线程
|
||||||
|
while (!viewer.trajDone()) {
|
||||||
|
std::this_thread::sleep_for(1ms);
|
||||||
|
}
|
||||||
|
std::cerr << "trajectory finished in MuJoCo.\n";
|
||||||
|
});
|
||||||
|
|
||||||
|
viewer.run();
|
||||||
|
ctrl_thread.join();
|
||||||
|
}
|
||||||
|
|||||||
640
data/ik_movel_scurve.csv
Normal file
640
data/ik_movel_scurve.csv
Normal file
@ -0,0 +1,640 @@
|
|||||||
|
t,q1,q2,q3,q4,q5,q6,q7
|
||||||
|
0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
|
||||||
|
0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,7.81764306459599e-21,-4.2819706588909e-20
|
||||||
|
0.004,0.250000047042195,0.999999964305901,1.57079634963772,1.57079641818398,-1.5707962911008,-1.30973721143821e-07,4.82598248141182e-08
|
||||||
|
0.006,0.250000235211076,0.99999982152951,1.57079644100897,1.57079678374021,-1.57079614832442,-6.54868594246034e-07,2.4129912422208e-07
|
||||||
|
0.008,0.250000658591965,0.999999500282668,1.57079664659403,1.5707976062408,-1.57079582707771,-1.83363195576805e-06,6.75637549350334e-07
|
||||||
|
0.01,0.250001411272736,0.999998929177322,1.57079701207756,1.57079906846036,-1.570795255973,-3.92921085355073e-06,1.4477947554909e-06
|
||||||
|
0.012,0.25000258734653,0.99999803682564,1.57079758314276,1.57080135316815,-1.57079436362343,-7.203551738256e-06,2.65429040651898e-06
|
||||||
|
0.014,0.250004280915501,0.999996751840161,1.57079840547028,1.57080464312421,-1.57079307864354,-1.19186000405119e-05,4.39164418087522e-06
|
||||||
|
0.016,0.25000658609555,0.999995002834,1.57079952473695,1.5708091210746,-1.57079132964995,-1.83362996337661e-05,6.75637577908229e-06
|
||||||
|
0.018,0.250009597022081,0.99999271842108,1.57080098661413,1.57081496974547,-1.57078904526229,-2.67185921828435e-05,9.84500493277263e-06
|
||||||
|
0.02,0.250013407856765,0.999989827216416,1.5708028367658,1.57082237183621,-1.57078615410418,-3.73274163782182e-05,1.37540514152097e-05
|
||||||
|
0.022,0.250018112795308,0.999986257836435,1.57080512084645,1.57083151001151,-1.57078258480449,-5.04247070559875e-05,1.85800350533061e-05
|
||||||
|
0.024,0.250023806076234,0.999981938899343,1.57080788449854,1.57084256689243,-1.57077826599863,-6.62723942035615e-05,2.44194757411372e-05
|
||||||
|
0.026,0.250030581990672,0.999976799025529,1.57081117334981,1.57085572504638,-1.57077312633007,-8.51324018510532e-05,3.13688934549818e-05
|
||||||
|
0.028,0.25003853489316,0.999970766838012,1.57081503301023,1.57087116697617,-1.57076709445198,-0.00010726664684838,3.95248082699263e-05
|
||||||
|
0.03,0.250047759213451,0.999963770962927,1.57081950906868,1.57088907510791,-1.57076009902904,-0.000132937037528068,4.89837403780863e-05
|
||||||
|
0.032,0.250058349469331,0.999955740030058,1.57082464708937,1.570909631778,-1.57075206873944,-0.000162405472253746,5.98422101085266e-05
|
||||||
|
0.034,0.250070400280452,0.99994660267341,1.57083049260794,1.57093301921902,-1.57074293227694,-0.000195933837854348,7.21967379489743e-05
|
||||||
|
0.036,0.250084006383162,0.999936287531815,1.5708370911273,1.57095941954459,-1.57073261835316,-0.000233784007943978,8.61438445694474e-05
|
||||||
|
0.038,0.250099262646364,0.999924723249592,1.57084448811314,1.57098901473325,-1.57072105570001,-0.000276217841127471,0.000101780050847941
|
||||||
|
0.04,0.250116264088365,0.999911838477235,1.57085272898924,1.57102198661129,-1.57070817307229,-0.000323497179091603,0.000119201877898348
|
||||||
|
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0.844000000000001,0.875187874534533,0.839525320541267,1.50235888731188,1.6871012354005,-1.46312392990277,-0.625148696628959,0.279201421062264
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0.846000000000001,0.878036189658264,0.839310786952293,1.50141948081952,1.68627768390591,-1.46321306939394,-0.626516357928805,0.280153760241994
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0.848000000000001,0.880888303176843,0.839099350616066,1.50047609773527,1.68544710804757,-1.46330573505624,-0.627879190111484,0.281107227899746
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0.850000000000001,0.883744188722161,0.83889102472824,1.49952875664382,1.68460950926372,-1.46340193321787,-0.629237179854233,0.282061826732319
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0.852000000000001,0.88660381986555,0.838685822421913,1.49857747628814,1.68376488897989,-1.46350167010237,-0.630590313882283,0.283017559358359
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0.854000000000001,0.889467170119152,0.838483756767005,1.4976222755683,1.68291324860832,-1.4636049518276,-0.631938578968944,0.283974428317371
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0.856000000000001,0.892334212937281,0.83828484076965,1.49666317354037,1.68205458954735,-1.46371178440478,-0.633281961935685,0.284932436068736
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0.858000000000001,0.895204921717815,0.838089087371606,1.49570018941519,1.68118891318073,-1.4638221737375,-0.634620449652211,0.28589158499074
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0.860000000000001,0.898079269803586,0.837896509449681,1.49473334255725,1.68031622087707,-1.46393612562076,-0.635954029036527,0.286851877379603
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0.862000000000001,0.900957230483798,0.837707119815163,1.49376265248346,1.67943651398915,-1.46405364574004,-0.637282687055004,0.287813315448527
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0.864000000000001,0.90383877699544,0.837520931213287,1.49278813886196,1.6785497938533,-1.46417473967037,-0.638606410722435,0.288775901326744
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0.866000000000001,0.906723882524725,0.837337956322696,1.49180982151089,1.67765606178878,-1.46429941287541,-0.63992518710208,0.289739637058573
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0.868000000000001,0.909612520208536,0.837158207754931,1.49082772039718,1.67675531909708,-1.46442767070655,-0.641239003305716,0.290704524602494
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0.870000000000001,0.912504663135882,0.836981698053935,1.48984185563531,1.67584756706132,-1.46455951840202,-0.642547846493672,0.291670565830218
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0.872000000000001,0.915400284349368,0.836808439695568,1.48885224748605,1.67493280694558,-1.46469496108605,-0.643851703874859,0.292637762525776
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0.874000000000001,0.918299356846676,0.836638445087143,1.48785891635519,1.67401103999422,-1.46483400376797,-0.645150562706799,0.293606116384619
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0.876000000000001,0.921201853582057,0.836471726566975,1.4868618827923,1.67308226743123,-1.46497665134143,-0.646444410295642,0.294575629012714
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0.878000000000001,0.924107747467835,0.836308296403951,1.48586116748943,1.67214649045957,-1.46512290858351,-0.647733233996183,0.295546301925667
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0.880000000000001,0.927017011375922,0.836148166797108,1.48485679127981,1.67120371026047,-1.46527278015399,-0.649017021211865,0.296518136547844
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0.882000000000001,0.929929618139339,0.835991349875235,1.48384877513656,1.67025392799278,-1.46542627059449,-0.650295759394782,0.297491134211508
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0.884000000000001,0.932845540553756,0.835837857696487,1.48283714017139,1.66929714479228,-1.46558338432776,-0.651569436045676,0.298465296155959
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0.886000000000001,0.935764751379035,0.835687702248018,1.48182190763324,1.66833336177097,-1.46574412565688,-0.652838038713926,0.299440623526699
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0.888000000000001,0.938687223340789,0.835540895445626,1.48080309890701,1.6673625800164,-1.46590849876455,-0.65410155499753,0.300417117374588
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0.890000000000001,0.941612929131942,0.835397449133421,1.47978073551218,1.666384800591,-1.46607650771235,-0.655359972543081,0.301394778655028
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0.892000000000001,0.944541841414314,0.835257375083504,1.47875483910146,1.66540002453131,-1.46624815644006,-0.656613279045741,0.302373608227151
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0.894000000000001,0.947473932820195,0.835120684995663,1.47772543145948,1.66440825284734,-1.46642344876496,-0.657861462249207,0.303353606853013
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0.896000000000001,0.950409175953949,0.834987390497089,1.47669253450137,1.66340948652182,-1.46660238838116,-0.659104509945664,0.304334775196809
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0.898000000000001,0.953347543393612,0.834857503142103,1.47565617027144,1.66240372650952,-1.46678497885899,-0.660342409975744,0.305317113824095
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0.900000000000001,0.956289007692508,0.834731034411908,1.47461636094176,1.66139097373648,-1.46697122364431,-0.661575150228471,0.306300623201017
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0.902000000000001,0.959233541380866,0.834607995714343,1.47357312881082,1.66037122909936,-1.46716112605795,-0.662802718641199,0.307285303693563
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0.904000000000001,0.962181116967454,0.834488398383672,1.4725264963021,1.65934449346465,-1.46735468929508,-0.664025103199552,0.308271155566812
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0.906000000000001,0.965131706941215,0.834372253680373,1.47147648596268,1.65831076766796,-1.46755191642468,-0.665242291937346,0.309258178984209
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0.908000000000001,0.968085283772912,0.834259572790954,1.47042312046187,1.65727005251327,-1.46775281038896,-0.666454272936518,0.310246374006844
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0.910000000000001,0.971041819916783,0.834150366827779,1.46936642258974,1.65622234877223,-1.46795737400281,-0.667661034327036,0.311235740592744
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0.912000000000001,0.974001287812203,0.834044646828913,1.46830641525577,1.65516765718336,-1.46816560995333,-0.668862564286813,0.31222627859618
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0.914000000000001,0.976963480887759,0.833942431386112,1.46724318707909,1.65410604244547,-1.46837751048458,-0.670058778890663,0.313217929713033
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0.916000000000001,0.979928012675151,0.833843745647248,1.46617689344973,1.65303763532581,-1.46859305641448,-0.671249523700927,0.314210577214734
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0.918000000000001,0.982894495299898,0.833748613071924,1.46510769154513,1.65196256992975,-1.46881222684398,-0.672434646881379,0.315204103832114
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0.920000000000001,0.985862539516239,0.833657055419552,1.46403574030117,1.65088098369761,-1.46903499915691,-0.673613999209638,0.316198391756715
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0.922000000000001,0.988831754742424,0.833569092738109,1.46296120038239,1.64979301740054,-1.46926134902058,-0.674787434088668,0.317193322642456
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0.924000000000001,0.991801749096388,0.833484743353574,1.46188423415143,1.64869881513546,-1.46949125038721,-0.675954807557344,0.318188777607672
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0.926000000000001,0.994772129431744,0.833404023860059,1.46080500563781,1.64759852431907,-1.46972467549601,-0.677115978300085,0.319184637237499
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0.928000000000001,0.997742501374082,0.833326949110642,1.4597236805061,1.64649229568101,-1.46996159487618,-0.678270807655527,0.320180781586627
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0.930000000000001,1.00071246935753,0.833253532208917,1.45864042602328,1.64538028325598,-1.47020197735051,-0.679419159624249,0.321177090182406
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0.932000000000001,1.00368163666154,0.833183784501262,1.45755541102569,1.64426264437503,-1.47044579003987,-0.680560900875519,0.322173442028311
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0.934000000000001,1.00664960544789,0.833117715569838,1.45646880588524,1.64313953965592,-1.47069299836837,-0.681695900753064,0.323169715607758
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0.936000000000001,1.00961597679784,0.833055333226329,1.45538078247515,1.64201113299256,-1.47094356606933,-0.682824031279861,0.324165788888268
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|
0.938000000000001,1.01258035074938,0.832996643506421,1.45429151413511,1.64087759154352,-1.471197455192,-0.683945167161917,0.32516153932598
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0.940000000000001,1.01554232633468,0.832941650665048,1.45320117563604,1.63973908571968,-1.47145462610893,-0.685059185791057,0.326156843870505
