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Commit 895e9720 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Nicolas Mansard
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[example] Added logs of examples.

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Pipeline #4366 passed
Stage: test
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    examples/log/bipedal_walking_from_foot_traj.log 0 → 100644
    + 48
    − 0
    View file @ 895e9720
    iter cost theta gamma muV muLM alpha
    0 1.03743e+06 1.63259e+06 1.94435e+05 1.00000e-02 1.00000e-02 1.0000
    1 5.97316e+05 2.53455e+08 2.05505e+06 1.00000e-02 1.00000e-02 0.2500
    2 2.30384e+04 1.44429e+08 1.17797e+06 1.00000e-03 1.00000e-03 1.0000
    3 1.36815e+04 4.82046e+06 3.88945e+04 1.00000e-03 1.00000e-03 0.2500
    4 8.90606e+03 2.04226e+06 2.10165e+04 1.00000e-03 1.00000e-03 0.2500
    5 3.20731e+03 9.08737e+05 1.22647e+04 1.00000e-04 1.00000e-04 1.0000
    6 2.46061e+03 1.66476e+05 3.79151e+03 1.00000e-04 1.00000e-04 0.2500
    7 1.92060e+03 1.15699e+05 3.16417e+03 1.00000e-04 1.00000e-04 0.2500
    8 1.53405e+03 1.04004e+05 2.30158e+03 1.00000e-04 1.00000e-04 0.2500
    9 1.26345e+03 9.23274e+04 1.59222e+03 1.00000e-04 1.00000e-04 0.2500
    iter cost theta gamma muV muLM alpha
    10 1.07032e+03 7.57459e+04 1.07737e+03 1.00000e-04 1.00000e-04 0.2500
    11 1.02033e+03 5.59143e+04 6.99169e+02 1.00000e-05 1.00000e-05 1.0000
    12 7.20019e+02 8.71351e+04 6.10324e+02 1.00000e-06 1.00000e-06 1.0000
    13 7.17740e+02 5.44786e+02 8.02101e+00 1.00000e-07 1.00000e-07 1.0000
    14 7.17084e+02 9.05674e+01 2.74220e+00 1.00000e-08 1.00000e-08 1.0000
    15 7.16896e+02 2.13022e+01 1.05561e+00 1.00000e-09 1.00000e-09 1.0000
    16 7.16808e+02 5.16376e+00 4.95125e-01 1.00000e-09 1.00000e-09 1.0000
    17 7.16773e+02 1.36548e+00 2.28039e-01 1.00000e-09 1.00000e-09 1.0000
    18 7.16755e+02 2.99884e-01 1.11998e-01 1.00000e-09 1.00000e-09 1.0000
    19 7.16747e+02 9.18306e-02 5.43141e-02 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    20 7.16743e+02 1.90320e-02 2.69976e-02 1.00000e-09 1.00000e-09 1.0000
    21 7.16741e+02 7.38495e-03 1.32939e-02 1.00000e-09 1.00000e-09 1.0000
    22 7.16740e+02 1.58445e-03 6.61657e-03 1.00000e-09 1.00000e-09 1.0000
    23 7.16740e+02 8.25973e-04 3.27546e-03 1.00000e-09 1.00000e-09 1.0000
    24 7.16740e+02 2.26278e-04 1.62836e-03 1.00000e-09 1.00000e-09 1.0000
    25 7.16740e+02 1.34503e-04 8.07205e-04 1.00000e-09 1.00000e-09 1.0000
    26 7.16739e+02 4.86384e-05 4.01096e-04 1.00000e-09 1.00000e-09 1.0000
    27 7.16739e+02 2.79566e-05 1.98973e-04 1.00000e-09 1.00000e-09 1.0000
    28 7.16739e+02 1.19196e-05 9.88209e-05 1.00000e-09 1.00000e-09 1.0000
    29 7.16739e+02 6.44342e-06 4.90507e-05 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    30 7.16739e+02 2.97610e-06 2.43607e-05 1.00000e-09 1.00000e-09 1.0000