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0.942000000000001,1.01850150161746,0.832890357172379,1.45210994314429,1.63859578917092,-1.47171503752425,-0.686165967246693,0.327151578970121
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||||||
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0.944000000000001,1.02145747373053,0.832842763710594,1.4510179941855,1.63744787877197,-1.47197864648248,-0.687265394296572,0.3281456205773
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0.946000000000001,1.02440983891327,0.832798869171417,1.44992550760798,1.63629553460729,-1.47224540837826,-0.688357352396499,0.329138844154559
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0.948000000000001,1.02735819254902,0.832758670654434,1.44883266354581,1.63513893995512,-1.47251527696668,-0.689441729689022,0.330131124680639
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0.950000000000001,1.03030212920254,0.832722163466202,1.44773964338155,1.63397828127055,-1.47278820437433,-0.690518417001075,0.331122336656999
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||||||
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0.952000000000001,1.0332412426573,0.832689341120137,1.44664662970867,1.63281374816778,-1.47306414111112,-0.691587307840567,0.332112354114618
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||||||
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0.954000000000001,1.0361751259526,0.832660195337205,1.44555380629372,1.63164553340141,-1.47334303608271,-0.692648298391927,0.3331010506211
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||||||
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0.956000000000001,1.03910337142066,0.832634716047413,1.44446135803822,1.63047383284687,-1.47362483660374,-0.69370128751057,0.334088299288076
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||||||
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0.958000000000001,1.04202557072341,0.832612891392098,1.44336947094042,1.62929884547995,-1.47390948841156,-0.694746176716311,0.335073972778891
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||||||
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0.960000000000001,1.04494131488918,0.832594707727028,1.44227833205678,1.62812077335542,-1.47419693568084,-0.695782870185694,0.336057943316569
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||||||
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0.962000000000001,1.04785019434902,0.832580149626314,1.44118812946344,1.62693982158475,-1.47448712103868,-0.696811274743246,0.337040082692054
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||||||
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0.964000000000001,1.05075179897289,0.832569199887136,1.44009905221743,1.62575619831296,-1.47477998558041,-0.697831299851645,0.338020262272707
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||||||
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0.966000000000001,1.05364571810549,0.832561839535282,1.43901129031792,1.62457011469454,-1.47507546888605,-0.698842857600801,0.338998353011054
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||||||
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0.968000000000001,1.05653154060175,0.832558047831515,1.43792503466734,1.62338178486848,-1.47537350903738,-0.699845862695844,0.339974225453785
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||||||
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0.970000000000001,1.05940885486203,0.832557802278756,1.43684047703251,1.62219142593238,-1.47567404263558,-0.700840232444003,0.340947749750973
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||||||
|
0.972000000000001,1.06227724886694,0.832561078630091,1.4357578100058,1.62099925791572,-1.47597700481955,-0.701825886740398,0.341918795665524
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||||||
|
0.974000000000001,1.06513631021171,0.832567850897606,1.43467722696623,1.61980550375214,-1.47628232928474,-0.702802748052716,0.342887232582837
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||||||
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0.976000000000001,1.06798562614024,0.832578091362049,1.43359892204079,1.61861038925084,-1.47658994830257,-0.703770741404773,0.343852929520656
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||||||
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0.978000000000001,1.07082478357867,0.832591770583317,1.4325230900657,1.61741414306712,-1.47689979274048,-0.704729794358976,0.344815755139124
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||||||
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0.980000000000001,1.07365336916845,0.832608857411779,1.43144992654793,1.61621699667193,-1.47721179208241,-0.705679836997651,0.345775577751004
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||||||
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0.982000000000001,1.07647096929897,0.832629319000421,1.43037962762672,1.61501918432055,-1.4775258744499,-0.706620801903265,0.346732265332067
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||||||
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0.984000000000001,1.07927717013972,0.832653120817826,1.42931239003542,1.61382094302032,-1.47784196662366,-0.707552624137514,0.347685685531643
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||||||
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0.986000000000001,1.0820715576719,0.832680226661983,1.42824841106347,1.6126225124975,-1.47815999406572,-0.708475241219296,0.348635705683299
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||||||
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0.988000000000001,1.08485371771946,0.832710598674929,1.42718788851858,1.61142413516311,-1.47847988094196,-0.709388593101545,0.349582192815656
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||||||
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0.990000000000001,1.08762323597963,0.832744197358217,1.42613102068922,1.61022605607793,-1.4788015501452,-0.710292622146944,0.350525013663322
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||||||
|
0.992000000000001,1.09037969805289,0.832780981589214,1.42507800630736,1.6090285229165,-1.47912492331873,-0.711187273102498,0.351464034677924
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||||||
|
0.994000000000001,1.09312268947232,0.832820908638236,1.42402904451154,1.60783178593023,-1.47944992088029,-0.71207249307298,0.352399122039239
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||||||
|
0.996000000000001,1.09585179573239,0.832863934186502,1.42298433481023,1.6066360979095,-1.47977646204647,-0.712948231493233,0.353330141666394
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||||||
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0.998000000000001,1.09856660231704,0.832910012344917,1.42194407704558,1.60544171414484,-1.48010446485755,-0.713814440099343,0.354256959229137
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||||||
|
1,1.1012666947273,0.832959095673689,1.42090847135751,1.60424889238718,-1.48043384620271,-0.714671072898667,0.355179440159165
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||||||
|
1.002,1.10395165850809,0.833011135202761,1.41987771814821,1.60305789280709,-1.48076452184571,-0.715518086138721,0.356097449661478
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||||||
|
1.004,1.10662107927452,0.833066080453073,1.41885201804706,1.60186897795306,-1.48109640645084,-0.716355438274933,0.357010852725773
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||||||
|
1.006,1.10927454273741,0.833123879458645,1.417831571876,1.60068241270883,-1.4814294136093,-0.717183089937248,0.357919514137841
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||||||
|
1.008,1.11191163472824,0.833184478789476,1.41681658061529,1.5994984642497,-1.48176345586593,-0.718001003895592,0.358823298490974
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||||||
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1.01,1.11453194122338,0.83324782357527,1.41580724536985,1.59831740199787,-1.48209844474624,-0.718809145024194,0.359722070197348
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||||||
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1.012,1.11713504836759,0.83331385752997,1.41480376733596,1.59713949757681,-1.48243429078379,-0.719607480264764,0.360615693499388
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||||||
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1.014,1.11972054249694,0.833382522977111,1.41380634776859,1.59596502476455,-1.48277090354783,-0.720395978588526,0.361504032481094
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||||||
|
1.016,1.12228801016092,0.833453760875983,1.41281518794921,1.59479425944605,-1.48310819167134,-0.721174610957108,0.36238695107931
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||||||
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1.018,1.12483703814393,0.833527510848607,1.41183048915405,1.59362747956447,-1.4834460628792,-0.721943350282288,0.363264313094934
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||||||
|
1.02,1.12736721348603,0.833603711207518,1.41085245262311,1.59246496507148,-1.48378442401676,-0.722702171384595,0.364135982204052
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||||||
|
1.022,1.12987812350299,0.833682298984347,1.40988127952953,1.59130699787653,-1.48412318107858,-0.723451050950771,0.365001821968975
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||||||
|
1.024,1.13236935580564,0.833763209959214,1.40891717094965,1.59015386179498,-1.48446223923745,-0.724189967490078,0.36586169584919
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||||||
|
1.026,1.13484049831852,0.83384637869092,1.40796032783369,1.58900584249537,-1.48480150287366,-0.724918901289478,0.366715467212182
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||||||
|
1.028,1.13729113929776,0.833931738547925,1.40701095097692,1.58786322744541,-1.48514087560442,-0.725637834367659,0.367562999344142
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||||||
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1.03,1.13972086734837,0.83401922174014,1.40606924099153,1.5867263058571,-1.48548026031355,-0.726346750427923,0.368404155460533
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||||||
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1.032,1.14212927144071,0.834108759351489,1.40513539827911,1.58559536863066,-1.48581955918135,-0.727045634809936,0.369238798716518
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||||||
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1.034,1.14451594092633,0.834200281373278,1.40420962300372,1.58447070829743,-1.48615867371466,-0.727734474440335,0.370066792217217
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||||||
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1.036,1.14688046555307,0.834293716738337,1.40329211506563,1.58335261896163,-1.48649750477706,-0.728413257782196,0.370887999027807
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||||||
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1.038,1.1492224354795,0.834388993355951,1.4023830740757,1.58224139624109,-1.48683595261929,-0.729081974783372,0.371702282183435
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||||||
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1.04,1.15154144128864,0.834486038147569,1.40148269933038,1.58113733720686,-1.48717391690978,-0.729740616823681,0.372509504698952
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||||||
|
1.042,1.15383707400105,0.834584777083287,1.40059118978737,1.58004074032162,-1.48751129676539,-0.730389176660978,0.373309529578439
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||||||
|
1.044,1.15610892508714,0.834685135219106,1.39970874404199,1.57895190537711,-1.4878479907822,-0.731027648376076,0.374102219824532
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||||||
|
1.046,1.15835658647898,0.834787036734958,1.39883556030411,1.57787113343033,-1.48818389706651,-0.731656027316549,0.374887438447531
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||||||
|
1.048,1.16057965058127,0.834890404973503,1.39797183637578,1.57679872673863,-1.48851891326594,-0.732274310039398,0.375665048474282
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||||||
|
1.05,1.16277771028179,0.834995162479681,1.39711776962957,1.57573498869365,-1.48885293660062,-0.732882494252597,0.376434912956833
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||||||
|
1.052,1.16495035896116,0.835101231041026,1.39627355698748,1.57468022375415,-1.48918586389458,-0.733480578755504,0.377196894980842
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||||||
|
1.054,1.16709719050197,0.83520853172874,1.39543939490055,1.57363473737761,-1.48951759160709,-0.734068563378159,0.377950857673751
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||||||
|
1.056,1.16921779929733,0.835316984939515,1.39461547932913,1.57259883595075,-1.48984801586429,-0.734646448919454,0.378696664212695
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||||||
|
1.058,1.17131178025877,0.8354265104381,1.39380200572376,1.57157282671877,-1.49017703249076,-0.735214237084192,0.379434177832165
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||||||
|
1.06,1.17337872882358,0.835537027400618,1.39299916900672,1.57055701771353,-1.49050453704128,-0.735771930419023,0.380163261831397
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||||||
|
1.062,1.17541824096157,0.835648454458621,1.39220716355424,1.56955171768043,-1.49083042483264,-0.736319532247275,0.380883779581499
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||||||
|
1.064,1.17742991318127,0.835760709743882,1.39142618317928,1.56855723600421,-1.49115459097554,-0.73685704660267,0.381595594532304
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||||||
|
1.066,1.17941334253556,0.835873710933916,1.39065642111496,1.56757388263346,-1.49147693040659,-0.737384478161936,0.38229857021895
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||||||
|
1.068,1.18136812662682,0.835987375298236,1.38989806999864,1.56660196800398,-1.49179733792035,-0.73790183217632,0.38299257026817
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||||||
|
1.07,1.1832938636115,0.836101619745324,1.38915132185653,1.56564180296089,-1.49211570820156,-0.738409114401994,0.383677458404316
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||||||
|
1.072,1.18519015220427,0.83621636087033,1.38841636808898,1.56469369867962,-1.49243193585729,-0.738906331029371,0.384353098455084
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||||||
|
1.074,1.1870565916816,0.836331515003483,1.38769339945623,1.56375796658553,-1.49274591544934,-0.739393488611331,0.385019354356968
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||||||
|
1.076,1.188892781885,0.836446998259207,1.38698260606486,1.56283491827247,-1.4930575415266,-0.739870593990351,0.385676090160414
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||||||
|
1.078,1.19069832322366,0.836562726585955,1.3862841773547,1.56192486542001,-1.49336670865756,-0.740337654224562,0.386323170034703
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||||||
|
1.08,1.19247281667686,0.836678615816729,1.3855983020863,1.56102811970949,-1.49367331146292,-0.740794676512724,0.386960458272536
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||||||
|
1.082,1.19421586379579,0.83679458172031,1.38492516832891,1.56014499273883,-1.49397724464821,-0.74124166811812,0.387587819294347
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||||||
|
1.084,1.19592706670512,0.836910540053171,1.38426496344903,1.55927579593609,-1.49427840303661,-0.741678636291396,0.388205117652323
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||||||
|
1.086,1.19760602810415,0.837026406612078,1.38361787409931,1.55842084047186,-1.4945766816018,-0.742105588192322,0.388812218034156
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||||||
|
1.088,1.19925235126765,0.837142097287367,1.38298408620805,1.55758043717031,-1.49487197550095,-0.742522530810504,0.389408985266509
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||||||
|
1.09,1.20086564004639,0.837257528116909,1.38236378496908,1.55675489641913,-1.49516418010779,-0.742929470885047,0.389995284318221
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||||||
|
1.092,1.20244549886731,0.837372615340727,1.38175715483202,1.55594452807814,-1.49545319104583,-0.743326414823158,0.390570980303233
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||||||
|
1.094,1.20399153273352,0.83748727545629,1.38116437949305,1.55514964138673,-1.4957389042217,-0.743713368617723,0.391135938483268
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||||||
|
1.096,1.20550372323753,0.837601442187312,1.38058548573447,1.55437035294331,-1.49602126353776,-0.744090430345154,0.391690145727958
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||||||
|
1.098,1.20698242883797,0.837715067693106,1.38002034296574,1.55360658452406,-1.49630026182946,-0.744457788308336,0.392233710670302
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||||||
|
1.1,1.2084280089753,0.837828106357006,1.37946881917184,1.55285825379509,-1.49657589375559,-0.744815627418986,0.392766742365764
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||||||
|
1.102,1.2098408240299,0.837940514743072,1.37893078096752,1.55212527440104,-1.49684815575541,-0.745164129265761,0.393289350278409
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||||||
|
1.104,1.21122123528187,0.838052251552925,1.37840609364969,1.55140755605284,-1.49711704600645,-0.745503472182008,0.393801644267416
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||||||
|
1.106,1.21256960487224,0.838163277582739,1.37789462124837,1.55070500461447,-1.4973825643831,-0.745833831313105,0.39430373457397
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||||||
|
1.108,1.21388629576574,0.838273555680403,1.3773962265758,1.55001752218881,-1.49764471241572,-0.746155378683411,0.394795731808542
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||||||
|
1.11,1.21517167171495,0.838383050702868,1.37691077127415,1.54934500720262,-1.4979034932506,-0.746468283262764,0.395277746938526
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||||||
|
1.112,1.21642609722586,0.838491729473703,1.37643811586161,1.54868735449049,-1.49815891161047,-0.746772711032549,0.395749891276255
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||||||
|
1.114,1.21764993752469,0.838599560740873,1.37597811977705,1.548044455378,-1.49841097375576,-0.747068825051293,0.396212276467372
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||||||
|
1.116,1.21884355852608,0.83870651513475,1.37553064142322,1.54741619776385,-1.4986596874465,-0.747356785519785,0.396665014479557
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||||||
|
1.118,1.22000732680246,0.838812565126378,1.3750955382085,1.54680246620113,-1.49890506190487,-0.747636749845693,0.397108217591611
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||||||
|
1.12,1.22114160955459,0.838917684986011,1.37467266658742,1.54620314197768,-1.4991471077784,-0.747908872707678,0.397541998382873
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||||||
|
1.122,1.22224677458326,0.839021850741923,1.37426188209973,1.54561810319546,-1.49938583710387,-0.748173306118971,0.397966469722988
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||||||
|
1.124,1.22332319026216,0.839125040139519,1.37386303940824,1.5450472248491,-1.4996212632718,-0.748430199490424,0.398381744761995
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||||||
|
1.126,1.22437122551166,0.839227232600749,1.37347599233547,1.54449037890343,-1.49985340099156,-0.748679699692988,0.398787936920747
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||||||
|
1.128,1.22539124977381,0.839328409183848,1.37310059389898,1.54394743437018,-1.50008226625721,-0.748921951119641,0.399185159881647
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||||||
|
1.13,1.22638363298812,0.839428552543402,1.37273669634565,1.54341825738367,-1.50030787631381,-0.749157095746722,0.399573527579696
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||||||
|
1.132,1.22734874556845,0.839527646890762,1.37238415118473,1.54290271127565,-1.5005302496245,-0.749385273194674,0.399953154193846
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||||||
|
1.134,1.22828695838073,0.839625677954812,1.37204280921989,1.54240065664917,-1.50074940583807,-0.74960662078819,0.400324154138648
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||||||
|
1.136,1.22919864272156,0.839722632943104,1.37171252058009,1.54191195145155,-1.50096536575721,-0.749821273615725,0.400686642056195
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||||||
|
1.138,1.23008417029769,0.839818500503366,1.37139313474952,1.54143645104638,-1.50117815130729,-0.750029364588398,0.401040732808348
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||||||
|
1.14,1.23094391320627,0.839913270685399,1.37108450059649,1.54097400828463,-1.50138778550578,-0.750231024498235,0.401386541469231
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||||||
|
1.142,1.23177824391594,0.840006934903372,1.37078646640136,1.54052447357482,-1.50159429243226,-0.750426382075776,0.401724183318008
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||||||
|
1.144,1.23258753524855,0.840099485898517,1.37049887988353,1.54008769495222,-1.50179769719892,-0.750615564047015,0.402053773831911
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||||||
|
1.146,1.23337216036179,0.840190917702242,1.37022158822752,1.53966351814716,-1.50199802592172,-0.750798695189666,0.40237542867953
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||||||
|
1.148,1.2341324927323,0.840281225599667,1.36995443810821,1.53925178665236,-1.50219530569206,-0.750975898388754,0.402689263714346
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||||||
|
1.15,1.23486890613961,0.840370406093588,1.36969727571513,1.53885234178932,-1.50238956454901,-0.751147294691512,0.40299539496851
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||||||
|
1.152,1.23558177465066,0.840458456868881,1.36944994677606,1.53846502277379,-1.50258083145211,-0.751313003361583,0.403293938646856
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||||||
|
1.154,1.23627147260489,0.840545376757358,1.36921229657973,1.53808966678027,-1.50276913625468,-0.751473141932506,0.403585011121134
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||||||
|
1.156,1.23693837460002,0.840631165703068,1.36898416999777,1.53772610900556,-1.50295450967768,-0.751627826260497,0.403868728924473
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||||||
|
1.158,1.23758285547828,0.840715824728065,1.36876541150596,1.53737418273133,-1.50313698328407,-0.751777170576496,0.404145208746049
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||||||
|
1.16,1.23820529031331,0.840799355898643,1.3685558652047,1.53703371938581,-1.50331658945374,-0.751921287537487,0.404414567425969
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||||||
|
1.162,1.23880605439746,0.840881762292042,1.3683553748388,1.5367045486044,-1.50349336135891,-0.752060288277077,0.404676921950345
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||||||
|
1.164,1.23938552322968,0.840963047963643,1.36816378381664,1.53638649828942,-1.50366733294008,-0.752194282455327,0.404932389446572
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||||||
|
1.166,1.23994407250386,0.841043217914637,1.36798093522856,1.53607939466884,-1.50383853888239,-0.75232337830783,0.405181087178785
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||||||
|
1.168,1.24048207809762,0.841122278060199,1.36780667186478,1.53578306235405,-1.50400701459261,-0.752447682694025,0.405423132543504
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||||||
|
1.17,1.24099991606156,0.841200235198151,1.36764083623254,1.53549732439665,-1.50417279617653,-0.752567301144752,0.405658643065447
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||||||
|
1.172,1.24149796260894,0.841277096978132,1.36748327057278,1.5352220023443,-1.50433592041683,-0.752682337909019,0.405887736393522
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||||||
|
1.174,1.24197659410575,0.841352871871278,1.3673338168762,1.53495691629552,-1.50449642475149,-0.752792896000004,0.406110530296971
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||||||
|
1.176,1.24243618706121,0.84142756914041,1.36719231689869,1.53470188495356,-1.50465434725262,-0.752899077240259,0.406327142661678
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||||||
|
1.178,1.24287711811859,0.841501198810742,1.3670586121764,1.53445672567929,-1.50480972660577,-0.753000982306131,0.40653769148663
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||||||
|
1.18,1.24329976404644,0.841573771641116,1.3669325440401,1.53422125454306,-1.50496260208973,-0.753098710771384,0.406742294880522
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||||||
|
1.182,1.24370450173015,0.841645299095757,1.36681395362915,1.53399528637561,-1.50511301355677,-0.753192361150013,0.406941071058498
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||||||
|
1.184,1.24409170816384,0.841715793316559,1.36670268190497,1.53377863481795,-1.50526100141329,-0.753282030938258,0.407134138339041
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||||||
|
1.186,1.2444617604426,0.841785267095912,1.36659856966404,1.53357111237027,-1.50540660660101,-0.753367816655808,0.407321615140978
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||||||
|
1.188,1.24481503575497,0.841853733850056,1.36650145755036,1.53337253043985,-1.50554987057857,-0.753449813886178,0.407503619980626
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||||||
|
1.19,1.24515191137579,0.841921207592991,1.36641118606762,1.53318269938794,-1.50569083530348,-0.753528117316275,0.407680271469047
|
||||||
|
1.192,1.24547276465931,0.841987702910916,1.36632759559081,1.53300142857566,-1.50582954321467,-0.753602820775133,0.407851688309426
|
||||||
|
1.194,1.24577797303256,0.84205323493723,1.3662505263775,1.53282852640891,-1.50596603721534,-0.753674017271826,0.408017989294562
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||||||
|