    31 7.16739e+02 1.54713e-06 1.20940e-05 1.00000e-09 1.00000e-09 1.0000
    32 7.16739e+02 7.42012e-07 6.00776e-06 1.00000e-09 1.00000e-09 1.0000
    33 7.16739e+02 3.77206e-07 2.98370e-06 1.00000e-09 1.00000e-09 1.0000
    34 7.16739e+02 1.84092e-07 1.48185e-06 1.00000e-09 1.00000e-09 1.0000
    35 7.16739e+02 9.24567e-08 7.36004e-07 1.00000e-09 1.00000e-09 1.0000
    36 7.16739e+02 4.55713e-08 3.65572e-07 1.00000e-09 1.00000e-09 1.0000
    37 7.16739e+02 2.27640e-08 1.81546e-07 1.00000e-09 1.00000e-09 1.0000
    38 7.16739e+02 1.12629e-08 9.01573e-08 1.00000e-09 1.00000e-09 1.0000
    39 7.16739e+02 5.60949e-09 4.47761e-08 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    40 7.16739e+02 2.78019e-09 2.22346e-08 1.00000e-09 1.00000e-09 1.0000
    41 7.16739e+02 1.38313e-09 1.10420e-08 1.00000e-09 1.00000e-09 1.0000
    42 7.16739e+02 6.85855e-10 5.48248e-09 1.00000e-09 1.00000e-09 1.0000
    examples/log/jump.log 0 → 100644
    + 210
    − 0
    View file @ 895e9720
    *** SOLVE initial ***
    iter cost theta gamma muV muLM alpha
    0 1.17752e+04 4.84898e+02 3.38333e+03 1.00000e-02 1.00000e-02 1.0000
    1 4.38925e+03 8.91627e+02 2.22041e+04 1.00000e-02 1.00000e-02 0.2500
    2 2.86041e+03 3.64311e+02 8.30093e+03 1.00000e-02 1.00000e-02 0.2500
    3 2.25395e+03 1.29896e+02 3.82846e+03 1.00000e-02 1.00000e-02 0.2500
    4 1.79721e+03 2.59220e+01 1.06197e+03 1.00000e-03 1.00000e-03 1.0000
    5 1.44358e+03 1.87642e+01 1.70268e+03 1.00000e-03 1.00000e-03 0.2500
    6 8.49918e+02 1.10607e+01 9.06348e+02 1.00000e-04 1.00000e-04 1.0000
    7 7.16863e+02 2.10932e+00 2.32421e+02 1.00000e-05 1.00000e-05 1.0000
    8 7.10433e+02 6.27027e-01 1.15715e+02 1.00000e-06 1.00000e-06 1.0000
    9 6.23117e+02 1.26763e+00 2.53241e+02 1.00000e-07 1.00000e-07 1.0000
    iter cost theta gamma muV muLM alpha
    10 6.11135e+02 5.30626e-01 7.76004e+01 1.00000e-07 1.00000e-07 0.2500
    11 5.96321e+02 2.30251e-01 3.45654e+01 1.00000e-08 1.00000e-08 1.0000
    12 5.93957e+02 7.22858e-02 1.19901e+01 1.00000e-09 1.00000e-09 1.0000
    13 5.90864e+02 9.57831e-02 1.64044e+01 1.00000e-09 1.00000e-09 0.2500
    14 5.88635e+02 1.97074e-02 5.06485e+00 1.00000e-09 1.00000e-09 1.0000
    15 5.87593e+02 3.27825e-02 6.22724e+00 1.00000e-09 1.00000e-09 1.0000
    16 5.85743e+02 6.04902e-02 1.01268e+01 1.00000e-09 1.00000e-09 0.2500
    17 5.84894e+02 1.12212e-02 2.55826e+00 1.00000e-09 1.00000e-09 1.0000
    18 5.84222e+02 1.92921e-02 3.57535e+00 1.00000e-09 1.00000e-09 0.2500
    19 5.83682e+02 3.94028e-03 1.09975e+00 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    20 5.83515e+02 7.35790e-03 1.32151e+00 1.00000e-09 1.00000e-09 1.0000
    21 5.83089e+02 1.25528e-02 2.36734e+00 1.00000e-09 1.00000e-09 0.2500
    22 5.82920e+02 2.10550e-03 5.42967e-01 1.00000e-09 1.00000e-09 1.0000
    23 5.82764e+02 5.08193e-03 8.35411e-01 1.00000e-09 1.00000e-09 0.2500