1.196,1.24606791398898,0.842117819328075,1.36617981857863,1.53266380038222,-1.50610036065629,-0.753741799032538,0.408179293304461
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||||||
|
1.198,1.24634296508234,0.842181472238438,1.36611531224901,1.5325070571216,-1.5062325573197,-0.753806257536802,0.408335719304042
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||||||
|
1.2,1.24660350392086,0.842244210298807,1.36605684735739,1.53235810242644,-1.50636267140326,-0.753867483552901,0.40848738634093
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||||||
|
1.202,1.2468499081616,0.842306050592389,1.36600426379612,1.53221674131033,-1.5064907475048,-0.753925567172422,0.408634413543361
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||||||
|
1.204,1.24708255550504,0.842367010632886,1.36595740139057,1.53208277804085,-1.50661683060729,-0.75398059784396,0.408776920118163
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||||||
|
1.206,1.24730182368995,0.842427108342838,1.36591609990804,1.53195601617838,-1.50674096606424,-0.754032664405981,0.408915025348839
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||||||
|
1.208,1.24750809048836,0.842486362032532,1.3658801990665,1.53183625861389,-1.50686319958554,-0.754081855118823,0.409048848593727
|
||||||
|
1.21,1.24770173370084,0.842544790379478,1.36584953854289,1.53172330760569,-1.50698357722372,-0.754128257695848,0.409178509284243
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||||||
|
1.212,1.24788313115192,0.842602412408456,1.36582395798112,1.53161696481513,-1.50710214536056,-0.754171959333733,0.409304126923211
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||||||
|
1.214,1.24805266068571,0.842659247472135,1.36580329699978,1.53151703134132,-1.50721895069413,-0.754213046741899,0.409425821083258
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||||||
|
1.216,1.24821070016173,0.842715315232263,1.36578739519954,1.53142330775479,-1.50733404022628,-0.754251606171082,0.409543711405286
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||||||
|
1.218,1.24835762745086,0.842770635641438,1.36577609217025,1.53133559413011,-1.50744746125043,-0.754287723441032,0.40965791759702
|
||||||
|
1.22,1.24849382043154,0.84282522892545,1.36576922749773,1.53125369007755,-1.50755926133983,-0.754321483967352,0.40976855943162
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||||||
|
1.222,1.24861965698609,0.842879115566204,1.3657666407703,1.53117739477359,-1.50766948833617,-0.754352972787462,0.409875756746351
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||||||
|
1.224,1.24873551499719,0.842932316285219,1.36576817158503,1.53110650699049,-1.50777819033864,-0.754382274585697,0.409979629441333
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||||||
|
1.226,1.24884177234458,0.842984852027713,1.36577365955371,1.5310408251248,-1.5078854156933,-0.754409473717524,0.410080297478335
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||||||
|
1.228,1.2489388069018,0.843036743947263,1.36578294430856,1.5309801472248,-1.5079912129829,-0.754434654232895,0.41017788087964
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||||||
|
1.23,1.24902699653322,0.843088013391052,1.36579586550765,1.53092427101694,-1.5080956310171,-0.754457899898719,0.410272499726963
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||||||
|
1.232,1.24910671909113,0.843138681885699,1.36581226284012,1.53087299393125,-1.50819871882297,-0.754479294220455,0.41036427416042
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||||||
|
1.234,1.24917835241298,0.843188771123668,1.36583197603112,1.53082611312563,-1.50830052563602,-0.754498920462826,0.410453324377559
|
||||||
|
1.236,1.24924227431881,0.843238302950269,1.36585484484644,1.53078342550923,-1.50840110089151,-0.75451686166966,0.410539770632438
|
||||||
|
1.238,1.24929886260878,0.84328729935124,1.36588070909702,1.53074472776468,-1.50850049421619,-0.754533200682845,0.410623733234751
|
||||||
|
1.24,1.24934849506082,0.843335782440916,1.3659094086431,1.53070981636931,-1.5085987554204,-0.754548020160395,0.410705332549013
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||||||
|
1.242,1.2493915494285,0.843383774450984,1.36594078339824,1.53067848761535,-1.50869593449056,-0.75456140259365,0.410784688993778
|
||||||
|
1.244,1.24942840343891,0.843431297719827,1.36597467333298,1.53065053762905,-1.50879208158206,-0.754573430323575,0.41086192304092
|
||||||
|
1.246,1.2494594347908,0.843478374682451,1.36601091847839,1.53062576238879,-1.50888724701248,-0.754584185556186,0.410937155214947
|
||||||
|
1.248,1.24948502115274,0.843525027861008,1.36604935892932,1.53060395774215,-1.50898148125526,-0.754593750377081,0.411010506092364
|
||||||
|
1.25,1.24950554016147,0.843571279855894,1.36608983484744,1.53058491942187,-1.50907483493368,-0.754602206765096,0.411082096301083
|
||||||
|
1.252,1.24952136942035,0.84361715333745,1.36613218646405,1.53056844306085,-1.50916735881527,-0.754609636605061,0.411152046519869
|
||||||
|
1.254,1.24953288649799,0.843662671038239,1.3661762540827,1.53055432420606,-1.50925910380655,-0.754616121699682,0.411220477477834
|
||||||
|
1.256,1.24954046892688,0.843707855745919,1.36622187808155,1.53054235833139,-1.50935012094823,-0.754621743780525,0.411287509953967
|
||||||
|
1.258,1.24954449420231,0.8437527302967,1.36626889891548,1.53053234084951,-1.50944046141066,-0.754626584518116,0.411353264776711
|
||||||
|
1.26,1.24954533978126,0.843797317569393,1.36631715711812,1.53052406712261,-1.5095301764898,-0.754630725531152,0.411417862823571
|
||||||
|
1.262,1.24954338308151,0.843841640480046,1.36636649330347,1.53051733247218,-1.50961931760349,-0.754634248394821,0.411481425020772
|
||||||
|
1.264,1.24953900148085,0.843885721977166,1.36641674816747,1.53051193218766,-1.50970793628806,-0.754637234648237,0.411544072342946
|
||||||
|
1.266,1.24953257231636,0.843929585037538,1.36646776248926,1.53050766153409,-1.50979608419544,-0.75463976580098,0.411605925812866
|
||||||
|
1.268,1.24952447288388,0.843973252662619,1.36651937713228,1.5305043157587,-1.50988381309052,-0.75464192333875,0.411667106501208
|
||||||
|
1.27,1.24951508043758,0.844016747875533,1.36657143304511,1.53050169009648,-1.50997117484896,-0.754643788728126,0.411727735526362
|
||||||
|
1.272,1.2495047721896,0.844060093718649,1.36662377126211,1.53049957977467,-1.51005822145539,-0.754645443420441,0.411787934054275
|
||||||
|
1.274,1.2494939253099,0.844103313251744,1.36667623290391,1.53049778001618,-1.51014500500192,-0.75464696885476,0.411847823298323
|
||||||
|
1.276,1.2494939253099,0.844103313251744,1.36667623290391,1.53049778001618,-1.51014500500192,-0.75464696885476,0.411847823298323
|
||||||
|
640
data/ik_movel_scurve_tcp.csv
Normal file
640
data/ik_movel_scurve_tcp.csv
Normal file
@ -0,0 +1,640 @@
|
|||||||
|
t,px,py,pz,vx,vy,vz,ax,ay,az,speed,acc
|
||||||
|
0,0.559809314390095,-0.292914056655931,0.00429163619695835,0,0,0,2.08166817117217e-10,-5.55111512312578e-11,0.00499999886285907,0,0.00499999886285907
|
||||||
|
0.002,0.559809314390095,-0.292914056655931,0.00429163619695835,4.16333634234434e-13,-1.11022302462516e-13,9.99999772571813e-06,-1.36696209906972e-09,1.10328413072125e-09,0.0124999965187694,9.99999772571814e-06,0.0124999965187696
|
||||||
|
0.004,0.559809314390096,-0.292914056655932,0.00429167619694926,-5.4678483962789e-12,4.413136522885e-12,4.99999860750777e-05,-1.20112253476634e-08,8.56953397132543e-09,0.0299999887414665,4.99999860750782e-05,0.0299999887414701
|
||||||
|
0.006,0.559809314390073,-0.292914056655914,0.00429183619690265,-4.76285677564192e-11,3.41671135828392e-11,0.000129999952691584,-4.52901605108025e-08,3.16136006262013e-08,0.0499999728365355,0.000129999952691597,0.049999972836566
|
||||||
|
0.008,0.559809314389906,-0.292914056655795,0.00429219619676002,-1.86628490439489e-10,1.3086753902769e-10,0.00024999987742122,-1.1639300634414e-07,8.06472943981618e-08,0.0699999443184302,0.000249999877421324,0.0699999443185734
|
||||||
|
0.01,0.559809314389326,-0.29291405665539,0.00429283619641234,-5.13200593132979e-10,3.56756291175486e-10,0.000409999729965305,-2.40391040406962e-07,1.65985281075365e-07,0.0899998981573197,0.000409999729965781,0.0899998981577938
|
||||||
|
0.012,0.559809314387853,-0.292914056654368,0.00429383619567988,-1.14819265206734e-09,7.9480866332915e-10,0.000609999470050498,-4.32362479152459e-07,2.97990798703296e-07,0.109999829320771,0.000609999470052097,0.109999829322025
|
||||||
|
0.014,0.559809314384734,-0.292914056652211,0.00429527619429254,-2.24265050974282e-09,1.54871948598867e-09,0.00084999904724839,-7.07371661246014e-07,4.86940349153641e-07,0.129999732739056,0.000849999047252759,0.129999732741892
|
||||||
|
0.016,0.559809314378882,-0.292914056648173,0.00429723619186888,-3.97767929705139e-09,2.74257005994372e-09,0.00112999840100672,-1.08041353641397e-06,7.43113903745039e-07,0.14999960340576,0.00112999840101705,0.149999603411492
|
||||||
|
0.018,0.559809314368823,-0.292914056641241,0.00429979618789657,-6.56430465539869e-09,4.52117510096883e-09,0.00144999746087143,-1.56639978765582e-06,1.07681571992479e-06,0.169999436288453,0.00144999746089334,0.16999943629908
|
||||||
|
0.02,0.559809314352625,-0.292914056630088,0.00430303618171236,-1.02432784476747e-08,7.04983293964289e-09,0.00180999614616053,-2.18026985354669e-06,1.49824250228469e-06,0.189999226298323,0.00180999614620325,0.18999922631674
|
||||||
|
0.022,0.55980931432785,-0.292914056613041,0.00430703617248121,-1.52853840695854e-08,1.05141451101076e-08,0.00220999436606472,-2.93699092823729e-06,2.01759442486349e-06,0.209998968422019,0.0022099943661426,0.209998968452249
|
||||||
|
0.024,0.559809314291484,-0.292914056588032,0.00431187615917662,-2.19912421606238e-08,1.51202106390968e-08,0.00264999201984861,-3.85140530578808e-06,2.64506125335906e-06,0.229998657628842,0.00264999201998299,0.229998657676298
|
||||||
|
0.026,0.559809314239885,-0.29291405655256,0.0043176361405606,-3.06910052927378e-08,2.10943901235438e-08,0.00312998899658009,-4.93836221915344e-06,3.3907529561894e-06,0.249998288861207,0.00312998899680165,0.249998288932976
|
||||||
|
0.028,0.55980931416872,-0.292914056503654,0.00432439611516294,-4.17446910372376e-08,2.86832224638544e-08,0.00364998517529344,-6.2126831457121e-06,4.26476215453774e-06,0.269997857087547,0.00364998517564486,0.269997857192707
|
||||||
|
0.03,0.559809314072906,-0.292914056437828,0.00433223608126178,-5.55417378755862e-08,3.81534387416948e-08,0.00420998042493028,-7.68914099058547e-06,5.27718493903428e-06,0.289997357245073,0.00420998042546955,0.289997357395026
|
||||||
|
0.032,0.559809313946553,-0.292914056351041,0.00434123603686266,-7.25012549995795e-08,4.97919622199916e-08,0.00480997460427373,-9.38256417004622e-06,6.43800637800672e-06,0.309996784283138,0.00480997460507786,0.309996784491979
|
||||||
|
0.034,0.559809313782901,-0.29291405623866,0.00435147597967887,-9.30719945557711e-08,6.39054642537217e-08,0.00544996756206284,-1.13076562002767e-05,7.75718725365414e-06,0.329996133184053,0.00544996756323223,0.329996133468961
|
||||||
|
0.036,0.559809313574265,-0.292914056095419,0.00436303590711092,-1.17731879800686e-07,8.08207112346081e-08,0.00612995913700994,-1.34790512085203e-05,9.24469528706949e-06,0.349995398886762,0.00612995913867331,0.349995399268409
|
||||||
|
0.038,0.559809313311973,-0.292914055915377,0.00437599581622691,-1.46988199389852e-07,1.00884245402e-07,0.00684994915760989,-1.59114943443228e-05,1.0910331665892e-05,0.36999457630419,0.00684994915992984,0.369994576807185
|
||||||
|
0.04,0.559809312986312,-0.292914055691882,0.00439043570374135,-1.81377857177978e-07,1.24462037898176e-07,0.0076099374422267,-1.86196613682909e-05,1.27638906388672e-05,0.389993660422117,0.00760993744540602,0.389993661075473
|
||||||
|
0.042,0.559809312586462,-0.292914055417529,0.00440643556599582,-2.21466844863016e-07,1.51939807957468e-07,0.00840992379929836,-2.16181517131986e-05,1.48151699241872e-05,0.409992646190765,0.00840992380358694,0.409992647028382
|
||||||
|
0.044,0.559809312100445,-0.292914055084122,0.00442407539893855,-2.67850464030772e-07,1.83722717594925e-07,0.00924990802698976,-2.49215509340317e-05,1.70738249927193e-05,0.429991528512647,0.00924990803269241,0.42999152957383
|
||||||
|
0.046,0.55980931151506,-0.292914054682638,0.00444343519810378,-3.21153048599143e-07,2.20235107928346e-07,0.0101298899133489,-2.85443821357311e-05,1.95494280486041e-05,0.449990302344056,0.0101298899208339,0.449990303674042
|
||||||
|
0.048,0.559809310815832,-0.292914054203182,0.00446459495859194,-3.82027992573697e-07,2.61920429789342e-07,0.011049869236366,-3.25012447510708e-05,2.22515200709594e-05,0.469988962643018,0.0110498692460741,0.469988964293547
|
||||||
|
0.05,0.559809309986948,-0.292914053634956,0.00448763467504924,-4.51158027603426e-07,3.09241188212183e-07,0.012009845763921,-3.68066896405672e-05,2.51895275471536e-05,0.48998750432072,0.0120098457763764,0.489987506350614
|
||||||
|
0.052,0.5598093090112,-0.292914052966217,0.00451263434164763,-5.29254751135965e-07,3.62678539977956e-07,0.0130098192536489,-4.14751427646464e-05,2.83727902283814e-05,0.509985922289221,0.0130098192694695,0.509985924764978