    24 5.82637e+02 1.19380e-03 2.51561e-01 1.00000e-09 1.00000e-09 1.0000
    25 5.82591e+02 1.28555e-03 3.19637e-01 1.00000e-09 1.00000e-09 1.0000
    26 5.82486e+02 3.61672e-03 5.83199e-01 1.00000e-09 1.00000e-09 0.2500
    27 5.82436e+02 7.55502e-04 1.39236e-01 1.00000e-09 1.00000e-09 1.0000
    28 5.82396e+02 8.78973e-04 2.11194e-01 1.00000e-09 1.00000e-09 0.2500
    29 5.82356e+02 1.87217e-04 6.97869e-02 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    30 5.82336e+02 4.94209e-04 8.57072e-02 1.00000e-09 1.00000e-09 1.0000
    31 5.82309e+02 6.34412e-04 1.48856e-01 1.00000e-09 1.00000e-09 0.2500
    32 5.82290e+02 1.12983e-04 4.02906e-02 1.00000e-09 1.00000e-09 1.0000
    33 5.82284e+02 3.32002e-04 5.65712e-02 1.00000e-09 1.00000e-09 1.0000
    34 5.82263e+02 4.59882e-04 1.25481e-01 1.00000e-09 1.00000e-09 0.2500
    35 5.82251e+02 6.01760e-05 2.66700e-02 1.00000e-09 1.00000e-09 1.0000
    *** SOLVE landing ***
    iter cost theta gamma muV muLM alpha
    0 3.97747e+05 1.07194e+07 1.39810e+06 1.00000e-09 1.00000e-09 0.2500
    1 3.83522e+03 6.06729e+06 7.93630e+05 1.00000e-09 1.00000e-09 1.0000
    2 2.59941e+03 7.55297e+03 5.84094e+03 1.00000e-09 1.00000e-09 0.2500
    3 1.91372e+03 4.21156e+03 3.27658e+03 1.00000e-09 1.00000e-09 0.2500
    4 1.50543e+03 2.52392e+03 1.87729e+03 1.00000e-09 1.00000e-09 0.2500
    5 1.12521e+03 1.49505e+03 1.05490e+03 1.00000e-09 1.00000e-09 1.0000
    6 1.06569e+03 8.41869e+02 3.14549e+02 1.00000e-09 1.00000e-09 0.2500
    7 9.98983e+02 5.29320e+02 2.01396e+02 1.00000e-09 1.00000e-09 1.0000
    8 9.53458e+02 2.41810e+02 1.11477e+02 1.00000e-09 1.00000e-09 1.0000
    9 9.43067e+02 1.09373e+02 5.51990e+01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    10 9.36018e+02 6.85758e+01 3.61482e+01 1.00000e-09 1.00000e-09 0.2500
    11 9.32849e+02 4.17018e+01 2.50392e+01 1.00000e-09 1.00000e-09 1.0000
    12 9.20846e+02 5.54123e+01 2.86748e+01 1.00000e-09 1.00000e-09 1.0000
    13 9.16790e+02 2.19141e+01 9.81442e+00 1.00000e-09 1.00000e-09 1.0000
    14 9.14906e+02 7.21154e+00 5.54938e+00 1.00000e-09 1.00000e-09 1.0000
    15 9.13739e+02 7.95856e+00 4.04728e+00 1.00000e-09 1.00000e-09 1.0000
    16 9.13072e+02 1.82868e+00 3.48737e+00 1.00000e-09 1.00000e-09 0.2500
    17 9.12643e+02 9.07874e-01 1.25880e+00 1.00000e-09 1.00000e-09 1.0000
    18 9.12405e+02 6.58961e-01 1.22550e+00 1.00000e-09 1.00000e-09 0.2500
    19 9.12166e+02 3.68469e-01 4.50616e-01 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    20 9.12064e+02 6.05674e-02 4.37950e-01 1.00000e-09 1.00000e-09 1.0000
    21 9.11936e+02 1.17225e-01 6.85301e-01 1.00000e-09 1.00000e-09 0.2500
    22 9.11810e+02 6.33621e-02 2.16856e-01 1.00000e-09 1.00000e-09 1.0000
    23 9.11717e+02 2.39849e-02 2.72301e-01 1.00000e-09 1.00000e-09 1.0000
    24 9.11673e+02 3.18881e-02 4.44807e-01 1.00000e-09 1.00000e-09 1.0000