|
||||||
|
0.054,0.559809307869929,-0.292914052184242,0.00453967395206384,-6.17058598662012e-07,4.22732349125709e-07,0.0140497894530779,-4.65210647782043e-05,3.18105680685576e-05,0.529984211490065,0.014049789472988,0.529984214486495
|
||||||
|
0.056,0.559809306542966,-0.292914051275288,0.00456883349945994,-7.15339010248783e-07,4.89920812252187e-07,0.0151297560996091,-5.19589302139244e-05,3.55119926520597e-05,0.549982366863064,0.015129756124452,0.549982370463936
|
||||||
|
0.058,0.559809305008573,-0.292914050224559,0.00460019297646228,-8.2489431951771e-07,5.64780319733948e-07,0.0162497189205302,-5.78031303377634e-05,3.9486136582667e-05,0.569980383320275,0.0162497189512823,0.569980387618982
|
||||||
|
0.06,0.559809303243389,-0.292914049016167,0.00463383237514206,-9.46551531599837e-07,6.47865358582855e-07,0.0174096776328902,-6.4068056415678e-05,4.37418989918114e-05,0.589978255735589,0.0174096776706764,0.589978260835836
|
||||||
|
0.062,0.559809301222367,-0.292914047633097,0.00466983168699384,-1.08116654518042e-06,7.39747915701194e-07,0.0186096319434725,-7.07681066525189e-05,4.82880437024934e-05,0.609975979047951,0.0186096319895817,0.609975985064467
|
||||||
|
0.064,0.559809298918722,-0.292914046057175,0.00470827090291595,-1.22962395820991e-06,8.41017533392829e-07,0.019849581549082,-7.79175612919402e-05,5.31332824960095e-05,0.629973548184163,0.0198495816049846,0.629973555243421
|
||||||
|
0.066,0.559809296303871,-0.292914044269027,0.00474923001319016,-1.39283679034818e-06,9.52281045685232e-07,0.0211295261362092,-8.55307491498534e-05,5.82861571507552e-05,0.649970958003369,0.0211295262035754,0.649970966244341
|
||||||
|
0.068,0.559809293347375,-0.292914042248051,0.00479278900746079,-1.57174695480933e-06,1.07416216199585e-06,0.0224494653810955,-9.3622026797746e-05,6.37550186255441e-05,0.669968203411557,0.0224494654618149,0.669968212986479
|
||||||
|
0.07,0.559809290016883,-0.292914039972378,0.00483902787471455,-1.76732489753917e-06,1.20730112018741e-06,0.0238093989498554,-0.000102205605090333,6.95480964485461e-05,0.689965279312976,0.0238093990460572,0.689965290388115
|
||||||
|
0.0720000000000001,0.559809286278076,-0.292914037418846,0.00488802660326021,-1.98056937517066e-06,1.35235454779003e-06,0.0252093264983474,-0.000111295715699011,7.56735021867348e-05,0.709962180591923,0.0252093266124226,0.709962193348388
|
||||||
|
0.0740000000000001,0.559809282094606,-0.29291403456296,0.00493986518070794,-2.21250776033521e-06,1.50999512893435e-06,0.0266492476722231,-0.000120906631928541,8.21391045457974e-05,0.729958902124897,0.0266492478068475,0.729958916759451
|
||||||
|
0.0760000000000001,0.559809277428045,-0.292914031378866,0.0049946235939491,-2.46419590288482e-06,1.68091096597322e-06,0.028129162106847,-0.000131052557694744,8.89525814118384e-05,0.749955438775379,0.0281291622650054,0.749955455501263
|
||||||
|
0.0780000000000001,0.559809272237822,-0.292914027839316,0.00505238182913532,-2.73671799111419e-06,1.8658054545817e-06,0.0296490694273246,-0.000141747655280078,9.6121516995895e-05,0.769951785418997,0.0296490696123364,0.769951804466776
|
||||||
|
0.0800000000000001,0.559809266481173,-0.292914023915644,0.0051132198716584,-3.03118652400513e-06,2.0653970339568e-06,0.031208969248523,-0.000153006080028106,0.000103653263056058,0.789947936924439,0.0312089694640693,0.789947958542863
|
||||||
|
0.0820000000000001,0.559809260113076,-0.292914019577728,0.00517721770612942,-3.34874231122661e-06,2.28041850680593e-06,0.0328088611750224,-0.000164842001160181,0.00011155489726411,0.809943888164729,0.0328088614251741,0.809943912621596
|
||||||
|
0.0840000000000001,0.559809253086203,-0.29291401479397,0.00524445531635849,-3.69055452864586e-06,2.51161662301324e-06,0.0344487448011819,-0.000177269546264291,0.000119833313411144,0.829939633988604,0.0344487450904292,0.829939661571643
|
||||||
|
0.0860000000000001,0.559809245350858,-0.292914009531262,0.00531501268533414,-4.05782049628378e-06,2.75975176045051e-06,0.0361286197109768,-0.000190302780478379,0.000128495224877012,0.849935169237867,0.0361286200442602,0.849935200255627
|
||||||
|
0.0880000000000001,0.559809236854921,-0.292914003754963,0.0053889697952024,-4.45176565055938e-06,3.02559752252129e-06,0.0378484854781334,-0.000203955831390434,0.000137547064016363,0.869930488778605,0.037848485860876,0.86993052356137
|
||||||
|
0.0900000000000001,0.559809227543795,-0.292913997428872,0.00546640662724668,-4.87364382184551e-06,3.30994001651596e-06,0.0396083416660912,-0.000218242771077292,0.000146995002975325,0.88992558744394,0.0396083421042326,0.889925626344628
|
||||||
|
0.0920000000000001,0.559809217360346,-0.292913990515203,0.00554740316186676,-5.32473673486855e-06,3.61357753442259e-06,0.0414081878279092,-0.000233177623043534,0.000156844988385973,0.909920460085212,0.0414081883279403,0.909920503480298
|
||||||
|
0.0940000000000001,0.559809206244849,-0.292913982974562,0.00563203937855832,-5.80635431401965e-06,3.93731997005986e-06,0.0432480235064321,-0.000248774438549315,0.00016710268585518,0.929915101547695,0.0432480240754319,0.929915149838139
|
||||||
|
0.0960000000000001,0.559809194134929,-0.292913974765923,0.00572039525589249,-6.31983448906581e-06,4.28198827784331e-06,0.0451278482340999,-0.000265047248038108,0.000177773473025722,0.949909506650636,0.0451278488797737,0.949909560262821
|
||||||
|
0.0980000000000001,0.559809180965511,-0.292913965846608,0.00581255077149471,-6.86654330617208e-06,4.64841386216274e-06,0.0470476615330346,-0.000282010068075599,0.000188862387534571,0.969903670259251,0.0470476622637528,0.96990372964591
|
||||||
|
0.1,0.559809166668756,-0.292913956172267,0.00590858590202463,-7.4478747613682e-06,5.0374378279816e-06,0.049007462915137,-0.000299676866655218,0.000200374220687971,0.989897587210136,0.0490074637399768,0.989897652851294
|
||||||
|
0.102,0.559809151174012,-0.292913945696857,0.00600858062315526,-8.06525077279296e-06,5.44991074491463e-06,0.0510072518818752,-0.000318061632587074,0.00021231347929751,1.00989125232428,0.0510072528106627,1.00989132472822
|
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1.006,0.55960275584409,-0.292940945929688,0.275474138001122,-0.000120304322170916,-5.20454071090137e-05,0.286229303006674,0.00217024238857721,0.000890302897377237,-0.950616869829084,0.286229333020815,0.950619764046025
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1.008,0.559602519576383,-0.292941048239637,0.276044695373222,-0.00011593261892151,-5.02640047639335e-05,0.284308050200577,0.00220100338649276,0.000890840991252248,-0.970635758601456,0.284308078280755,0.970638662886145
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1.01,0.559602292113615,-0.292941146985707,0.276611370201924,-0.000111500308624945,-4.84820431440047e-05,0.282346759972268,0.00223083811839996,0.000890863851438215,-0.99065428429619,0.282346786150763,0.990657196648523
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1.012,0.559602073575148,-0.29294124216781,0.277174082413111,-0.00010700926644791,-4.67005493581806e-05,0.280345433063392,0.00225972396350471,0.000890374950851535,-1.01067243148121,0.280345457376119,1.01067534989041
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||||||
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1.014,0.559601864076549,-0.292941333787904,0.277732751934178,-0.000102461412770927,-4.49205433405985e-05,0.278304070246343,0.00228763828713507,0.000889378119761641,-1.03069018487015,0.278304092732892,1.03069310731664
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||||||
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1.016,0.559601663729497,-0.292941421849983,0.278287298694096,-9.78587132993702e-05,-4.31430368791341e-05,0.276222672323911,0.00231455839216909,0.000887877563138237,-1.05070752939862,0.276222693027586,1.0507104538559
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1.018,0.559601472641696,-0.292941506360052,0.278837642623473,-9.32031792022502e-05,-4.13690330880456e-05,0.274101240128749,0.00234046152597367,0.000885877707995639,-1.07072445016884,0.274101259096611,1.07072737460515
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||||||
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1.02,0.55960129091678,-0.292941587326115,0.279383703654611,-8.84968671954755e-05,-3.95995260471515e-05,0.271939774523236,0.00236532490122121,0.000883383258903913,-1.09074093244607,0.271939791806139,1.09074385482623
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||||||
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1.022,0.559601118654227,-0.292941664758156,0.279925401721566,-8.37418795973654e-05,-3.78355000524299e-05,0.269738276398965,0.0023891256611952,0.000880399263908371,-1.11075696172108,0.269738292051595,1.11075988000834
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1.024,0.559600955949262,-0.292941738668116,0.280462656760207,-7.89403645506947e-05,-3.6077928991518e-05,0.267496746676351,0.00241184094224023,0.000876931027793401,-1.13077252370669,0.267496760757267,1.13077543586459
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||||||
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1.026,0.559600802892769,-0.292941809069872,0.280995388708272,-7.40945158284045e-05,-3.43277759412563e-05,0.265215186304138,0.00243344786682309,0.000872984046162981,-1.15078760431,0.265215198875803,1.15079050830428
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||||||
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1.028,0.559600659571199,-0.292941875979219,0.281523517505424,-6.92065730834023e-05,-3.25859928068661e-05,0.262893596259111,0.00245392346720496,0.000868564102585178,-1.17080218963936,0.262893607387942,1.17080508343972
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||||||
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1.03,0.559600526066476,-0.292941939413843,0.282046963093308,-6.42788219595846e-05,-3.08535195309156e-05,0.26053197754558,0.00247324481728039,0.000863677213081004,-1.19081626607023,0.260531987301977,1.19081914765245
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||||||
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1.032,0.559600402455911,-0.292941999393297,0.282565645415606,-5.93135938142808e-05,-2.91312839545421e-05,0.258130331194831,0.00249138898400502,0.000858329574082715,-1.21082982019668,0.258130339653221,1.21083268754451
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||||||
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1.034,0.559600288812101,-0.292942055938979,0.283079484418088,-5.43132660235645e-05,-2.74202012345847e-05,0.255688658264794,0.00250833294412888,0.000852527617944963,-1.2308428388591,0.255688665503672,1.23084568996614
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||||||
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1.036,0.559600185202847,-0.292942109074102,0.283588400048665,-4.92802620377652e-05,-2.57211734827622e-05,0.253206959839394,0.00252405370909647,0.000846277933147508,-1.25085530909563,0.253206965941365,1.25085814196742
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||||||
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1.038,0.559600091691053,-0.292942158823673,0.284092312257445,-4.42170511871786e-05,-2.40350895019947e-05,0.250685237028411,0.00253852837361901,0.000839587278173014,-1.27086721818381,0.250685242080231,1.27087003084004
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||||||
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1.04,0.559600008334642,-0.29294220521446,0.284591140996779,-3.91261485432892e-05,-2.23628243700702e-05,0.248123490966659,0.00255173396995766,0.000832462564159807,-1.29087855378629,0.248123495059281,1.29088134426273
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||||||
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1.042,0.559599935186459,-0.292942248274971,0.285084806221312,-3.4010115307348e-05,-2.07052392453555e-05,0.245521722813266,0.00256364750261806,0.000824910882657458,-1.31088930371143,0.24552172604189,1.31089207006203
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||||||
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1.044,0.559599872294181,-0.292942288035417,0.285573227888032,-2.88715585328169e-05,-1.90631808394403e-05,0.242879933751813,0.00257424607325029,0.000816939443176733,-1.33089945595494,0.242879936215936,1.33090219625412
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||||||
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1.046,0.559599819700225,-0.292942324527694,0.286056325956319,-2.37131310143468e-05,-1.74374814726485e-05,0.240198124989446,0.0025835067765656,0.000808555510739549,-1.35090899889764,0.240198126792912,1.35091171124241
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||||||
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1.048,0.559599777441657,-0.292942357785343,0.28653402038799,-1.85375314265545e-05,-1.58289587964821e-05,0.237476297756223,0.00259140674890856,0.000799766475267914,-1.37091792114935,0.237476299007286,1.37092060366157
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||||||
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1.05,0.559599745550099,-0.292942387843529,0.287006231147344,-1.33475040187125e-05,-1.42384155715769e-05,0.234714453304849,0.00259792320989049,0.000790579834236692,-1.39092621155578,0.234714454116235,1.39092886238455
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||||||
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1.052,0.559599724051641,-0.292942414739006,0.287472878201209,-8.14583858699258e-06,-1.26666394595354e-05,0.231912592909999,0.00260303336524492,0.000781003144101343,-1.41093385924023,0.231912593398973,1.41093647656411
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||||||
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1.054,0.559599712966745,-0.292942438510087,0.287933881518984,-2.93537055773285e-06,-1.11144029951715e-05,0.229070717867888,0.00260671450397209,0.000771044002950692,-1.43094085357231,0.229070718156328,1.43094343560171
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||||||
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1.056,0.559599712310158,-0.292942459196617,0.288389161072681,2.2810194288958e-06,-9.58246344773261e-06,0.22618882949571,0.00260894400527789,0.000760710067854163,-1.45094718421307,0.226188829710192,1.45094972919273
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||||||
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1.058,0.559599722090822,-0.292942476839941,0.288838636836967,7.50040546337871e-06,-8.07156272375486e-06,0.223266929131036,0.00260969923449039,0.000750008957717262,-1.47095284110457,0.223266929402921,1.47095534731587
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||||||
|
1.06,0.55959974231178,-0.292942491482868,0.289282228789205,1.27198163668574e-05,-6.58242761686356e-06,0.220305018131292,0.00260895774428782,0.000738948298384389,-1.490957814404,0.220305018596833,1.4909602801676
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||||||
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1.062,0.559599772970088,-0.292942503169651,0.289719856909492,1.793623644053e-05,-5.1157695302173e-06,0.21730309787342,0.0026066971914318,0.000727535823252799,-1.51096209451487,0.217303098673868,1.51096451819339
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||||||
|
1.064,0.559599814056726,-0.292942511945947,0.290151441180698,2.31466051325846e-05,-3.67228432385236e-06,0.214261169753232,0.00260289518411172,0.000715779137350213,-1.53096567217722,0.214261171034965,1.5309680521775
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||||||
|
1.066,0.559599865556508,-0.292942517858788,0.290576901588505,2.83478171769769e-05,-2.25265298081645e-06,0.211179235184711,0.00259752954562264,0.000703685738151493,-1.55096853836009,0.211179237099371,1.55097087313598
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||||||
|
1.068,0.559599927447995,-0.292942520956558,0.290996158121437,3.35367233150752e-05,-8.57541371246383e-07,0.208057295599792,0.00259057825191533,0.000691263189050993,-1.57097068425455,0.208057298304449,1.57097297230973
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||||||
|
1.07,0.559599999703402,-0.292942521288954,0.291409130770904,3.87101301846382e-05,5.12399775387528e-07,0.204895352447692,0.00258201929281831,0.000678518959768003,-1.59097210132227,0.204895356105015,1.59097434121277
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||||||
|
1.072,0.559600082288515,-0.292942518906959,0.291815739531228,4.38648004863484e-05,1.85653446782563e-06,0.201693407194503,0.00257183081775469,0.000665460395121719,-1.61097278127477,0.201693411972962,1.61097497161175
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||||||
|
1.074,0.559600175162604,-0.292942513862816,0.292215904399682,4.89974534556569e-05,3.1742413558744e-06,0.198451461322593,0.00255999118431438,0.000652094708092353,-1.63097271612886,0.198451467396689,1.63097485558151
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||||||
|
1.076,0.559600278278329,-0.292942506209994,0.292609545376518,5.41047652236059e-05,4.46491330019505e-06,0.195169516329988,0.00254647886110959,0.000638428993698924,-1.65097189805396,0.195169523880503,1.65097398535231
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||||||
|
1.078,0.559600391581665,-0.292942496003163,0.292996582465002,5.91833689000953e-05,5.7279573306701e-06,0.191847573730377,0.00253127243471373,0.000624470281040955,-1.67097031943813,0.191847582944673,1.67097235337586
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||||||
|
1.08,0.559600515011805,-0.292942483298165,0.29337693567144,6.42298549624609e-05,6.96279442435887e-06,0.188485635052235,0.00251435070680594,0.000610225394520602,-1.69096797303716,0.188485646124577,1.69096995247459
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||||||
|
1.082,0.559600648501084,-0.292942468151985,0.293750525005211,6.92407717273191e-05,8.16885890875251e-06,0.185083701838229,0.00249569269417104,0.0005957009503732,-1.71096485177685,0.185083714970165,1.71096677564394
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||||||
|
1.084,0.559600791974892,-0.292942450622729,0.294117270478793,7.4212625739145e-05,9.34559822585167e-06,0.181641775645128,0.00247527753849397,0.000580903394831188,-1.73096094870789,0.181641791045918,1.73096281600714
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||||||
|
1.086,0.559600945351587,-0.292942430769592,0.294477092107791,7.91418818812949e-05,1.04924724880773e-05,0.178159858043397,0.00245308452023751,0.000565838972899079,-1.7509562571863,0.178159875930505,1.75095806699568
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||||||
|
1.088,0.559601108542419,-0.292942408652839,0.294829909910966,8.40249638200951e-05,1.1608954117448e-05,0.174637950616382,0.00242909325987028,0.000550513756109038,-1.77095077082828,0.174637971216034,1.77095252230451
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||||||
|
1.09,0.559601281451443,-0.292942384333776,0.295175643910257,8.88582549207761e-05,1.26945275125134e-05,0.171076054960084,0.00240328359990549,0.000534933517620794,-1.79094448336802,0.171076078507915,1.79094617574964
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||||||
|
1.092,0.559601463975439,-0.292942357874729,0.295514214130807,9.36380982197171e-05,1.37486881879312e-05,0.16747417268291,0.00236897239325184,0.000517896170393327,-1.80593484550712,0.167474199424703,1.80593647354038
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||||||
|
1.094,0.559601656003835,-0.292942329339023,0.295845540600989,9.83341444937834e-05,1.47661121940867e-05,0.163852315578056,0.00231341699963305,0.000497171640662097,-1.80591698122068,0.163852345750474,1.80591853142357
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||||||
|
1.096,0.559601857312017,-0.29294229881028,0.296169623393119,0.000102891766218249,1.57373747505796e-05,0.160250504758028,0.00223811323640799,0.000473213628005009,-1.79089142723215,0.160250538562537,1.79089288825871
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||||||
|
1.098,0.5596020675709,-0.292942266389524,0.296486542620021,0.000107286597439415,1.66589667061068e-05,0.156688749869127,0.00215759002331062,0.000448794057472667,-1.77086370292331,0.15668878748489,1.77086507417761
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||||||
|
1.1,0.559602286458407,-0.292942232174413,0.296796378392596,0.000111522126311492,1.75325509804702e-05,0.153167049946334,0.00207880385127978,0.000425196121367487,-1.75083646326499,0.153167091549843,1.75083774899773
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||||||
|
1.102,0.559602513659406,-0.29294219625932,0.297099210819806,0.000115601812844535,1.83597511915767e-05,0.149685404016067,0.00200174046088852,0.000402400328336494,-1.73080971228867,0.149685449781576,1.73081091660634
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||||||
|
1.104,0.559602748865658,-0.292942158735409,0.29739512000866,0.000119529088155046,1.91421522938162e-05,0.14624381109718,0.00192638524576516,0.000380387485399147,-1.71078345348463,0.146243861197154,1.7107845803524
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||||||
|
1.106,0.559602991775758,-0.292942119690711,0.297684186064195,0.000123307353827595,1.98813011331733e-05,0.142842270202129,0.001852723405249,0.000359138697947347,-1.69075768973597,0.142842324807697,1.69075874298078
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||||||
|
1.108,0.559603242095073,-0.292942079210204,0.297966489089468,0.000126939981776042,2.05787070856056e-05,0.139480780338236,0.00178073994439032,0.00033863539403156,-1.67073242336376,0.13948083961966,1.67073340667733
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||||||
|
1.11,0.559603499535685,-0.292942037375883,0.298242109185548,0.000130430313605156,2.12358427092995e-05,0.136159340508674,0.00171041952823359,0.000318859258441327,-1.65070765620681,0.136159404635833,1.6507085731485
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||||||
|
1.112,0.559603763816328,-0.292941994266833,0.298511126451503,0.000133781659888976,2.18541441193709e-05,0.132877949713408,0.00164174661365646,0.000299792263930287,-1.63068338956268,0.1328780188563,1.63068424356249
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||||||
|
1.114,0.559604034662325,-0.292941949959306,0.298773620984401,0.000136997300059782,2.24350117650207e-05,0.129636606950423,0.00157470547018645,0.000281416702441195,-1.61065962421894,0.129636681279676,1.61066041858046
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||||||
|
1.116,0.559604311805528,-0.292941904526786,0.299029672879305,0.000140080481769722,2.29798109291357e-05,0.126435311216533,0.00150928006203976,0.000263715219800398,-1.59063636058498,0.12643539090395,1.59063709848823
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||||||
|
1.118,0.559604594984252,-0.292941858040062,0.299279362229267,0.000143034420307941,2.34898726442223e-05,0.123274061508083,0.00144545413138797,0.000246670749798339,-1.57061359861224,0.123274146727195,1.57061428311658
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||||||
|
1.12,0.559604883943209,-0.292941810567296,0.299522769125337,0.000145862298295274,2.3966493928329e-05,0.120152856822084,0.00138321126774699,0.00023026648990343,-1.55059133775253,0.120152947748738,1.55059197179956
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||||||
|
1.122,0.559605178433445,-0.292941762174087,0.299759973656556,0.000148567265378929,2.4410938603836e-05,0.117071696157073,0.00132253479001587,0.000214485998406565,-1.53056957710381,0.117071792970041,1.5305701635202
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||||||
|
1.124,0.559605478212271,-0.292941712923541,0.299991055909965,0.000151152437455337,2.48244379219553e-05,0.114030578513669,0.00126340780892686,0.000199313121562738,-1.5105483154379,0.114030681395289,1.51054885693819
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||||||
|
1.126,0.559605783043195,-0.292941662876335,0.30021609597061,0.000153620896614637,2.5208191090087e-05,0.111029502895321,0.001205813317251,0.000184732059510528,-1.49052755112067,0.111029612032173,1.49052805031018
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||||||
|
1.128,0.559606092695857,-0.292941612090777,0.300435173921547,0.000155975690724341,2.55633661599974e-05,0.108068468309186,0.00114973394693685,0.000170727307291507,-1.47050728211556,0.108068583892801,1.470507741493
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||||||
|
1.13,0.559606406945958,-0.29294156062287,0.300648369843847,0.000158219832402384,2.5891100319253e-05,0.105147473766859,0.00109515219809397,0.000157283616686321,-1.45048750610499,0.105147595994472,1.45048792806529
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||||||
|
1.132,0.559606725575187,-0.292941508526376,0.300855763816614,0.000160356299516717,2.61925006267427e-05,0.102266518284766,0.00104205048756523,0.000144386103767546,-1.43046822048339,0.102266647360116,1.43046860732052
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||||||
|
1.134,0.559607048371156,-0.292941455852868,0.301057435916986,0.000162388034352645,2.64686447343232e-05,0.0994256008849253,0.000990410906065441,0.000132020196857985,-1.41044942231563,0.0994257370191004,1.41044977622516
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||||||
|
1.136,0.559607375127324,-0.292941402651797,0.301253466220154,0.000164317943140979,2.67205814141746e-05,0.0966247205955033,0.000940215419409362,0.000120171567141725,-1.39043110837511,0.0966248640078474,1.39043143145697
|
||||||
|
1.138,0.559607705642928,-0.292941348970542,0.301443934799368,0.000166148896030282,2.69493310028901e-05,0.0938638764514248,0.000891445819939377,0.000108826204991974,-1.37041327511605,0.0938640273705025,1.37041356937718
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1.14,0.559608039722908,-0.292941294854473,0.301628921725959,0.000167883726420737,2.71558862341425e-05,0.0911430674950391,0.000844083705708868,9.7970468543318e-05,-1.35039591883657,0.0911432261596714,1.35039618619351
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||||||
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1.142,0.559608377177834,-0.292941240346997,0.301808507069348,0.000169525230853118,2.73412128770633e-05,0.0884622927760786,0.000798110563748899,8.759094491384e-05,-1.33037903557453,0.0884624594364551,1.33037927785608