    25 9.11512e+02 4.60926e-02 8.87403e-01 1.00000e-09 1.00000e-09 0.2500
    26 9.11394e+02 2.62107e-02 2.43793e-01 1.00000e-09 1.00000e-09 1.0000
    27 9.11309e+02 2.48765e-02 3.75763e-01 1.00000e-09 1.00000e-09 1.0000
    28 9.11175e+02 3.49071e-02 7.21250e-01 1.00000e-09 1.00000e-09 0.2500
    29 9.11033e+02 2.28000e-02 2.34925e-01 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    30 9.10911e+02 2.62647e-02 3.40079e-01 1.00000e-09 1.00000e-09 1.0000
    31 9.10796e+02 2.85872e-02 6.09433e-01 1.00000e-09 1.00000e-09 0.2500
    32 9.10637e+02 2.21901e-02 2.31018e-01 1.00000e-09 1.00000e-09 1.0000
    33 9.10493e+02 2.94269e-02 3.14356e-01 1.00000e-09 1.00000e-09 1.0000
    34 9.10462e+02 2.63242e-02 5.26568e-01 1.00000e-09 1.00000e-09 1.0000
    35 9.10249e+02 9.15375e-02 1.20273e+00 1.00000e-09 1.00000e-09 0.2500
    36 9.10095e+02 5.69622e-02 3.07956e-01 1.00000e-09 1.00000e-09 1.0000
    37 9.10062e+02 2.65940e-02 4.70903e-01 1.00000e-09 1.00000e-09 1.0000
    38 9.09870e+02 9.55399e-02 1.09330e+00 1.00000e-09 1.00000e-09 0.2500
    39 9.09733e+02 6.19876e-02 2.74205e-01 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    40 9.09654e+02 2.52812e-02 4.15128e-01 1.00000e-09 1.00000e-09 0.2500
    41 9.09523e+02 2.68138e-02 1.74919e-01 1.00000e-09 1.00000e-09 1.0000
    42 9.09424e+02 3.41631e-02 2.08241e-01 1.00000e-09 1.00000e-09 1.0000
    43 9.09360e+02 1.96761e-02 3.40118e-01 1.00000e-09 1.00000e-09 0.2500
    44 9.09265e+02 2.23826e-02 1.31005e-01 1.00000e-09 1.00000e-09 1.0000
    45 9.09203e+02 2.89008e-02 1.54967e-01 1.00000e-09 1.00000e-09 1.0000
    46 9.09153e+02 1.24245e-02 2.75262e-01 1.00000e-09 1.00000e-09 0.2500
    47 9.09094e+02 1.48568e-02 8.81750e-02 1.00000e-09 1.00000e-09 1.0000
    48 9.09066e+02 2.03960e-02 1.10165e-01 1.00000e-09 1.00000e-09 1.0000
    49 9.09027e+02 6.62371e-03 2.26223e-01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    50 9.08996e+02 7.73642e-03 5.50972e-02 1.00000e-09 1.00000e-09 1.0000
    51 9.08990e+02 1.24863e-02 7.91407e-02 1.00000e-09 1.00000e-09 1.0000
    52 9.08958e+02 4.04963e-03 1.93635e-01 1.00000e-09 1.00000e-09 0.2500
    53 9.08944e+02 3.53258e-03 3.40560e-02 1.00000e-09 1.00000e-09 1.0000
    54 9.08934e+02 7.30435e-03 6.04686e-02 1.00000e-09 1.00000e-09 0.2500
    55 9.08922e+02 3.53556e-03 1.75109e-02 1.00000e-09 1.00000e-09 1.0000
    56 9.08919e+02 6.95391e-04 2.21537e-02 1.00000e-09 1.00000e-09 1.0000
    57 9.08910e+02 4.60634e-03 5.10851e-02 1.00000e-09 1.00000e-09 0.2500
    58 9.08906e+02 1.71251e-03 9.74097e-03 1.00000e-09 1.00000e-09 1.0000
    59 9.08903e+02 2.81070e-04 1.62856e-02 1.00000e-09 1.00000e-09 0.2500
    *** SOLVE frontal ***
    iter cost theta gamma muV muLM alpha
    0 6.46557e+04 3.11492e+04 2.20738e+05 1.00000e-09 1.00000e-09 0.2500
    1 3.61433e+04 2.11524e+04 1.26638e+05 1.00000e-09 1.00000e-09 0.2500
    2 2.07422e+04 1.22126e+04 6.97234e+04 1.00000e-09 1.00000e-09 0.2500
    3 1.21979e+04 6.67048e+03 3.89615e+04 1.00000e-09 1.00000e-09 0.2500
    4 2.18863e+03 3.70673e+03 2.18953e+04 1.00000e-09 1.00000e-09 1.0000
    5 1.77623e+03 9.75814e+03 1.90439e+03 1.00000e-09 1.00000e-09 0.2500
    6 1.32703e+03 5.67230e+03 1.08219e+03 1.00000e-09 1.00000e-09 1.0000
    7 1.28240e+03 1.05444e+03 2.23612e+02 1.00000e-09 1.00000e-09 0.2500
    8 1.23254e+03 6.39476e+02 1.31176e+02 1.00000e-09 1.00000e-09 1.0000
    9 1.21289e+03 4.90546e+01 7.58401e+01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    10 1.20705e+03 1.89466e+01 2.87102e+01 1.00000e-09 1.00000e-09 0.2500
    11 1.20542e+03 1.08783e+01 2.45650e+01 1.00000e-09 1.00000e-09 1.0000
    12 1.19395e+03 2.05161e+01 4.62086e+01 1.00000e-09 1.00000e-09 1.0000
    13 1.18601e+03 7.59707e+01 4.59414e+01 1.00000e-09 1.00000e-09 0.2500
    14 1.18010e+03 4.74974e+01 3.57104e+01 1.00000e-09 1.00000e-09 0.2500
    15 1.17520e+03 3.10830e+01 2.76156e+01 1.00000e-09 1.00000e-09 0.2500
    16 1.16979e+03 1.95424e+01 1.80814e+01 1.00000e-09 1.00000e-09 1.0000
    17 1.16537e+03 1.19734e+01 1.04695e+01 1.00000e-09 1.00000e-09 1.0000
    18 1.16431e+03 9.28818e+00 2.49838e+00 1.00000e-09 1.00000e-09 1.0000
    19 1.16418e+03 2.11432e-01 8.01254e-01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    20 1.16414e+03 1.30541e-01 2.04241e-01 1.00000e-09 1.00000e-09 1.0000
    21 1.16410e+03 7.48464e-03 2.12085e-01 1.00000e-09 1.00000e-09 0.2500
    22 1.16410e+03 5.97707e-03 3.24969e-02 1.00000e-09 1.00000e-09 0.2500
    23 1.16409e+03 3.62137e-03 1.11515e-02 1.00000e-09 1.00000e-09 1.0000
    24 1.16409e+03 1.34343e-04 6.06186e-03 1.00000e-09 1.00000e-09 0.2500
    *** SOLVE lateral ***
    iter cost theta gamma muV muLM alpha
    0 3.95826e+04 8.28784e+03 1.36707e+05 1.00000e-09 1.00000e-09 0.2500
    1 2.27974e+04 4.88596e+03 7.69151e+04 1.00000e-09 1.00000e-09 0.2500
    2 1.33070e+04 2.86973e+03 4.33723e+04 1.00000e-09 1.00000e-09 0.2500
    3 7.95631e+03 1.69764e+03 2.44131e+04 1.00000e-09 1.00000e-09 0.2500
    4 4.94506e+03 9.98378e+02 1.37268e+04 1.00000e-09 1.00000e-09 0.2500
    5 1.24528e+03 5.83293e+02 7.71513e+03 1.00000e-09 1.00000e-09 1.0000
    6 1.17756e+03 1.41556e+03 3.43043e+02 1.00000e-09 1.00000e-09 0.2500
    7 1.14919e+03 9.16154e+02 2.08060e+02 1.00000e-09 1.00000e-09 1.0000
    8 1.07055e+03 9.57607e+02 1.57847e+02 1.00000e-09 1.00000e-09 1.0000
    9 1.06603e+03 1.02598e+01 7.18760e+00 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    10 1.06386e+03 3.63292e-01 3.98680e+00 1.00000e-09 1.00000e-09 1.0000
    11 1.06264e+03 5.63401e-01 5.73930e+00 1.00000e-09 1.00000e-09 1.0000
    12 1.06094e+03 1.17568e+00 1.23105e+01 1.00000e-09 1.00000e-09 0.2500
    13 1.05871e+03 8.90601e-01 4.94598e+00 1.00000e-09 1.00000e-09 1.0000
    14 1.05803e+03 1.26873e+00 5.72806e+00 1.00000e-09 1.00000e-09 1.0000