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||||||
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1.144,0.559608717823832,-0.292941185489621,0.301982770897064,0.000171076168675732,2.75062500137979e-05,0.085821551352741,0.00075350772149596,7.76744710218046e-05,-1.31036262102784,0.0858217262716175,1.3103628399776
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||||||
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1.146,0.559609061482509,-0.292941130321997,0.302151793274759,0.000172539261739102,2.76519107611506e-05,0.0832208422919672,0.000710256242708595,6.82082480774059e-05,-1.29034667078337,0.0832210257459585,1.29034686806224
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||||||
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1.148,0.559609407980879,-0.292941074881978,0.302315654266232,0.000173917193646566,2.77790830061075e-05,0.0806601646696075,0.000668337080123038,5.91797409688066e-05,-1.27033118019551,0.0806603569505857,1.27033135738421
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||||||
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1.15,0.559609757151283,-0.292941019205665,0.302474433933438,0.000175212610059594,2.78886297250258e-05,0.0781395175711851,0.000627731214231097,5.05766539760088e-05,-1.25031614439316,0.0781397189877974,1.25031630299483
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||||||
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1.152,0.559610108831319,-0.292940963327459,0.302628212336516,0.000176428118503491,2.79813896220116e-05,0.0756589000920348,0.000588419341029933,4.23869793431119e-05,-1.23030155835604,0.0756591109713541,1.23030169979858
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1.154,0.559610462863757,-0.292940907280107,0.302777069533806,0.000177566287423714,2.80581776423982e-05,0.073218311337761,0.000550381920594311,3.45989799310775e-05,-1.21028741682794,0.0732185320270835,1.21028754246641
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||||||
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1.156,0.559610819096469,-0.292940851094749,0.302921085581867,0.000178629646185868,2.81197855417359e-05,0.0708177504247231,0.000513599461571256,2.72011996260701e-05,-1.19027371440691,0.0708179812935331,1.19027382552601
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||||||
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1.158,0.559611177382342,-0.292940794800965,0.303060340535505,0.000179620685269999,2.81669824409025e-05,0.0684572164801333,0.000478052340768808,2.01824147672003e-05,-1.17026044559737,0.068457457922255,1.17026054341378
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||||||
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1.16,0.55961153757921,-0.292940738426819,0.303194914447788,0.000180541855548943,2.82005152008047e-05,0.0661367086423336,0.00044372069213372,1.35316376159711e-05,-1.15024760470247,0.0661369610782926,1.15024769036714
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||||||
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1.162,0.559611899549764,-0.292940681998904,0.303324887370074,0.000181395568038534,2.82211089913664e-05,0.0638562260613234,0.000410584649612744,7.23813370351322e-06,-1.13023518586927,0.0638564899409444,1.13023526046973
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||||||
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1.164,0.559612263161482,-0.292940625542383,0.303450339352033,0.000182184194147394,2.82294677356187e-05,0.0616157678988565,0.000378624208374756,1.29144958616045e-06,-1.11022318310602,0.0616160437041296,1.1102232476687
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||||||
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1.166,0.559612628286541,-0.292940569081033,0.30357135044167,0.000182910064872033,2.8226274789711e-05,0.0594153333288993,0.000347819210932964,-4.31865654348939e-06,-1.09021159031691,0.0594156215771461,1.09021164580928
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||||||
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1.168,0.559612994801741,-0.292940512637284,0.303688000685349,0.000183575470991126,2.82121931094448e-05,0.0572549215375889,0.000318149492861685,-9.60223914270308e-06,-1.07020040132979,0.0572552227849726,1.07020044866266
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||||||
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1.17,0.559613362588425,-0.29294045623226,0.30380037012782,0.000184182662843479,2.81878658331402e-05,0.0551345317235801,0.00028959475789625,-1.45690577657564e-05,-1.05018960979211,0.0551348465690033,1.05018964982173
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||||||
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1.172,0.559613731532393,-0.29294039988582,0.303908538812243,0.000184733850022711,2.81539168783817e-05,0.0530541630984204,0.000262134577933004,-1.92287089029186e-05,-1.0301792092611,0.0530544921878645,1.03017924279132
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1.174,0.559614101523825,-0.292940343616593,0.304012586780214,0.000185231201155211,2.81109509975286e-05,0.0510138148865357,0.000235748455479356,-2.35905774081946e-05,-1.01016919322807,0.0510141589179042,1.01016922101245
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||||||
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1.176,0.559614472457197,-0.292940287442016,0.304112594071789,0.000185676843844629,2.8059554568749e-05,0.0490134863255081,0.000210415906920502,-2.76637844576211e-05,-0.990159555094153,0.0490138460540459,0.990159577838032
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||||||
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1.178,0.5596148442312,-0.292940231378375,0.304208640725516,0.000186072864782893,2.80002958596981e-05,0.0470531766661591,0.000186116295985972,-3.14573020410158e-05,-0.970150288132076,0.0470535529105333,0.970150306494611
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||||||
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1.18,0.559615216748657,-0.292940175440833,0.304300806778454,0.000186421309028573,2.79337253605849e-05,0.0451328851729798,0.000162828861505204,-3.49798766341447e-05,-0.950141385510499,0.0451332788221159,0.950141400106658
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||||||
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1.182,0.559615589916437,-0.292940119643473,0.304389172266208,0.000186724180228914,2.78603763531615e-05,0.0432526111241171,0.000140532911696578,-3.82400881793199e-05,-0.930132840425838,0.0432530231449104,0.930132851828404
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1.184,0.559615963645377,-0.292940063999327,0.30447381722295,0.000186983440675359,2.77807650078676e-05,0.0414123538112765,0.0001192076090617,-4.12463535548468e-05,-0.910124645963487,0.0414127852573132,0.91012465470499
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||||||
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1.186,0.559616337850199,-0.292940008520413,0.304554821681453,0.000187201010665161,2.76953909389421e-05,0.0396121125402632,9.88320675299192e-05,-4.40068363694035e-05,-0.890116795070061,0.0396125645617088,0.890116801644692
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||||||
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1.188,0.55961671244942,-0.292939953217764,0.304632265673111,0.000187378768945479,2.760473766239e-05,0.0378518866309962,7.93854149083727e-05,-4.65295683926836e-05,-0.870109280692171,0.0378523604858453,0.870109285557678
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||||||
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1.19,0.559617087365275,-0.292939898101462,0.304706229227977,0.000187518552324794,2.75092726653714e-05,0.0361316754174945,6.08466194096379e-05,-4.88224599637376e-05,-0.850102095731329,0.036132172484404,0.850102099310865
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1.192,0.559617462523629,-0.292939843180673,0.304776792374781,0.000187622155423117,2.7409447822535e-05,0.0344514782480709,4.31946631240798e-05,-5.08931889686703e-05,-0.83009523301966,0.0344520000410475,0.830095235703626
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||||||
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1.194,0.559617837853897,-0.292939788463671,0.304844035140969,0.000187691330977291,2.73056999094967e-05,0.0328112944854158,2.64085281420634e-05,-5.27492841073673e-05,-0.810088685330306,0.032811842670683,0.810088687478156
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||||||
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1.196,0.559618213288953,-0.292939733957873,0.304908037552723,0.000187727789535685,2.71984506861056e-05,0.0312111235067497,1.04671271650147e-05,-5.43981734657528e-05,-0.790082445394773,0.0312116999221809,0.7900824473368
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||||||
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1.198,0.559618588765055,-0.292939679669868,0.304968879634996,0.000187733199485951,2.70881072156337e-05,0.0296509647038367,-4.65064098342793e-06,-5.58470839018276e-05,-0.770076505909876,0.0296515713814279,0.770076507948976
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||||||
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1.2,0.559618964221751,-0.292939625605445,0.305026641411538,0.000187709186971752,2.69750623504983e-05,0.0281308174831102,-1.89659260518837e-05,-5.71031034957147e-05,-0.750070859523859,0.0281314566750625,0.750070861937278
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||||||
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1.202,0.559619339601803,-0.292939571769619,0.305081402904928,0.000187657335781743,2.68596948016508e-05,0.0266506812657413,-3.24999263612291e-05,-5.8173243999704e-05,-0.730065498857206,0.0266513554748537,0.730065501898283
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||||||
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1.204,0.559619714851094,-0.292939518166665,0.305133244136601,0.000187579187266307,2.67423693744995e-05,0.0252105554876813,-4.52738263545526e-05,-5.90643332853968e-05,-0.710060416509588,0.0252112675029098,0.710060420409478
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||||||
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1.206,0.559620089918552,-0.292939464800141,0.305182245126879,0.000187476240476325,2.66234374685092e-05,0.0238104395997029,-5.73087827193674e-05,-5.97830430992818e-05,-0.690055605039041,0.0238111925379488,0.69005561000843
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||||||
|
1.208,0.559620464756056,-0.292939411672915,0.305228485895,0.000187349952135429,2.65032372021023e-05,0.0224503330675252,-6.86260076543376e-05,-6.03359827378024e-05,-0.670051056948089,0.0224511304229645,0.670051063178927
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||||||
|
1.21,0.55962083931836,-0.292939358787193,0.305272046459149,0.000187201736445708,2.6382093537558e-05,0.0211302353719106,-7.92467619303849e-05,-6.07296539445467e-05,-0.65004676472885,0.0211310810745056,0.650046772396098
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||||||
|
1.212,0.559621213563002,-0.292939306144541,0.305313006836488,0.000187032965087708,2.62603185863241e-05,0.0198501460086098,-8.91922508072795e-05,-6.09704300935653e-05,-0.630042720904666,0.019851044493867,0.630042730168047
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||||||
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1.214,0.559621587450221,-0.292939253745918,0.305351447043184,0.000186844967442479,2.61382118171838e-05,0.0186100644882919,-9.84836934225796e-05,-6.10645110865615e-05,-0.610038917926019,0.0186110207808803,0.610038928931802
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||||||
|
1.216,0.559621960942872,-0.292939201591694,0.305387447094441,0.000186639030314017,2.60160605419779e-05,0.0174099903369057,-0.000107142343608313,-6.10180309057461e-05,-0.59003534820523,0.0174110101514585,0.590035361088087
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||||||
|
1.218,0.559622334006342,-0.292939149681676,0.305421087004531,0.000186416398068045,2.58941396935608e-05,0.016249923095471,-0.000115189378868674,-6.08371027166487e-05,-0.570032004213599,0.0162510129588485,0.570032019098505
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||||||
|
1.22,0.559622706608464,-0.292939098015135,0.305452446786823,0.000186178272798543,2.57727121311113e-05,0.0151298623200513,-0.000122646032219009,-6.05276523346631e-05,-0.550028878346097,0.0151310297205994,0.550028895350337
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||||||
|
1.222,0.559623078719433,-0.292939046590828,0.305481606453812,0.000185925813939169,2.56520290842221e-05,0.0140498075820866,-0.000129533536674664,-6.00955465945851e-05,-0.530025962969942,0.0140510611531138,0.530025982205237
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||||||
|
1.224,0.55962345031172,-0.292938995407019,0.305508646017151,0.000185660138651844,2.5532329944733e-05,0.0130097584681715,-0.000135873035045364,-5.95465586561427e-05,-0.510023250511331,0.0130111082151797,0.510023272086106