    15 1.05658e+03 5.24885e+00 1.08083e+01 1.00000e-09 1.00000e-09 0.2500
    16 1.05483e+03 3.38050e+00 4.01768e+00 1.00000e-09 1.00000e-09 1.0000
    17 1.05434e+03 1.95388e+00 2.48208e+00 1.00000e-09 1.00000e-09 0.2500
    18 1.05382e+03 1.13402e+00 9.68713e-01 1.00000e-09 1.00000e-09 1.0000
    19 1.05373e+03 6.92773e-02 5.18577e-01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    20 1.05362e+03 3.89748e-02 1.78973e-01 1.00000e-09 1.00000e-09 1.0000
    21 1.05360e+03 2.79013e-03 1.28984e-01 1.00000e-09 1.00000e-09 0.2500
    22 1.05357e+03 1.06669e-03 4.78157e-02 1.00000e-09 1.00000e-09 1.0000
    23 1.05356e+03 4.84146e-04 3.92152e-02 1.00000e-09 1.00000e-09 1.0000
    *** SOLVE twist ***
    iter cost theta gamma muV muLM alpha
    0 1.25102e+06 1.03035e+07 4.50663e+06 1.00000e-09 1.00000e-09 0.2500
    1 6.96448e+05 5.50090e+06 2.49997e+06 1.00000e-09 1.00000e-09 0.2500
    2 3.91216e+05 3.16687e+06 1.39083e+06 1.00000e-09 1.00000e-09 0.2500
    3 2.48657e+03 1.81163e+06 7.80381e+05 1.00000e-09 1.00000e-09 1.0000
    4 1.72831e+03 1.68558e+04 3.00909e+03 1.00000e-09 1.00000e-09 0.2500
    5 1.39556e+03 7.86263e+03 1.46638e+03 1.00000e-09 1.00000e-09 0.2500
    6 1.11348e+03 4.12505e+03 7.98949e+02 1.00000e-09 1.00000e-09 1.0000
    7 1.02522e+03 1.42417e+03 2.47630e+02 1.00000e-09 1.00000e-09 1.0000
    8 1.02024e+03 3.01791e+02 8.12887e+01 1.00000e-09 1.00000e-09 1.0000
    9 1.00533e+03 9.15913e+01 8.88639e+01 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    10 9.94638e+02 6.32033e+01 4.03602e+01 1.00000e-09 1.00000e-09 1.0000
    11 9.89641e+02 3.79437e+01 2.64194e+01 1.00000e-09 1.00000e-09 0.2500
    12 9.84874e+02 2.12862e+01 1.06981e+01 1.00000e-09 1.00000e-09 1.0000
    13 9.83940e+02 3.06943e-01 4.89461e+00 1.00000e-09 1.00000e-09 0.2500
    14 9.82833e+02 1.63210e-01 1.73742e+00 1.00000e-09 1.00000e-09 1.0000
    15 9.82071e+02 5.09380e-02 2.20235e+00 1.00000e-09 1.00000e-09 1.0000
    16 9.81327e+02 1.84922e-01 3.91515e+00 1.00000e-09 1.00000e-09 0.2500
    17 9.80354e+02 1.07013e-01 1.42560e+00 1.00000e-09 1.00000e-09 1.0000
    18 9.79621e+02 3.59286e-02 1.83811e+00 1.00000e-09 1.00000e-09 1.0000
    19 9.79015e+02 1.51002e-01 3.18235e+00 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    20 9.78172e+02 8.80226e-02 1.19457e+00 1.00000e-09 1.00000e-09 1.0000
    21 9.77582e+02 2.46122e-02 1.44727e+00 1.00000e-09 1.00000e-09 1.0000
    22 9.77122e+02 1.06257e-01 2.44165e+00 1.00000e-09 1.00000e-09 0.2500
    23 9.76541e+02 5.84889e-02 8.57744e-01 1.00000e-09 1.00000e-09 1.0000
    24 9.76210e+02 1.41481e-02 1.00110e+00 1.00000e-09 1.00000e-09 1.0000
    25 9.75886e+02 6.00242e-02 1.78373e+00 1.00000e-09 1.00000e-09 0.2500
    26 9.75586e+02 2.93543e-02 5.10015e-01 1.00000e-09 1.00000e-09 1.0000
    27 9.75474e+02 8.34873e-03 6.48179e-01 1.00000e-09 1.00000e-09 1.0000
    28 9.75240e+02 3.23643e-02 1.33758e+00 1.00000e-09 1.00000e-09 0.2500
    29 9.75112e+02 1.35240e-02 2.88576e-01 1.00000e-09 1.00000e-09 1.0000
    iter cost theta gamma muV muLM alpha
    30 9.75028e+02 5.99756e-03 4.44540e-01 1.00000e-09 1.00000e-09 0.2500
    31 9.74928e+02 1.89281e-03 1.51729e-01 1.00000e-09 1.00000e-09 1.0000
    32 9.74880e+02 2.63301e-03 1.78020e-01 1.00000e-09 1.00000e-09 1.0000
    33 9.74819e+02 4.40128e-03 3.39216e-01 1.00000e-09 1.00000e-09 0.2500
    34 9.74771e+02 1.13637e-03 8.79782e-02 1.00000e-09 1.00000e-09 1.0000
    35 9.74757e+02 1.67590e-03 1.25228e-01 1.00000e-09 1.00000e-09 1.0000
    36 9.74709e+02 3.41738e-03 2.79454e-01 1.00000e-09 1.00000e-09 0.2500
    37 9.74686e+02 7.39174e-04 5.68904e-02 1.00000e-09 1.00000e-09 1.0000
    38 9.74668e+02 1.18968e-03 9.66873e-02 1.00000e-09 1.00000e-09 0.2500
    39 9.74647e+02 4.02333e-04 3.13116e-02 1.00000e-09 1.00000e-09 1.0000
    examples/log/salto.log 0 → 100644
    + 290
    − 0
    View file @ 895e9720
    This diff is collapsed.
    examples/log/talos_arm.log 0 → 100644
    + 30
    − 0
    View file @ 895e9720
    iter cost theta gamma muV muLM alpha
    0 3.33784e-01 2.79313e-08 2.46733e-01 1.00000e-09 1.00000e-09 1.0000
    1 2.76830e-01 4.07640e-08 2.51704e-01 1.00000e-09 1.00000e-09 0.2500
    2 2.41482e-01 2.71532e-08 1.67983e-01 1.00000e-09 1.00000e-09 0.2500
    3 2.14120e-01 1.92516e-08 1.23269e-01 1.00000e-09 1.00000e-09 0.2500
    4 1.92160e-01 1.36544e-08 9.38145e-02 1.00000e-09 1.00000e-09 0.2500
    5 1.73479e-01 1.04796e-08 7.84493e-02 1.00000e-09 1.00000e-09 0.2500
    6 1.56354e-01 8.92818e-09 7.20415e-02 1.00000e-09 1.00000e-09 0.2500
    7 1.41779e-01 7.25090e-09 6.08715e-02 1.00000e-09 1.00000e-09 0.2500
    8 1.32226e-01 4.76111e-09 4.04640e-02 1.00000e-09 1.00000e-09 0.2500
    9 1.26362e-01 2.93583e-09 2.49384e-02 1.00000e-09 1.00000e-09 0.2500
    iter cost theta gamma muV muLM alpha
    10 1.22590e-01 1.88209e-09 1.59846e-02 1.00000e-09 1.00000e-09 0.2500
    11 1.19132e-01 1.28816e-09 1.10026e-02 1.00000e-09 1.00000e-09 1.0000
    12 1.14275e-01 2.42405e-09 1.79049e-02 1.00000e-09 1.00000e-09 1.0000
    13 1.11334e-01 5.15956e-09 4.73770e-02 1.00000e-09 1.00000e-09 0.2500
    14 9.90761e-02 6.13525e-09 4.42008e-02 1.00000e-09 1.00000e-09 0.2500
    15 9.39628e-02 3.72680e-09 3.08742e-02 1.00000e-09 1.00000e-09 0.2500
    16 8.91847e-02 3.36729e-09 2.71581e-02 1.00000e-09 1.00000e-09 0.2500
    17 8.39980e-02 2.89527e-09 2.51096e-02 1.00000e-09 1.00000e-09 0.2500
    18 8.09470e-02 1.67397e-09 1.47015e-02 1.00000e-09 1.00000e-09 0.2500
    19 7.98693e-02 6.09845e-10 5.32391e-03 1.00000e-09 1.00000e-09 0.2500
    The reached pose by the wrist is
    R =
    0.999782 0.00102056 0.0208659
    -0.000942107 0.999992 -0.00376952
    -0.0208696 0.00374904 0.999775
    p = 0.00244635 0.0243952 0.381054
    0% or .
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