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||||||
|
1.226,0.559623821359988,-0.292938944461508,0.305533645487684,0.000185382321798988,2.54138428495976e-05,0.0120097145800413,-0.000141685760346455,-5.88863645345494e-05,-0.490020733361767,0.0120111721643935,0.490020757383667
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||||||
|
1.228,0.559624191841007,-0.292938893751648,0.305556684875471,0.000185093395610458,2.52967844865948e-05,0.0110496755347245,-0.00014699286926545,-5.81206228977837e-05,-0.47001840386418,0.0110512546308142,0.47001843044283
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||||||
|
1.23,0.55962456173357,-0.29293884327437,0.305577844189823,0.000184794350321926,2.51813603580064e-05,0.0101296409645846,-0.000151815442162029,-5.72548328192645e-05,-0.450016254378848,0.0101313577137623,0.450016283628951
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||||||
|
1.232,0.559624931018408,-0.292938793026206,0.30559720343933,0.00018448613384181,2.50677651553177e-05,0.00924961051720906,-0.000156174635723705,-5.6294476025176e-05,-0.430014277286866,0.00925148411048164,0.430014309331829
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||||||
|
1.234,0.559625299678106,-0.292938743003309,0.305614842631892,0.000184169651779031,2.49561824539057e-05,0.0084095838554371,-0.000160091571943521,-5.52449752611039e-05,-0.410012464941572,0.00841163728969024,0.410012499917725
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||||||
|
1.236,0.559625667697015,-0.292938693201476,0.305630841774752,0.000183845767554036,2.48467852542733e-05,0.00760956065744278,-0.000163587296486689,-5.41116110253084e-05,-0.390010809696306,0.00761182172861963,0.390010847757903
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||||||
|
1.238,0.559626035061176,-0.292938643616168,0.305645280874522,0.000183515302593085,2.47397360098045e-05,0.00684954061665188,-0.000166682813385055,-5.28996672854989e-05,-0.370009303911344,0.00685204324125202,0.370009345236702
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||||||
|
1.24,0.559626401758226,-0.292938594242532,0.305658239937218,0.000183179036300496,2.46351865851313e-05,0.0061295234417974,-0.000169399161364936,-5.16143794371259e-05,-0.350007939940027,0.00613230944060245,0.35000798473918
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||||||
|
1.242,0.559626767777321,-0.292938545075422,0.305669798968289,0.000182837705947625,2.4533278492056e-05,0.00544950885689177,-0.000171757351397073,-5.02608961394646e-05,-0.330006710128755,0.00545263040099103,0.330006758653136
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||||||
|
1.244,0.55962713310905,-0.292938496109418,0.305680037972646,0.000182492006894907,2.44341430005734e-05,0.00480949660128238,-0.000173778290368798,-4.88442931934063e-05,-0.310005606813517,0.00481301962573097,0.310005659368464
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||||||
|
1.246,0.559627497745349,-0.29293844733885,0.305689036954694,0.00018214259278615,2.43379013192824e-05,0.0042094864296377,-0.000175482864350762,-4.73696290526071e-05,-0.290004622371942,0.00421349549173265,0.290004679333299
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||||||
|
1.248,0.559627861679421,-0.292938398757813,0.305696875918364,0.000181790075437504,2.4244664484363e-05,0.00364947811179461,-0.000176891994108086,-4.58419240068064e-05,-0.270003749198999,0.00365408345878299,0.270003811035651
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||||||
|
1.25,0.55962822490565,-0.292938350360192,0.305703634867141,0.000181435024809717,2.41545336232551e-05,0.0031294714328417,-0.000178026496322481,-4.42660977317821e-05,-0.250002979602925,0.00313481954164742,0.250003046907956
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||||||
|
1.252,0.55962858741952,-0.292938302139679,0.305709393804096,0.000181077969452214,2.40676000934359e-05,0.00264946619338291,-0.000178907139103401,-4.26470594949712e-05,-0.230002305950938,0.00265575593575052,0.230002379486137
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||||||
|
1.254,0.559628949217528,-0.292938254089792,0.305714232731915,0.000180719396253304,2.39839453852752e-05,0.00220946220903795,-0.000179554704438089,-4.09896873387882e-05,-0.210001720672703,0.00221697045153634,0.210001801434041
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||||||
|
1.256,0.559629310297105,-0.292938206203897,0.305718231652932,0.000180359750634462,2.39036413440807e-05,0.00180945931069209,-0.000179989891047061,-3.92988037944963e-05,-0.190001216093804,0.00181858297054843,0.190001305410993
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||||||
|
1.258,0.559629670656531,-0.292938158475226,0.305721470569158,0.000179999436689115,2.38267501700973e-05,0.00144945734466273,-0.000180233369895255,-3.75791862905483e-05,-0.170000784616153,0.00146078544120237,0.170000884310554
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||||||
|
1.26,0.559630030294852,-0.292938110896896,0.30572402948231,0.000179638817154881,2.37533245989185e-05,0.00112945617222748,-0.000180305784192036,-3.58355879692684e-05,-0.15000041864513,0.00114389928317185,0.150000531292657
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||||||
|
1.262,0.559630389211799,-0.292938063461928,0.305725988393846,0.000179278213552347,2.36834078182202e-05,0.00084945567008221,-0.000180227693880042,-3.40727307479582e-05,-0.130000110541012,0.000868490942437065,0.130000239936886
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||||||
|
1.264,0.559630747407706,-0.292938016163265,0.305727427304991,0.000178917906379361,2.36170336759267e-05,0.000609455730063435,-0.000180019631146333,-3.22952532771925e-05,-0.109999852723058,0.000635614402299049,0.110000004768843
|
||||||
|
1.266,0.559631104883425,-0.292937968993793,0.305728426216767,0.000178558135027762,2.35542268051114e-05,0.000409456259189977,-0.000179702114300184,-3.05078289020155e-05,-0.0899996376174659,0.000447316708132872,0.0899998221934505
|
||||||
|
1.268,0.559631461640246,-0.292937921946358,0.305729065130028,0.00017819909792216,2.34950023603186e-05,0.000249457179593571,-0.000179295571445248,-2.87150893341081e-05,-0.0699994576434936,0.000307466775582276,0.0699996931553385
|
||||||
|
1.27,0.559631817679817,-0.292937875013784,0.305729424045485,0.000177840952741981,2.3439366447775e-05,0.000129458428616003,-0.000178820402929602,-2.69215691406366e-05,-0.0499993052030522,0.000221215490215702,0.0499996322216009
|
||||||
|
1.272,0.559632173004057,-0.292937828188892,0.305729582963742,0.000177483816310442,2.33873160837561e-05,4.94599587813615e-05,-0.0222970491445262,-0.0029395683213973,-0.0299320085141163,0.000185724955588564,0.0374396126603723
|
||||||
|
1.274,0.559632527615082,-0.292937781464519,0.30572962188532,8.86527561638761e-05,1.16810931621858e-05,9.73039455953727e-06,-0.0443709540776104,-0.00584682902093902,-0.0123649896953404,8.99468714920069e-05,0.046431238897141
|
||||||
|
1.276,0.559632527615082,-0.292937781464519,0.30572962188532,0,0,0,-0.044326378081938,-0.00584054658109289,-0.00486519727976863,0,0.0449734357460034
|
||||||
|
50
data/planner/plot_tcp.py
Normal file
50
data/planner/plot_tcp.py
Normal file
@ -0,0 +1,50 @@
|
|||||||
|
import numpy as np
|
||||||
|
import matplotlib.pyplot as plt
|
||||||
|
|
||||||
|
CSV = "/home/lgv/cmvr/0-workspace/cmvr-es/data/ik_movel_scurve_tcp.csv" # 改成你的路径
|
||||||
|
|
||||||
|
data = np.genfromtxt(CSV, delimiter=",", names=True)
|
||||||
|
|
||||||
|
t = data["t"]
|
||||||
|
px, py, pz = data["px"], data["py"], data["pz"]
|
||||||
|
vx, vy, vz = data["vx"], data["vy"], data["vz"]
|
||||||
|
ax, ay, az = data["ax"], data["ay"], data["az"]
|
||||||
|
speed = data["speed"]
|
||||||
|
acc = data["acc"]
|
||||||
|
|
||||||
|
# 位置
|
||||||
|
plt.figure()
|
||||||
|
plt.plot(t, px, label="px")
|
||||||
|
plt.plot(t, py, label="py")
|
||||||
|
plt.plot(t, pz, label="pz")
|
||||||
|
plt.xlabel("t [s]")
|
||||||
|
plt.ylabel("TCP position [m]")
|
||||||
|
plt.title("TCP position (base frame)")
|
||||||
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
|
# 速度分量 + 模长
|
||||||
|
plt.figure()
|
||||||
|
plt.plot(t, vx, label="vx")
|
||||||
|
plt.plot(t, vy, label="vy")
|
||||||
|
plt.plot(t, vz, label="vz")
|
||||||
|
plt.plot(t, speed, label="|v|")
|
||||||
|
plt.xlabel("t [s]")
|
||||||
|
plt.ylabel("TCP velocity [m/s]")
|
||||||
|
plt.title("TCP velocity (finite-diff)")
|
||||||
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
|
# 加速度分量 + 模长
|
||||||
|
plt.figure()
|
||||||
|
plt.plot(t, ax, label="ax")
|
||||||
|
plt.plot(t, ay, label="ay")
|
||||||
|
plt.plot(t, az, label="az")
|
||||||
|
plt.plot(t, acc, label="|a|")
|
||||||
|
plt.xlabel("t [s]")
|
||||||
|
plt.ylabel("TCP accel [m/s^2]")
|
||||||
|
plt.title("TCP acceleration (finite-diff)")
|
||||||
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
|
plt.show()
|
||||||
@ -1,63 +1,71 @@
|
|||||||
import os
|
import numpy as np
|
||||||
import re
|
|
||||||
import sys
|
|
||||||
import pandas as pd
|
|
||||||
import matplotlib.pyplot as plt
|
import matplotlib.pyplot as plt
|
||||||
|
|
||||||
def main(csv_path: str):
|
CSV_PATH = "/home/lgv/cmvr/0-workspace/cmvr-es/data/ik_movel_scurve.csv" # 改成你的路径，比如 /home/lgv/.../ik_movel_scurve.csv
|
||||||
# 更健壮的读取
|
|
||||||
df = pd.read_csv(csv_path, sep=None, engine="python", comment="#")
|
|
||||||
if 't' not in df.columns:
|
|
||||||
raise RuntimeError("CSV missing 't' column")
|
|
||||||
|
|
||||||
# ——严格区分列名——
|
def load_csv(path: str):
|
||||||
# 允许列名形如：q0, q1, ... | qd0, qd1, ... | qdd0, qdd1, ...
|
# 期望列名：t,q1,q2,q3,q4,q5,q6,q7
|
||||||
def grep(pattern):
|
data = np.genfromtxt(path, delimiter=",", names=True)
|
||||||
r = re.compile(pattern)
|
t = data["t"].astype(float)
|
||||||
return [c for c in df.columns if r.fullmatch(c)]
|
q = np.vstack([data[f"q{i}"] for i in range(1, 8)]).T.astype(float) # (N,7)
|
||||||
|
return t, q
|
||||||
|
|
||||||
q_cols = grep(r"q\d+")
|
def diff_over_time(x: np.ndarray, t: np.ndarray):
|
||||||
qd_cols = grep(r"qd\d+")
|
# x: (N,7), t: (N,)
|
||||||
qdd_cols = grep(r"qdd\d+")
|
dt = np.diff(t)
|
||||||
|
# 防止 dt=0
|
||||||
|
dt = np.where(dt <= 1e-12, 1e-12, dt)
|
||||||
|
dx = np.diff(x, axis=0)
|
||||||
|
return dx / dt[:, None] # (N-1,7)
|
||||||
|
|
||||||
# 如果你的列名不是纯数字后缀（比如 q_joint1），把上面的正则改成更宽松的：
|
def main():
|
||||||
# q_cols = [c for c in df.columns if c.startswith("q") and not c.startswith(("qd","qdd"))]
|
t, q = load_csv(CSV_PATH)
|
||||||
# qd_cols = [c for c in df.columns if c.startswith("qd") and not c.startswith("qdd")]
|
if len(t) < 3:
|
||||||
# qdd_cols = [c for c in df.columns if c.startswith("qdd")]
|
raise RuntimeError("CSV too short (need >= 3 samples).")
|
||||||
|
|
||||||
t = df['t'].values
|
qd = diff_over_time(q, t) # (N-1,7)
|
||||||
|
t_qd = (t[1:] + t[:-1]) * 0.5 # 中点时间
|
||||||
|
qdd = diff_over_time(qd, t_qd) # (N-2,7)
|
||||||
|
t_qdd = (t_qd[1:] + t_qd[:-1]) * 0.5
|
||||||
|
|
||||||
# 位置
|
# 打印统计
|
||||||
|
print("=== Stats from CSV ===")
|
||||||
|
for j in range(7):
|
||||||
|
max_qd = np.max(np.abs(qd[:, j]))
|
||||||
|
max_qdd = np.max(np.abs(qdd[:, j]))
|
||||||
|
print(f"joint {j+1}: max|qdot|={max_qd:.6f} rad/s, max|qddot|={max_qdd:.6f} rad/s^2")
|
||||||
|
|
||||||
|
# 画 q(t)
|
||||||
plt.figure()
|
plt.figure()
|
||||||
for c in q_cols:
|
for j in range(7):
|
||||||
plt.plot(t, df[c].values, label=c)
|
plt.plot(t, q[:, j], label=f"q{j+1}")
|
||||||
plt.xlabel('time [s]')
|
plt.xlabel("t [s]")
|
||||||
plt.ylabel('position [rad]')
|
plt.ylabel("q [rad]")
|
||||||
plt.title('Joint Positions')
|
plt.title("Joint position q(t)")
|
||||||
plt.legend()
|
|
||||||
plt.grid(True)
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
# 速度（只画 qd*）
|
# 画 qdot(t)
|
||||||
plt.figure()
|
plt.figure()
|
||||||
for c in qd_cols:
|
for j in range(7):
|
||||||
plt.plot(t, df[c].values, label=c)
|
plt.plot(t_qd, qd[:, j], label=f"qdot{j+1}")
|
||||||
plt.xlabel('time [s]')
|
plt.xlabel("t [s]")
|
||||||
plt.ylabel('velocity [rad/s]')
|
plt.ylabel("qdot [rad/s]")
|
||||||
plt.title('Joint Velocities')
|
plt.title("Joint velocity qdot(t) (finite difference)")
|
||||||
plt.legend()
|
|
||||||
plt.grid(True)
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
# 加速度（只画 qdd*）
|
# 画 qddot(t)
|
||||||
plt.figure()
|
plt.figure()
|
||||||
for c in qdd_cols:
|
for j in range(7):
|
||||||
plt.plot(t, df[c].values, label=c)
|
plt.plot(t_qdd, qdd[:, j], label=f"qddot{j+1}")
|
||||||
plt.xlabel('time [s]')
|
plt.xlabel("t [s]")
|
||||||
plt.ylabel('acceleration [rad/s^2]')
|
plt.ylabel("qddot [rad/s^2]")
|
||||||
plt.title('Joint Accelerations')
|
plt.title("Joint acceleration qddot(t) (finite difference)")
|
||||||
plt.legend()
|
|
||||||
plt.grid(True)
|
plt.grid(True)
|
||||||
|
plt.legend()
|
||||||
|
|
||||||
plt.show()
|
plt.show()
|
||||||
|
|
||||||
if __name__ == '__main__':
|
if __name__ == "__main__":
|
||||||
main("/home/lgv/cmvr/0-workspace/cmvr-es/data/planner/traj.csv")
|
main()
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user